CN209954664U - Five-axis linkage parallel mechanism - Google Patents

Abstract

The utility model relates to a five-axis linkage parallel mechanism, which comprises a movable platform and a fixed platform, wherein the movable platform is connected with the fixed platform through five driving branches and a constraint branch; the five driving branches comprise a ball pair I rotationally connected with the movable platform, an upper connecting rod I and a lower connecting rod I which are connected with the ball pair I, a moving pair which is connected with the upper connecting rod I and the lower connecting rod I and realizes relative sliding of the upper connecting rod I and the lower connecting rod I, a hook hinge which is connected with the lower connecting rod I and the fixed platform and enables the lower connecting rod I to rotate relative to the fixed platform, and the restraining branches comprise a ball pair II rotationally connected with the movable platform, an upper connecting rod II connected with the ball pair II, a lower connecting rod II connected with the upper connecting rod II and capable of moving relative to the upper connecting rod II, and a rotating pair II which is connected with the lower connecting rod II and enables the lower connecting rod II to rotate relative to the fixed platform. The utility model discloses a five-axis linkage parallel mechanism has advantages such as operation space is big, mechanical structure is simple, easily control, manufacturability good.

Description

Five-axis linkage parallel mechanism

Technical Field

The utility model relates to a parallel mechanism field of robot, concretely relates to five-axis linkage parallel mechanism.

Background

There are two types of linkage mechanisms in the operation of the existing robot: a series mechanism and a parallel mechanism. The series mechanism has the advantages of large working space, high flexibility and the like. But also has some disadvantages, such as low stiffness, large accumulated error, low end effector accuracy, large inertia, poor dynamic performance, etc.

The parallel mechanism of the robot is a space multi-degree-of-freedom multi-loop closed chain mechanism with drivers distributed on different loops. Compared with a series mechanism, the parallel mechanism has the characteristics of high rigidity, strong bearing capacity, small accumulated error, good dynamic performance, compact structure and the like. At present, the parallel mechanism is widely applied to the aspects of virtual axis machine tools, medical surgical equipment, precision machining and measurement, various motion simulators, sensors and the like.

From the summary of the product and the technical development of parallel machine tools at home and abroad, the research on parallel mechanisms is mostly concentrated on six-degree-of-freedom parallel mechanisms in the past years, in recent years, the less-degree-of-freedom parallel mechanisms are more and more emphasized by people, but the research is mostly concentrated on the three-degree-of-freedom parallel mechanisms, the problems existing in the prior art of the parallel mechanisms are that ① existing robots, the less-degree-of-freedom parallel mechanisms are mostly not completely symmetrical, ② has less research on five-degree-of-freedom parallel mechanisms, and the five-degree-of-freedom parallel mechanisms with large application potential and symmetry, namely three-dimensional rotation and two-dimensional movement, are less researched.

SUMMERY OF THE UTILITY MODEL

The utility model provides a five-axis linkage parallel mechanism organically combines the space removal and the rotation to solve the not enough that exists among the prior art. The to-be-solved technical problem of the utility model is realized through following technical scheme.

A five-axis linkage parallel mechanism comprises a movable platform and a fixed platform, and is improved in that:

the movable platform is connected with the fixed platform through five driving branches and a constraint branch, and the five driving branches are a driving branch I, a driving branch II, a driving branch III, a driving branch IV and a driving branch V respectively;

the five driving branches respectively comprise a ball pair I rotationally connected with the movable platform, an upper connecting rod I connected with the ball pair I, a lower connecting rod I, a moving pair which is connected with the upper connecting rod I and the lower connecting rod I and realizes relative sliding of the upper connecting rod I and the lower connecting rod I, and hooke hinges which are connected with the lower connecting rod I and the fixed platform and enable the lower connecting rod I to rotate relative to the fixed platform, wherein the five ball pairs I are uniformly distributed on the lower surface of the movable platform in a circumferential array mode, and the five hooke hinges are uniformly distributed on the upper surface of the fixed platform in a circumferential array mode;

a rotating shaft in the Hooke hinge, which is directly connected with the lower connecting rod I, is a first rotating shaft, and a rotating shaft connected with the first rotating shaft is a second rotating shaft;

the constraint branch comprises a ball pair II rotationally connected with the movable platform, an upper connecting rod II connected with the ball pair II, a lower connecting rod II connected with the upper connecting rod II and capable of moving relative to the upper connecting rod II, and a revolute pair II connected with the lower connecting rod II and the fixed platform and capable of enabling the lower connecting rod II to rotate relative to the fixed platform, wherein a rotating shaft directly connected with the lower connecting rod II in the revolute pair II is a third rotating shaft;

and the axis of a second rotating shaft in the Hooke joint of the driving branch I is parallel to the axis of a third rotating shaft.

Five ball pairs I are uniformly distributed on the lower surface of the movable platform in a circumferential array mode, five hook joints are uniformly distributed on the upper surface of the fixed platform in a circumferential array mode, and the axis of a second rotating shaft in a hook joint of a driving branch I and the axis of a third rotating shaft of a revolute pair II of a restraining branch are arranged in a parallel relation, so that the five-axis linkage parallel mechanism has symmetry; the three-dimensional rotation of the movable platform of the five-axis linkage parallel mechanism of the utility model is realized by arranging a ball pair I which is rotationally connected with the movable platform, a Hooke hinge which enables the lower connecting rod I to rotate relative to the fixed platform and a moving pair which enables the upper connecting rod I and the lower connecting rod I to slide relatively; through setting up with move the platform and rotate ball pair II of being connected, make down link II relatively decide platform two dimension pivoted revolute pair II and relative motion's last link II and lower link II, realize the utility model discloses a five-axis linkage parallel mechanism move the two-dimensional movement of platform.

Preferably, the ball pair II is positioned at the center of the lower surface of the movable platform, and the revolute pair II is positioned at the center of the upper surface of the fixed platform.

So set up, can make the utility model discloses a five-axis linkage parallel mechanism has the structure of axial symmetry and rotational symmetry, and the kinematics is just being solved, is solved simply conversely, and control is easy, and the motion form is clear and definite.

Preferably, the upper connecting rod II and the lower connecting rod II are in sliding connection through a sliding pair.

Preferably, the moving pair between the upper link ii and the lower link ii is driven by a hydraulic linear movement driving device, or a linear movement driving device composed of a motor and a screw pair.

Preferably, the five moving pairs of the driving branches are driven by a hydraulic linear movement driving device;

or the five moving pairs of the driving branches are driven by a linear moving driving device consisting of the motor and the screw pair;

alternatively, among the five drive-branched pairs, some of the five drive-branched pairs are driven by a hydraulic linear motion driving device, and the remaining drive-branched pairs are driven by a linear motion driving device composed of a motor and a screw pair.

Preferably, the upper connecting rod II and the lower connecting rod II are in rotary connection through a revolute pair I.

Further preferably, the five driving branch sliding pairs are driven by a hydraulic linear movement driving device;

or the five moving pairs of the driving branches are driven by a linear moving driving device consisting of the motor and the screw pair;

alternatively, among the five drive-branched pairs, some of the five drive-branched pairs are driven by a hydraulic linear motion driving device, and the remaining drive-branched pairs are driven by a linear motion driving device composed of a motor and a screw pair.

Compared with the series connection mechanism in the prior art, the five-axis linkage parallel connection mechanism of the utility model has the advantages of high precision, high rigidity, low inertia, good dynamic performance and the like; the utility model discloses a five-axis linkage parallel mechanism has the structure of axial symmetry and rotational symmetry, and the kinematics is just being solved, is solved simply to the contrary, and control is easy, and the motion form is clear and definite, can realize moving the three-dimensional rotation in space and the two-dimensional movement of platform. The traditional four-degree-of-freedom parallel mechanism mostly rotates in one dimension and moves in three dimensions or rotates in two dimensions or rotates in three dimensions and moves in one dimension, and the five-degree-of-freedom parallel mechanism has two degrees of freedom for moving and rotating in three dimensions, can be used for a ship motion simulator to simulate motions of pitching, rolling and the like of a ship in the sea, can also be used in the fields of machine tool machining and the like, and has wide application value. The utility model discloses a five-axis linkage parallel mechanism has advantages such as operation space is big, mechanical structure is simple, easily control, manufacturability good.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of a five-axis linkage parallel mechanism of the present invention;

fig. 2 is a schematic structural diagram of another embodiment of a five-axis linkage parallel mechanism according to the present invention;

the reference numbers in the drawings are, in order: 1. the device comprises a movable platform, 2, ball pairs I, 3, upper connecting rods I, 4, lower connecting rods I, 5, hooke joints, 6, a fixed platform, 7, revolute pairs II, 8, lower connecting rods II, 9, upper connecting rods II, 10, ball pairs II, 11, revolute pairs I, driving branches I, II, driving branches II, III, driving branches III, IV, driving branches IV, V, driving branches V, VI and constraint branches.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Example 1: referring to the attached drawings 1 and 2, a five-axis linkage parallel mechanism comprises a movable platform 1 and a fixed platform 6, and the improvement lies in that:

the movable platform 1 is connected with the fixed platform 6 through five driving branches and a constraint branch, wherein the five driving branches are a driving branch I, a driving branch II, a driving branch III, a driving branch IV and a driving branch V respectively;

the five driving branches respectively comprise a ball pair I2 rotationally connected with the movable platform 1, an upper connecting rod I3 connected with the ball pair I2, a lower connecting rod I4, a moving pair which is connected with the upper connecting rod I3 and the lower connecting rod I4 and realizes relative sliding of the upper connecting rod I3 and the lower connecting rod I4, and hooke hinges 5 which are connected with the lower connecting rod I4 and the fixed platform 6 and enable the lower connecting rod I4 to rotate relative to the fixed platform 6, the five ball pairs I2 are uniformly distributed on the lower surface of the movable platform 1 in a circumferential array, and the five hooke hinges 5 are uniformly distributed on the upper surface of the fixed platform 6 in a circumferential array;

a rotating shaft in the Hooke hinge 5, which is directly connected with the lower connecting rod I4, is a first rotating shaft, and a rotating shaft connected with the first rotating shaft is a second rotating shaft;

the constraint branch comprises a ball pair II 10 rotationally connected with the movable platform 1, an upper connecting rod II 9 connected with the ball pair II 10, a lower connecting rod II 8 connected with the upper connecting rod II 9 and capable of moving relative to the upper connecting rod II 9, and a revolute pair II 7 connected with the lower connecting rod II 8 and the fixed platform 6 and enabling the lower connecting rod II 8 to rotate relative to the fixed platform 6, wherein a rotating shaft directly connected with the lower connecting rod II 8 in the revolute pair II 7 is a third rotating shaft;

and the axis of a second rotating shaft in the Hooke joint 5 of the driving branch I is parallel to the axis of the third rotating shaft.

Five ball pairs I2 are circumferentially and uniformly distributed on the lower surface of the movable platform 1, five Hooke's joints 5 are circumferentially and uniformly distributed on the upper surface of the fixed platform 6, and the axis of a second rotating shaft in the Hooke's joint 5 of the driving branch I and the axis of a third rotating shaft of a revolute pair II 7 of the restraining branch are set to be in a parallel relationship, so that the five-axis linkage parallel mechanism of the utility model has symmetry; the three-dimensional rotation of the movable platform of the five-axis linkage parallel mechanism of the utility model is realized by arranging a ball pair I2 which is rotationally connected with the movable platform 1, a Hooke's hinge 5 which enables the lower connecting rod I4 to rotate relative to the fixed platform 6 and a moving pair which enables the upper connecting rod I3 and the lower connecting rod I4 to slide relatively; through setting up with moving platform 1 and rotating ball pair II 10 of being connected, make lower connecting rod II 8 decide 6 two dimension pivoted revolute pair II 7 and relative motion's last connecting rod II 9 and lower connecting rod II 8 relatively, realize the utility model discloses a five-axis linkage parallel mechanism's the two-dimensional movement of moving platform.

Example 2: on the basis of the embodiment 1, the ball pair ii 10 is located at the center of the lower surface of the movable platform 1, and the revolute pair ii 7 is located at the center of the upper surface of the fixed platform 6.

So set up, can make the utility model discloses a five-axis linkage parallel mechanism has the structure of axial symmetry and rotational symmetry, and the kinematics is just being solved, is solved simply conversely, and control is easy, and the motion form is clear and definite.

Example 3: on the basis of the embodiment 1 or 2, the upper connecting rod II 9 and the lower connecting rod II 8 are in sliding connection through a sliding pair.

Example 4: in addition to embodiment 3, the moving pair between the upper link ii 9 and the lower link ii 8 is driven by a hydraulic linear motion driving device, or a linear motion driving device composed of a motor and a screw pair.

Example 5: on the basis of the embodiment 1 or 2 or 3 or 4, the five moving pairs of the driving branches are driven by the hydraulic linear movement driving device;

or the five moving pairs of the driving branches are driven by a linear moving driving device consisting of the motor and the screw pair;

alternatively, among the five drive-branched pairs, some of the five drive-branched pairs are driven by a hydraulic linear motion driving device, and the remaining drive-branched pairs are driven by a linear motion driving device composed of a motor and a screw pair.

Example 6: referring to fig. 2, on the basis of embodiment 1 or 2, the upper link ii 9 and the lower link ii 8 are rotatably connected through a revolute pair i 11.

Example 7: on the basis of the embodiment 6, the moving pairs of the five driving branches are driven by a hydraulic linear movement driving device;

or the five moving pairs of the driving branches are driven by a linear moving driving device consisting of the motor and the screw pair;

alternatively, among the five drive-branched pairs, some of the five drive-branched pairs are driven by a hydraulic linear motion driving device, and the remaining drive-branched pairs are driven by a linear motion driving device composed of a motor and a screw pair.

Compared with the series connection mechanism in the prior art, the five-axis linkage parallel connection mechanism of the utility model has the advantages of high precision, high rigidity, low inertia, good dynamic performance and the like; the utility model discloses a five-axis linkage parallel mechanism has the structure of axial symmetry and rotational symmetry, and the kinematics is just being solved, is solved simply to the contrary, and control is easy, and the motion form is clear and definite, can realize moving the three-dimensional rotation in space and the two-dimensional movement of platform. The utility model discloses a five-axis linkage parallel mechanism has advantages such as operation space is big, mechanical structure is simple, easily control, manufacturability good.

It should be noted that the above detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in other sequences than those illustrated or otherwise described herein.

Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may also be oriented in other different ways, such as by rotating it 90 degrees or at other orientations, and the spatially relative descriptors used herein interpreted accordingly.

In the foregoing detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, like numerals typically identify like components, unless context dictates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented here.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. The utility model provides a five-axis linkage parallel mechanism, includes movable platform (1), decides platform (6), its characterized in that:

the movable platform (1) is connected with the fixed platform (6) through five driving branches and a constraint branch (VI), wherein the five driving branches are a driving branch I (I), a driving branch II (II), a driving branch III (III), a driving branch IV (IV) and a driving branch V (V);

the five driving branches comprise a ball pair I (2) rotatably connected with the movable platform (1), an upper connecting rod I (3) connected with the ball pair I (2), a lower connecting rod I (4), a moving pair which is connected with the upper connecting rod I (3) and the lower connecting rod I (4) and realizes relative sliding of the upper connecting rod I and the lower connecting rod I, and hooke hinges (5) which are connected with the lower connecting rod I (4) and the fixed platform (6) and enable the lower connecting rod I (4) to rotate relative to the fixed platform (6), the five ball pairs I (2) are uniformly distributed on the lower surface of the movable platform (1) in a circumferential array mode, and the five hooke hinges (5) are uniformly distributed on the upper surface of the fixed platform (6) in a circumferential array mode;

a rotating shaft in the Hooke hinge (5) which is directly connected with the lower connecting rod I (4) is a first rotating shaft, and a rotating shaft connected with the first rotating shaft is a second rotating shaft;

the restraint branch (VI) comprises a ball pair II (10) rotatably connected with the movable platform (1), an upper connecting rod II (9) connected with the ball pair II (10), a lower connecting rod II (8) connected with the upper connecting rod II (9) and capable of moving relative to the upper connecting rod II (9), and a rotating pair II (7) connected with the lower connecting rod II (8) and the fixed platform (6) and enabling the lower connecting rod II (8) to rotate relative to the fixed platform (6), wherein a rotating shaft directly connected with the lower connecting rod II (8) in the rotating pair II (7) is a third rotating shaft;

the axis of a second rotating shaft in a Hooke joint (5) of the driving branch I (I) is parallel to the axis of a third rotating shaft.

2. The five-axis linkage parallel mechanism according to claim 1, wherein: the ball pair II (10) is positioned at the center of the lower surface of the movable platform (1), and the revolute pair II (7) is positioned at the center of the upper surface of the fixed platform (6).

3. A five-axis linkage parallel mechanism according to claim 1 or 2, wherein: the upper connecting rod II (9) and the lower connecting rod II (8) are in sliding connection through a sliding pair.

4. The five-axis linkage parallel mechanism according to claim 3, wherein: and the moving pair between the upper connecting rod II (9) and the lower connecting rod II (8) is driven by a hydraulic linear movement driving device or a linear movement driving device consisting of a motor and a screw pair.

5. A five-axis linkage parallel mechanism according to claim 1, 2 or 4, wherein:

the five moving pairs of the driving branches are driven by a hydraulic linear moving driving device;

or the five moving pairs of the driving branches are driven by a linear moving driving device consisting of the motor and the screw pair;

alternatively, among the five drive-branched pairs, some of the five drive-branched pairs are driven by a hydraulic linear motion driving device, and the remaining drive-branched pairs are driven by a linear motion driving device composed of a motor and a screw pair.

6. The five-axis linkage parallel mechanism according to claim 3, wherein:

the five moving pairs of the driving branches are driven by a hydraulic linear moving driving device;

or the five moving pairs of the driving branches are driven by a linear moving driving device consisting of the motor and the screw pair;

alternatively, among the five drive-branched pairs, some of the five drive-branched pairs are driven by a hydraulic linear motion driving device, and the remaining drive-branched pairs are driven by a linear motion driving device composed of a motor and a screw pair.

7. A five-axis linkage parallel mechanism according to claim 1 or 2, wherein: the upper connecting rod II (9) is rotatably connected with the lower connecting rod II (8) through a revolute pair I (11).

8. The five-axis linkage parallel mechanism according to claim 7, wherein:

the five moving pairs of the driving branches are driven by a hydraulic linear moving driving device;

or the five moving pairs of the driving branches are driven by a linear moving driving device consisting of the motor and the screw pair;

alternatively, among the five drive-branched pairs, some of the five drive-branched pairs are driven by a hydraulic linear motion driving device, and the remaining drive-branched pairs are driven by a linear motion driving device composed of a motor and a screw pair.

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