CN106584429B - Two-rotation one-movement parallel mechanism with fixed driving - Google Patents
Two-rotation one-movement parallel mechanism with fixed driving Download PDFInfo
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- CN106584429B CN106584429B CN201611032065.XA CN201611032065A CN106584429B CN 106584429 B CN106584429 B CN 106584429B CN 201611032065 A CN201611032065 A CN 201611032065A CN 106584429 B CN106584429 B CN 106584429B
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The invention relates to a two-rotation one-movement parallel mechanism which is driven and fixed. The parallel mechanism has the advantages of high operation speed, compact structure, high rigidity, high bearing capacity, good dynamic performance and the like. The technical proposal is as follows: a two-rotation one-movement parallel mechanism with fixed driving comprises a frame, a movable platform, two first branches and a second branch; the first branch comprises a first movable pair guide rail, a first movable pair sliding block, a hook hinge, a first connecting rod and a first rotating pair; the second branch comprises a second moving pair guide rail, a second moving pair sliding block, a first ball pair, a second connecting rod and a second rotating pair; and in the two first branches, the first rotating axes of the Hooke hinges are coincident, the first rotating pair axis is perpendicular to the second rotating pair axis in the second branch, and the first moving pair axis in the two first branches is perpendicular to the second moving pair axis in the second branch.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a two-rotation one-movement parallel mechanism with fixed driving.
Background
There are many passive joints in the parallel mechanism that do not require a drive to be installed, which allows for higher operating speeds and better dynamics than in the series mechanism. In addition, due to the special multi-closed-loop characteristic, the parallel mechanism has compact structure, high rigidity and large bearing capacity. Therefore, the parallel mechanism has wide application prospect in modern processing and production, and has been widely studied. Particularly, the parallel mechanism with two rotation and one movement degrees of freedom can be used in the fields of robot spraying, welding, parallel machine tools and the like, and is attracting high attention.
The ideal driving arrangement of the parallel mechanism is to mount the drives on the joints connected to the frame, so that the mass of the moving part can be reduced as much as possible, and the optimal dynamic performance can be obtained. However, the existing two-rotation one-movement parallel mechanism (CN 104889978 A,CN 103144097B) cannot be driven on the rack, so that the operation speed of the mechanism is affected, and the application of the mechanism is limited. Therefore, it is necessary to provide a two-rotation one-movement parallel mechanism with fixed driving and high operation speed.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide a two-rotation one-movement parallel mechanism with fixed driving, which has the advantages of high operation speed, compact structure, high rigidity, large bearing capacity, good dynamic performance and the like.
The technical scheme of the invention is as follows:
a two-rotation one-movement parallel mechanism with fixed driving comprises a frame, a movable platform, and two first branches and one second branch which are connected in parallel between the frame and the movable platform; the method is characterized in that:
the first branch comprises a first movable pair guide rail, a first movable pair sliding block, a hook hinge, a first connecting rod and a first rotating pair which are sequentially connected between the frame and the movable platform; the first rotation axis of the Hooke hinge is parallel to the first auxiliary moving axis, and the second rotation axis of the Hooke hinge connected with the first connecting rod is parallel to the first auxiliary moving axis and perpendicular to the first auxiliary moving axis;
the second branch comprises a second movable pair guide rail, a second movable pair sliding block, a first ball pair, a second connecting rod and a second rotating pair which are sequentially connected between the frame and the movable platform;
and in the two first branches, the first rotating axes of the Hooke hinges are coincident, the first rotating pair axis is perpendicular to the second rotating pair axis in the second branch, and the first moving pair axis in the two first branches is perpendicular to the second moving pair axis in the second branch.
The first moving pair guide rail and the second moving pair guide rail are parallel to the horizontal plane.
The second movable pair of guide rails is arranged at an acute angle with the horizontal plane.
The second movable pair guide rail is perpendicular to the horizontal plane.
A two-rotation one-movement parallel mechanism with fixed driving comprises a frame, a movable platform, two first branches and a third branch, wherein the two first branches and the third branch are connected between the frame and the movable platform in parallel; the method is characterized in that:
the first branch comprises a first movable pair guide rail, a first movable pair sliding block, a hook hinge, a first connecting rod and a first rotating pair which are sequentially connected between the frame and the movable platform; the first rotation axis of the Hooke hinge is parallel to the first auxiliary moving axis, and the second rotation axis of the Hooke hinge connected with the first connecting rod is parallel to the first auxiliary moving axis and perpendicular to the first auxiliary moving axis;
the third branch comprises a third movable pair guide rail, a third movable pair sliding block, a third revolute pair, a third connecting rod and a second ball pair which are sequentially connected between the frame and the movable platform; the third revolute pair axis is perpendicular to the third revolute pair axis;
in the two first branches, the first rotation axis of the Hooke hinge is coincident, and the first auxiliary moving axis is perpendicular to the third auxiliary moving axis in the third branch.
The first moving pair guide rail and the third moving pair guide rail are both arranged parallel to the horizontal plane.
The third movable pair of guide rails is arranged at an acute angle with the horizontal plane.
The third movable pair guide rail is perpendicular to the horizontal plane.
The beneficial effects of the invention are as follows:
the parallel mechanism provided by the invention can execute two-rotation and one-movement, has the advantages of fixed driving, high operation speed, compact structure, high rigidity, large bearing capacity, good dynamic performance and the like, and can be used in the fields of robot spraying, parallel machine tools and the like.
Drawings
Fig. 1 is a schematic perspective view of a first embodiment of the present invention.
Fig. 2 is a schematic perspective view of a second embodiment of the present invention.
Fig. 3 is a schematic perspective view of a third embodiment of the present invention.
Fig. 4 is a schematic perspective view of a fourth embodiment of the present invention.
Fig. 5 is a schematic perspective view of a fifth embodiment of the present invention.
Fig. 6 is a schematic perspective view of a sixth embodiment of the present invention.
Fig. 7 is a schematic perspective view of the first branch.
Fig. 8 is a schematic perspective view of the second branch.
Fig. 9 is a schematic perspective view of the third branch.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to the following examples.
Example 1
As shown in fig. 1,7 and 8, a two-rotation-movement parallel mechanism for driving and fixing comprises a frame (omitted in the figure), a movable platform 1, and two first branches and one second branch connected in parallel between the frame and the movable platform.
The first branch comprises a first movable auxiliary guide rail 11, a first movable auxiliary sliding block 12 (the first movable auxiliary guide rail and the first movable auxiliary sliding block are matched to form a first movable auxiliary), a hook joint 13, a first connecting rod 14 and a first rotary auxiliary 15 which are sequentially connected between the frame and the movable platform; the first axis of rotation of the hook (i.e., the axis of rotation of the hook and the first secondary slide is connected) is parallel to the first secondary axis of movement, and the second axis of rotation of the hook and the first link is parallel to and perpendicular to the first secondary axis of movement (i.e., the first secondary axis of movement; and the following is similar).
The second branch comprises a second movable pair guide rail 21, a second movable pair sliding block 22, a first ball pair 23, a second connecting rod 24 and a second revolute pair 25 which are sequentially connected between the frame and the movable platform; the second moving pair guide rail is matched with the second moving pair sliding block to form a second moving pair.
In the two first branches, the first rotation axes of the Hooke hinges are coincident, and the first rotation pair axis is perpendicular to the second rotation pair axis in the second branch. The first secondary axis of movement in the two first branches is perpendicular to the second secondary axis of movement in the second branch. The second mobile pair of guide rails is arranged parallel to the horizontal plane, and the first mobile pair of guide rails is also arranged parallel to the horizontal plane.
In this embodiment, the driving pair is a moving pair on each branch, and the driving mode may be a ball screw (omitted in the figure); when the driving pair moves, the mechanism performs two-rotation one-movement three-degree-of-freedom movement.
Example two
As shown in fig. 2, a two-rotation-one-movement parallel mechanism for driving and fixing comprises a frame (omitted in the figure), a movable platform 1, and two first branches and one second branch connected in parallel between the frame and the movable platform. The structure of the second embodiment is similar to that of the first embodiment, except that: in the second embodiment, the second movable pair of guide rails and the horizontal surface are arranged at an acute angle, and the specific angle is determined according to the requirement.
Example III
As shown in fig. 3, a two-rotation-one-movement parallel mechanism for driving and fixing comprises a frame (omitted in the figure), a movable platform 1, and two first branches and one second branch connected in parallel between the frame and the movable platform. The structure of the third embodiment is similar to that of the first embodiment, except that: in the third embodiment, the second moving pair guide rail is perpendicular to the horizontal plane.
Example IV
As shown in fig. 4,7 and 9, a two-rotation-movement parallel mechanism for driving and fixing comprises a frame (omitted in the figure), a movable platform 1, and two first branches and a third branch connected in parallel between the frame and the movable platform.
The first branch comprises a first movable auxiliary guide rail 11, a first movable auxiliary sliding block 12 (the first movable auxiliary guide rail and the first movable auxiliary sliding block are matched to form a first movable auxiliary), a hook joint 13, a first connecting rod 14 and a first rotary auxiliary 15 which are sequentially connected between the frame and the movable platform; the first rotation axis of the Hooke hinge (namely, the rotation axis of the Hooke hinge connected with the first movable auxiliary sliding block) is parallel to the first movable auxiliary axis, and the second rotation axis of the Hooke hinge connected with the first connecting rod is parallel to the first movable auxiliary axis and perpendicular to the first movable auxiliary axis.
The third branch comprises a third moving pair guide rail 31, a third moving pair sliding block 32 (the third moving pair guide rail and the third moving pair sliding block are matched to form a third moving pair), a third revolute pair 33, a third connecting rod 34 and a second ball pair 35 which are sequentially connected between the frame and the movable platform; the third revolute pair axis is perpendicular to the third revolute pair axis.
In the two first branches, the first rotation axes of the hook hinges are coincident. The first secondary axis of movement in the two first branches is perpendicular to the third secondary axis of movement in the third branch. The third mobile pair of guide rails is arranged parallel to the horizontal plane, and the first mobile pair of guide rails is also arranged parallel to the horizontal plane.
In this embodiment, the driving pair is a moving pair on each branch, and the driving mode may be a ball screw (omitted in the figure); when the driving pair moves, the mechanism performs two-rotation one-movement three-degree-of-freedom movement.
Example five
As shown in fig. 5, a two-rotation-one-movement parallel mechanism for driving and fixing comprises a frame (omitted in the figure), a movable platform 1, and two first branches and a third branch connected in parallel between the frame and the movable platform. The structure of the fifth embodiment is similar to that of the fourth embodiment, except that: in the fifth embodiment, the third moving pair guide rail and the horizontal surface are arranged at an acute angle, and the specific angle is determined according to the requirement.
Example six
As shown in fig. 6, a two-rotation-one-movement parallel mechanism for driving and fixing comprises a frame (omitted in the figure), a movable platform 1, and two first branches and a third branch connected in parallel between the frame and the movable platform. The structure of the sixth embodiment is similar to that of the fourth embodiment, except that: in the sixth embodiment, the third moving pair rail is perpendicular to the horizontal plane.
Claims (2)
1. A two-rotation one-movement parallel mechanism with fixed driving comprises a frame, a movable platform (1), and two first branches and one second branch which are connected in parallel between the frame and the movable platform; the method is characterized in that:
the first branch comprises a first movable pair guide rail (11), a first movable pair sliding block (12), a hook hinge (13), a first connecting rod (14) and a first rotating pair (15) which are sequentially connected between the frame and the movable platform; the first rotation axis of the Hooke hinge is parallel to the first auxiliary moving axis, and the second rotation axis of the Hooke hinge connected with the first connecting rod is parallel to the first auxiliary moving axis and perpendicular to the first auxiliary moving axis;
the second branch comprises a second movable pair guide rail (21), a second movable pair sliding block (22), a first ball pair (23), a second connecting rod (24) and a second revolute pair (25) which are sequentially connected between the frame and the movable platform;
in the two first branches, the first rotating axes of the Hooke hinges are overlapped, the first rotating pair axis is perpendicular to the second rotating pair axis in the second branch, and the first moving pair axis in the two first branches is perpendicular to the second moving pair axis in the second branch;
the first moving pair guide rail and the second moving pair guide rail are both arranged parallel to the horizontal plane, or the second moving pair guide rail and the horizontal plane form an acute angle, or the second moving pair guide rail is vertical to the horizontal plane.
2. A two-rotation one-movement parallel mechanism with fixed driving comprises a frame, a movable platform (1), and two first branches and a third branch which are connected in parallel between the frame and the movable platform; the method is characterized in that:
the first branch comprises a first movable pair guide rail (11), a first movable pair sliding block (12), a hook hinge (13), a first connecting rod (14) and a first rotating pair (15) which are sequentially connected between the frame and the movable platform; the first rotation axis of the Hooke hinge is parallel to the first auxiliary moving axis, and the second rotation axis of the Hooke hinge connected with the first connecting rod is parallel to the first auxiliary moving axis and perpendicular to the first auxiliary moving axis;
the third branch comprises a third movable pair guide rail (31), a third movable pair sliding block (32), a third revolute pair (33), a third connecting rod (34) and a second ball pair (35) which are sequentially connected between the frame and the movable platform; the third revolute pair axis is perpendicular to the third revolute pair axis;
the first rotation axes of the Hooke hinges in the two first branches coincide, and the first movable auxiliary axes in the two first branches are perpendicular to the third movable auxiliary axes in the third branches;
the first moving pair guide rail and the third moving pair guide rail are both arranged parallel to the horizontal plane, or the third moving pair guide rail and the horizontal plane form an acute angle, or the third moving pair guide rail is vertical to the horizontal plane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611032065.XA CN106584429B (en) | 2016-11-22 | 2016-11-22 | Two-rotation one-movement parallel mechanism with fixed driving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611032065.XA CN106584429B (en) | 2016-11-22 | 2016-11-22 | Two-rotation one-movement parallel mechanism with fixed driving |
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| CN106584429A CN106584429A (en) | 2017-04-26 |
| CN106584429B true CN106584429B (en) | 2023-09-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108465929B (en) | 2018-01-22 | 2020-03-27 | 清华大学 | Friction stir welding device and friction stir welding system comprising same |
| CN111197693B (en) * | 2018-11-16 | 2021-11-26 | 英业达科技有限公司 | Gas storage device |
| CN110116400A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of PRS-PRU-PUR parallel institution |
| CN110116399A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of Three Degree Of Freedom 2PRU-PSR parallel institution |
| CN113715003A (en) * | 2021-09-16 | 2021-11-30 | 江南大学 | RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts |
| CN114668629B (en) * | 2022-04-22 | 2024-01-12 | 河北工业大学 | Four-degree-of-freedom ankle joint rehabilitation parallel mechanism with closed chain of children |
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