CN108890619B - Novel five-degree-of-freedom series-parallel mechanism with reconfigurable adjusting device - Google Patents
Novel five-degree-of-freedom series-parallel mechanism with reconfigurable adjusting device Download PDFInfo
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- CN108890619B CN108890619B CN201810575480.2A CN201810575480A CN108890619B CN 108890619 B CN108890619 B CN 108890619B CN 201810575480 A CN201810575480 A CN 201810575480A CN 108890619 B CN108890619 B CN 108890619B
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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 belongs to the technical field of hybrid robot processing, and relates to a novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjusting device. The reconfigurable adjusting device comprises five PRR active moving branched chains with the same structure and an intermediate platform. The reconfigurable characteristic of the novel five-degree-of-freedom series-parallel mechanism is realized mainly through the structural inclination angle of the reconfigurable adjusting device; the PUS active motion branched chain and the PRPU passive motion branched chain are mainly used for connecting the middle platform and the movable platform, the tail end movable platform can realize three-dimensional movement and two-dimensional rotation, and the whole hybrid mechanism has a larger movement stroke along the Z axis. The invention has the advantages of both a series mechanism and a parallel mechanism, has the advantages of large working space, high rigidity, good structural symmetry, good motion flexibility, strong bearing capacity and the like, and is suitable for processing large-scale complex structural components in the fields of aerospace, ships, military industry and the like.
Description
Technical Field
The invention belongs to the technical field of hybrid robot machining, and particularly relates to a novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjusting device, which is particularly suitable for occasions with machining requirements such as large working space, high rigidity and the like.
Background
The traditional serial mechanism is widely applied to industrial production due to the advantages of large working space, flexible operation, high response speed and the like, but the structure of the traditional serial mechanism is a serial open chain, and an end operator of the traditional serial mechanism is easy to generate accumulated errors, so that the movement precision and the integral rigidity of the mechanism are reduced; the parallel mechanism has the advantages of high rigidity, high precision, high bearing capacity, small error accumulation, easiness in realizing high-speed machining and the like, but the parallel mechanism also has the defect of small working space. However, aiming at the processing requirements of large working space and high rigidity of the current large complex structure assembly, a single serial mechanism or a single parallel mechanism cannot meet the processing requirements. Therefore, based on the complementary relationship between the advantages and the disadvantages of the serial mechanism and the parallel mechanism, the serial-parallel serial mechanism with the advantages of the serial mechanism and the parallel mechanism is an ideal mechanism for realizing the processing of large complex structural components.
Disclosure of Invention
The invention provides a five-degree-of-freedom series-parallel mechanism with a reconfigurable adjusting device, which fully combines the characteristics of a series mechanism and a parallel mechanism, and has larger moving working space along a Z axis and higher rigidity characteristic by introducing the reconfigurable adjusting device and a passive branched chain. The large-scale complex structure component machining tool is connected with a large-scale precise gantry guide rail in series, can realize the machining of large working space and high rigidity of a large-scale complex structure component, is particularly suitable for machining of large-scale complex structure components in the fields of aerospace, ships, military industry and the like, and has wide engineering application prospect.
The technical scheme adopted by the invention is as follows:
a novel five-degree-of-freedom series-parallel mechanism with a reconfigurable adjusting device comprises the reconfigurable adjusting device, five PUS active motion branched chains 1-4 with the same structure, an intermediate PRPU passive motion branched chain 1-5 and a movable platform 1-6;
the reconfigurable adjusting device is positioned at the upper part of the novel five-degree-of-freedom parallel-serial mechanism, the movable platforms 1-6 are positioned at the lower part of the novel five-degree-of-freedom parallel-serial mechanism, the middle PRPU passive moving branched chain 1-5 is positioned above the movable platforms 1-6, and the five PUS active moving branched chains 1-4 with the same structure are distributed around the middle PRPU passive moving branched chain 1-5;
the reconfigurable adjusting device comprises a fixed platform 1-1, five PRR active movement branched chains 1-2 with the same structure and a middle platform 1-3;
the fixed platform 1-1 is positioned at the upper part of the reconfigurable adjusting device, the five PRR active moving branched chains 1-2 with the same structure are uniformly distributed around the lower part of the side of the fixed platform 1-1, and the lower ends of the PRR active moving branched chains 1-2 are connected with the middle platform 1-3 through a second R pair; the upper ends of the five PUS active motion branched chains 1-4 are respectively connected with the five PRR active motion branched chains 1-2 through a second P pair, and the lower ends of the five PUS active motion branched chains are connected with the movable platform 1-6 through an S pair; the upper end of the middle PRPU passive motion branched chain 1-5 is connected with the middle platform 1-3 through a third P pair, and the lower end is connected with the movable platform 1-6;
the reconfigurable adjusting device also comprises a central bevel gear 1-2-4 and five small bevel gears 1-2-5, wherein the central bevel gear 1-2-4 is positioned below the fixed platform 1-1 and is connected with the center of the fixed platform 1-1; the five small bevel gears 1-2-5 are uniformly distributed around the central bevel gear 1-2-4 and are meshed with the central bevel gear 1-2-4; the five bevel pinions 1-2-5 are respectively connected with the five PRR active motion branched chains 1-2, wherein the P pair is a moving pair, and the S pair is a spherical pair.
On the basis of the technical scheme, the PRR active motion branched chain 1-2 comprises a horizontal support guide rail 1-2-1, two guide rods 1-2-3, a lead screw 1-2-2, an R auxiliary sliding block 1-2-6 and a PRR branched chain connecting rod 1-2-7;
the horizontal support guide rail 1-2-1 is connected with the fixed platform 1-1, the horizontal support guide rail 1-2-1 is connected with the two guide rods 1-2-3 and the screw rod 1-2-2, and the R pair sliding block 1-2-6 is connected with the two guide rods 1-2-3 and the screw rod 1-2-2 through the first P pair; the upper end of the PRR branched chain connecting rod 1-2-7 is connected with the R auxiliary sliding block 1-2-6 through a first R pair, and the lower end of the PRR branched chain connecting rod is connected with the middle platform 1-3 through a second R pair; the axis of the first R pair is parallel to the axis of the second R pair and is vertical to the axis of the first P pair;
the small bevel gear 1-2-5 is connected with one end of the screw rod 1-2-2, which is provided with the key groove 1-2-2-2, through a key;
five small bevel gears 1-2-5 are driven to move synchronously by driving a central bevel gear 1-2-4, and then five R pairs of sliding blocks 1-2-6 are driven to move along the axial direction of a first P pair respectively by five lead screws 1-2-2 which move synchronously, wherein the R pair is a revolute pair.
On the basis of the technical scheme, the PUS active movement branched chain 1-4 comprises a U auxiliary sliding block 1-4-1, a symmetrical cross shaft 1-4-2 and a PUS branched chain connecting rod 1-4-3;
the U pair sliding block 1-4-1 is connected with the PRR branched chain connecting rod 1-2-7 to form a second P pair; the upper end of the PUS branched chain connecting rod 1-4-3 is connected with the U auxiliary sliding block 1-4-1 through the symmetrical cross shaft 1-4-2 to form a first U auxiliary, and the lower end of the PUS branched chain connecting rod is connected with the movable platform 1-6 to form an S auxiliary; the direction of the axis of a first revolute pair of the first U pair is the same as that of the axis of the first R pair, and the direction of the axis of a second revolute pair of the first U pair is vertical to that of the axis of the first revolute pair of the first U pair; wherein the U pair is a universal joint.
On the basis of the technical scheme, the middle PRPU passive motion branched chain 1-5 comprises two supporting seats 1-5-1, a supporting guide rod, a PRPU branched chain sliding block 1-5-2, an upper connecting rod 1-5-5, a lower connecting rod 1-5-6 and an asymmetric cross shaft 1-5-7; the support guide rods comprise a first support guide rod 1-5-3 and two second support guide rods 1-5-4;
the support guide rod is connected with the middle platform 1-3 through the support base 1-5-1 to form a moving guide rail, the upper part of the PRPU branched chain sliding block 1-5-2 is connected with the moving guide rail to form a third P pair, the upper end of the upper connecting rod 1-5-5 is connected with the lower part of the PRPU branched chain sliding block 1-5-2 to form a third R pair, the axial direction of the third R pair is the same as the axial direction of the third P pair, a fourth P pair is formed between the upper part of the lower connecting rod 1-5-6 and the lower part of the upper connecting rod 1-5-5, the axial direction of the fourth P pair is vertical to the axial direction of the third P pair, and the lower part of the lower connecting rod 1-5-6 is connected with the moving platform 1-6 through the asymmetric cross shafts 1-5-7 to form a second U pair; in the second U pair, the axial direction of the first rotating pair connected with the lower connecting rod 1-5-6 and the axial direction of the third R pair are parallel to each other, and the axial direction of the second rotating pair connected with the movable platform 1-6 and the axial direction of the third R pair are perpendicular to each other.
On the basis of the technical scheme, the upper part of one end of the horizontal supporting guide rail 1-2-1 is provided with a horizontal supporting guide rail positioning assembly shaft hole 1-2-1-1, the fixed platform 1-1 passes through the horizontal supporting guide rail positioning assembly shaft hole 1-2-1-1 through the horizontal supporting guide rail assembly shaft 1-1-1, the horizontal supporting guide rail positioning assembly shaft hole end face 1-2-1-2 is aligned with the horizontal supporting guide rail assembly shaft end face 1-1-2 of the horizontal supporting guide rail assembly shaft 1-1-1, and a horizontal assembly face 1-2-1-3 positioned at the upper part of the horizontal supporting guide rail 1-2-1 is parallel to a fixed platform horizontal assembly end face 1-1-4 positioned at the lower part of the middle part of the fixed platform 1-1;
the lower parts of two ends of the horizontal support guide rail 1-2-1 are provided with a pair of coaxial lead screw assembly holes 1-2-1-4 (one lead screw assembly hole 1-2-1-4 is positioned at one end of the horizontal support guide rail 1-2-1, the other lead screw assembly hole 1-2-1-4 is positioned at the other end of the horizontal support guide rail 1-2-1), a pair of coaxial guide rod first assembly holes 1-2-1-5 (one guide rod first assembly hole 1-2-1-5 is positioned at one end of the horizontal support guide rail 1-2-1, the other guide rod first assembly hole 1-2-1-5 is positioned at the other end of the horizontal support guide rail 1-2-1) and a pair of coaxial guide rod second assembly holes 1-2-1-6 (one guide rod first assembly hole 1-2-1-6) The assembling hole 1-2-1-6 is positioned at one end of the horizontal supporting guide rail 1-2-1, the first assembling hole 1-2-1-6 of the other guide rod is positioned at the other end of the horizontal supporting guide rail 1-2-1), one end of the screw 1-2-2 is assembled with the screw assembling hole 1-2-1-4, the other end is provided with a key groove 1-2-2-2 and penetrates through the other screw assembling hole 1-2-1-4; two ends of a guide rod assembly shaft 1-2-3-1 of one guide rod 1-2-3 are respectively assembled with guide rod first assembly holes 1-2-1-5 at two ends, two ends of a guide rod assembly shaft 1-2-3-1 of the other guide rod 1-2-3 are respectively assembled with guide rod second assembly holes 1-2-1-6 at two ends, and a guide rod assembly end surface 1-2-3-2 of the guide rod 1-2-3 is aligned with a horizontal support guide rail assembly end surface 1-2-1-7 at the outer side of the horizontal support guide rail 1-2-1; the upper part of the R auxiliary sliding block 1-2-6 is provided with a first assembling threaded hole 1-2-6-1 of the R auxiliary sliding block, a second assembling hole 1-2-6-2 of the R auxiliary sliding block and a third assembling hole 1-2-6-3 of the R auxiliary sliding block; the R auxiliary sliding block 1-2-6 is screwed into a screw thread part 1-2-2-1 of the screw rod 1-2-2 through a first assembling threaded hole 1-2-6-1 of the R auxiliary sliding block and is connected with the screw rod 1-2-2, a guide rod assembling shaft 1-2-3-1 penetrates through a second assembling hole 1-2-6-2 of the R auxiliary sliding block and is connected with one guide rod 1-2-3, another guide rod assembling shaft 1-2-3-1 penetrates through a third assembling hole 1-2-6-3 of the R auxiliary sliding block and is connected with the other guide rod 1-2-3 to form a first P pair;
the upper end of the PRR branched chain connecting rod 1-2-7 is provided with a PRR branched chain connecting rod first assembling shaft hole 1-2-7-1, the lower part of the R auxiliary sliding block 1-2-6 penetrates through the PRR branched chain connecting rod first assembling shaft hole 1-2-7-1 through an R auxiliary sliding block assembling shaft 1-2-6-4 and is connected with the PRR branched chain connecting rod 1-2-7 to form a first R pair; the end face 1-2-6-5 of the R auxiliary sliding block assembly shaft 1-2-6-4 is aligned with the end face 1-2-7-2 of the first assembly shaft hole of the PRR branched chain connecting rod; the lower end of the PRR branched chain connecting rod 1-2-7 is provided with a PRR branched chain connecting rod second assembling shaft hole 1-2-7-3, the edge of the middle platform 1-3 is uniformly provided with five middle platform assembling shafts 1-3-1, the middle platform assembling shafts 1-3-1 penetrate through the PRR branched chain connecting rod second assembling shaft hole 1-2-7-3 and are connected with the PRR branched chain connecting rod 1-2-7 to form a second R pair, and the middle platform assembling shaft end face 1-3-2 of the middle platform assembling shaft 1-3-1 is aligned with the PRR branched chain connecting rod second assembling shaft hole end face 1-2-7-4.
On the basis of the technical scheme, a central bevel gear assembling hole 1-2-4-1 is formed in the center of the central bevel gear 1-2-4, a key groove is formed in the central bevel gear assembling hole 1-2-4-1, and the fixed platform 1-1 is connected with the central bevel gear 1-2-4 in a key way by penetrating through the central bevel gear assembling hole 1-2-4-1 through a central bevel gear assembling shaft 1-1-3 provided with the key groove; a bevel pinion assembly hole 1-2-5-1 is formed in the center of the bevel pinion 1-2-5, one end, provided with a key groove 1-2-2-2, of the screw rod 1-2-2 penetrates through the bevel pinion assembly hole 1-2-5-1 to be in key connection with the bevel pinion 1-2-5, and the tooth surface 1-2-4-1 of the central bevel gear 1-2-4 is meshed with the tooth surface 1-2-5-2 of the bevel pinion 1-2-5.
On the basis of the technical scheme, the middle of the PRR branched chain connecting rod 1-2-7 is square, a square hole is formed in the upper portion of the U auxiliary sliding block 1-4-1, the upper side assembling surface 1-2-7-5 in the middle of the PRR branched chain connecting rod 1-2-7 is overlapped with the first assembling surface 1-4-1-1 of the U auxiliary sliding block on the upper side in the square hole of the U auxiliary sliding block 1-4-1, the left side assembling surface 1-2-7-6 in the middle of the PRR branched chain connecting rod 1-2-7 is overlapped with the second assembling surface 1-4-1-2 of the U auxiliary sliding block on the left side in the square hole of the U auxiliary sliding block 1-4-1 to form a second P pair;
the symmetrical cross shafts 1-4-2 comprise a first symmetrical cross shaft assembly shaft 1-4-2-1 and a second symmetrical cross shaft assembly shaft 1-4-2-3 which are perpendicular to each other, the lower part of the U auxiliary sliding block 1-4-1 is provided with a U auxiliary sliding block assembly hole 1-4-1-3, the symmetrical cross shaft 1-4-2 passes through the U auxiliary sliding block assembly hole 1-4-1-3 through the symmetrical cross shaft first assembly shaft 1-4-2-1, is connected with the U auxiliary sliding block 1-4-1 to form a first rotating pair of a first U auxiliary, the end surface 1-4-2-2 of the first assembly shaft of the symmetrical cross shaft 1-4-2-1 is aligned with the end surface 1-4-1-3 of the assembly hole of the U auxiliary sliding block; the upper end of the PUS branched chain connecting rod 1-4-3 is provided with a PUS branched chain connecting rod assembling hole 1-4-3-1, the symmetrical cross shaft 1-4-2 penetrates through the PUS branched chain connecting rod assembling hole 1-4-3-1 through a symmetrical cross shaft second assembling shaft 1-4-2-3 to be connected with the PUS branched chain connecting rod 1-4-3 to form a second revolute pair of the first U pair, and the end surface 1-4-2-4 of the symmetrical cross shaft second assembling shaft 1-4-2-3 is aligned with the end surface 1-4-3-2 of the PUS branched chain connecting rod assembling hole;
the lower end of the PUS branched chain connecting rod 1-4-3 is provided with a PUS branched chain connecting rod S pair assembling spherical surface 1-4-3-3, the periphery of the upper part of the movable platform 1-6 is uniformly provided with five movable platform S pair assembling spherical surfaces 1-6-1, and the movable platform S pair assembling spherical surfaces 1-6-1 are respectively assembled and connected with the five PUS branched chain connecting rod S pair assembling spherical surfaces 1-4-3-3 to form S pairs.
On the basis of the technical scheme, a square hole is formed in the middle of the middle platform 1-3, bosses are respectively arranged above the outer sides of two opposite sides of the square hole of the middle platform 1-3, and a first middle platform assembling hole 1-3-3 and a second middle platform assembling hole 1-3-4 are formed in the upper part of each boss; the upper part of the supporting seat 1-5-1 is provided with a first assembling hole 1-5-1-1 of the supporting seat, and the lower part is provided with a second assembling hole 1-5-1-2 of the supporting seat and a third assembling hole 1-5-1-3 of the supporting seat; two ends of a first support guide rod assembly shaft 1-5-3-1 of the first support guide rod 1-5-3 respectively penetrate through first assembly holes 1-5-1-1 of the support seat and are connected with the support seat 1-5-1; the end face 1-5-3-2 of the first support guide rod assembly shaft of the first support guide rod 1-5-3 is aligned with the assembly end face 1-5-1-4 of the outer side of the support seat 1-5-1; two ends of a second support guide rod assembly shaft 1-5-4-1 of one second support guide rod 1-5-4 respectively penetrate through a second assembly hole 1-5-1-2 of the support seat, then penetrate through a first assembly hole 1-3-3 of the middle platform 1-3 and are connected with the support seat 1-5-1 and the middle platform 1-3; two ends of a second support guide rod assembly shaft 1-5-4-1 of the other second support guide rod 1-5-4 respectively penetrate through a third assembly hole 1-5-1-3 of the support seat and then penetrate through a second assembly hole 1-3-4 of the middle platform on the middle platform 1-3 to be connected with the support seat 1-5-1 and the middle platform 1-3; the assembly end face 1-5-1-4 on the outer side of the support seat of one support seat 1-5-1 is superposed with the first assembly face 1-3-5 of the middle platform on the inner side of the boss on one side of the square hole on the middle platform 1-3, the assembly end face 1-5-1-4 on the outer side of the support seat of the other support seat 1-5-1 is superposed with the second assembly face 1-3-6 of the middle platform on the inner side of the boss on the other side of the square hole on the middle platform 1-3, and the assembly shaft end face 1-5-4-2 of the second support guide rod 1-5-4 is aligned with the third assembly face 1-3-7 of the middle platform on the outer side of the boss above the middle platform 1-3;
the upper part of the PRPU branched chain sliding block 1-5-2 is provided with a PRPU branched chain sliding block first assembling hole 1-5-2-1, the middle part is provided with a PRPU branched chain sliding block second assembling hole 1-5-2-2 and a PRPU branched chain sliding block third assembling hole 1-5-2-3, and the lower part is provided with a PRPU branched chain sliding block fourth assembling hole 1-5-2-4; the first support guide rod 1-5-3 penetrates through the first assembling hole 1-5-2-1 of the PRPU branched chain sliding block and is connected with the PRPU branched chain sliding block 1-5-2; two second support guide rods 1-5-4 respectively penetrate through the PRPU branched chain sliding block second assembly holes 1-5-2-2 and the PRPU branched chain sliding block third assembly holes 1-5-2-3 and are connected with the PRPU branched chain sliding block 1-5-2 to form a third P pair; the upper end of the upper connecting rod 1-5-5 penetrates through a square hole of the middle platform 1-3, penetrates through a fourth assembling hole 1-5-2-4 of the PRPU branched chain sliding block through an upper connecting rod assembling shaft 1-5-5-1 and is connected with the PRPU branched chain sliding block to form a third R pair, and the end face 1-5-2-5 of the fourth assembling hole of the PRPU branched chain sliding block is aligned with the end face 1-5-5-2 of the upper connecting rod assembling shaft 1-5-5-1;
an upper connecting rod assembly hole 1-5-5-3 is formed in the center of the upper connecting rod 1-5-5, a lower connecting rod assembly shaft 1-5-6-1 of the lower connecting rod 1-5-6 penetrates through the upper connecting rod assembly hole 1-5-5-3, and the upper connecting rod 1-5-5 is connected to form a fourth P pair;
the asymmetric cross shafts 1-5-7 comprise asymmetric cross shaft first assembly shafts 1-5-7-1 and asymmetric cross shaft second assembly shafts 1-5-7-2 which are perpendicular to each other, lower connecting rod assembly holes 1-5-6-2 are formed in the lower ends of the lower connecting rods 1-5-6, and movable platform middle assembly holes 1-6-2 are formed in the middles of the movable platforms 1-6; the asymmetric cross shaft 1-5-7 penetrates through the lower connecting rod assembly hole 1-5-6-2 through the asymmetric cross shaft first assembly shaft 1-5-7-1 and is connected with the lower connecting rod 1-5-6, and penetrates through the movable platform middle assembly hole 1-6-2 through the asymmetric cross shaft second assembly shaft 1-5-7-2 and is connected with the movable platform 1-6 to form a second U pair; the center lines 1-5-7-3 of the asymmetric cross shafts 1-5-7, the axes of the lower connecting rods 1-5-6 and the symmetric center lines 1-6-3 of the movable platforms 1-6 are coaxial.
On the basis of the technical scheme, when the position of an R auxiliary sliding block 1-2-6 on a lead screw 1-2-2 is fixed, the position of a PRR branched chain connecting rod 1-2-7 is fixed, the position of an intermediate platform 1-3 is fixed, a reconfigurable adjusting device is fixed, the PRR branched chain connecting rod 1-2-7 is used as a fixed platform for the active movement of a PUS branched chain 1-4 to move, and the intermediate platform 1-3 is used as a fixed platform for the passive movement of an intermediate PRPU branched chain 1-5 to move;
the R auxiliary sliding block 1-2-6 moves on the lead screw 1-2-2 to adjust an included angle (a structural inclination angle of a reconfigurable adjusting device) between the horizontal supporting guide rail 1-2-1 and the PRR branched chain connecting rod 1-2-7, and the movement of the PRR branched chain connecting rod 1-2-7 drives the middle platform 1-3 to move, namely the position of a fixed platform for the movement of the PUS active movement branched chain 1-4 and the middle PRPU passive movement branched chain 1-5 is changed, so that the reconfigurable characteristic of the novel five-degree-of-freedom hybrid mechanism is realized.
On the basis of the technical scheme, the novel five-degree-of-freedom series-parallel mechanism with the reconfigurable adjusting device further comprises processing heads 1-7, wherein the processing heads 1-7 are located below the movable platforms 1-6 and are connected with the movable platforms 1-6; the screw shaft 1-2-2 is a ball screw shaft.
The reconfigurable adjusting device only has the freedom degree of movement along a Z axis (vertical direction), five PRR active moving branched chains 1-2 with the same structure drive five bevel pinions 1-2-5 through central bevel gears 1-2-4 to realize synchronous movement, the axis of a first R pair in the PRR active moving branched chains 1-2 is parallel to the axis of a second R pair and is vertical to the axis of the first P pair, the five PRR active moving branched chains with the same structure are uniformly distributed around a fixed platform 1-1, and the reconfigurable adjusting device is a 5PRR parallel mechanism.
The middle PRPU passive motion branched chain 1-5 for connecting the middle platform 1-3 and the movable platform 1-6 can improve the rigidity of the parallel mechanism, and restricts the freedom degree of the movable platform 1-6 rotating around the Z axis, the third P pair moves passively, the axis direction of the third R pair is parallel to the axis direction of the third P pair, the axis direction of the fourth P pair is vertical to the axis direction of the third P pair, the axis of the first rotating pair of the second U pair is parallel to the axis direction of the third R pair, and the middle PRPU passive motion branched chain 1-5 and the five PUS active motion branched chains 1-4 form the five-freedom-degree 5PUS-PRPU parallel mechanism together.
The novel five-degree-of-freedom series-parallel mechanism with the reconfigurable adjusting device has a large working space, ensures the integral rigidity of the mechanism, can meet the requirements of large working space and high rigidity of large complex structure components, and realizes five-degree-of-freedom movement (the movement of rotation around a Z axis is limited) of the processing heads 1-7.
The beneficial technical effects are specifically described as follows:
(1) the mechanism has good symmetry, compact structure, simple processing and assembly and easy realization of modularization;
(2) the reconfigurable adjusting device has the reconfigurable characteristic that the movement of the reconfigurable adjusting device can change the structural inclination angle of the 5PRR parallel mechanism, so that the parallel mechanism has the reconfigurable characteristic;
(3) the large working space can realize large movement along the Z-axis direction through the motion superposition of the reconfigurable adjusting device and the 5PUS-PRPU parallel mechanism;
(4) the rigidity is high, and the intermediate PRPU passive motion branched chain is introduced between the reconfigurable adjusting device and the 5PUS-PRPU parallel mechanism, so that the integral rigidity of the mechanism can be effectively improved.
Drawings
The invention has the following drawings:
FIG. 1 is a schematic structural diagram of a five-degree-of-freedom series-parallel mechanism with a reconfigurable adjusting device according to the invention
FIG. 2 is a schematic structural view of a stationary platen 1-1 according to the present invention
FIG. 3 is a schematic view of the overall structure of the PRR active kinematic branched chain 1-2 of the present invention
FIG. 4 is a schematic structural view of the horizontal support rail 1-2-1 of the present invention
FIG. 5 is a schematic view of the structure of the lead screw 1-2-2 of the present invention
FIG. 6 is a schematic view of the structure of the guide bar 1-2-3 of the present invention
FIG. 7 is a schematic structural view of a central bevel gear 1-2-4 according to the present invention
FIG. 8 is a schematic view of the construction of the bevel pinion 1-2-5 of the present invention
FIG. 9 is a schematic structural view of the R auxiliary sliding block 1-2-6 of the present invention
FIG. 10 is a schematic view of the structure of PRR branched chain link 1-2-7 of the present invention
FIG. 11 is a schematic structural view of an intermediate platform 1-3 of the present invention
FIG. 12 is a schematic view of the overall structure of the PUS active kinematic branched chains 1 to 4 of the present invention
FIG. 13 is a schematic structural view of a U-shaped auxiliary slider 1-4-1 according to the present invention
FIG. 14 is a schematic view of a symmetrical cross 1-4-2 of the present invention
FIG. 15 is a schematic view of the structure of the PUS branched-chain connecting rod 1-4-3 of the present invention
FIG. 16 is a schematic view of the overall structure of the intermediate PRPU passive moving branches 1-5 of the present invention
FIG. 17 is a schematic view of the structure of the support base 1-5-1 of the present invention
FIG. 18 is a schematic structural view of PRPU branched chain slider 1-5-2 of the present invention
FIG. 19 is a schematic view of the structure of the first support guide bar 1-5-3 of the present invention
FIG. 20 is a schematic view of the second support and guide bar 1-5-4 of the present invention
FIG. 21 is a schematic view of the structure of the upper connecting rod 1-5-5 of the present invention
FIG. 22 is a schematic view of the structure of the lower connecting rod 1-5-6 of the present invention
FIG. 23 is a schematic view of the structure of an asymmetric cross shaft 1-5-7 of the present invention
FIG. 24 is a schematic structural view of the movable platform 1-6 of the present invention
Reference numerals:
1-1 fixed platform, 1-2PRR active motion branched chain, 1-3 intermediate platform, 1-4PUS active motion branched chain, 1-5 intermediate PRPU passive motion branched chain, 1-6 movable platform, 1-7 processing head, 1-1-1 horizontal support guide rail assembly shaft, 1-1-2 horizontal support guide rail assembly shaft end face, 1-1-3 central bevel gear assembly shaft, 1-1-4 fixed platform horizontal assembly end face, 1-2-1 horizontal support guide rail, 1-2-2 lead screw, 1-2-3 guide rod, 1-2-4 central bevel gear, 1-2-5 small bevel gear, 1-2-6R auxiliary slide block, 1-2-7PRR branched chain connecting rod, 1-2-1-1 horizontal support guide rail positioning assembly shaft hole, 1-2-1-2 horizontal support guide rail positioning assembly shaft hole end face, 1-2-1-3 horizontal assembly face, 1-2-1-4 lead screw assembly holes, 1-2-1-5 guide rod first assembly holes, 1-2-1-6 guide rod second assembly holes, 1-2-1-7 horizontal support guide rail assembly end face, 1-2-2-1 lead screw thread part and 1-2-2-2 key groove; 1-2-3-1 guide rod assembly shaft, 1-2-3-2 guide rod assembly end face, 1-2-4-1 central bevel gear assembly hole, 1-2-4-2 central bevel gear tooth face, 1-2-5-1 small bevel gear assembly hole, 1-2-5-2 small bevel gear tooth face, 1-2-6-1R auxiliary slide block first assembly hole, 1-2-6-2R auxiliary slide block second assembly hole, 1-2-6-3R auxiliary slide block third assembly hole, 1-2-6-4R auxiliary slide block assembly shaft, 1-2-6-5R auxiliary slide block assembly shaft end face, 1-2-7-1PRR branched chain connecting rod first assembly shaft hole, 1-2-7-2PRR branched chain connecting rod first assembling shaft hole end face, 1-2-7-3PRR branched chain connecting rod second assembling shaft hole, 1-2-7-4PRR branched chain connecting rod second assembling shaft hole end face, 1-2-7-5 upper side assembling face, 1-2-7-6 left side assembling face, 1-3-1 intermediate platform assembling shaft, 1-3-2 intermediate platform assembling shaft end face, 1-3-3 intermediate platform first assembling hole, 1-3-4 intermediate platform second assembling hole, 1-3-5 intermediate platform first assembling face, 1-3-6 intermediate platform second assembling face, 1-3-7 intermediate platform third assembling face, 1-4-1U auxiliary sliding block, 1-4-2 symmetrical cross shafts, 1-4-3PUS branched chain connecting rods; 1-4-1-1U auxiliary sliding block first assembling surface, 1-4-1-2U auxiliary sliding block second assembling surface, 1-4-1-3U auxiliary sliding block assembling hole, 1-4-1-4U auxiliary sliding block assembling hole end surface, 1-4-2-1 symmetrical cross axle first assembling shaft, 1-4-2-2 symmetrical cross axle first assembling shaft end surface, 1-4-2-3 symmetrical cross axle second assembling shaft, 1-4-2-4 symmetrical cross axle second assembling shaft end surface, 1-4-3-1PUS branched chain connecting rod assembling hole, 1-4-3-2PUS branched chain connecting rod assembling hole end surface, 1-4-3-3PUS branched chain connecting rod S auxiliary assembling spherical surface, 1-5-1 supporting seat, 1-5-2PRPU branched chain sliding block, 1-5-3 first supporting guide rod, 1-5-4 second supporting guide rod, 1-5-5 upper connecting rod, 1-5-6 lower connecting rod, 1-5-7 asymmetric cross axle, 1-5-1-1 supporting seat first assembling hole, 1-5-1-2 supporting seat second assembling hole, 1-5-1-3 supporting seat third assembling hole, 1-5-1-4 supporting seat outer side assembling end face, 1-5-2-1PRPU branched chain sliding block first assembling hole, 1-5-2-2PRPU branched chain sliding block second assembling hole, 1-5-2-3PRPU branched chain sliding block third assembling hole, 1-5-2-4PRPU branched chain sliding block fourth assembling hole, 1-5-2-5PRPU branched chain sliding block fourth assembling hole end face, 1-5-3-1 first supporting guide rod assembling shaft, 1-5-3-2 first supporting guide rod assembling shaft end face, 1-5-4-1 second supporting guide rod assembling shaft, 1-5-4-2 second supporting guide rod assembling shaft end face, 1-5-5-1 upper connecting rod assembling shaft, 1-5-5-2 upper connecting rod assembling shaft end face, 1-5-5-3 upper connecting rod assembling hole, 1-5-6-1 lower connecting rod assembling shaft, 1-5-6-2 lower connecting rod assembling hole, 1-5-7-1 asymmetric cross shaft first assembling shaft, 1-5-7-2 asymmetric cross shaft second assembly shaft, 1-5-7-3 asymmetric cross shaft center line, 1-6-1 movable platform S pair assembly spherical surface, 1-6-2 movable platform middle assembly hole and 1-6-3 movable platform symmetric center line.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and embodiments.
A novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjusting device, as shown in fig. 1:
a novel five-degree-of-freedom series-parallel mechanism with a reconfigurable adjusting device comprises a fixed platform 1-1 (shown in figure 2) of the reconfigurable adjusting device, a PRR active motion branched chain 1-2 of the reconfigurable adjusting device, a middle platform 1-3 of the reconfigurable adjusting device, a PUS active motion branched chain 1-4, a middle PRPU passive motion branched chain 1-5, a movable platform 1-6 and a processing head 1-7.
As shown in fig. 3-11, the structure diagrams are respectively a PRR active movement branched chain 1-2, a horizontal support guide rail 1-2-1, a screw 1-2-2, a guide rod 1-2-3, a central bevel gear 1-2-4, a bevel pinion 1-2-5, an R auxiliary slide block 1-2-6, a PRR branched chain connecting rod 1-2-7 and an intermediate platform 1-3.
The connection mode is as follows: the horizontal supporting guide rail 1-2-1 is coaxially, aligned and parallelly assembled with the horizontal supporting guide rail assembling shaft 1-1-1, the horizontal supporting guide rail assembling shaft end face 1-1-2 and the horizontal assembling face 1-2-1-3 of the fixed platform 1-1 through the horizontal supporting guide rail positioning assembling shaft hole 1-2-1-1, the horizontal supporting guide rail assembling shaft end face 1-1-2 and the horizontal assembling face 1-1-4 respectively.
The method comprises the steps of assembling a screw thread part 1-2-2-1 of a screw 1-2-2 with a first assembling threaded hole 1-2-6-1 of an R auxiliary sliding block 1-2-6 respectively, and assembling two ends of the screw 1-2-2 with screw assembling holes 1-2-1-4 of a horizontal supporting guide rail 1-2-1.
The guide rod assembling shafts 1-2-3-1 of the two guide rods 1-2-3 are respectively assembled with the second assembling holes 1-2-6-2 of the R auxiliary sliding block and the third assembling holes 1-2-6-3 of the R auxiliary sliding block 1-2-6, and are respectively assembled with the first assembling holes 1-2-1-5 of the guide rods and the second assembling holes 1-2-1-6 of the guide rods of the horizontal supporting guide rail 1-2-1, and meanwhile, the guide rod assembling end surfaces 1-2-3-2 of the guide rods 1-2-3 are aligned with the horizontal supporting guide rail assembling end surfaces 1-2-1-7 of the horizontal supporting guide rail 1-2-1.
The central bevel gear assembly hole 1-2-4-1 of the central bevel gear 1-2-4 is matched with the central bevel gear assembly shaft 1-1-3 of the fixed platform 1-1 through a key to realize the positioning of the central bevel gear 1-2-4, assembling the small bevel gear assembling hole 1-2-5-1 of the small bevel gear 1-2-5 with the key groove 1-2-2-2 of the screw rod 1-2-2 through a key, matching the tooth surface 1-2-5-2 of the small bevel gear with the tooth surface 1-2-4-2 of the central bevel gear, the central bevel gear 1-2-4 drives the small bevel gear 1-2-5, and finally the R pair of sliding blocks 1-2-6 moves along the axial direction of the first P pair;
the R auxiliary sliding block assembly shaft 1-2-6-4 and the R auxiliary sliding block assembly shaft end face 1-2-6-5 of the R auxiliary sliding block 1-2-6 are respectively coaxially and aligned with the first assembly shaft hole 1-2-7-1 of the PRR branched chain connecting rod and the first assembly shaft hole end face 1-2-7-2 of the PRR branched chain connecting rod 1-2-7 to form a first R pair.
The end face 1-2-7-4 of the PRR branched chain connecting rod second assembling shaft hole 1-2-7-3 of the PRR branched chain connecting rod 1-2-7, the middle platform assembling shaft 1-3-1 of the middle platform 1-3 and the end face 1-3-2 of the middle platform assembling shaft are respectively assembled coaxially and in alignment to form a second R pair; similarly, the remaining 4PRR active kinematic branches 1-2 are connected as described above.
As shown in fig. 12-15 and fig. 24, the structural diagrams of the PUS active movement branched chain 1-4, the U auxiliary sliding block 1-4-1, the symmetrical cross axle 1-4-2, the PUS branched chain connecting rod 1-4-3 and the movable platform 1-6 are respectively shown.
The connection mode is as follows: the U auxiliary sliding block 1-4-1 is assembled with an upper side assembling face 1-2-7-5 and a left side assembling face 1-2-7-6 of the PRR branched chain connecting rod 1-2-7 respectively through a first assembling face 1-4-1-1 and a second assembling face 1-4-1-2 of the U auxiliary sliding block to form a second P pair; through the matching of the symmetrical cross axle first assembly axle 1-4-2-1 and the symmetrical cross axle first assembly axle end surface 1-4-2-2 of the symmetrical cross axle 1-4-2 with the U auxiliary slide block assembly hole 1-4-1-3 and the U auxiliary slide block assembly hole end surface 1-4-1-4 of the U auxiliary slide block 1-4-1, respectively, the symmetrical cross axle second assembly axle 1-4-2-3 and the symmetrical cross axle second assembly axle end surface 1-4-2-4 of the symmetrical cross axle 1-4-2-4 are respectively matched with the PUS branched chain connecting rod assembly hole 1-4-3-1 and the PUS branched chain connecting rod assembly hole end surface 1-4-3-2 of the PUS branched chain connecting rod 1-4-3, forming a first U pair;
a PUS branched chain connecting rod S pair assembling spherical surface 1-4-3-3 of the PUS branched chain connecting rod 1-4-3 is matched with a movable platform S pair assembling spherical surface 1-6-1 of the movable platform 1-6 to form an S pair; similarly, the other 4PUS active kinematic branches 1-4 are connected as described above.
As shown in fig. 16-23, the structure diagrams of the middle PRPU passive movement branched chain 1-5, the support seat 1-5-1, the PRPU branched chain slider 1-5-2, the first support guide rod 1-5-3, the second support guide rod 1-5-4, the upper connecting rod 1-5-5, the lower connecting rod 1-5-6 and the asymmetric cross shaft 1-5-7 are respectively shown.
The connection mode is as follows: wherein the second assembling hole 1-5-1-2, the third assembling hole 1-5-1-3 and the outer assembling end surface 1-5-1-4 of one support seat 1-5-1 are respectively matched with the first assembling hole 1-3-3, the second assembling hole 1-3-4 and the first assembling surface 1-3-5 of the middle platform 1-3, the second assembling hole 1-5-1-2, the third assembling hole 1-5-1-3 and the outer assembling end surface 1-5-1-4 of the other support seat 1-5-1 are respectively matched with the first assembling hole 1-3-3 of the middle platform 1-3, The second assembly hole 1-3-4 of the middle platform is matched with the second assembly surface 1-3-6 of the middle platform; through the matching of a first support guide rod assembly shaft 1-5-3-1 of a first support guide rod 1-5-3 and a second support guide rod assembly shaft 1-5-4-1 of two second support guide rods 1-5-4 with a first assembly hole 1-5-1-1 of a supporting seat, a second assembly hole 1-5-1-2 of the supporting seat and a third assembly hole 1-5-1-3 of the supporting seat 1-5-1 respectively, and simultaneously forms coaxial matching with a PRPU branched chain slider first assembly hole 1-5-2-1, a PRPU branched chain slider second assembly hole 1-5-2-2 and a PRPU branched chain slider third assembly hole 1-5-2-3 of a PRPU branched chain slider 1-5-2-2 respectively, and the end surface 1-5-3-2 of the first support guide rod assembly shaft of the first support guide rod 1-5-3 and the end surface 1-5-4-2 of the second support guide rod assembly shaft of the second support guide rod 1-5-4 are respectively superposed with the assembly end surface 1-5-1-4 of the outer side of the support seat 1-5-1 and the third assembly surface 1-3-7 of the middle platform 1-3 of the middle platform to form a third P pair, and finally the PRPU branched chain sliding block 1-5-2 moves along the axial direction of the third P pair; an upper connecting rod assembly shaft 1-5-5-1 and an upper connecting rod assembly shaft end face 1-5-5-2 of the upper connecting rod 1-5-5 are coaxially and aligned with a PRPU branched chain slider fourth assembly hole 1-5-2-4 and a PRPU branched chain slider fourth assembly hole end face 1-5-2-5 of the PRPU branched chain slider 1-5-2 respectively to form a third R pair; a lower connecting rod assembly shaft 1-5-6-1 of the lower connecting rod 1-5-6 is coaxially matched with an upper connecting rod assembly hole 1-5-5-3 of the upper connecting rod 1-5-5 to form a fourth P pair; and the axial line of the lower connecting rod assembly shaft 1-5-6-1 of the lower connecting rod 1-5-6 is parallel to the axial line of the upper connecting rod assembly shaft 1-5-5-1 of the upper connecting rod 1-5-5;
the first assembling shaft 1-5-7-1 of the asymmetric cross shaft 1-5-7 is coaxially matched with the lower connecting rod assembling hole 1-5-6-2 of the lower connecting rod 1-5-6, and the axis of the lower connecting rod assembling shaft 1-5-6-1 of the lower connecting rod 1-5-6 is superposed with the central line 1-5-7-3 of the asymmetric cross shaft 1-5-7; meanwhile, a second assembly shaft 1-5-7-2 of the asymmetric cross shaft 1-5-7 is coaxially matched with a middle assembly hole 1-6-2 of a movable platform of the movable platform 1-6, and a symmetric central line 1-6-3 of the movable platform 1-6 is superposed with a central line 1-5-7-3 of the asymmetric cross shaft to form a second U pair.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations and modifications can be made on the basis of the above description, and all embodiments cannot be exhaustive, and obvious variations and modifications may be made within the scope of the present invention.
Those not described in detail in this specification are within the knowledge of those skilled in the art.
Claims (7)
1. A novel five-degree-of-freedom series-parallel mechanism with a reconfigurable adjusting device is characterized by comprising: a reconfigurable adjusting device, five PUS active motion branched chains (1-4) with the same structure, a middle PRPU passive motion branched chain (1-5) and a movable platform (1-6);
the reconfigurable adjusting device is positioned at the upper part of the novel five-degree-of-freedom hybrid mechanism, the movable platform (1-6) is positioned at the lower part of the novel five-degree-of-freedom hybrid mechanism, the middle PRPU passive moving branched chain (1-5) is positioned above the movable platform (1-6), and the five PUS active moving branched chains (1-4) with the same structure are distributed around the middle PRPU passive moving branched chain (1-5);
the reconfigurable adjusting device comprises a fixed platform (1-1), five PRR active movement branched chains (1-2) with the same structure and a middle platform (1-3);
the fixed platform (1-1) is positioned at the upper part of the reconfigurable adjusting device, the five PRR active moving branched chains (1-2) with the same structure are uniformly distributed around the lower part of the fixed platform (1-1), and the lower ends of the PRR active moving branched chains (1-2) are connected with the middle platform (1-3) through a second R pair; the upper ends of the five PUS active motion branched chains (1-4) are respectively connected with the five PRR active motion branched chains (1-2) through a second P pair, and the lower ends of the five PUS active motion branched chains are connected with the movable platform (1-6) through an S pair; the upper end of the middle PRPU passive motion branched chain (1-5) is connected with the middle platform (1-3) through a third P pair, and the lower end of the middle PRPU passive motion branched chain is connected with the movable platform (1-6);
the reconfigurable adjusting device further comprises a central bevel gear (1-2-4) and five small bevel gears (1-2-5), wherein the central bevel gear (1-2-4) is positioned below the fixed platform (1-1) and is connected with the center of the fixed platform (1-1); the five small bevel gears (1-2-5) are uniformly distributed around the central bevel gear (1-2-4) and are meshed with the central bevel gear (1-2-4); the five small bevel gears (1-2-5) are respectively connected with five PRR active motion branched chains (1-2), wherein a P pair is a moving pair, and an S pair is a spherical pair;
the PRR active motion branched chain (1-2) comprises a horizontal support guide rail (1-2-1), two guide rods (1-2-3), a lead screw (1-2-2), an R auxiliary sliding block (1-2-6) and a PRR branched chain connecting rod (1-2-7);
the horizontal supporting guide rail (1-2-1) is connected with the fixed platform (1-1), the horizontal supporting guide rail (1-2-1) is connected with the two guide rods (1-2-3) and the screw rod (1-2-2), and the R pair sliding block (1-2-6) is connected with the two guide rods (1-2-3) and the screw rod (1-2-2) through the first P pair; the upper end of the PRR branched chain connecting rod (1-2-7) is connected with the R auxiliary sliding block (1-2-6) through a first R pair, and the lower end of the PRR branched chain connecting rod is connected with the middle platform (1-3) through a second R pair; the axis of the first R pair is parallel to the axis of the second R pair and is vertical to the axis of the first P pair;
the small bevel gear (1-2-5) is connected with one end of the screw rod (1-2-2) provided with the key groove (1-2-2-2) through a key;
five small bevel gears (1-2-5) are synchronously driven to move by driving a central bevel gear (1-2-4), and then five R auxiliary sliding blocks (1-2-6) are respectively driven to move along the axis direction of a first P pair by five screw rods (1-2-2) which synchronously move, wherein the R pair is a rotating pair;
the PUS active motion branched chain (1-4) comprises a U auxiliary sliding block (1-4-1), a symmetrical cross shaft (1-4-2) and a PUS branched chain connecting rod (1-4-3);
the U pair sliding block (1-4-1) is connected with the PRR branched chain connecting rod (1-2-7) to form a second P pair; the upper end of the PUS branched chain connecting rod (1-4-3) is connected with a U auxiliary sliding block (1-4-1) through a symmetrical cross shaft (1-4-2) to form a first U auxiliary, and the lower end of the PUS branched chain connecting rod is connected with a movable platform (1-6) to form an S auxiliary; the direction of the axis of a first revolute pair of the first U pair is the same as that of the axis of the first R pair, and the direction of the axis of a second revolute pair of the first U pair is vertical to that of the axis of the first revolute pair of the first U pair; wherein the U pair is a universal joint;
the middle PRPU passive motion branched chain (1-5) comprises two supporting seats (1-5-1), a supporting guide rod, a PRPU branched chain sliding block (1-5-2), an upper connecting rod (1-5-5), a lower connecting rod (1-5-6) and an asymmetric cross shaft (1-5-7); the support guide rod comprises a first support guide rod (1-5-3) and two second support guide rods (1-5-4);
the support guide rod is connected with the middle platform (1-3) through a support seat (1-5-1) to form a movable guide rail, the upper part of the PRPU branched chain sliding block (1-5-2) is connected with the movable guide rail to form a third P pair, the upper end of the upper connecting rod (1-5-5) is connected with the lower part of the PRPU branched chain sliding block (1-5-2) to form a third R pair, the axial direction of the third R pair is the same as the axial direction of the third P pair, a fourth P pair is formed between the upper part of the lower connecting rod (1-5-6) and the lower part of the upper connecting rod (1-5-5), the axial direction of the fourth P pair is vertical to the axial direction of the third P pair, the lower part of the lower connecting rod (1-5-6) is connected with the movable platform (1-6) through an asymmetric cross shaft (1-5-7), forming a second U pair; in the second U pair, the axial direction of the first rotating pair connected with the lower connecting rod (1-5-6) and the axial direction of the third R pair are parallel to each other, and the axial direction of the second rotating pair connected with the movable platform (1-6) and the axial direction of the third R pair are perpendicular to each other.
2. The novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjusting device as claimed in claim 1, wherein the upper portion of one end of the horizontal supporting guide rail (1-2-1) is provided with a horizontal supporting guide rail positioning and assembling shaft hole (1-2-1-1), the fixed platform (1-1) passes through the horizontal supporting guide rail positioning and assembling shaft hole (1-2-1-1) through the horizontal supporting guide rail assembling shaft (1-1-1) and is connected with the horizontal supporting guide rail (1-2-1), the end surface (1-2-1-2) of the horizontal supporting guide rail positioning and assembling shaft hole is aligned with the end surface (1-1-2) of the horizontal supporting guide rail assembling shaft (1-1-1), and the horizontal assembling surface (1) on the upper portion of the horizontal supporting guide rail (1-2-1) 2-1-3) is parallel to a fixed platform horizontal assembly end surface (1-1-4) at the middle lower part of the fixed platform (1-1);
the lower parts of two ends of the horizontal supporting guide rail (1-2-1) are provided with a pair of coaxial lead screw assembly holes (1-2-1-4), a pair of coaxial guide rod first assembly holes (1-2-1-5) and a pair of coaxial guide rod second assembly holes (1-2-1-6), one end of the lead screw (1-2-2) is assembled with the lead screw assembly holes (1-2-1-4), and the other end of the lead screw is provided with a key groove (1-2-2-2) and penetrates through the other lead screw assembly hole (1-2-1-4); two ends of a guide rod assembly shaft (1-2-3-1) of one guide rod (1-2-3) are respectively assembled with guide rod first assembly holes (1-2-1-5) at two ends, two ends of a guide rod assembly shaft (1-2-3-1) of the other guide rod (1-2-3) are respectively assembled with guide rod second assembly holes (1-2-1-6) at two ends, and a guide rod assembly end surface (1-2-3-2) of the guide rod (1-2-3) is aligned with a horizontal support guide rail assembly end surface (1-2-1-7) at the outer side of the horizontal support guide rail (1-2-1); the upper part of the R auxiliary sliding block (1-2-6) is provided with a first assembling threaded hole (1-2-6-1) of the R auxiliary sliding block, a second assembling hole (1-2-6-2) of the R auxiliary sliding block and a third assembling hole (1-2-6-3) of the R auxiliary sliding block; the R auxiliary sliding block (1-2-6) is screwed into a screw thread part (1-2-2-1) of the screw (1-2-2) through a first assembling threaded hole (1-2-6-1) of the R auxiliary sliding block, is connected with the screw (1-2-2), penetrates through a guide rod assembling shaft (1-2-3-1) through a second assembling hole (1-2-6-2) of the R auxiliary sliding block, is connected with one guide rod (1-2-3), penetrates through the other guide rod assembling shaft (1-2-3-1) through a third assembling hole (1-2-6-3) of the R auxiliary sliding block, and is connected with the other guide rod (1-2-3) to form a first P pair;
the upper end of the PRR branched chain connecting rod (1-2-7) is provided with a PRR branched chain connecting rod first assembling shaft hole (1-2-7-1), and the lower part of the R auxiliary sliding block (1-2-6) penetrates through the PRR branched chain connecting rod first assembling shaft hole (1-2-7-1) through an R auxiliary sliding block assembling shaft (1-2-6-4) to be connected with the PRR branched chain connecting rod (1-2-7) to form a first R pair; the end face (1-2-6-5) of the R auxiliary sliding block assembly shaft (1-2-6-4) is aligned with the end face (1-2-7-2) of the first assembly shaft hole of the PRR branched chain connecting rod; the lower end of the PRR branched chain connecting rod (1-2-7) is provided with a PRR branched chain connecting rod second assembling shaft hole (1-2-7-3), five intermediate platform assembling shafts (1-3-1) are uniformly distributed on the edge of the intermediate platform (1-3), the intermediate platform assembling shafts (1-3-1) penetrate through the PRR branched chain connecting rod second assembling shaft hole (1-2-7-3) and are connected with the PRR branched chain connecting rod (1-2-7) to form a second R pair, and the intermediate platform assembling shaft end face (1-3-2) of the intermediate platform assembling shaft (1-3-1) is aligned with the PRR branched chain connecting rod second assembling shaft hole end face (1-2-7-4).
3. The novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjusting device according to claim 2, wherein the center of the central bevel gear (1-2-4) is provided with a central bevel gear assembly hole (1-2-4-1), the central bevel gear assembly hole (1-2-4-1) is internally provided with a keyway, and the fixed platform (1-1) is connected with the central bevel gear (1-2-4) in a key way through the central bevel gear assembly hole (1-2-4-1) by a central bevel gear assembly shaft (1-1-3) provided with a keyway; a small bevel gear assembly hole (1-2-5-1) is formed in the center of the small bevel gear (1-2-5), one end, provided with a key groove (1-2-2-2), of the screw rod (1-2-2) penetrates through the small bevel gear assembly hole (1-2-5-1) to be in key connection with the small bevel gear (1-2-5), and the tooth surface (1-2-4-1) of the central bevel gear (1-2-4) is meshed with the tooth surface (1-2-5-2) of the small bevel gear (1-2-5).
4. The novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjusting device according to claim 3, wherein the middle of the PRR branched link (1-2-7) is square, the upper portion of the U sub slider (1-4-1) is provided with a square hole, the upper side assembly surface (1-2-7-5) in the middle of the PRR branched link (1-2-7) coincides with the first assembly surface (1-4-1-1) of the U sub slider on the upper side in the square hole of the U sub slider (1-4-1), the left side assembly surface (1-2-7-6) in the middle of the PRR branched link (1-2-7) coincides with the second assembly surface (1-4-1-2) of the U sub slider on the left side in the square hole of the U sub slider (1-4-1), forming a second P pair;
the symmetrical cross shaft (1-4-2) comprises a symmetrical cross shaft first assembly shaft (1-4-2-1) and a symmetrical cross shaft second assembly shaft (1-4-2-3) which are perpendicular to each other, a U auxiliary slider assembly hole (1-4-1-3) is formed in the lower portion of the U auxiliary slider (1-4-1), the symmetrical cross shaft (1-4-2) penetrates through the U auxiliary slider assembly hole (1-4-1-3) through the symmetrical cross shaft first assembly shaft (1-4-2-1) and is connected with the U auxiliary slider (1-4-1) to form a first revolute pair of a first U pair, and the symmetrical cross shaft first assembly shaft end face (1-4-2-2) of the symmetrical cross shaft first assembly shaft (1-4-2-1) and the U auxiliary slider assembly hole end face are connected Faces (1-4-1-3) are aligned; the upper end of the PUS branched chain connecting rod (1-4-3) is provided with a PUS branched chain connecting rod assembling hole (1-4-3-1), the symmetrical cross shaft (1-4-2) penetrates through the PUS branched chain connecting rod assembling hole (1-4-3-1) through a symmetrical cross shaft second assembling shaft (1-4-2-3) and is connected with the PUS branched chain connecting rod (1-4-3) to form a second revolute pair of the first U pair, and the symmetrical cross shaft second assembling shaft end surface (1-4-2-4) of the symmetrical cross shaft second assembling shaft (1-4-2-3) is aligned with the PUS branched chain connecting rod assembling hole end surface (1-4-3-2);
the lower end of the PUS branched chain connecting rod (1-4-3) is provided with a PUS branched chain connecting rod S pair assembling spherical surface (1-4-3-3), five movable platform S pair assembling spherical surfaces (1-6-1) are uniformly distributed on the periphery of the upper part of the movable platform (1-6), and the movable platform S pair assembling spherical surfaces (1-6-1) are respectively assembled and connected with the five PUS branched chain connecting rod S pair assembling spherical surfaces (1-4-3-3) to form an S pair.
5. The novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjusting device as claimed in claim 4, wherein a square hole is formed in the middle of the intermediate platform (1-3), bosses are respectively formed above the outer sides of two opposite sides of the square hole of the intermediate platform (1-3), and a first intermediate platform assembling hole (1-3-3) and a second intermediate platform assembling hole (1-3-4) are formed in the upper part of each boss; the upper part of the supporting seat (1-5-1) is provided with a first assembling hole (1-5-1-1) of the supporting seat, and the lower part of the supporting seat is provided with a second assembling hole (1-5-1-2) of the supporting seat and a third assembling hole (1-5-1-3) of the supporting seat; two ends of a first support guide rod assembly shaft (1-5-3-1) of the first support guide rod (1-5-3) respectively penetrate through the first assembly holes (1-5-1-1) of the support seat and are connected with the support seat (1-5-1); the end surface (1-5-3-2) of the first support guide rod assembly shaft of the first support guide rod (1-5-3) is aligned with the assembly end surface (1-5-1-4) at the outer side of the support seat (1-5-1); two ends of a second support guide rod assembly shaft (1-5-4-1) of one second support guide rod (1-5-4) respectively penetrate through a second assembly hole (1-5-1-2) of the support seat, then penetrate through a first assembly hole (1-3-3) of the middle platform (1-3) and are connected with the support seat (1-5-1) and the middle platform (1-3); two ends of a second support guide rod assembly shaft (1-5-4-1) of the other second support guide rod (1-5-4) respectively penetrate through a third assembly hole (1-5-1-3) of the support seat, then penetrate through a second assembly hole (1-3-4) of the middle platform (1-3) and are connected with the support seat (1-5-1) and the middle platform (1-3); wherein the assembly end surface (1-5-1-4) at the outer side of the supporting seat of one supporting seat (1-5-1) is superposed with the first assembly surface (1-3-5) of the middle platform at the inner side of the boss at one side of the square hole on the middle platform (1-3), the assembly end surface (1-5-1-4) at the outer side of the supporting seat of the other supporting seat (1-5-1) is superposed with the second assembly surface (1-3-6) of the middle platform at the inner side of the boss at the other side of the square hole on the middle platform (1-3), the end surface (1-5-4-2) of a second support guide rod assembling shaft of the second support guide rod (1-5-4) is aligned with a third assembling surface (1-3-7) of the middle platform at the outer side of the boss above the middle platform (1-3);
the upper part of the PRPU branched chain sliding block (1-5-2) is provided with a first assembling hole (1-5-2-1) of the PRPU branched chain sliding block, the middle part of the PRPU branched chain sliding block is provided with a second assembling hole (1-5-2-2) of the PRPU branched chain sliding block and a third assembling hole (1-5-2-3) of the PRPU branched chain sliding block, and the lower part of the PRPU branched chain sliding block is provided with a fourth assembling hole (1-5-2-4) of the PRPU branched chain sliding block; the first support guide rod (1-5-3) penetrates through the first assembling hole (1-5-2-1) of the PRPU branched chain sliding block and is connected with the PRPU branched chain sliding block (1-5-2); two second support guide rods (1-5-4) respectively penetrate through the second assembling hole (1-5-2-2) of the PRPU branched chain sliding block and the third assembling hole (1-5-2-3) of the PRPU branched chain sliding block and are connected with the PRPU branched chain sliding block (1-5-2) to form a third P pair; the upper end of the upper connecting rod (1-5-5) penetrates through a square hole of the middle platform (1-3), penetrates through a fourth assembling hole (1-5-2-4) of the PRPU branched chain sliding block through an upper connecting rod assembling shaft (1-5-5-1) and is connected with the PRPU branched chain sliding block (1-5-2) to form a third R pair, and the end surface (1-5-2-5) of the fourth assembling hole of the PRPU branched chain sliding block is aligned with the end surface (1-5-5-2) of the upper connecting rod assembling shaft (1-5-5-1) of the upper connecting rod assembling shaft;
an upper connecting rod assembly hole (1-5-5-3) is formed in the center of the upper connecting rod (1-5-5), a lower connecting rod assembly shaft (1-5-6-1) of the lower connecting rod (1-5-6) penetrates into the upper connecting rod assembly hole (1-5-5-3), and the upper connecting rod (1-5-5) is connected to form a fourth P pair;
the asymmetric cross shafts (1-5-7) comprise first asymmetric cross shaft assembly shafts (1-5-7-1) and second asymmetric cross shaft assembly shafts (1-5-7-2) which are perpendicular to each other, lower connecting rod assembly holes (1-5-6-2) are formed in the lower ends of the lower connecting rods (1-5-6), and movable platform middle assembly holes (1-6-2) are formed in the middles of the movable platforms (1-6); the asymmetric cross shaft (1-5-7) penetrates through the lower connecting rod assembly hole (1-5-6-2) through the asymmetric cross shaft first assembly shaft (1-5-7-1) and is connected with the lower connecting rod (1-5-6), and penetrates through the movable platform middle assembly hole (1-6-2) through the asymmetric cross shaft second assembly shaft (1-5-7-2) and is connected with the movable platform (1-6) to form a second U pair; the center line (1-5-7-3) of the asymmetric cross shaft (1-5-7), the axis of the lower connecting rod (1-5-6) and the symmetric center line (1-6-3) of the movable platform (1-6) are coaxial.
6. The novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjusting device according to claim 5, characterized in that when the position of the R pair slider (1-2-6) on the lead screw (1-2-2) is fixed, the position of the PRR branched chain connecting rod (1-2-7) is fixed, the position of the intermediate platform (1-3) is fixed, the reconfigurable adjusting device is fixed, the PRR branched chain connecting rod (1-2-7) is used as a fixed platform for the movement of the PUS active movement branched chain (1-4), and the intermediate platform (1-3) is used as a fixed platform for the movement of the intermediate PRPU passive movement branched chain (1-5);
the auxiliary R sliding block (1-2-6) moves on the lead screw (1-2-2), an included angle between the horizontal supporting guide rail (1-2-1) and the PRR branched chain connecting rod (1-2-7) is adjusted, the PRR branched chain connecting rod (1-2-7) moves to drive the middle platform (1-3) to move, and accordingly the positions of the fixed platforms of the active moving branched chain (1-4) of the PUS and the passive moving branched chain (1-5) of the PRPU are changed.
7. The novel five-degree-of-freedom hybrid mechanism with reconfigurable adjusting device as claimed in claim 6, characterized in that it further comprises a processing head (1-7), said processing head (1-7) being located below the movable platform (1-6) and connected to the movable platform (1-6); the lead screw (1-2-2) is a ball screw.
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| CN110026786B (en) * | 2019-04-16 | 2020-08-11 | 北京交通大学 | Large-stroke five-degree-of-freedom series-parallel machine tool with reconfigurable characteristic |
| CN110421545A (en) * | 2019-08-20 | 2019-11-08 | 四川建筑职业技术学院 | A kind of parallel mechanical arm grabbing device of pyramidal structure |
| CN111267072B (en) * | 2020-03-10 | 2021-04-09 | 燕山大学 | Single-drive reconfigurable parallel mechanism branched chain device and reconfiguration method thereof |
| CN111469119B (en) * | 2020-04-26 | 2021-04-23 | 太原理工大学 | Special steel bar surface grinding robot based on parallel driving mechanism |
| CN112621723B (en) * | 2020-12-22 | 2022-06-14 | 东南大学 | 5UPS-2RP (U) redundancy drive parallel robot |
| CN112916434B (en) * | 2021-01-22 | 2022-09-09 | 江门职业技术学院 | Sorting parallel robot system capable of adjusting placement modes in multiple angles on large scale |
| CN112922303A (en) * | 2021-01-27 | 2021-06-08 | 王鑫 | Foot platform that falls that has function of making level based on construction of slope roof |
| CN115533930A (en) * | 2022-09-08 | 2022-12-30 | 天津大学 | Novel large-scale unit assembly robot in aircraft cabin |
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| DE19840886A1 (en) * | 1998-09-08 | 2000-03-23 | Juergen Hesselbach | Platform for machine tool consists of two parallel platforms linked by five articulated levers providing five degrees of freedom for machine tool spindle |
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| CN105437216A (en) * | 2015-12-23 | 2016-03-30 | 北京交通大学 | Novel parallel mechanism having reconfigurable characteristic |
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| DE10314547A1 (en) * | 2002-04-19 | 2003-11-20 | Murata Machinery Ltd | Parallel manipulator and device for its control |
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