CN105127999B - One kind three translates rotating parallel device people's grasping and release device - Google Patents

Abstract

A pick-and-place device for a three-translation-rotation parallel robot is composed of a dynamic platform (1), a static platform (0) and the first branch chain of two completely identical branch chains connecting the dynamic platform (1) and the static platform (0), The second branch chain and two unconstrained branch chains (S-S-R) are composed. One end of the driving rod (2) on the first branch chain is connected with the static platform (0) with the first rotating pair (R ₁₁ ) , the other end of the driving rod (2) is parallel to the rotating joint (R _a , R _b ), two ball joints (S _a , S _b ) and four rods (3, 6, 4, 5) The short side rod one (3) of the quadrilateral is connected with the second rotating pair (R ₁₂ ), and the other short side rod two (6) of the parallelogram is directly connected with the moving platform (1) through the third rotating pair (R ₁₃ ); wherein, Rotating pair 1 (R ₁₁ ) is parallel to the axis of rotating pair 2 (R ₁₂ ), but perpendicular to the axis of rotating pair 3 (R ₁₃ ); the rotating pair 3 (R ₁₃ ) on the moving platform (1) is (R ₃₃ ) The axes must be parallel. This kind of parallel mechanism has the advantages of simple structure, easy manufacture and high positioning accuracy.

Description

A three-translation-rotation parallel pick-and-place robot

technical field

The invention relates to a parallel robot actuator, which provides a novel three-translation-rotation parallel mechanism for robot mechanisms and the like.

Background technique

The manipulator with parallel structure has been applied in industry, especially the Delta manipulator, which realizes the three-translation function in space, has played a very good role in high-speed pick-and-place, positioning assembly, handling, sorting, loading and unloading and other processes; and The parallel manipulator with the functions of three translations and one rotation is even more indispensable when the attitude of the workpiece needs to be adjusted. For this reason, in 1988, on the basis of the three-translation Delta operator, R.Clavel connected a R-U-P-U-R branch chain or an S-P-S branch chain in series to form a hybrid operator with the function of three translation and one rotation; in 2003, Yang Tingli applied for a patent In 200310106012.4, a group of five three-translation-rotation parallel mechanisms was proposed, but no prototype was developed; later in 2006, Pierrot et al. successively invented H4, I4, and Par4 series of four-degree-of-freedom SCARA (that is, three-translation-rotation) operations In his hand, Professor Huang Tian developed a Cross-IV high-speed handling robot with four degrees of freedom, three translations and one rotation; and patent 201210435375.1 proposed a parallel mechanism to realize three translations and one rotation, and developed a prototype. Invention patent application numbers 201510564382.5, 201510567133.1, 201510564195.7, 201510566039.4, 201510566840.9 also disclose a batch of new models of three-translation-rotation parallel robots.

But compared to the Delta operator with three translations, on the one hand, these mechanisms are complex in structure and have not been well developed and applied. On the other hand, new structures and applications to realize the function of three translations and one rotation need to be developed.

Therefore, the development and practical application of the three-translation-rotation parallel mechanism needs to create a new model that is superior to the existing mechanism.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a new class of three-translation-rotation parallel robot pick-and-place device, this type of mechanism has the advantages of good rigidity, simple structure, easy precision machining, and simple kinematics positive solution, etc. advantage.

A pick-and-place device for a three-translation-rotation parallel robot provided by the present invention consists of a dynamic platform (1), a static platform (0) and two completely identical branch chains connecting the dynamic platform (1) and the static platform (0). The I branch chain, the second branch chain, and two unconstrained branch chains (SSR), are characterized in that: one end of the driving rod (2) on the first branch chain and the static platform (0) are connected by a rotating pair ( R ₁₁ ) connection, the other end of the drive rod (2) is connected with two revolving pairs (R _a , R _b ), two ball pairs (S _a , S _b ) and four rods (3, 6, 4, 5 ) of the parallelogram formed by the short side rod one (3) is connected with the second rotating pair (R ₁₂ ), and the other short side rod two (6) of the parallelogram is directly connected to the moving platform (1) by the third rotating pair (R ₁₃ ) connection; among them, the first rotating pair (R ₁₁ ) is parallel to the axis of the second rotating pair (R ₁₂ ), but perpendicular to the axis of the third rotating pair (R ₁₃ ); the third rotating pair (R ₁₃ ) on the moving platform (1) It must be parallel to the axis of rotating pair 4 (R ₃₃ ); one end of the unconstrained branch chain (SSR) is connected to the static platform (0) by rotating pair 5 (R ₄₁ ), and the other end is connected to the dynamic platform (0) by ball pair 1 (S ₄₃ ). The platform (1) is connected, and the two intermediate rods (7, 8) are connected by the second ball pair (S ₄₂ ); the axes of the four rotating pairs on the static platform (0) can be arranged arbitrarily;

At the same time, the four rotating pairs connected with the static platform (0) on each branch chain are driving pairs, which can be replaced by moving pairs; and when one, two, and three driving pairs are fixed in sequence, the device becomes a three For the three-translation-rotation parallel robot with one degree of freedom, two degrees of freedom, and one degree of freedom, the number of independent output motions is three, two, and one, and the other motions are derived motions.

Description of drawings

Accompanying drawing 1 is a schematic structural diagram of one embodiment of the three-translation-rotation parallel robot pick-and-place device of the present invention.

detailed description

The technology of the present invention will be further described below by means of accompanying drawings and examples.

The parallel mechanism shown in accompanying drawing 1 can be one of embodiment of the present invention, and its technical scheme is like this: a kind of three-translation-rotation parallel robot pick-and-place device, by moving platform 1, static platform 0 and connecting moving platform 1 , two completely identical branches of the static platform 0, the first branch chain, the second branch chain, and two unconstrained branch chains SSR, one end of the driving rod 2 on the first branch chain and the static platform 0 to rotate The pair one R ₁₁ is connected, the other end of the drive rod 2 is connected with the short parallelogram formed by two revolving pairs R _a , R _b , two ball pairs S _a , S _b and four rods 3, 6, 4, 5. The first side rod 3 is connected with the second rotating pair R ₁₂ , and the other short side rod 2 6 of the parallelogram is directly connected with the moving platform 1 through the third rotating pair R ₁₃ ; among them, the axes of the first rotating pair R ₁₁ and the second rotating pair R ₁₂ Parallel, but perpendicular to the axis of rotating pair 3 R ₁₃ ; the axes of rotating pair 3 R ₁₃ and _rotating pair 4 R ₃₃ on moving platform 1 must be parallel; 0 connection, the other end is connected with the moving platform 1 by the first ball pair S ₄₃ , and the two intermediate rods 7 and 8 are connected by the second ball pair S ₄₂ ;

The axes of the four rotating pairs on the static platform 0 can coincide with the four sides of the square; the four rotating pairs connected with the static platform 0 on each branch chain are driving pairs, which can be replaced by moving pairs; and when fixed in sequence When there are one, two, or three driving pairs, the device becomes a three-degree-of-freedom, two-degree-of-freedom, and single-degree-of-freedom three-translation-rotation parallel robot, and the number of independent output motions is three, two, and one, and other motions are derived movement.

When the four revolving pairs R ₁₁ , R ₂₁ , R ₃₁ , and R ₄₁ connected to the static platform 0 are driven, the moving platform 1 can realize three-dimensional translation and one-dimensional movement around the axis of the four revolving pairs R ₁₃ on the platform 1. Rotate the output.

Claims (3)

1. one kind three translates rotating parallel device people's grasping and release device, by moving platform (1), silent flatform (0) and connection moving platform (1), two of silent flatform (0) identical I side chains, III side chains, and two without restricted type side chain S-S-R form, It is characterized in that：One end of drive rod (2) on I side chain is with silent flatform (0) with (R of revolute pair one₁₁) connection, drive rod (2) The other end with by two revolute pair (R_a、R_b), two ball pair (S_a、S_b) and four bars (3,6,4,5) compositions parallelogram Short side bar one (3) (R of revolute pair two₁₂) connect, another short side bar two (6) of parallelogram uses the (R of revolute pair three₁₃) with moving Platform (1) is directly connected to；Wherein, (the R of revolute pair one₁₁) and (R of revolute pair two₁₂) diameter parallel, but with the (R of revolute pair three₁₃) Axis is vertical；(the R of revolute pair four on III side chain₃₃) be connected with moving platform (1), and the revolute pair three on moving platform (1) (R₁₃) and (R of revolute pair four₃₃) axis must be parallel；One end without restricted type side chain S-S-R is with (the R of revolute pair five₄₁) and silent flatform (0) connect, the other end is with (the S of ball pair one₄₃) be connected with moving platform (1), two intermediate bars (7,8) are with (the S of ball pair two₄₂) connection；

2. three one rotating parallel device people's grasping and release devices of translation as described in claim 1, it is characterised in that：On silent flatform (0) Four revolute pair axis can be arranged arbitrarily；

3. three one rotating parallel device people's grasping and release devices of translation as described in claim 1 or 2, it is characterised in that：On every side chain Four revolute pairs coupled with silent flatform (0) are drive pair, can be substituted with prismatic pair；And ought fix successively one, two, During three drive pairs, the grasping and release device just turns into Three Degree Of Freedom, two degrees of freedom, three one rotating parallel devices of translation of single-degree-of-freedom People, its independent output motion number are three, two, one, and others motion is derivation motion.