CN108858139B - High-speed parallel mechanism with reconfigurable characteristic for multi-motion platform - Google Patents
High-speed parallel mechanism with reconfigurable characteristic for multi-motion platform Download PDFInfo
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- CN108858139B CN108858139B CN201810675320.5A CN201810675320A CN108858139B CN 108858139 B CN108858139 B CN 108858139B CN 201810675320 A CN201810675320 A CN 201810675320A CN 108858139 B CN108858139 B CN 108858139B
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- 230000033001 locomotion Effects 0.000 claims abstract description 37
- 230000008878 coupling Effects 0.000 claims abstract description 9
- 238000010168 coupling process Methods 0.000 claims abstract description 9
- 238000005859 coupling reaction Methods 0.000 claims abstract description 9
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000002349 favourable effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
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Abstract
本发明提供了一种具有可重构特性的多运动平台的高速并联机构，属于高速并联机器人技术领域。该高速并联机构包括固定平台、四个末端运动平台和八条相同结构的运动支链；每条运动支链包括驱动电机、主动连杆、被动连杆；电机轴线互相垂直的两条相邻的运动支链末端通过万向关节连接同一个末端运动平台；相邻两个末端运动平台之间通过竖直的回转副和两个耦合连杆连接，四个末端运动平台和八个耦合连杆形成闭链结构。该高速并联机构具有四个空间内平动的末端运动平台，可在一个工作循环内同时实现四个目标物体的抓放，有利于提高流水生产线的工作效率，节省时间和劳动力。
The invention provides a high-speed parallel mechanism with reconfigurable multi-movement platforms, belonging to the technical field of high-speed parallel robots. The high-speed parallel mechanism includes a fixed platform, four end motion platforms, and eight motion branches with the same structure; each motion branch includes a drive motor, an active link, and a passive link; two adjacent motions whose axes are perpendicular to each other The end of the branch chain is connected to the same end motion platform through a universal joint; the two adjacent end motion platforms are connected by a vertical slewing pair and two coupling links, and the four end motion platforms and the eight coupling links form a closed loop. chain structure. The high-speed parallel mechanism has four end-movement platforms that translate in space, and can simultaneously grasp and place four target objects in one working cycle, which is beneficial to improve the working efficiency of the assembly line and save time and labor.
Description
Technical Field
The invention belongs to the technical field of high-speed parallel robots, in particular relates to a motion parallel mechanism capable of being provided with a plurality of clampers and used for picking up in a streamlined production line, and relates to a high-speed parallel mechanism with a reconfigurable characteristic and provided with a plurality of motion platforms.
Background
The parallel robot has the advantages of low inertia and high rigidity, particularly the quick positioning and grabbing capacity of the parallel robot is suitable for a production line, and the parallel robot shows great industrial application potential. At present, the high-speed parallel robot has only one motion platform, intelligently grabs a target object in one working cycle, and fails to fully exert the industrial application potential of the high-speed parallel robot. Based on the consideration, the parallel mechanism with the plurality of end motion platforms, which can be provided with a plurality of clampers, can realize the grabbing of a plurality of objects in one working cycle, and can effectively improve the production efficiency.
Disclosure of Invention
The invention aims to provide a parallel topological structure with a plurality of end motion platforms, which can be provided with a plurality of clampers, and provides a novel high-speed parallel mechanism for improving the working efficiency of a flow production line.
The technical scheme of the invention is as follows:
a high-speed parallel mechanism with reconfigurable characteristics for multiple motion platforms comprises a fixed platform 1, four tail end motion platforms 8 and eight motion branched chains with the same structure;
the motion branched chain comprises a driving motor 2, a driving connecting rod 3 and a driven connecting rod 5, the driving motor 2 enables the driving connecting rod 3 to rotate through a revolute pair, the driving connecting rod 3 is fixed on the fixed platform, and the driving connecting rod 3 is connected with the driven connecting rod 5 through an upper end universal joint 4; the tail ends of two adjacent motion branched chains with mutually vertical axes of the driving motor 2, namely the tail end of the driven connecting rod 5, are connected to the same tail end motion platform 8 through a lower end universal joint 6; two adjacent terminal motion platforms 8 are connected with two coupling connecting rods 7 through vertical revolute pairs, and four terminal motion platforms 8 and eight coupling connecting rods 7 form a closed chain structure.
The axes of the four pairs of driving motors 2 are mutually vertical and are axially parallel to one of the revolute pairs of the upper universal joint 4 and the lower universal joint 6, the four tail end motion platforms 8 of the high-speed parallel mechanism are restrained to generate translation in space, the four target objects can be grabbed and placed simultaneously in one working cycle, and the improvement of the working efficiency of the flow production line is facilitated.
The invention has the beneficial effects that: the high-speed parallel mechanism with the multiple motion platforms can simultaneously realize the grabbing and releasing of four target objects in one working cycle, is favorable for improving the working efficiency of a flow production line, and saves time and labor force.
Drawings
Fig. 1 is a schematic structural view of the mechanism of the present invention.
In the figure: 1, fixing a platform; 2 driving the motor; 3, driving connecting rod; 4, universal joints at the upper ends;
5 a passive connecting rod; 6, a universal joint at the lower end; 7 coupling connecting rods; 8 end motion platform.
Detailed Description
The following further describes a specific embodiment of the present invention with reference to the drawings and technical solutions.
The invention provides a high-speed parallel mechanism with reconfigurable characteristics for multiple moving platforms, which comprises a fixed platform 1, four tail end moving platforms 8 and eight moving branched chains with the same structure.
Each moving branched chain of the mechanism comprises a driving motor 2, a driving connecting rod 3 and a driven connecting rod 5, wherein the driving connecting rod 3 and the driven connecting rod 5 are connected through a universal joint 4.
The tail ends of two adjacent motion branched chains of which the axes are mutually vertical of a driving motor 2 of the mechanism are connected with the same tail end motion platform 8 through a universal joint 6, and the two adjacent tail end motion platforms are connected with each other through a vertical rotary pair and two coupling connecting rods 7.
The driving motor 2 of the mechanism of the invention enables the driving connecting rod 3 to rotate through the revolute pair, the axes of the four pairs of driving motors 2 are mutually vertical and are parallel to one revolute pair of the two universal joints 4 and 6, the four tail end motion platforms 8 and the eight coupling connecting rods form a closed chain structure, the four tail end motion platforms 8 of the high-speed parallel mechanism are restrained to generate translation in space, the grabbing and releasing of four target objects in one working cycle are realized simultaneously, and the improvement of the working efficiency of a flow production line is facilitated.
Claims (1)
1. A high-speed parallel mechanism with reconfigurable characteristics for multiple motion platforms is characterized by comprising a fixed platform (1), four tail end motion platforms (8) and eight motion branched chains with the same structure;
the motion branched chain comprises a driving motor (2), a driving connecting rod (3) and a driven connecting rod (5), the driving motor (2) enables the driving connecting rod (3) to rotate through a revolute pair, the driving connecting rod (3) is fixed on a fixed platform, and the driving connecting rod (3) is connected with the driven connecting rod (5) through an upper-end universal joint (4); four sides of the fixed platform (1) are respectively connected with a pair of driving motors (2) with the same axial direction, and the ends of two adjacent motion branched chains of which the axes of the driving motors (2) are mutually vertical in the four pairs of driving motors (2), namely the ends of the driven connecting rods (5) are connected to the same end motion platform (8) through lower end universal joints (6); two adjacent tail end motion platforms (8) are connected with two coupling connecting rods (7) through a vertical rotary pair, and four tail end motion platforms (8) and eight coupling connecting rods (7) form a closed chain structure;
the axes of every two adjacent pairs of driving motors (2) in the four pairs of driving motors (2) are mutually vertical and are axially parallel to one of the revolute pairs of the upper universal joint (4) and the lower universal joint (6), so that the four tail end motion platforms (8) of the high-speed parallel mechanism are constrained to generate translation in space, and the four target objects can be simultaneously grabbed and released in one working cycle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810675320.5A CN108858139B (en) | 2018-06-27 | 2018-06-27 | High-speed parallel mechanism with reconfigurable characteristic for multi-motion platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810675320.5A CN108858139B (en) | 2018-06-27 | 2018-06-27 | High-speed parallel mechanism with reconfigurable characteristic for multi-motion platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108858139A CN108858139A (en) | 2018-11-23 |
| CN108858139B true CN108858139B (en) | 2021-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810675320.5A Expired - Fee Related CN108858139B (en) | 2018-06-27 | 2018-06-27 | High-speed parallel mechanism with reconfigurable characteristic for multi-motion platform |
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| CN (1) | CN108858139B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020069631A (en) * | 2018-11-02 | 2020-05-07 | ソニー株式会社 | Parallel link device, master-slave system, and medical master-slave system |
| CN110450142B (en) * | 2019-09-09 | 2024-08-20 | 哈工大机器人（合肥）国际创新研究院 | Six-degree-of-freedom parallel robot based on double gyroscope components |
| CN111152190B (en) * | 2019-10-18 | 2023-02-28 | 上海工程技术大学 | A multi-motion mode mobile parallel mechanism and its gait control method suitable for unstructured terrain |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2258917B1 (en) * | 2005-02-17 | 2007-12-01 | Fundacion Fatronik | PARALLEL ROBOT WITH FOUR DEGREES OF HIGH SPEED FREEDOM. |
| CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
| CN203818136U (en) * | 2014-04-29 | 2014-09-10 | 浙江理工大学 | Three-degree-of-freedom high-speed parallel-connection robot |
| CN107901029B (en) * | 2017-12-29 | 2024-04-16 | 勃肯特(余姚)机器人技术有限公司 | Six-axis parallel mechanism and robot |
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- 2018-06-27 CN CN201810675320.5A patent/CN108858139B/en not_active Expired - Fee Related
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| CN108858139A (en) | 2018-11-23 |
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