CN105643602B - A kind of three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling two - Google Patents

Abstract

A three-translation-rotation parallel robot device with low-coupling two-motion auxiliary dynamic platform, which is composed of a dynamic platform (1), a static platform (0) and two identical space-complex branch chains, and the main chain of the space-complex branch chain is , one end of the rod two (2) is connected with the static platform (0) by the first rotating pair (R ₁₁ ), and the other end is connected with one short side of the parallelogram one ((4R) ₁ ) by the second rotating pair of rod one (3) (R ₁₂ ) is connected, and the short side rod two (4) at the other end is connected with the moving platform (1) with the third rotating pair (R ₁₃ ); the axes of the first rotating pair, the second rotating pair, and the third rotating pair are parallel to each other; , one end of rod three (5) is connected to the static platform (0) by revolving pair four (R ₃₁ ), and revolving pair four (R ₃₁ ) is parallel to the axis of revolving pair one (R ₁₁ ), and the other end is connected to parallelogram two One end of ((4R) ₃ ) short side bar three (6) is connected with rotating pair five (R ₃₂ ), and its other end short side bar four (7) is connected with short side bar two (4) with rotating pair six (R ₃₃ ) ) and coincide with the axis of the third rotating pair (R ₁₃ ); the axes of the two rotating pairs on the moving platform (1) must be parallel. This kind of parallel device 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 device

technical field

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

Background technique

Parallel structure devices, especially the Delta operator that realizes the three-translation function in space, have 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 these mechanisms are complex, and the mechanism coupling degree k is large (k=2), which makes the kinematics positive solution and dynamic solution of the mechanism very difficult, thus affecting the development and application. Therefore, the new structure and application that realize the three translation-rotation functions 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 devices, which have good rigidity, simple structure, easy precision machining; low coupling degree k (k=1), motion It is easier to learn positive solutions and dynamic solutions.

The invention provides a three-translation-rotation parallel robot device with low coupling degree and two motion auxiliary moving platforms, which consists of a moving platform (1), a static platform (0) and 2 connecting the moving platform (1) and the static platform (0). The same space complex branch chain is formed, and its feature is: the space complex branch chain comprises a main chain and a side chain, and on the main chain, one end of the rod two (2) is connected with the static platform (0) to the rotation pair one ( R ₁₁ ) is connected, the other end of bar two (2) and one end short side bar one (3) of parallelogram one ((4R) 1) that is formed by four revolving pairs and four bars use revolving pair two (R ₁₂ ) connection, the other short side rod two (4) of the parallelogram one is connected with the moving platform (1) with the third rotating pair (R ₁₃ ); the three rotating pair one (R ₁₁ ), the second rotating pair (R ₁₂ ) 1. The axes of the third rotating pair (R ₁₃ ) are parallel to each other; on the auxiliary chain, one end of the third rod (5) is connected with the static platform (0) by the fourth rotating pair (R ₃₁ ), and the fourth rotating pair (R ₃₁ ) is connected to the rotating The axis of pair one (R ₁₁ ) is parallel, and the other end of bar three (5) and one end short side bar three (6) of the parallelogram two ((4R) ₃ ) formed by four revolving pairs and four bars are used to rotate Secondary five (R ₃₂ ) are connected, and the other end short side bar four (7) of this parallelogram two is connected with the short side bar two (4) of parallelogram one ((4R) ₁ ) with rotating pair six (R ₃₃ ), The axes of rotating pair six (R ₃₃ ) coincide with rotating pair three (R ₁₃ ), and the axes of three rotating pairs four (R ₃₁ ), fifth rotating pair (R ₃₂ ), and sixth rotating pair (R ₃₃ ) are parallel to each other. ;Furthermore, the axes of the third rotating pair (R ₁₃ ) and the seventh rotating pair (R ₂₃ ) connected to the moving platform (1) must be parallel to each other;

The four rotating pairs connected with the static platform (0) 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-degree-of-freedom, two-degree-of-freedom 1. Three-translation-rotation parallel robot with single degree of freedom, the numbers of independent output motions are three, two, one, and other motions are derivative motions.

Description of drawings

Accompanying drawing 1 is the structural diagram schematic diagram of one of embodiment of the present invention;

detailed description

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

Parallel robotic device shown in accompanying drawing 1 is one of embodiment of the present invention, and its technical scheme is such:

A three-translation-rotation parallel robot device with low-coupling two-motion auxiliary dynamic platforms, which consists of a dynamic platform 1, a static platform 0, and two identical space-complex branch chains connecting the dynamic platform 1 and static platform 0. The space-complex support The chain includes 1 main chain and 1 auxiliary chain. On the main chain, one end of the rod 2 is connected with the static platform 0 by the revolving pair 1 R11, and the other end of the rod ₂ is connected with four revolving pairs and four rods. One end short side bar one 3 of parallelogram one (4R) ₁ is connected with rotating pair two R ₁₂ , and the other end short side bar two 4 of parallelogram one is connected with moving platform 1 with rotating pair three R ₁₃ ; The axes of pair 1 R ₁₁ , rotating pair 2 R ₁₂ , and rotating pair 3 R ₁₃ are parallel to each other; on the auxiliary chain, one end of rod 3 5 is connected to static platform 0 with rotating pair 4 R ₃₁ , and rotating pair 4 R ₃₁ is connected to the rotating The axis of pair one R ₁₁ is parallel, and the other end of bar three 5 is connected with one end short side bar three 6 of the parallelogram two (4R) ₃ that is made up of four rotating pairs and four bars with rotating pair five R ₃₂ , and this parallel The other end short side bar four 7 of quadrilateral two is connected with the short side bar two 4 of parallelogram one (4R) ₁ with revolving pair six R ₃₃ , and the axis of revolving pair six R ₃₃ coincides with revolving pair three R ₁₃ , same, three The axes of the four rotating pairs R ₃₁ , the fifth rotating pair R ₃₂ , and the sixth rotating pair R ₃₃ are parallel to each other; further, the axes of the third rotating pair R ₁₃ and the seventh rotating pair R ₂₃ connected to the moving platform 1 must be parallel to each other;

The mechanism has 4 degrees of freedom. When the four revolving pairs R ₁₁ , R ₃₁ , R ₂₁ , 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 fifth R ₁₃ 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 three one rotating parallel device people's devices of translation of kinematic pair moving platform of weak coupling two, by moving platform (1), quiet flat Platform (0) and connection moving platform (1), 2 identical spatial complex side chains composition of silent flatform (0), it is characterized in that：Spatial complex Side chain includes 1 main chain and 1 secondary chain, and on main chain, one end of bar two (2) is with silent flatform (0) with (R of revolute pair one₁₁) connection, bar The other end of two (2) and the parallelogram one ((4R) being made up of four revolute pairs and four bars₁) one end short side bar one (3) With (the R of revolute pair two₁₂) connection, other end short side bar two (4) (R of revolute pair three of parallelogram one₁₃) and moving platform (1) Connection；These three revolute pairs one (R₁₁), (R of revolute pair two₁₂), (R of revolute pair three₁₃) axis be parallel to each other；On secondary chain, bar three (5) one end is with silent flatform (0) with (R of revolute pair four₃₁) connection, and (the R of revolute pair four₃₁) and (R of revolute pair one₁₁) axis put down OK, the other end of bar three (5) and the parallelogram two ((4R) being made up of four revolute pairs and four bars₃) one end short side bar Three (6) (R of revolute pair five₃₂) connection, other end short side bar four (7) (R of revolute pair six of the parallelogram two₃₃) with putting down Row quadrangle one ((4R)₁) short side bar two (4) connection, (the R of revolute pair six₃₃) and (R of revolute pair three₁₃) axis overlap, equally, Three (R of revolute pair four₃₁), (R of revolute pair five₃₂), (R of revolute pair six₃₃) axis be parallel to each other；Further, with moving platform (1) (the R of revolute pair three of connection₁₃) and (R of revolute pair seven₂₃) axis it is necessarily parallel to each other.

2. three one rotating parallel device people's devices 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 with silent flatform (0) are drive pair, can be substituted with prismatic pair；And it ought fix successively One, two, three drive pairs when, the device just respectively become Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom three translation one turn Dynamic parallel robot, its independent output motion number is respectively three, two, one, and others motion is derivation motion.