CN113001525B - Parallel mechanism with rotatable axis mechanical arm and movement method - Google Patents
Parallel mechanism with rotatable axis mechanical arm and movement method Download PDFInfo
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- CN113001525B CN113001525B CN202110448434.8A CN202110448434A CN113001525B CN 113001525 B CN113001525 B CN 113001525B CN 202110448434 A CN202110448434 A CN 202110448434A CN 113001525 B CN113001525 B CN 113001525B
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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
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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Abstract
The invention relates to a parallel mechanism with a rotatable axis mechanical arm and a motion method, comprising a static platform, a movable platform and three branched chains for connecting the static platform and the movable platform; the three branched chains are two sections of connecting rods which are mutually sleeved, and the bottom parts of the three branched chains are provided with driving parts; the mechanical arm with a rotatable axis is arranged on the movable platform, and the locking device is arranged on the mechanical arm with the rotatable axis; the movable platform ascends or swings through the pushing-out and retracting of the driving parts at the bottoms of the three branched chains, and the mechanical arm with the rotatable axis is driven to rotate or swing to a specified position around the axis of the mechanical arm with the rotatable axis. The invention combines the mechanical arm with rotatable axis, the flexible cable and the return seat with the traditional 3-RPS parallel mechanism to form a six-working-condition metamorphic parallel mechanism, compared with the common parallel mechanism, the six-working-condition metamorphic parallel mechanism has larger working space and stronger environment adaptability, and can be applied to underground coal mines and aerospace equipment with higher explosion-proof requirements.
Description
Technical Field
The invention belongs to a mechanical arm rotating mechanism, and particularly relates to a mechanical arm parallel mechanism with a rotatable axis and a moving method, wherein the mechanical arm parallel mechanism can realize two rotation and one movement and can also realize the rotation of a tail end mechanical arm.
Background
The parallel mechanism has the advantages of high motion precision, high response speed, high bearing capacity and the like, and is widely applied to the fields of numerical control machines, industrial vibrating screens, spraying robots, satellite antennas and the like. In practical application, the number of degrees of freedom required by a considerable number of operation tasks is less than 6, and the proper parallel robot with few degrees of freedom is adopted, so that the cost in the aspects of system design, manufacture, control and maintenance can be effectively saved. Since 1983, Hunt first proposed a 3-RPS parallel mechanism, which has attracted widespread attention. However, the mechanism can only realize the rotation of the movable platform around the X axis and the Y axis and the translation along the Z axis direction, and can not realize the rotation of the movable platform around the Z axis. Although the spherical-like parallel wrist mechanism provided by Zhangguo English of Guangdong industry university can realize the continuous rotation of any axis and point of a symmetric plane between a static platform and a movable platform, the translation of the movable platform in the Z-axis direction cannot be realized. The invented parallel spherical metamorphic mechanism can solve the above problems, but its working space is small. The mechanisms in the above types are limited in application range due to poor environmental adaptability.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a novel parallel mechanism and a motion method thereof, which have the advantages of novel design, compact and reasonable structure, easy packaging, convenient use and operation, strong practicability and convenient and wide application, aiming at the defects in the prior art. The parallel mechanism combines the mechanical arm with rotatable axis, the flexible cable and the return seat with the traditional 3-RPS parallel mechanism to form a six-working-condition metamorphic parallel mechanism, which has larger working space than similar mechanisms and wide application prospect.
The invention is realized by the following technical scheme.
The invention provides a parallel mechanism with a rotatable axis mechanical arm, which comprises a static platform, a movable platform and three branched chains for connecting the static platform and the movable platform; the three branched chains are two sections of connecting rods which are mutually sleeved, and the bottom parts of the three branched chains are provided with driving parts;
the mechanical arm with the rotatable axis is arranged on the movable platform and is connected with the return seat through a flexible cable, and the return seat is connected with the static platform; a locking device for limiting the rotation of the mechanical arm with the rotatable axis relative to the movable platform is arranged on the movable platform;
the movable platform ascends or swings through the pushing-out and retracting of the driving parts at the bottoms of the three branched chains, and the mechanical arm with the rotatable axis is driven to rotate or swing to a specified position around the axis of the mechanical arm with the rotatable axis.
Preferably, the three branched chains have the same structure and are centrosymmetric about the static platform and the dynamic platform; each branched chain comprises an upper connecting rod and a lower connecting rod which are sleeved with each other, the top of the upper connecting rod is connected with the movable platform through a spherical pair, and the bottom of the lower connecting rod is connected with the static platform through a revolute pair.
Preferably, the bottom driving part of the three branched chains is a linear air cylinder, a hydraulic cylinder, an electric push rod or an electric cylinder.
Preferably, the center of the movable platform is provided with a round hole with a hemispherical bulge, the mechanical arm with the rotatable axis passes through the round hole, the outer surface of the mechanical arm is provided with a spiral groove with a semicircular section, and the inner bulge of the round hole is embedded into the spiral groove to move along the spiral groove to drive the mechanical arm with the rotatable axis to rotate.
Preferably, the flexible cable comprises a cable section and a frustum-shaped structure with the same conicity at two end parts, one end of the mechanical arm connected with the rotatable axis is of an outer frustum-shaped structure, and the other end of the mechanical arm connected with the return seat is of an inner frustum-shaped structure.
Preferably, the locking device comprises a solenoid valve, a locking arc plate, a spring and a locking base; the locking arc plate is arranged in the locking base, a spring connected to the electromagnetic valve penetrates through the locking base to be located behind the locking arc plate, and the inner arc surface of the locking arc plate is connected with the outer surface of the mechanical arm with the rotatable axis.
Preferably, the central axis of the return seat and the central axis of the stationary platform coincide.
The invention further provides a movement method of the parallel mechanism with the rotatable axis mechanical arm, and when the bottom driving part drives the mutually sleeved connecting rods to work, the three branched chains comprise the following six conditions:
if the upper connecting rods of the three branched chains are pushed out simultaneously and the strokes are consistent, the movable platform rises horizontally, and if the flexible cable is not tensioned and the locking device is locked, the movable platform drives the mechanical arm with the rotatable axis to rise;
if the upper connecting rods of the three branched chains are pushed out simultaneously and the strokes are consistent, the movable platform rises horizontally, and if the flexible cable is tensioned and the locking device is unlocked, the movable platform rises to drive the mechanical arm with the rotatable axis to rotate around the axis of the mechanical arm;
if the upper connecting rods of the three branched chains are respectively pushed out and the flexible cables are not tensioned, the locking device is locked, the movable platform swings, and the mechanical arm with the rotatable axis swings;
if the upper connecting rods of the three branched chains are respectively pushed out and the flexible cables are tensioned, the locking device is unlocked, the movable platform swings to drive the mechanical arm with the rotatable axis to rotate around the axis of the mechanical arm;
fifthly, if the upper connecting rods of the three branched chains retract respectively, when the strokes of the three branched chains are consistent, the locking device is locked, the movable platform horizontally swings right, and the mechanical arm with the rotatable axis is driven to swing to a vertical position;
and sixthly, if the upper connecting rods of the three branched chains continue to retract after the movable platform is horizontally aligned, the outer frustum-shaped structure is contacted with the inner frustum-shaped structure, and the locking device is unlocked, the movable platform horizontally descends to drive the mechanical arm with the rotatable axis to rotate around the axis until the mechanical arm returns to the initial position.
The invention has the following advantages:
1. the invention combines the mechanical arm with rotatable axis, the flexible cable and the return seat with the traditional 3-RPS parallel mechanism to form a six-working-condition metamorphic parallel mechanism, and can realize the rotation of the movable platform around the X axis and the Y axis and the movement along the Z axis direction and the rotation of the mechanical arm around the Z axis in the working process, so that the mechanism has a large attitude adjusting space, solves the problem of small working space of the existing similar parallel mechanism, reduces the comprehensive difficulty of the mechanism and has better environment adaptability.
2. The invention can reduce the height of the movable platform when not working, and reduce the overall occupied volume.
3. The invention can realize flexible switching of the motion mode under the condition of unchanging the driving mode, and simplifies the control steps.
4. The driving part and the control part of the parallel mechanism are both arranged in an envelope space formed by the movable platform and the static platform, so that the explosion-proof design of the mechanism is convenient to realize, and the mechanism can be applied to special environments (such as underground coal mines and space equipment) with higher explosion-proof requirements.
The invention has the advantages of novel design, simple structure, large working space, compact and reasonable layout, convenient processing and manufacturing, flexible use, safety and reliability, better adaptability to the environment and wide application prospect.
Drawings
FIG. 1 is a schematic view of a parallel mechanism according to the present invention;
FIG. 2 is a schematic view showing the positional relationship between the circular hole and the protrusion of the movable platform and the outer spiral groove of the pivotable-axis robot arm according to the present invention;
FIG. 3 is a schematic diagram illustrating the positional relationship between the outer frustum-shaped structure of the pivotable-axis robotic arm and the inner frustum-shaped structure of the return mount according to the present invention;
FIG. 4 is a schematic structural diagram of a locking device of the parallel mechanism of the present invention;
FIG. 5 is a schematic structural view of a working condition of the parallel mechanism of the present invention;
FIG. 6 is a schematic structural view of a working condition two of the parallel mechanism of the present invention;
FIG. 7 is a schematic diagram of a three-configuration operating mode of the parallel mechanism of the present invention;
FIG. 8 is a schematic view of a fourth embodiment of the parallel mechanism of the present invention;
FIG. 9 is a schematic structural view of a fifth operating mode of the parallel mechanism of the present invention;
FIG. 10 is a six-phase schematic diagram of the parallel mechanism of the present invention;
description of reference numerals:
1. a static platform; 2. a movable platform; 3. a mechanical arm with a rotatable axis; 4. a flexible cable; 5. a return seat; 6. a locking device; 7. a branched chain; 2-1, convex; 2-2, round holes; 3-1, spiral groove; 3-2, an outer frustum structure; 5-1, an inner frustum structure; 6-1, an electromagnetic valve; 6-2, locking the arc plate; 6-3, a spring; 6-4, locking the base; 7-1, an upper connecting rod; 7-2, a spherical pair; 7-3, a lower connecting rod; 7-4, and a revolute pair.
Detailed Description
The invention is further described in detail below with reference to the drawings and examples, but the invention is not limited thereto.
As shown in fig. 1, a parallel mechanism with a rotatable axis mechanical arm comprises a static platform 1, a movable platform 2, a rotatable axis mechanical arm 3, a flexible cable 4, a return seat 5, a locking device 6 and three branched chains 7 connecting the static platform 1 and the movable platform 2.
The three branched chains have the same structure, the upper end of an upper connecting rod 7-1 in each branched chain is connected with the movable platform 2 through a spherical pair 7-2, the lower end of a lower connecting rod 7-3 is connected with the static platform 1 through a revolute pair 7-4, and the upper connecting rod 7-1 and the lower connecting rod 7-3 are mutually sleeved.
A rotatable axis mechanical arm 3, a flexible cable 4 and a return seat 5 are further connected between the static platform 1 and the movable platform 2, as shown in figure 2, a circular hole 2-2 with a bulge 2-1 is formed in the center of the movable platform 2, the rotatable axis mechanical arm 3 penetrates through the circular hole 2-2, a spiral groove 3-1 is formed in the outer surface of the mechanical arm 3, and an inner bulge 2-1 of the circular hole 2-2 is embedded into the spiral groove 3-1; the return seat 5 is fixed on the upper surface of the static platform 1, and the mechanical arm 3 with the rotatable axis is connected with the return seat 5 through a flexible cable 4. The locking device 6 is fixed on the lower surface of the movable platform 2 and the periphery of the round hole 2-2.
The revolute pairs 7-4 of the three branched chains 7 are symmetrically arranged by taking the center of the upper surface of the static platform 1 as the center, and the spherical pairs 7-2 of the three branched chains 7 are symmetrically arranged by taking the center of the lower surface of the movable platform 2 as the center.
As shown in fig. 2, the inner diameter of the circular hole 2-2 at the center of the movable platform 2 is larger than the outer diameter of the mechanical arm 3 with the rotatable axis; the bulge 2-1 in the round hole 2-2 is hemispherical; the rotatable axis mechanical arm 3 penetrates through the circular hole 2-2, the spiral groove 3-1 in the outer surface of the mechanical arm 3 is semicircular in cross section, and the bulge 2-1 in the circular hole 2-2 is embedded into the spiral groove 3-1 and can move in the spiral groove 3-1, so that the rotatable axis mechanical arm 3 is driven to rotate.
As shown in FIG. 3, the rotatable-axis robot arm 3 has an outer frustum-shaped structure 3-2 at one end of the connecting flexible cable 4, the return seat 5 has an inner frustum-shaped structure 5-1 at one end of the connecting flexible cable 4, and the taper of the outer frustum-shaped structure 3-2 is the same as that of the inner frustum-shaped structure 5-1.
As shown in figure 4, the locking device 6 comprises an electromagnetic valve 6-1, a locking arc plate 6-2, a spring 6-3 and a locking base 6-4, the locking arc plate 6-2 is arranged in the locking base 6-4, the spring 6-3 connected to the electromagnetic valve 6-1 penetrates through the locking base 6-4 to be positioned behind the locking arc plate 6-2, and the inner arc surface of the locking arc plate 6-2 is connected with the outer surface of the mechanical arm 3 with the rotatable axis.
When the locking device 6 is in a locking state, the electromagnetic valve 6-1 is disconnected, the locking arc plate 6-2 tightly clings to the outer surface of the rotatable axis mechanical arm 3 under the action of the spring 6-3, and the mechanical arm 3 is fixed and cannot rotate relative to the movable platform 2; when the locking needs to be released, the electromagnetic valve 6-1 works, the locking arc plate 6-2 leaves the outer surface of the rotatable axis mechanical arm 3 under the action of suction force, and the mechanical arm 3 can rotate relative to the movable platform 2.
The return seat 5 is cylindrical in shape and fixed on the upper surface of the static platform 1, and the central axis of the return seat 5 is superposed with the central axis of the static platform 1.
The driving parts at the bottoms of the three branched chains of the mechanism are a linear air cylinder, a hydraulic cylinder, an electric push rod or an electric cylinder.
The parallel mechanism with the mechanical arm with the rotatable axis has the following 6 common working conditions, and the 6 common working conditions are driven by the sliding pairs on the branched chains and are matched with the electromagnetic valves on the locking devices to act.
As shown in fig. 5, if the upper links 7-1 of the three branched chains 7 are pushed out simultaneously and the strokes are the same, the movable platform 2 will rise horizontally, and if the flexible cable 4 is not tightened, the locking device 6 will lock, and the movable platform 2 will drive the axis-rotatable mechanical arm 3 to rise.
As shown in fig. 6, if the upper links 7-1 of the three branches 7 are pushed out simultaneously and the strokes are the same, the movable platform 2 will rise horizontally, at this time, if the flexible cable 4 is tightened, the locking device 6 will be unlocked, and when the movable platform 2 rises, the rotatable axis mechanical arm 3 will be driven to rotate around the axis thereof by the interaction of the circular hole protrusion 2-1 and the spiral groove 3-1.
As shown in FIG. 7, if the upper links 7-1 of the three branched chains 7 are pushed out respectively and the flexible cable 4 is not tightened, the locking device 6 is locked, and when the movable platform 2 swings, the rotatable axis mechanical arm 3 is driven to swing by the interaction between the circular hole protrusion 2-1 and the spiral groove 3-1.
As shown in FIG. 8, if the upper links 7-1 of the three branches 7 are pushed out respectively and the flexible cable 4 is tightened, the locking device 6 is unlocked, and the rotatable-axis robot arm 3 is driven to rotate around the axis thereof by the interaction between the circular-hole protrusion 2-1 and the spiral groove 3-1 when the movable platform 2 swings.
As shown in fig. 9, if the upper links 7-1 of the three branched chains 7 are retracted respectively, when the strokes of the three branched chains reach the same stroke, the locking device 6 is locked, the movable platform 2 is horizontally aligned, and the rotatable axis mechanical arm 3 is driven to swing to the vertical position by the interaction between the circular hole protrusion 2-1 and the spiral groove 3-1.
As shown in fig. 10, if the upper connecting rods 7-1 of the three branched chains 7 continue to retract after the movable platform 2 is horizontally aligned, the outer frustum-shaped structure 3-2 of the rotatable axis mechanical arm 3 will contact with the inner frustum-shaped structure 5-1 of the return base 5, at this time, the locking device 6 is unlocked, the movable platform 2 horizontally descends, and the rotatable axis mechanical arm 3 is driven to rotate around the axis thereof by the interaction between the circular hole protrusion 2-1 and the spiral groove 3-1 until the rotatable axis mechanical arm 3 returns to the initial position.
Therefore, the parallel mechanism with the rotatable axis mechanical arm has six common working conditions, and can complete switching among the six common working conditions by means of the matching action of the electromagnetic valve on the premise of not changing a driving mode, so that the rotation and translation of the movable platform are realized, the rotation of the rotatable axis mechanical arm is also realized, and the distribution condition of a working space of a reference point at the tail end of the movable platform of the parallel mechanism is changed.
The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (7)
1. A parallel mechanism with a rotatable axis mechanical arm is characterized by comprising a static platform (1), a movable platform (2) and three branched chains (7) for connecting the static platform (1) and the movable platform (2); the three branched chains are two sections of connecting rods which are mutually sleeved, and the bottom parts of the three branched chains (7) are provided with driving parts;
the mechanical arm (3) with a rotatable axis is arranged on the movable platform (2), the mechanical arm (3) with the rotatable axis is connected with a return seat (5) through a flexible cable (4), and the return seat (5) is connected with the static platform (1); a locking device (6) for limiting the rotation axis of the mechanical arm (3) to rotate relative to the movable platform (2) is arranged on the movable platform (2);
the center of the movable platform (2) is provided with a round hole (2-2) with a hemispherical bulge (2-1), the rotatable axis mechanical arm (3) penetrates through the round hole (2-2), the outer surface of the rotatable axis mechanical arm (3) is provided with a spiral groove (3-1) with a semicircular section, and the inner bulge (2-1) of the round hole (2-2) is embedded into the spiral groove (3-1) to move along the spiral groove to drive the rotatable axis mechanical arm (3) to rotate;
the movable platform (2) ascends or swings through the pushing-out and retracting of the driving part at the bottom of the three branched chains (7), and the mechanical arm (3) with the rotatable axis is driven to rotate or swing to a specified position around the axis of the mechanical arm.
2. The parallel mechanism with mechanical arms with rotatable axes as claimed in claim 1, wherein the three branched chains (7) have the same structure and are centrosymmetric about the static platform (1) and the movable platform (2); each branched chain comprises an upper connecting rod (7-1) and a lower connecting rod (7-3) which are sleeved with each other, the top of the upper connecting rod (7-1) is connected with the movable platform (2) through a spherical pair (7-2), and the bottom of the lower connecting rod (7-3) is connected with the static platform (1) through a revolute pair (7-4).
3. Parallel mechanism with pivotable arms according to claim 2, characterized in that the bottom driving part of the three branches (7) is a linear cylinder, a hydraulic cylinder, an electric push rod or an electric cylinder.
4. The parallel mechanism with rotatable axis mechanical arm as claimed in claim 1, wherein the flexible cable (4) comprises a cable section and a frustum structure with the same conicity at two ends, one end connected with the rotatable axis mechanical arm (3) is an outer frustum structure (3-2), and one end connected with the return seat (5) is an inner frustum structure (5-1).
5. The parallel mechanism with mechanical arm with rotatable axis as claimed in claim 1, wherein said locking device (6) comprises a solenoid valve (6-1), a locking arc plate (6-2), a spring (6-3) and a locking base (6-4); the locking arc plate (6-2) is arranged in the locking base (6-4), a spring (6-3) connected to the electromagnetic valve (6-1) penetrates through the locking base (6-4) and is positioned behind the locking arc plate (6-2), and the inner arc surface of the locking arc plate (6-2) is connected with the outer surface of the mechanical arm (3) with the rotatable axis.
6. Parallel mechanism with pivotable mechanical arms according to claim 1, characterized in that the centre axis of the return seat (5) coincides with the centre axis of the stationary platform (1).
7. The method for moving the parallel mechanism with mechanical arms with rotatable axes as claimed in any one of claims 1-6, wherein the three branched chains (7) comprise:
if the upper connecting rods (7-1) of the three branched chains (7) are pushed out simultaneously and the strokes are consistent, the movable platform (2) rises horizontally, and if the flexible cables (4) are not tensioned and the locking devices (6) are locked, the movable platform (2) drives the mechanical arm (3) with the rotatable axis to rise;
if the upper connecting rods (7-1) of the three branched chains (7) are pushed out simultaneously and the strokes are consistent, the movable platform (2) rises horizontally, and if the flexible cables (4) are tensioned and the locking device (6) is unlocked, the movable platform (2) rises to drive the mechanical arm (3) with the rotatable axis to rotate around the axis of the mechanical arm;
if the upper connecting rods (7-1) of the three branched chains (7) are respectively pushed out and the flexible cables (4) are not tensioned, the locking device (6) is locked, the movable platform (2) swings to drive the mechanical arm (3) with the rotatable axis to swing;
if the upper connecting rods (7-1) of the three branched chains (7) are respectively pushed out and the flexible cables (4) are tensioned, the locking device (6) is unlocked, the movable platform (2) swings, and the mechanical arm (3) with the rotatable axis is driven to rotate around the axis of the mechanical arm;
if the upper connecting rods (7-1) of the three branched chains (7) retract respectively, when the strokes of the three branched chains are consistent, the locking device (6) is locked, the movable platform (2) horizontally swings right, and the mechanical arm (3) with the rotatable axis is driven to swing to a vertical position;
if the upper connecting rods (7-1) of the three branched chains (7) continue to retract after the movable platform (2) is horizontally aligned, the outer frustum-shaped structure (3-2) is in contact with the inner frustum-shaped structure (5-1), and the locking device (6) is unlocked, the movable platform (2) horizontally descends to drive the mechanical arm (3) with the rotatable axis to rotate around the axis until the mechanical arm returns to the initial position.
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| CN114029934B (en) * | 2021-12-11 | 2023-08-15 | 浙江工业大学 | Universal active radial compliant constant force end effector and working method thereof |
| CN114711966A (en) * | 2022-03-07 | 2022-07-08 | 诺创智能医疗科技(杭州)有限公司 | Mechanical arm, robot, minimally invasive surgery robot system and pose determination method of mechanical arm |
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