CN111267077A - Non-coplanar two-dimensional rotating one-dimensional moving parallel mechanism - Google Patents
Non-coplanar two-dimensional rotating one-dimensional moving parallel mechanism Download PDFInfo
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- CN111267077A CN111267077A CN202010253545.9A CN202010253545A CN111267077A CN 111267077 A CN111267077 A CN 111267077A CN 202010253545 A CN202010253545 A CN 202010253545A CN 111267077 A CN111267077 A CN 111267077A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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Abstract
The invention discloses a non-coplanar two-dimensional rotation one-dimensional movement parallel mechanism, which comprises a fixed platform and a movable platform, wherein the movable platform is in a cross shape and comprises a transverse plate and a longitudinal plate which are fixedly connected or integrally formed, two ends of the transverse plate are respectively connected with the fixed platform by a first branched chain and a third branched chain, the first branched chain and the third branched chain are the same and are URR branched chains, two ends of the longitudinal plate are respectively connected with the fixed platform by a second branched chain and a fourth branched chain, the second branched chain and the fourth branched chain are the same and are respectively
And the branched chains, the second branched chain and the fourth branched chain are used as driving pairs, and the driving pairs can drive the first branched chain, the second branched chain, the third branched chain and the fourth branched chain to move and drive the movable platform to make two-rotation one-shift movement. The parallel mechanism has the advantages of stronger rigidity, large working space, large bearing capacity, excellent force transmission performance and the like, simultaneously eliminates the singular configuration of the mechanism, and increases the operability and the force transmission performance of the mechanismAnd (4) stability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a non-coplanar two-dimensional rotating one-dimensional moving parallel mechanism.
Background
The parallel mechanism is a closed-loop mechanism consisting of a plurality of chains, is driven in a parallel mode, has the advantages of simple and compact structure, high rigidity, large bearing capacity, no error accumulation, large working space, easy motion analysis, capability of avoiding coupling effect and the like compared with the traditional serial mechanism, makes up for the defects of the serial mechanism to a great extent, and is better applied to equipment such as a motion simulator, a parallel machine tool, a drilling machine, a cutting machine sorting manipulator and the like. However, for modern equipment with higher performance requirements on safety, rigidity, working space and the like, a non-coplanar two-dimensional rotation and one-dimensional movement parallel mechanism is urgently needed as a body mechanism.
Disclosure of Invention
The invention aims to provide a non-coplanar two-dimensional rotating one-dimensional moving parallel mechanism, which solves the problems in the prior art, has the advantages of stronger rigidity, large working space, large bearing capacity, excellent force transmission performance and the like, and simultaneously eliminates the singular configuration of the mechanism and increases the operability and stability of the mechanism.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a non-coplanar two-dimensional rotation one-dimensional movement parallel mechanism which comprises a fixed platform and a movable platform, wherein the movable platform is in a cross shape and comprises a transverse plate and a longitudinal plate which are fixedly connected or integrally formed, two ends of the transverse plate are respectively connected with the fixed platform through a first branched chain and a third branched chain, the first branched chain and the third branched chain are the same and are URR branched chains, two ends of the longitudinal plate are respectively connected with the fixed platform through a second branched chain and a fourth branched chain, the second branched chain and the fourth branched chain are the same and are respectively
And the second branched chain and the fourth branched chain are used as driving pairs with a revolute pair connected with the fixed platform, and the driving pairs can drive the first branched chain, the second branched chain, the third branched chain and the fourth branched chain to move and drive the movable platform to make two-rotation one-shift movement.
Preferably, the URR branched chain includes an odd-numbered chain first connecting rod and an odd-numbered chain second connecting rod, one end of the odd-numbered chain first connecting rod is connected to the end of the transverse plate by the odd-numbered chain first revolute pair, the other end of the odd-numbered chain first connecting rod is connected to one end of the odd-numbered chain second connecting rod by the odd-numbered chain second revolute pair, and the other end of the odd-numbered chain second connecting rod is connected to the fixed platform by the odd-numbered chain first U pair.
Preferably, two odd-numbered chain hinge seats are fixed on the fixed platform along the transverse center line of the fixed platform, the two odd-numbered chain hinge seats are symmetrically arranged about the longitudinal center line of the fixed platform, the axes of odd-numbered chain hinge shafts of the two odd-numbered chain hinge seats are collinear, the first U pair of the odd-numbered chain of the first branched chain is connected to one odd-numbered chain hinge seat through a rotating pair of the first U pair, and the first U pair of the odd-numbered chain of the third branched chain is connected to the other odd-numbered chain hinge seat through a rotating pair of the first U pair.
Preferably, the rotation axes of the other rotation pair of the odd-numbered chain first U pair, the odd-numbered chain first rotation pair and the odd-numbered chain second rotation pair are parallel to each other.
Preferably, when the transverse edge of the transverse plate is parallel to the fixed platform, the first branched chain and the third branched chain are completely symmetrical about a longitudinal plane passing through the central point of the movable platform and perpendicular to the fixed platform.
Preferably, the
The branch chain is a branch chain with a closed ring unit, the
The branched chain comprises an even chain first connecting rod, an even chain second connecting rod, an even chain third connecting rod, an even chain fourth connecting rod and an even chain fifth connecting rod, one end of the even chain fifth connecting rod is connected with the end part of the longitudinal plate by an even chain first rotating pair, the other end of the even chain fifth connecting rod is connected with one end of the even chain first connecting rod by an even chain second rotating pair, the even chain first rotating pair and the even chain second rotating pair form a U pair, the other end of the even chain first connecting rod is connected with the even chain second connecting rod by an even chain third rotating pair, the other end of the even chain second connecting rod is connected with the fixed platform by an even chain fourth rotating pair, one end of the even chain third connecting rod is connected with the other end of the even chain fifth connecting rod by the even chain second rotating pair, the other end of the even chain third connecting rod is connected with one end of the even chain fourth connecting rod through an even chain fifth revolute pair, the other end of the even chain fourth connecting rod is connected with the fixed platform through an even chain sixth revolute pair, and the even chain fourth revolute pair and the even chain sixth revolute pair are driving pairs.
Preferably, four even chain hinge seats are fixed on the fixed platform along the longitudinal center line of the fixed platform, the four even chain hinge seats are symmetrically arranged on two sides of the transverse center line of the fixed platform, four even chain hinge shafts of the even chain hinge seats are parallel to each other, odd chain hinge shafts are parallel to the axes of the even chain hinge shafts, the even chain fourth rotating pair and the even chain sixth rotating pair of the second branched chain are connected with the two even chain hinge seats on one side of the transverse center line in a one-to-one correspondence manner, and the even chain fourth rotating pair and the even chain sixth rotating pair of the fourth branched chain are connected with the two even chain hinge seats on the other side of the transverse center line in a one-to-one correspondence manner.
Preferably, the rotation axes of the even-numbered chain first revolute pairs of the second branched chain and the fourth branched chain are collinear, and the rotation axes of the even-numbered chain second revolute pair, the even-numbered chain third revolute pair, the even-numbered chain fourth revolute pair, the even-numbered chain fifth revolute pair and the even-numbered chain sixth revolute pair are all parallel to each other.
Preferably, when the plane formed by the first branch chain and the third branch chain is perpendicular to the fixed platform, the second branch chain and the fourth branch chain are completely symmetrical about a transverse plane passing through the center point of the transverse plate and perpendicular to the fixed platform.
Preferably, the fixed platform is a rectangular plate-shaped structure.
Compared with the prior art, the invention has the following technical effects:
the redundant drive is introduced into the parallel mechanism, and the parallel mechanism not only has the advantages of high rigidity, large working space, large bearing capacity, excellent force transmission performance and the like on the basis of realizing the motion of two rotations and one movement with three degrees of freedom, but also can eliminate the singularity in the working space of the parallel mechanism with less degrees of freedom, eliminate the unexpected degree of freedom, improve the continuity of the working space, improve the comprehensive performance of the mechanism and increase the operability and the driving stability of the mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a non-coplanar two-dimensional rotating one-dimensional moving parallel mechanism according to the present invention;
wherein: 1-moving platform, 2-fixed platform, 11-odd chain first connecting rod, 12-odd chain second connecting rod, a 1-odd chain first rotating pair, a 2-odd chain second rotating pair, a 3-odd chain first U pair, 21-even chain first connecting rod, 22-even chain second connecting rod, 23-even chain third connecting rod, 24-even chain fourth connecting rod, 25-even chain fourth connecting rod, b 1-even chain first rotating pair, b 2-even chain second rotating pair, b 3-even chain third rotating pair, b 4-even chain fourth rotating pair, b 5-even chain fifth rotating pair, b 6-even chain sixth rotating pair.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1: the embodiment provides a non-coplanar two-dimensional rotation one-dimensional movement parallel mechanism, which comprises a movable platform 1 and a fixed platform 2, wherein the fixed platform 2 is of a rectangular plate-shaped structure, the movable platform 1 is of a cross-shaped structure and comprises a transverse plate and a longitudinal plate which are fixedly connected or integrally formed, two ends of the transverse plate are respectively connected with the fixed platform 2 through a first branched chain and a third branched chain, the first branched chain and the third branched chain are the same and are URR branched chains, two ends of the longitudinal plate are respectively connected with the fixed platform 2 through a second branched chain and a fourth branched chain, the second branched chain and the fourth branched chain are the same and are respectively
And the branched chains, the second branched chain and the fourth branched chain are used as driving pairs with revolute pairs connected with the fixed platform 2, and the driving pairs can drive the first branched chain, the second branched chain, the third branched chain and the fourth branched chain to move and drive the movable platform 1 to move in a two-rotation-one manner.
Specifically, the URR branched chain comprises an odd chain first connecting rod 11 and an odd chain second connecting rod 12, one end of the odd chain first connecting rod 11 is connected with the end of the transverse plate through an odd chain first revolute pair a1, the other end of the odd chain first connecting rod 11 is connected with one end of the odd chain second connecting rod 12 through an odd chain second revolute pair a2, the other end of the odd chain second connecting rod 12 is connected with the fixed platform 2 through an odd chain first U pair a3, the URR branched chain adopts a low pair structure, and the manufacturing cost of the parallel structure can be reduced.
In the URR branched chain, two odd chain hinge seats are fixed on the fixed platform 2 along the transverse central line of the fixed platform 2, the two odd chain hinge seats are symmetrically arranged about the longitudinal central line of the fixed platform 2, the axes of odd chain hinge shafts of the two odd chain hinge seats are collinear, the first U pair a3 of the odd chain of the first branched chain is connected to one odd chain hinge seat by using a rotating pair thereof, and the first U pair a3 of the odd chain of the third branched chain is connected to the other odd chain hinge seat by using a rotating pair thereof. The axes of rotation of the other odd chain first U-pair a3, the odd chain first revolute pair a1 and the odd chain second revolute pair a2 are parallel to each other. When the transverse edge of the transverse plate is parallel to the fixed platform 2, the first branched chain and the third branched chain are completely symmetrical about the central point of the over-moving platform 1 and perpendicular to the longitudinal plane of the fixed platform 2, the lengths of the odd chain first connecting rod 11 and the odd chain second connecting rod 12 are equal, and the lengths of the odd chain first connecting rod 11 and the odd chain second connecting rod 12 are equal, so that the high symmetry of the parallel mechanism is ensured, the accompanying movement of the parallel mechanism is eliminated, and the stability of the parallel mechanism is improved.
In particular, the method comprises the following steps of,
the branches being branches having a ring-closing unit, wherein the subscript E denotes the ring-closing unit
The rotating axes of the rotating pairs R are parallel to each other, the rotating pairs R can be in any form in the prior art as long as the stable hinged relation can be realized in a rotating plane,
the branched chain comprises an even chain first connecting rod 21, an even chain second connecting rod 22, an even chain third connecting rod 23, an even chain fourth connecting rod 2524 and an even chain fifth connecting rod, one end of the even chain fifth connecting rod is connected with the end of the longitudinal plate by an even chain first revolute pair b1,the other end of the even chain fifth connecting rod is connected with one end of the even chain first connecting rod 21 by an even chain second revolute pair b2, the even chain first revolute pair b1 and the even chain second revolute pair b2 form a U pair, the other end of the even chain first connecting rod 21 is connected with one end of the even chain second connecting rod 22 by an even chain third revolute pair b3, the other end of the even chain second connecting rod 22 is connected with the fixed platform 2 by an even chain fourth revolute pair b4, one end of the even chain third connecting rod 23 is connected with the other end of the even chain fifth connecting rod by an even chain second revolute pair b2, the other end of the even chain third connecting rod 23 is connected with one end of the even chain fourth connecting rod 2524 by an even chain fifth revolute pair b5, the other end of the even chain fourth connecting rod 2524 is connected with the fixed platform 2 by an even chain sixth revolute pair b6, the even chain fourth revolute pair b4 and the even chain sixth revolute pair b6 are both driving pairs, namely, the even chain fourth revolute pair b4 and the even chain sixth revolute pair b6 on the second branched chain and the fourth branched chain are driving pairs, and
the branched chains are all of low-pair structures, so that the manufacturing cost of the parallel structure can be reduced. The even-chain first connecting rod 21 and the even-chain third connecting rod 23 share the even-chain second revolute pair b2, and the even-chain fourth revolute pair b4, the even-chain second connecting rod 22, the even-chain third revolute pair b3, the even-chain first connecting rod 21, the even-chain second revolute pair b2, the even-chain third connecting rod 23, the even-chain fifth revolute pair b5, the even-chain fourth connecting rod 2524 and the even-chain sixth revolute pair b6 form a closed-loop unit.
In the motion process of the embodiment, the even chain fourth revolute pair b4 and the even chain sixth revolute pair b6 on the second branched chain and the fourth branched chain are driving pairs, and a suitable motor can be selected as a driving part, so that the three-degree-of-freedom motion of two-rotation one-movement of the movable platform 1 relative to the fixed platform 2 is realized by driving the four branched chains through the four driving pairs, specifically, the movable platform 1 can rotate around the axis of the even chain first revolute pair b1 and rotate around the axis of the odd chain articulated shaft, and the movable platform 1 can also move up and down. The introduction of the redundant drive can obviously increase the bearing capacity of the parallel mechanism, can also improve the rigidity and the precision, eliminate the singularity in the working space of the parallel mechanism with less degrees of freedom, eliminate the unexpected degree of freedom, increase the working space, improve the fault tolerance and the flexibility, optimize the motor torque to compensate the motor error, thereby improving the continuity of the working space, improving the comprehensive performance of the mechanism, increasing the maneuverability and the driving stability of the mechanism, and the embodiment has the advantages of large bearing capacity, strong stability, high precision, no accompanying movement and the like, thereby having wide application prospect in the processing fields of high speed, high draft precision and high rigidity.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A non-coplanar two-dimensional rotation one-dimensional movement parallel mechanism is characterized in that: including deciding the platform and moving the platform, move the platform and be the cross type and include fixed connection or integrated into one piece's horizontal board and vertical board, the both ends of horizontal board utilize first branch chain and third branch chain respectively with decide the platform and connect, first branch chain with the third branch chain is the same and be the URR branch chain, the both ends of vertical board utilize second branch chain and fourth branch chain respectively with decide the platform and connect, the second branch chain with the fourth branch chain is the same and be for deciding the platform and connect, the second branch chain with the fourth branch chain is the same and be
And the second branched chain and the fourth branched chain are used as driving pairs with a revolute pair connected with the fixed platform, and the driving pairs can drive the first branched chain, the second branched chain, the third branched chain and the fourth branched chain to move and drive the movable platform to make two-rotation one-shift movement.
2. The non-coplanar two-dimensional rotation one-dimensional movement parallel mechanism according to claim 1, wherein: the URR branched chain comprises an odd chain first connecting rod and an odd chain second connecting rod, one end of the odd chain first connecting rod is connected with the end part of the transverse plate through the odd chain first rotating pair, the other end of the odd chain first connecting rod is connected with one end of the odd chain second connecting rod through the odd chain second rotating pair, and the other end of the odd chain second connecting rod is connected with the fixed platform through the odd chain first U pair.
3. The non-coplanar two-dimensional rotation one-dimensional movement parallel mechanism according to claim 2, wherein: the fixed platform is fixed with two odd chain hinge seats along the transverse central line thereof, the two odd chain hinge seats are symmetrically arranged about the longitudinal central line of the fixed platform, the two odd chain hinge seats are collinear with the axes of odd chain hinge shafts, the first U pair of the odd chain of the first branched chain is connected with one odd chain hinge seat by using a revolute pair thereof, and the first U pair of the odd chain of the third branched chain is connected with the other odd chain hinge seat by using a revolute pair thereof.
4. The non-coplanar two-dimensional rotation one-dimensional movement parallel mechanism according to claim 3, wherein: and the rotation axes of the other rotation pair of the odd chain first U pair, the odd chain first rotation pair and the odd chain second rotation pair are parallel to each other.
5. The non-coplanar two-dimensional rotation one-dimensional movement parallel mechanism according to claim 1, wherein: when the transverse edge of the transverse plate is parallel to the fixed platform, the first branched chain and the third branched chain are completely symmetrical about a central point passing through the movable platform and vertical to the longitudinal plane of the fixed platform.
6. The non-coplanar two-dimensional rotation one-dimensional movement parallel mechanism according to claim 3, wherein: the above-mentioned
The branch chain is a branch chain with a closed ring unit, the
The branched chain comprises an even chain first connecting rod, an even chain second connecting rod, an even chain third connecting rod, an even chain fourth connecting rod and an even chain fifth connecting rodOne end of a chain fifth connecting rod is connected with the end part of the longitudinal plate by an even chain first rotating pair, the other end of the even chain fifth connecting rod is connected with one end of the even chain first connecting rod by an even chain second rotating pair, the even chain first rotating pair and the even chain second rotating pair form a U pair, the other end of the even chain first connecting rod is connected with the even chain second connecting rod by an even chain third rotating pair, the other end of the even chain second connecting rod is connected with the fixed platform by an even chain fourth rotating pair, one end of the even chain third connecting rod is connected with the other end of the even chain fifth connecting rod by the even chain second rotating pair, the other end of the even chain third connecting rod is connected with one end of the even chain fourth connecting rod by the even chain fifth rotating pair, and the other end of the even chain fourth connecting rod is connected with the fixed platform by an even chain sixth rotating pair, and the even chain fourth rotating pair and the even chain sixth rotating pair are driving pairs.
7. The non-coplanar two-dimensional rotation one-dimensional movement parallel mechanism according to claim 6, wherein: it is fixed with four even chain hinged seats, four to decide on the platform along its longitudinal centerline even chain hinged seat symmetry sets up decide the both sides of the horizontal centerline of platform, four even chain hinged seat's even chain articulated shaft is parallel to each other, odd chain articulated shaft with the axis of even chain articulated shaft is all parallel, the second branched chain even chain fourth revolute pair with even chain sixth revolute pair with two of horizontal centerline one side even chain hinged seat one-to-one connects, the fourth branched chain even chain fourth revolute pair with even chain sixth revolute pair with two of horizontal centerline opposite side even chain hinged seat one-to-one connects.
8. The non-coplanar two-dimensional rotation one-dimensional movement parallel mechanism according to claim 6, wherein: the rotation axes of the even-chain first rotating pairs of the second branched chain and the fourth branched chain are collinear, and the rotation axes of the even-chain second rotating pairs, the even-chain third rotating pairs, the even-chain fourth rotating pairs, the even-chain fifth rotating pairs and the even-chain sixth rotating pairs are all parallel to each other.
9. The non-coplanar two-dimensional rotation one-dimensional movement parallel mechanism according to claim 1, wherein: when the plane formed by the first branched chain and the third branched chain is vertical to the fixed platform, the second branched chain and the fourth branched chain are completely symmetrical about a transverse plane which passes through the center point of the transverse plate and is vertical to the fixed platform.
10. The non-coplanar two-dimensional rotation one-dimensional movement parallel mechanism according to claim 1, wherein: the fixed platform is of a rectangular plate-shaped structure.
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| CN110238821A (en) * | 2019-07-15 | 2019-09-17 | 燕山大学 | A kind of full symmetric parallel institution of driving of highly redundant containing closed-loop element |
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