CN103192368A - Parallel moving mechanism with changeable platform - Google Patents
Parallel moving mechanism with changeable platform Download PDFInfo
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- CN103192368A CN103192368A CN2013101207527A CN201310120752A CN103192368A CN 103192368 A CN103192368 A CN 103192368A CN 2013101207527 A CN2013101207527 A CN 2013101207527A CN 201310120752 A CN201310120752 A CN 201310120752A CN 103192368 A CN103192368 A CN 103192368A
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Abstract
A parallel moving mechanism with a changeable platform comprises a lower platform A, an upper platform B, a first branch chain (I), a second branch chain (II) and a third branch chain (III). One end of the first branch chain (I) is fixedly connected with a top point B1 of the upper platform B through a pin, the other end of the first branch chain (I) is fixedly connected with a top point A1 of the lower platform A through a pin, one end of the second branch chain (II) is fixedly connected with a top point B2 of the upper platform B through a pin, the other end of the second branch chain (II) is fixedly connected with a top point A2 of the lower platform A through a pin, one end of the third branch chain (III) is fixedly connected with a top point B1 of the upper platform B through a pin, and the other end of the third branch chain (III) is fixedly connected with a top point A3 of the lower platform A through a pin. Large-scope space deformation and movement are achieved through rotation of three branch chains and scaling of the lower platform A and the upper platform B.
Description
Technical field: the present invention relates to a kind of spatial linkage, relate to a kind of travel mechanism of spatially-variable shape especially, can be used for designing mobile robot's test platform, also can be applicable to be out of shape mobile display platform and teaching aid.
Background technology:
Space closed chain linkage has motion flexibly, and the free degree is little, is widely used in robot architecture's design, and Chinese patent application CN101973319 discloses a kind of hexahedron walking mechanism especially.This mechanism is made up of two cross-baves and four side chains, and each cross-bar is connected with an end of four side chains respectively, by two motor-driven, thereby realizes moving and turning to of mechanism.But this deformation is less, and space is limited, influences its locomotivity.The present invention designs a kind of space closed chain linkage with large deformation ability, improves the travelling performance of mechanism.
Summary of the invention: technical problem to be solved by this invention is, the integral body of mechanism be out of shape on a large scale and platform space convergent-divergent translation on a large scale and rotation.
The present invention solves the technical scheme of its technical problem:
This mechanism comprises a scalable lower platform, a scalable upper mounting plate, forms the identical side chain of structure for three, and two platforms and three side chains are formed a parallel institution;
Described upper mounting plate is equilateral triangle, and is provided with three identical summits of composition physical dimension, and each summit is provided with a bar, in order to connect side chain.
Described lower platform is equilateral triangle, and is provided with three identical summits of composition physical dimension, and each summit is provided with a serrated rod, in order to connect side chain.
It is identical that described three side chains are formed physical dimension, with one of them side chain explanation, each side chain comprises a ball pair and two identical bars, one end of one of them bar is fixedlyed connected by pin with the counterbore on the secondary cylindrical convex of ball, another counterbore on the secondary cylindrical convex of another bar and ball is fixedlyed connected by pin, and two bars on each side chain are fixedlyed connected by pin with the upper mounting plate summit corresponding with lower platform respectively away from the part of ball pair.
By the rotation of three side chains, and the contractile motion of each expansion link can realize space convergent-divergent translation on a large scale and the rotation of lower platform, upper mounting plate, and entire mechanism can realize geometric distortion in a big way.
Beneficial effect of the present invention: entire mechanism can be out of shape the implementation space on a large scale, but the convergent-divergent translation on a large scale of platform implementation space and rotation, entire mechanism can realize folding convergent-divergent simultaneously, can place within the less space after the contraction, can be applicable to special mobile robot's design, if pipe robot, investigation robot etc.
Description of drawings:
The overall structure figure of the parallel institution of a kind of variable platform of Fig. 1.
Fig. 2 upper mounting plate A summit removes the design sketch of a hemisphere.
Fig. 3 upper mounting plate A summit whole structure figure.
Fig. 4 upper mounting plate A is connected the axle design sketch of two hemisphere with the lower platform apex portion.
Fig. 5 upper mounting plate A summit cutaway view.
Fig. 6 lower platform B summit removes the not design sketch of translator hemisphere.
Fig. 7 lower platform B summit overall structure figure.
The secondary schematic diagram of Fig. 8 ball.
Fig. 9 upper mounting plate A overall structure figure.
Figure 10 lower platform B overall structure figure.
Figure 11 article one side chain design sketch.
Figure 12 second side chain design sketch.
The 3rd side chain design sketch of Figure 13.
The schematic diagram that Figure 14 side chain is connected with platform summit up and down.
Figure 15 has the bar on face of gear and the face of cylinder.
Figure 16 has the bar on face of gear and the face of cylinder can realize having enough to meet the need the summit schematic diagram of motion.
Figure 17 upper mounting plate B passes the schematic diagram of lower platform A.
The specific embodiment: the present invention will be further described by reference to the accompanying drawings.
A kind of travel mechanism in parallel of variable platform as shown in Figure 1, comprises lower platform A, upper mounting plate B, first side chain (I), second side chain (II), the 3rd side chain (III).
Described upper mounting plate B is equilateral triangle, and is provided with three summits (B1), (B2), (B3), and each summit is provided with a bar (8), in order to connect side chain.
It is identical that physical dimension is formed on described three summits (B1), (B2), (B3).
Described lower platform A is equilateral triangle, and is provided with three summits (A1), (A2), (A3), and each summit is provided with a serrated rod (12), in order to connect side chain.
It is identical that physical dimension is formed on described three summits (A1), (A2), (A3).
Rotation by first side chain (I), second side chain (II), the 3rd side chain (III), and the contractile motion of each expansion link can realize space convergent-divergent translation on a large scale and the rotation of lower platform A, upper mounting plate B, and entire mechanism can realize geometric distortion in a big way.
Upper mounting plate B comprises summit (B1), (B2), (B3), servo-actuated secondary expansion link (4), upper mounting plate electric pushrod (5), servo-actuated secondary expansion link (6); Shown in Fig. 2,3, the composition physical dimension of summit (B1), (B2), (B3) is identical, and (B1) illustrates with the summit, and summit (B1) comprises hemisphere bar (7), hemisphere bar (10), bar (8), axle (9); As shown in Figure 4, axle (9) two ends are the square-section, and the centre is circular cross-section; As shown in Figure 5, a cylindrical convex is arranged on the hemisphere bar (7), counterbore (71) is arranged on the convex, a cylindrical convex is arranged on the hemisphere bar (10), counterbore (101) is arranged on the convex, the angle of the axis of the axis of counterbore (71) and counterbore (101) is 60.
Two ends and the hemisphere bar (7) of axle (9), the square hole interference of hemisphere bar (10) connects, and the intermediate cylindrical part of axle (9) forms revolute pair with the circular hole of bar (8).
As shown in Figure 9, the big end of upper mounting plate electric pushrod (5) is fixedlyed connected by pin with the counterbore (101) of first club of summit (B1) (7), the small end of upper mounting plate electric pushrod (5) is fixedlyed connected by pin with the counterbore of first club of summit (B2), the big end of servo-actuated secondary expansion link (4) is fixedlyed connected by pin with the counterbore of first club of summit (B3), the small end of servo-actuated secondary expansion link (4) is fixedlyed connected by pin with the counterbore of first club of summit (B1), the big end of servo-actuated secondary expansion link (6) is fixedlyed connected by pin with the counterbore of first club of summit (B2), and the small end of servo-actuated secondary expansion link (6) is fixedlyed connected by pin with the counterbore of first club of summit (B3).
Described lower platform A comprises summit (A1), (A2), (A3), servo-actuated secondary expansion link (1), lower platform electric pushrod (2), servo-actuated secondary expansion link (3); Shown in Fig. 6,7, the composition physical dimension of summit (A1), (A2), (A3) is identical, with summit (A1) explanation, summit (A1) comprises hemisphere bar (11), hemisphere bar (16), serrated rod (12), axle (13), gear (14), motor (15); One cylindrical convex is arranged on the hemisphere bar (11), counterbore (110) is arranged on the convex, a cylindrical convex is arranged on the hemisphere bar (16), counterbore (160) is arranged on the convex, the angle of the axis of the axis of counterbore (110) and counterbore (160) is 60; Axle (13) two ends are the square-section, and the centre is circular cross-section.
Two ends and the hemisphere bar (11) of axle (13), the square hole interference of hemisphere bar (16) connects, the intermediate cylindrical part of axle (13) forms revolute pair with the circular hole of bar (12), the parts of tooth of serrated rod (12) and gear (14) formative gear pair, gear (14) is fixedlyed connected by key with the output shaft of motor (15).
As shown in figure 10, the small end of lower platform electric pushrod (2) is fixedlyed connected by pin with the counterbore (110) of first club of summit (A1) (11), the big end of lower platform electric pushrod (2) is fixedlyed connected by pin with the counterbore of first club of summit (A2), the big end of servo-actuated secondary expansion link (1) is fixedlyed connected by pin with the counterbore of first club of summit (A1), the small end of servo-actuated secondary expansion link (1) is fixedlyed connected by pin with the counterbore of first club of summit (A3), the big end of servo-actuated secondary expansion link (3) is fixedlyed connected by pin with the counterbore of first club of summit (A3), and the small end of servo-actuated secondary expansion link (3) is fixedlyed connected by pin with the counterbore of first club of summit (A2).
Described first side chain (I), second side chain (II), the 3rd side chain (III) shown in Figure 11,12,13
First side chain (I) comprises ball pair (S), side chain bar a(19), side chain bar b(20); Side chain bar a(19) a end is fixedlyed connected side chain bar b(20 with the counterbore on the cylindrical convex of ball pair (S) by pin) fixedly connected by pin with another counterbore on the cylindrical convex of ball pair (S).
Second side chain (II) comprises ball pair (S), side chain bar a(21), side chain bar b(22); Side chain bar a(21) a end is fixedlyed connected side chain bar b(22 with the counterbore on the cylindrical convex of ball pair (S) by pin) fixedly connected by pin with another counterbore on the cylindrical convex of ball pair (S).
The 3rd side chain (III) comprises ball pair (S), side chain bar a(23), side chain bar b(24); Side chain bar a(23) a end is fixedlyed connected side chain bar b(24 with the counterbore on the cylindrical convex of ball pair (S) by pin) fixedly connected by pin with another counterbore on the cylindrical convex of ball pair (S).
Described first side chain (I), second side chain (II), the 3rd side chain (III) are formed structure and measure-alike.
As shown in figure 14, the side chain bar a(19 on first side chain (I)) fixedly connected the side chain bar b(20 on first side chain (I) by pin with the summit B1 of upper mounting plate B) fixedly connected by pin with the summit A1 of lower platform A.
Side chain bar a(21 on second side chain (II)) fixedly connected the side chain bar b(22 on second side chain (II) by pin with the summit B2 of upper mounting plate B) fixedly connected by pin with the summit A2 of lower platform A.
Side chain bar a(23 on the 3rd side chain (III)) fixedly connected the side chain bar b(24 on the 3rd side chain (III) by pin with the summit B3 of upper mounting plate B) fixedly connected by pin with the summit A3 of lower platform A.
Rotation by first side chain (I), second side chain (II), the 3rd side chain (III), and the contractile motion of each expansion link can realize space convergent-divergent translation on a large scale and the rotation of lower platform A, upper mounting plate B, and entire mechanism can realize geometric distortion in a big way.
Described secondary expansion link (1), (2), (3), (4), (5), (6) are not limited to the secondary expansion link, can use the multi-stage expansion bar to make that the distortion adjusting range of mechanism is bigger.
Serrated rod (12) is gone up on the summit of lower platform A (A1) can not realize the turnover motion, can only realize the rotation campaign, for realizing the turnover motion, as shown in figure 15, serrated rod (12) can be changed into serrated rod (21), face (211) is the smooth face of cylinder, face (212) is face of gear, as shown in figure 16, and face of gear (212) and gear (22) formative gear pair, the serrated rod of this mechanism (21) can be realized the turnover motion, thereby can make whole parallel institution have more space to change attitude.
As shown in figure 17, be the moving process schematic diagram of this mechanism, A1 wherein, A2, A3 represent three summits of lower platform A respectively, B1 wherein, B2, B3 represent three summits of upper mounting plate B respectively.According to above-mentioned description, lower platform A and upper mounting plate B all can the electric pushrod by separately realize whole amplification and dwindle.Also be provided with the motion of three side chains of three motors (15) control on the lower platform on the A.The motion of mechanism process below is described:
Figure 17 (a) is initial position, and lower platform A and upper mounting plate B are in deflated state, and three side chains are in vertical state.
Among Figure 17 (b), lower platform A amplifies, and upper mounting plate B still is in deflated state.
Among Figure 17 (c), two platform sizes are constant, and three motors on the control lower platform A make three side chains synchronously to lower platform A inner rotation, make upper mounting plate B close to lower platform A gradually.
Among Figure 17 (d), two platform sizes are constant, continue three side chains and rotate synchronously, make upper mounting plate B pass lower platform A.
Among Figure 17 (e), lower platform A dwindles.The mutual of two platforms that can realize by similar control interts, and obtains bigger space.This motion useful with mechanism at pipeline or narrow space rapid movement.
What more than show is that three side chains are synchronized with the movement, can be so that two platforms intert abreast.Three side chains also can asynchronously move, and can realize the interspersed motion of two above-mentioned platforms equally, when side chain is asynchronous, allow to tilt between two platforms.
Claims (3)
1. the travel mechanism in parallel of a variable platform, it is characterized in that: this mechanism comprises lower platform A, upper mounting plate B, first side chain (I), second side chain (II), the 3rd side chain (III);
Described upper mounting plate B is the scalable mechanism with triangle profile, can realize its whole variable size by upper mounting plate electric pushrod (5); Also be provided with three summit B1, B2, B3 on the platform B, each summit is provided with a rotating bar (8), in order to connect side chain;
Described lower platform A is the scalable mechanism with triangle profile, can realize its whole variable size by lower platform electric pushrod (2); Also be provided with three summit A1, A2, A3 on the platform A, each summit is provided with a serrated rod (12), and in order to connect side chain, serrated rod (12) drives by the motor on the summit (50);
First side chain (I) comprises ball pair (S), side chain bar a(19), side chain bar b(20); Side chain bar a(19) a end is fixedlyed connected side chain bar b(20 with the counterbore on the cylindrical convex of ball pair (S) by pin) fixedly connected by pin with another counterbore on the cylindrical convex of ball pair (S);
Second side chain (II) comprises ball pair (S), side chain bar a(21), side chain bar b(22); Side chain bar a(21) a end is fixedlyed connected side chain bar b(22 with the counterbore on the cylindrical convex of ball pair (S) by pin) fixedly connected by pin with another counterbore on the cylindrical convex of ball pair (S);
The 3rd side chain (III) comprises ball pair (S), side chain bar a(23), side chain bar b(24); Side chain bar a(23) a end is fixedlyed connected side chain bar b(24 with the counterbore on the cylindrical convex of ball pair (S) by pin) fixedly connected by pin with another counterbore on the cylindrical convex of ball pair (S);
Described first side chain (I), second side chain (II), the 3rd side chain (III) are formed structure and measure-alike;
Side chain bar a(19 on first side chain (I)) fixedly connected the side chain bar b(20 on first side chain (I) by pin with the summit B1 of upper mounting plate B) fixedly connected by pin with the summit A1 of lower platform A;
Side chain bar a(21 on second side chain (II)) fixedly connected the side chain bar b(22 on second side chain (II) by pin with the summit B2 of upper mounting plate B) fixedly connected by pin with the summit A2 of lower platform A;
Side chain bar a(23 on the 3rd side chain (III)) fixedly connected the side chain bar b(24 on the 3rd side chain (III) by pin with the summit B3 of upper mounting plate B) fixedly connected by pin with the summit A3 of lower platform A;
Rotation by first side chain (I), second side chain (II), the 3rd side chain (III), and the contractile motion of each expansion link can realize space convergent-divergent translation on a large scale and the rotation of lower platform A, upper mounting plate B, and entire mechanism can realize geometric distortion in a big way.
2. the parallel institution of a kind of variable platform according to claim 1, it is characterized in that: described upper mounting plate B comprises summit B1, B2, B3, the first servo-actuated secondary expansion link (4), upper mounting plate electric pushrod (5), the second servo-actuated secondary expansion link (6); Summit B1 comprises hemisphere bar (7), hemisphere bar (10), bar (8), axle (9); One cylindrical convex is arranged on the hemisphere bar (7), counterbore (71) is arranged on the convex, a cylindrical convex is arranged on the hemisphere bar (10), counterbore (101) is arranged on the convex, the angle of the axis of the axis of counterbore (71) and counterbore (101) is 60; Axle (9) two ends are the square-section, and the centre is circular cross-section; The composition physical dimension of summit B1, B2, B3 is identical;
Two ends and the hemisphere bar (7) of axle (9), the square hole interference of hemisphere bar (10) connects, and the intermediate cylindrical part of axle (9) forms revolute pair with the circular hole of bar (8);
The big end of upper mounting plate electric pushrod (5) is fixedlyed connected by pin with the counterbore (101) of first club of summit B1 (7), the small end of upper mounting plate electric pushrod (5) is fixedlyed connected by pin with the counterbore of summit first club of B2, the big end of the first servo-actuated secondary expansion link (4) is fixedlyed connected by pin with the counterbore of summit first club of B3, the small end of the first servo-actuated secondary expansion link (4) is fixedlyed connected by pin with the counterbore of summit first club of B1, the big end of the second servo-actuated secondary expansion link (6) is fixedlyed connected by pin with the counterbore of summit first club of B2, and the small end of the second servo-actuated secondary expansion link (6) is fixedlyed connected by pin with the counterbore of summit first club of B3;
By above-mentioned annexation, elongation that can be by upper mounting plate electric pushrod (5) and shorten the amplification that realizes lower platform B integral body and dwindle; Bar on each summit (8) rotates around its connecting axle (9) respectively.
3. the parallel institution of a kind of variable platform according to claim 1, it is characterized in that: described lower platform A comprises summit A1, A2, A3, the first servo-actuated secondary expansion link (1), lower platform electric pushrod (2), the second servo-actuated secondary expansion link (3); Summit A1 comprises hemisphere bar (11), hemisphere bar (16), serrated rod (12), axle (13), gear (14), motor (15); One cylindrical convex is arranged on the hemisphere bar (11), counterbore (110) is arranged on the convex, a cylindrical convex is arranged on the hemisphere bar (16), counterbore (160) is arranged on the convex, the angle of the axis of the axis of counterbore (110) and counterbore (160) is 60; Axle (13) two ends are the square-section, the centre is circular cross-section, two ends and the hemisphere bar (11) of axle (13), the square hole interference of hemisphere bar (16) connects, the intermediate cylindrical part of axle (9) forms revolute pair with the circular hole of bar (8), the parts of tooth of serrated rod (12) and gear (14) formative gear pair, gear (14) is fixedlyed connected by key with the output shaft of motor (15); The composition physical dimension of summit A1, A2, A3 is identical;
The small end of lower platform electric pushrod (2) is fixedlyed connected by pin with the counterbore (110) of first club of summit A1 (11), the big end of lower platform electric pushrod (2) is fixedlyed connected by pin with the counterbore of summit first club of A2, the big end of the first servo-actuated secondary expansion link (1) is fixedlyed connected by pin with the counterbore of summit first club of A1, the small end of the first servo-actuated secondary expansion link (1) is fixedlyed connected by pin with the counterbore of summit first club of A3, the big end of the second servo-actuated secondary expansion link (3) is fixedlyed connected by pin with the counterbore of summit first club of A3, and the small end of the second servo-actuated secondary expansion link (3) is fixedlyed connected by pin with the counterbore of summit first club of A2;
By above-mentioned annexation, elongation that can be by lower platform electric pushrod (2) and shorten the amplification that realizes lower platform A integral body and dwindle; In addition, the motor (15) on each summit can be distinguished control gear bar (12) rotation.
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Cited By (10)
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| CN103407508A (en) * | 2013-07-17 | 2013-11-27 | 北京交通大学 | Twelve-freedom-degree tetrahedron robot |
| CN103407509A (en) * | 2013-07-23 | 2013-11-27 | 北京交通大学 | Deformable rolling mechanism |
| CN103448065A (en) * | 2013-09-02 | 2013-12-18 | 北京交通大学 | Deformable search-and-rescue sniffing robot |
| CN103465988A (en) * | 2013-09-16 | 2013-12-25 | 北京交通大学 | Multi-motion-mode mobile robot |
| CN103754282A (en) * | 2013-10-17 | 2014-04-30 | 北京交通大学 | Quadruped robot with multiple operating modes |
| CN105002837A (en) * | 2015-07-24 | 2015-10-28 | 中交第一公路勘察设计研究院有限公司 | Corrugated steel pipe bridge-culvert segment assembling bracket |
| CN106870874A (en) * | 2017-04-10 | 2017-06-20 | 徐州乐泰机电科技有限公司 | A kind of pipe motion device |
| CN107053137A (en) * | 2017-03-27 | 2017-08-18 | 哈尔滨工业大学深圳研究生院 | A kind of mobile robot of deformable folding |
| CN113043246A (en) * | 2021-03-08 | 2021-06-29 | 上海工程技术大学 | Reconfigurable multi-mode parallel mobile robot |
| CN114589717A (en) * | 2022-04-19 | 2022-06-07 | 北京交通大学 | full-R auxiliary triangular prism robot |
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| CN103407508A (en) * | 2013-07-17 | 2013-11-27 | 北京交通大学 | Twelve-freedom-degree tetrahedron robot |
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| CN103465988A (en) * | 2013-09-16 | 2013-12-25 | 北京交通大学 | Multi-motion-mode mobile robot |
| CN103465988B (en) * | 2013-09-16 | 2015-08-26 | 北京交通大学 | Multi-motion-mode mobile robot |
| CN103754282B (en) * | 2013-10-17 | 2016-01-13 | 北京交通大学 | Multiple operating mode quadruped robot |
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| CN105002837B (en) * | 2015-07-24 | 2017-04-19 | 中交第一公路勘察设计研究院有限公司 | Corrugated steel pipe bridge-culvert segment assembling bracket |
| CN107053137A (en) * | 2017-03-27 | 2017-08-18 | 哈尔滨工业大学深圳研究生院 | A kind of mobile robot of deformable folding |
| CN107053137B (en) * | 2017-03-27 | 2019-04-30 | 哈尔滨工业大学深圳研究生院 | A kind of mobile robot of deformable folding |
| CN106870874A (en) * | 2017-04-10 | 2017-06-20 | 徐州乐泰机电科技有限公司 | A kind of pipe motion device |
| CN113043246A (en) * | 2021-03-08 | 2021-06-29 | 上海工程技术大学 | Reconfigurable multi-mode parallel mobile robot |
| CN114589717A (en) * | 2022-04-19 | 2022-06-07 | 北京交通大学 | full-R auxiliary triangular prism robot |
| CN114589717B (en) * | 2022-04-19 | 2023-06-16 | 北京交通大学 | Full R pair triangular prism robot |
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