CN105619383B - A kind of three one rotating parallel device people's platforms of translation of the kinematic pair moving platform of weak coupling two - Google Patents

Abstract

A low-coupling three-translation-rotation parallel robot platform with two kinematic pairs, including a dynamic platform (1), a static platform (0), and two space-complex branch chains. On the main chain of the space-complex branch chain, a driving rod One end of (2) is connected with the static platform (0) with the rotating pair one (R ₁₁ ), the other end of the driving rod (2) is fixedly connected with one end short side rod one of the ball pair parallelogram one, and the other end short side rod two (4) Connect with the moving platform (1) with the second rotating pair (R ₁₂ ); the structure of the auxiliary chain is the same as that of the main chain, but one end of the driving rod two (5) is connected with the static platform (0) with the fifth rotating pair (R ₂₁ ) connected, and the axes of the rotating pair five (R ₂₁ ) and the rotating pair (R ₁₁ ) are not parallel, the other end of the parallelogram two of the ball pair, the short side bar three (7) and the short side bar two (4) use the rotating pair six ( R ₂₂ ) is connected, and the axes of rotating pair 6 (R ₂₂ ) and rotating pair 2 (R ₁₂ ) coincide; the axes of rotating pair 2 (R ₁₂ ) and rotating pair 9 (R ₃₂ ) connected to the moving platform (1) must parallel. This kind of parallel mechanism has simple structure, easy manufacture and low coupling degree (k=1).

Description

A Three-Translation-Rotation Parallel Robot with Low Coupling Two-motion Auxiliary Motion Platform platform

technical field

The invention relates to a three-translation-rotation parallel robot platform of a low-coupling two-motion auxiliary motion platform, which provides a novel three-translation-rotation parallel robot platform for robot operators and the like.

Background technique

The platform with parallel structure, especially the Delta operator that 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, etc.; and it has three translation-rotation functions The parallel operator is indispensable in the occasions where 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 200310106012.4, proposed a set of five three-translation-rotation parallel mechanisms, but did not develop a prototype; after 2000, Pierrot et al. successively invented the H4, I4, and Par4 series of four-degree-of-freedom SCARA (that is, three-translation-rotation) manipulators, Huang Tian The professor 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 with three translations and one rotation on a single platform, and developed a prototype. However, the structures of the above-mentioned mechanisms are complex, and the coupling degree k of the mechanisms is relatively large (k=2), which makes the kinematics positive solution and dynamics solution of the mechanism very difficult, thus affecting the development and application; therefore, the realization of the three translation-rotation functions New structures and applications need to be developed, and new models that are superior to existing mechanisms need to be created.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies in the prior art and provide a new class of three translation-rotation parallel robot platforms, which have good rigidity, simple structure, and easy precision machining; the coupling degree k is low (k=1), motion It is easier to learn positive solutions and dynamic solutions.

The invention provides a three-translation-rotation parallel robot platform with low coupling degree and two motion auxiliary dynamic platforms, which includes a dynamic platform (1), a static platform (0), and a connecting platform (1) and a static platform (0). Two space-complex branch chains are characterized in that the space-complex branch chain includes a main chain and a sub-chain. ₁₁ ) connection, the other end of the driving rod (2) is fixedly connected with one end short side rod one of the ball pair parallelogram one composed of four ball pairs and four rods, and the other end short side rod two of the ball pair parallelogram one (4) Connect with the moving platform (1) with the second rotating pair (R ₁₂ ); further, at the place where the distance between the two long sides of the two parallelograms is equal to any two points of the short sides, A connecting rod (3) is connected with the third rotating pair (R _a ) and the fourth rotating pair (R _b ), and these two rotating pairs are located at the two points; One end of 5) is connected with the static platform (0) by rotating joint five (R ₂₁ ), and rotating joint five (R ₂₁ ) is perpendicular to the axis of rotating joint one (R ₁₁ ), and the other end of driving rod two (5) is connected to One end short side rod one of ball pair parallelogram two composed of four ball pairs and four rods is fixedly connected, and the other end short side rod three (7) of ball pair parallelogram two is connected with the short side rod of ball pair parallelogram one The second (4) is connected by the sixth rotating pair (R ₂₂ ), and the axes of the sixth rotating pair (R ₂₂ ) and the second rotating pair (R ₁₂ ) coincide; the second rotating pair (R ₁₂ ) connected to the moving platform (1), The axes of the sub-nine (R ₃₂ ) must be parallel.

Further, 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 For three-degree-of-freedom, two-degree-of-freedom, and single-degree-of-freedom three-translation-rotation parallel robots, the numbers of independent output motions are three, two, and one respectively, and other motions are derived motions.

Description of drawings

Accompanying drawing 1 is a schematic structural diagram of one of the embodiments 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 robot device shown in accompanying drawing 1 is one of the embodiments of the present invention, and its technical scheme is as follows: a kind of three-translation-rotation parallel robot platform of low-coupling two-movement auxiliary moving platform, comprises moving platform 1, static Platform 0, and two space-complex branch chains connecting dynamic platform 1 and static platform 0, the space-complex branch chain includes a main chain and a sub-chain, on the main chain, one end of the driving rod-2 is connected to the static platform 0 and beyond Revolving pair one R ₁₁ is connected, the other end of driving rod one 2 is fixedly connected with one short side rod one end of ball pair parallelogram one composed of four ball pairs and four rods, and the other end short side of ball pair parallelogram one is Rod 2 4 is connected with moving platform 1 with rotating pair 2 R ₁₂ ; further, a connecting rod must be used at the place where the distance between the two long-side rods of the two spherical pair parallelograms is equal to any two points of its short-side rods. 3 is connected with rotating pair 3 R _a and rotating pair 4 R _b , these two rotating pairs are located at these two points; the structure of the secondary chain is the same as that of the main chain, but one end of the driving rod 2 is connected to the static platform 0 with rotating pair 5 R ₂₁ is connected, and the axis of rotating pair 5 R ₂₁ is perpendicular to rotating pair 1 R ₁₁ , and the other end of driving rod 2 5 is connected with one end short side rod 1 of the spherical pair parallelogram 2 composed of four ball pairs and four bars. Fixed connection, the other end short side rod 3 7 of the ball pair parallelogram 2 is connected with the short side rod 2 4 of the ball pair parallelogram 1 with the rotating pair 6 R ₂₂ , and the rotating pair 6 R ₂₂ is connected with the rotating pair 2 R ₁₂ The axes coincide; the axes of the second rotating pair R ₁₂ and the ninth rotating pair R ₃₂ connected to the moving platform 1 must be parallel.

The mechanism has 4 degrees of freedom. When the four revolving pairs R ₁₁ , R ₂₁ , R ₄₁ , and R ₃₁ connected to the static platform 0 are driven, the moving platform 1 can realize three-dimensional translation and rotation on the orbiting platform 1. The one-dimensional rotation output of the second R ₁₂ axis; and when one, two, and three drive pairs are fixed in sequence, the device becomes a three-degree-of-freedom, two-degree-of-freedom, and single-degree-of-freedom three-translation-rotation parallel robot, The numbers of independent output motions are three, two, and one, and other motions are derived motions.

Claims (2)

1. A kind of 1. three one rotating parallel device people's platforms of translation of kinematic pair moving platform of weak coupling two, comprising moving platform (1), quiet Platform (0), and connection moving platform (1), 2 spatial complex side chains of silent flatform (0), it is characterized in that：Spatial complex side chain bag Containing 1 main chain and 1 secondary chain, on main chain, one end of drive rod one (2) is with silent flatform (0) with (R of revolute pair one₁₁) connection, driving The other end of bar one (2) and the company of fixation of one end short side bar one for the ball pair parallelogram one being made up of four balls pairs and four bars Connect, other end short side bar two (4) and moving platform (1) (R of revolute pair two of ball pair parallelogram one₁₂) connection；Further, exist Distance is equal in place of any two points of its short side bar between two long side rods of two ball pair parallelogram, must use a connecting rod (3) band revolute pair three (R_a), (R of revolute pair four_b) connect, the two revolute pairs are located at this 2 points parts；The structure of secondary chain is the same as main Chain, but one end of drive rod two (5) and silent flatform (0) are with (the R of revolute pair five₂₁) connection, and (the R of revolute pair five₂₁) and revolute pair one (R₁₁) axis it is vertical, the other end of drive rod two (5) with by four balls are secondary and four bars form ball pair parallelogram two One end short side bar one be fixedly connected, the other end short side bar three (7) of ball pair parallelogram two and ball pair parallelogram one Short side bar two (4) (R of revolute pair six₂₂) connection, and (the R of revolute pair six₂₂) and (R of revolute pair two₁₂) axis overlap；It is dynamic flat (the R of revolute pair two of platform (1) connection₁₂), (R of revolute pair nine₃₂) axis must be parallel.
2. 2. three one rotating parallel device people's platforms of translation of the kinematic pair moving platform of weak coupling two as described in claim 1, its It is characterised by：Four revolute pairs coupled on every side chain with silent flatform (0) are drive pair, can be substituted with prismatic pair；And When fix successively one, two, three drive pairs when, the platform just respectively becomes Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom Three one rotating parallel device people of translation, its independent output motion number is respectively three, two, one, and others motion is derivation motion.