CN102229141A - Parallel mechanism capable of realizing four-degree-of-freedom movement - Google Patents
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Abstract
本发明公开了四种可实现四自由度运动的并联机构，它们的特点是，动平台采用分角机构或者分角机构和平行四边形结构的结合，使动平台形成一菱形结构，其结构的虚中心点相对位置不变，只能做沿对角线方向的相对拉伸和压缩的变形运动。本发明运动灵活，受力均匀，运动精度高，通过角度放大机构将此相对运动转化为执行器的旋转运动，机构中没有使用移动副，避免了受力不均匀，摩擦力大，使用寿命低等不足，整体结构的刚性和稳定性好，易实现高速运动，且满足复杂抓放操作的要求。该机构可重构性强，可实现多种构型，也可完成夹持和旋转操作，为实际应用提供了多种选择。
The present invention discloses four parallel mechanisms capable of realizing four-degree-of-freedom movement. Their characteristics are that the moving platform adopts an angle-dividing mechanism or a combination of an angle-dividing mechanism and a parallelogram structure, so that the moving platform forms a rhombus structure. The relative position of the central point remains unchanged, and only relative stretching and compressing deformation movements along the diagonal direction can be performed. The invention has flexible movement, uniform force and high movement precision. The relative movement is converted into the rotary movement of the actuator through the angle amplification mechanism. No moving pair is used in the mechanism, which avoids uneven force, large friction and low service life. The rigidity and stability of the overall structure are good, it is easy to realize high-speed movement, and it meets the requirements of complex pick-and-place operations. The mechanism has strong reconfigurability, can realize various configurations, and can also complete clamping and rotating operations, providing multiple options for practical applications.
Description
技术领域 technical field
本发明涉及一种机器人，特别是涉及一种机器人的具有空间四自由度的并联机构。The invention relates to a robot, in particular to a parallel mechanism of a robot with four degrees of freedom in space.
背景技术 Background technique
专利文献US20090019960和EP1084802公开了一种可实现三维平动一维转动的并联机构，包括四个主动支链和一个动平台，每条支链包括近架杆和远架杆两部分。其中近架杆一端相对于固定机架仅具有一个移动或转动自由度，另一端通过仅具有两个回转自由度的铰链与远架杆的一端连接；远架杆另一端通过仅具有两个回转自由度的铰链与动平台连接，从而保证机构的平动；动平台由四个部件组成，其中两个部件需相互平行，另外两个部件与前述两个相互平行的部件通过转动铰链连接，通过部件之间的相互转动可实现绕垂直于动平台的轴线的转动自由度，同时配以相应的放大机构可扩大转角范围。上述机构的局限性在于：该机构动平台受驱动的部件只有两个，这两个部件相当于平行四边形的一组对边，这样的驱动方式不灵活，受力情况不均匀，不利于机构的顺畅运行。Patent documents US20090019960 and EP1084802 disclose a parallel mechanism that can realize three-dimensional translation and one-dimensional rotation, including four active branch chains and a moving platform, and each branch chain includes two parts: a near frame bar and a far frame bar. One end of the proximal rod has only one degree of freedom of movement or rotation relative to the fixed frame, and the other end is connected to one end of the far rod through a hinge with only two degrees of freedom; the other end of the far rod has only two degrees of freedom. The hinge of the degree of freedom is connected with the moving platform to ensure the translational movement of the mechanism; the moving platform is composed of four parts, two of which must be parallel to each other, and the other two parts are connected to the aforementioned two parallel parts through rotating hinges. The mutual rotation between the parts can realize the degree of freedom of rotation around the axis perpendicular to the moving platform, and at the same time, the range of the rotation angle can be enlarged by matching the corresponding amplification mechanism. The limitation of the above-mentioned mechanism is that there are only two parts driven by the moving platform of the mechanism, and these two parts are equivalent to a pair of opposite sides of a parallelogram. run smoothly.
发明内容 Contents of the invention
本发明为解决公知技术中存在的技术问题而提供一种动平台力传递效果好，使用寿命长且设计巧妙的可实现四自由度运动的并联机构。In order to solve the technical problems existing in the known technology, the present invention provides a dynamic platform with good force transmission effect, long service life and ingeniously designed parallel mechanism that can realize four-degree-of-freedom movement.
本发明为解决公知技术中存在的技术问题所采取的第一技术方案是：一种可实现四自由度运动的并联机构，包括固定架、动平台以及对称布置在所述固定架与动平台之间的四条结构相同的支链；所述固定架上固接有驱动装置；每条支链包括近架杆、两个平行且等长的远架杆、上连接轴和下连接轴，所述近架杆一端与所述驱动装置固接，另一端与上连接轴固接；两个平行的所述远架杆一端分别与所述上连接轴球铰接，另一端分别与下连接轴球铰接，每条支链上的所述下连接轴、所述上连接轴和所述两个平行的远架杆形成平行四边形；所述动平台包括与四条支链的下连接轴对应固接的第一角板、第二角板、第三角板和第四角板，所述第一角板、所述第二角板、所述第三角板和所述第四角板按照顺时针依次布置；所述第一角板上设有第一分角机构，所述第一分角机构包括第一齿轮、第二齿轮、第一分角连杆和第二分角连杆，所述第一齿轮和所述第二齿轮相互啮合并沿所述第一角板的中心线对称设置，与所述第一角板通过转动副连接；所述第一分角连杆的一端与所述第一齿轮固接，另一端通过转动副连接在所述第四角板上；所述第二分角连杆的一端与所述第二齿轮固接，另一端通过转动副连接在所述第二角板上；在所述第一角板和所述第二角板之间设有第一菱形边杆，所述第一菱形边杆的两端分别通过转动副与所述第一角板和所述第二角板连接，所述第一角板、所述第二角板、所述第二分角连杆和所述第一菱形边杆形成平行四边形结构；在所述第二角板和所述第三角板之间设有第二菱形边杆和第一平行连杆，所述第二菱形边杆和第一平行连杆的两端各通过转动副与所述第二角板和所述第三角板连接，所述第二菱形边杆、所述第一平行连杆、所述第二角板和所述第三角板形成平行四边形结构；在所述第三角板和所述第四角板之间设有第三菱形边杆和第二平行连杆，所述第三菱形边杆和第二平行连杆的两端各通过转动副与所述第三角板和所述第四角板连接，所述第三菱形边杆、所述第二平行连杆、所述第三角板和所述第四角板形成平行四边形结构；所述第一平行连杆、所述第二平行连杆、所述第一菱形边杆、所述第二菱形边杆和所述第三菱形边杆、所述第一分角连杆和所述第二分角连杆的有效长度均相等，所述第一角板、所述第二角板、所述第三角板和所述第四角板形成菱形的四个顶点。The first technical solution adopted by the present invention to solve the technical problems in the known technology is: a parallel mechanism capable of four-degree-of-freedom movement, including a fixed frame, a moving platform, and a symmetrical arrangement between the fixed frame and the moving platform. Four branch chains with the same structure between them; the drive device is fixedly connected to the fixed frame; each branch chain includes a near frame rod, two parallel and equal long far frame rods, an upper connecting shaft and a lower connecting shaft, the One end of the near frame rod is fixedly connected to the driving device, and the other end is fixedly connected to the upper connecting shaft; one end of the two parallel far frame rods is respectively hinged to the upper connecting shaft ball, and the other end is respectively hinged to the lower connecting shaft ball , the lower connecting shaft on each branch chain, the upper connecting shaft and the two parallel far-end rods form a parallelogram; A corner plate, a second corner plate, a third corner plate and a fourth corner plate, the first corner plate, the second corner plate, the third corner plate and the fourth corner plate are arranged clockwise; the The first angular plate is provided with a first angle-dividing mechanism, and the first angle-dividing mechanism includes a first gear, a second gear, a first angle-dividing connecting rod and a second angle-dividing connecting rod, and the first gear and the The second gear meshes with each other and is arranged symmetrically along the center line of the first angle plate, and is connected with the first angle plate through a rotating pair; one end of the first angle-dividing connecting rod is fixedly connected to the first gear , the other end is connected to the fourth angle plate through a rotation pair; one end of the second angle-dividing connecting rod is fixedly connected to the second gear, and the other end is connected to the second angle plate through a rotation pair; A first rhombic side bar is provided between the first corner plate and the second corner plate, and the two ends of the first rhombus side bar are respectively connected to the first corner plate and the second corner bar through a rotating pair. Angle plate connection, the first angle plate, the second angle plate, the second angle-dividing connecting rod and the first rhombus side bar form a parallelogram structure; between the second angle plate and the first angle plate A second rhombic side bar and a first parallel connecting rod are arranged between the triangular plates, and the two ends of the second rhombic side bar and the first parallel connecting rod are respectively connected with the second corner plate and the third corner plate through a rotating pair , the second rhombus side bar, the first parallel connecting rod, the second corner plate and the third corner plate form a parallelogram structure; between the third corner plate and the fourth corner plate, a first A triangular side bar and a second parallel connecting rod, the two ends of the third rhomboid side bar and the second parallel connecting rod are respectively connected to the third corner plate and the fourth corner plate through a rotating pair, and the first corner plate The triangular side bar, the second parallel connecting rod, the third corner plate and the fourth corner plate form a parallelogram structure; the first parallel connecting rod, the second parallel connecting rod, the first The effective lengths of the rhombus side bar, the second rhombus side bar and the third rhombus side bar, the first split angle connecting rod and the second split angle link are all equal, and the first angle plate , the second angled plate, the third angled plate and the fourth angled plate form four vertices of a rhombus.
本发明为解决公知技术中存在的技术问题所采取的第二技术方案是：一种可实现四自由度运动的并联机构，包括固定架、动平台以及对称布置在所述固定架与动平台之间的四条结构相同的支链；所述固定架上固接有驱动装置；每条支链包括近架杆、两个平行且等长的远架杆、上连接轴和下连接轴，所述近架杆一端与所述驱动装置固接，另一端与上连接轴固接；两个平行的所述远架杆一端分别与所述上连接轴球铰接，另一端分别与下连接轴球铰接，每条支链上的所述下连接轴、所述上连接轴和所述两个平行的远架杆形成平行四边形；所述动平台包括与四条支链的下连接轴对应固接的第一角板、第二角板、第三角板和第四角板，所述第一角板、所述第二角板、所述第三角板和所述第四角板按照顺时针依次布置；所述第一角板上设有第一分角机构，所述第一分角机构包括第一齿轮、第二齿轮、第一分角连杆和第二分角连杆，所述第一齿轮和所述第二齿轮相互啮合并沿所述第一角板的中心线对称设置，与所述第一角板通过转动副连接；所述第一分角连杆的一端与所述第一齿轮固接，另一端通过转动副连接在所述第四角板上；所述第二分角连杆的一端与所述第二齿轮固接，另一端与第三齿轮固接；所述第二角板上设有第二分角机构，所述第二分角机构包括所述第三齿轮、第四齿轮、所述第二分角连杆和第三分角连杆，所述第三齿轮和所述第四齿轮相互啮合并沿所述第二角板的中心线对称设置，与所述第二角板通过转动副连接；所述第三分角连杆的一端与所述第四齿轮固接，另一端通过转动副连接在所述第三角板上；在所述第二角板和所述第三角板之间设有第一菱形边杆，所述第一菱形边杆的两端分别通过转动副与所述第二角板和所述第三角板连接，所述第二角板、所述第三角板、所述第三分角连杆和所述第一菱形边杆形成平行四边形结构；在所述第三角板和所述第四角板之间设有第二菱形边杆和第一平行连杆，所述第二菱形边杆和所述第一平行连杆的两端各通过转动副与所述第三角板和所述第四角板连接，所述第二菱形边杆、所述第一平行连杆、所述第三角板和所述第四角板形成平行四边形结构；所述第一平行连杆、所述第一菱形边杆、所述第二菱形边杆、所述第一分角连杆和所述第二分角连杆和所述第三分角连杆的有效长度均相等，所述第一角板、所述第二角板、所述第三角板和所述第四角板形成菱形的四个顶点。The second technical solution adopted by the present invention to solve the technical problems in the known technology is: a parallel mechanism that can realize four-degree-of-freedom movement, including a fixed frame, a moving platform, and a symmetrical arrangement between the fixed frame and the moving platform. Four branch chains with the same structure between them; the drive device is fixedly connected to the fixed frame; each branch chain includes a near frame rod, two parallel and equal long far frame rods, an upper connecting shaft and a lower connecting shaft, the One end of the near frame rod is fixedly connected to the driving device, and the other end is fixedly connected to the upper connecting shaft; one end of the two parallel far frame rods is respectively hinged to the upper connecting shaft ball, and the other end is respectively hinged to the lower connecting shaft ball , the lower connecting shaft on each branch chain, the upper connecting shaft and the two parallel far-end rods form a parallelogram; A corner plate, a second corner plate, a third corner plate and a fourth corner plate, the first corner plate, the second corner plate, the third corner plate and the fourth corner plate are arranged clockwise; the The first angular plate is provided with a first angle-dividing mechanism, and the first angle-dividing mechanism includes a first gear, a second gear, a first angle-dividing connecting rod and a second angle-dividing connecting rod, and the first gear and the The second gear meshes with each other and is arranged symmetrically along the center line of the first angle plate, and is connected with the first angle plate through a rotating pair; one end of the first angle-dividing connecting rod is fixedly connected to the first gear , the other end is connected to the fourth angle plate through a rotating pair; one end of the second angle-dividing connecting rod is fixedly connected to the second gear, and the other end is fixedly connected to the third gear; the second angle plate A second angle-dividing mechanism is provided on it, and the second angle-dividing mechanism includes the third gear, the fourth gear, the second angle-dividing connecting rod and the third angle-dividing connecting rod, the third gear and the The fourth gear meshes with each other and is arranged symmetrically along the center line of the second angle plate, and is connected with the second angle plate through a rotating pair; one end of the third angle-dividing connecting rod is fixedly connected to the fourth gear , the other end is connected to the third corner plate through a rotating pair; a first rhombus side bar is arranged between the second corner plate and the third corner plate, and the two ends of the first rhombus side bar are respectively passed through a rotating pair Connected with the second corner plate and the third corner plate, the second corner plate, the third corner plate, the third corner connecting rod and the first rhombus side bar form a parallelogram structure; in the A second rhombic side bar and a first parallel connecting rod are arranged between the third corner plate and the fourth corner plate, and the two ends of the second rhombus side bar and the first parallel connecting rod are respectively connected to the The third corner plate is connected with the fourth corner plate, the second rhombus side bar, the first parallel connecting rod, the third corner plate and the fourth corner plate form a parallelogram structure; the first parallel connecting rod , the effective lengths of the first rhombus-shaped side bar, the second rhombus-shaped side bar, the first split-angle connecting rod, the second split-angle connecting rod, and the third split-angle connecting rod are all equal, so The first angled plate, the second angled plate, the third angled plate and the fourth angled plate form four vertices of a rhombus.
本发明为解决公知技术中存在的技术问题所采取的第三技术方案是：一种可实现四自由度运动的并联机构，包括固定架、动平台以及对称布置在所述固定架与动平台之间的四条结构相同的支链；所述固定架上固接有驱动装置；每条支链包括近架杆、两个平行且等长的远架杆、上连接轴和下连接轴，所述近架杆一端与所述驱动装置固接，另一端与上连接轴固接；两个平行的所述远架杆一端分别与所述上连接轴球铰接，另一端分别与下连接轴球铰接，每条支链上的所述下连接轴、所述上连接轴和所述两个平行的远架杆形成平行四边形；所述动平台包括与四条支链的下连接轴对应固接的第一角板、第二角板、第三角板和第四角板，所述第一角板、所述第二角板、所述第三角板和所述第四角板按照顺时针依次布置；所述第一角板上设有第一分角机构，所述第一分角机构包括第一齿轮、第二齿轮、第一分角连杆和第二分角连杆，所述第一齿轮和所述第二齿轮相互啮合并沿所述第一角板的中心线对称设置，与所述第一角板通过转动副连接；所述第一分角连杆的一端与所述第一齿轮固接，另一端通过转动副连接在所述第四角板上；所述第二分角连杆的一端与所述第二齿轮固接，另一端与第三齿轮固接；所述第二角板上设有第二分角机构，所述第二分角机构包括所述第三齿轮、第四齿轮、所述第二分角连杆和第三分角连杆，所述第三齿轮和所述第四齿轮相互啮合并沿所述第二角板的中心线对称设置，与所述第二角板通过转动副连接；所述第三分角连杆的一端与所述第四齿轮固接，另一端与第五齿轮固接；所述第三角板上设有第三分角机构，所述第三分角机构包括所述第五齿轮、第六齿轮、所述第三分角连杆和第四分角连杆，所述第五齿轮和所述第六齿轮相互啮合并沿所述第三角板的中心线对称设置，与所述第三角板通过转动副连接；所述第四分角连杆的一端与所述第六齿轮固接，另一端通过转动副连接在所述第四角板上；在所述第三角板和所述第四角板之间设有第一菱形边杆，所述第一菱形边杆的两端分别通过转动副与所述第三角板和所述第四角板连接，所述第三角板、所述第四角板、所述第四分角连杆和所述第一菱形边杆形成平行四边形结构；所述第一菱形边杆、所述第一分角连杆、所述第二分角连杆、所述第三分角连杆和所述第四分角连杆的有效长度均相等，所述第一角板、所述第二角板、所述第三角板和所述第四角板形成菱形的四个顶点。The third technical solution adopted by the present invention to solve the technical problems in the known technology is: a parallel mechanism that can realize four-degree-of-freedom movement, including a fixed frame, a moving platform, and a symmetrical arrangement between the fixed frame and the moving platform. Four branch chains with the same structure between them; the drive device is fixedly connected to the fixed frame; each branch chain includes a near frame rod, two parallel and equal long far frame rods, an upper connecting shaft and a lower connecting shaft, the One end of the near frame rod is fixedly connected to the driving device, and the other end is fixedly connected to the upper connecting shaft; one end of the two parallel far frame rods is respectively hinged to the upper connecting shaft ball, and the other end is respectively hinged to the lower connecting shaft ball , the lower connecting shaft on each branch chain, the upper connecting shaft and the two parallel far-end rods form a parallelogram; A corner plate, a second corner plate, a third corner plate and a fourth corner plate, the first corner plate, the second corner plate, the third corner plate and the fourth corner plate are arranged clockwise; the The first angular plate is provided with a first angle-dividing mechanism, and the first angle-dividing mechanism includes a first gear, a second gear, a first angle-dividing connecting rod and a second angle-dividing connecting rod, and the first gear and the The second gear meshes with each other and is arranged symmetrically along the center line of the first angle plate, and is connected with the first angle plate through a rotating pair; one end of the first angle-dividing connecting rod is fixedly connected to the first gear , the other end is connected to the fourth angle plate through a rotating pair; one end of the second angle-dividing connecting rod is fixedly connected to the second gear, and the other end is fixedly connected to the third gear; the second angle plate A second angle-dividing mechanism is provided on it, and the second angle-dividing mechanism includes the third gear, the fourth gear, the second angle-dividing connecting rod and the third angle-dividing connecting rod, the third gear and the The fourth gear meshes with each other and is arranged symmetrically along the center line of the second angle plate, and is connected with the second angle plate through a rotating pair; one end of the third angle-dividing connecting rod is fixedly connected to the fourth gear , the other end is affixed to the fifth gear; the third angle plate is provided with a third angle-dividing mechanism, and the third angle-dividing mechanism includes the fifth gear, the sixth gear, the third angle-dividing connecting rod and The fourth split angle connecting rod, the fifth gear and the sixth gear are mutually meshed and arranged symmetrically along the center line of the third corner plate, and are connected with the third corner plate through a rotating pair; the fourth split angle connecting rod One end of one end is affixed to the sixth gear, and the other end is connected to the fourth corner plate through a rotating pair; a first diamond-shaped side bar is arranged between the third corner plate and the fourth corner plate, and the The two ends of the first rhombic side bar are respectively connected with the third angle plate and the fourth angle plate through a rotating pair, and the third angle plate, the fourth angle plate, the fourth angle-dividing connecting rod and the first angle plate A rhombus-shaped side bar forms a parallelogram structure; the first rhombus-shaped side bar, the first split-angle connecting rod, the second split-angle connecting rod, the third split-angle connecting rod and the fourth split-angle The effective lengths of the connecting rods are all equal, and the first angled plate, the second angled plate, the third angled plate and the fourth angled plate form four vertices of a rhombus.
本发明为解决公知技术中存在的技术问题所采取的第四技术方案是：一种可实现四自由度运动的并联机构，包括固定架、动平台以及对称布置在所述固定架与动平台之间的四条结构相同的支链；所述固定架上固接有驱动装置；每条支链包括近架杆、两个平行且等长的远架杆、上连接轴和下连接轴，所述近架杆一端与所述驱动装置固接，另一端与上连接轴固接；两个平行的所述远架杆一端分别与所述上连接轴球铰接，另一端分别与下连接轴球铰接，每条支链上的所述下连接轴、所述上连接轴和所述两个平行的远架杆形成平行四边形；其特征在于，所述动平台包括与四条支链的下连接轴对应固接的第一角板、第二角板、第三角板和第四角板，所述第一角板、所述第二角板、所述第三角板和所述第四角板按照顺时针依次布置；所述第一角板上设有第一分角机构，所述第一分角机构包括第一齿轮、第二齿轮、第一分角连杆和第二分角连杆，所述第一齿轮和所述第二齿轮相互啮合并沿所述第一角板的中心线对称设置，与所述第一角板通过转动副连接；所述第一分角连杆的一端与所述第一齿轮固接，另一端与第八齿轮固接；所述第二分角连杆的一端与所述第二齿轮固接，另一端与第三齿轮固接；所述第二角板上设有第二分角机构，所述第二分角机构包括所述第三齿轮、第四齿轮、所述第二分角连杆和第三分角连杆，所述第三齿轮和所述第四齿轮相互啮合并沿所述第二角板的中心线对称设置，与所述第二角板通过转动副连接；所述第三分角连杆的一端与所述第四齿轮固接，另一端与第五齿轮固接；所述第三角板上设有第三分角机构，所述第三分角机构包括所述第五齿轮、第六齿轮、所述第三分角连杆和第四分角连杆，所述第五齿轮和所述第六齿轮相互啮合并沿所述第三角板的中心线对称设置，与所述第三角板通过转动副连接；所述第四分角连杆的一端与所述第六齿轮固接，另一端与第七齿轮固接；所述第四角板上设有第四分角机构，所述第四分角机构包括所述第七齿轮、所述第八齿轮、所述第一分角连杆和所述第四分角连杆，所述第七齿轮和所述第八齿轮相互啮合并沿所述第四角板的中心线对称设置，与所述第四角板通过转动副连接；所述第一分角连杆、所述第二分角连杆、所述第三分角连杆和所述第四分角连杆的有效长度均相等，所述第一角板、所述第二角板、所述第三角板和所述第四角板形成菱形的四个顶点。The fourth technical solution adopted by the present invention to solve the technical problems in the known technology is: a parallel mechanism capable of four-degree-of-freedom movement, including a fixed frame, a moving platform, and a symmetrical arrangement between the fixed frame and the moving platform. Four branch chains with the same structure between them; the drive device is fixedly connected to the fixed frame; each branch chain includes a near frame rod, two parallel and equal long far frame rods, an upper connecting shaft and a lower connecting shaft, the One end of the near frame rod is fixedly connected to the driving device, and the other end is fixedly connected to the upper connecting shaft; one end of the two parallel far frame rods is respectively hinged to the upper connecting shaft ball, and the other end is respectively hinged to the lower connecting shaft ball , the lower connecting shaft on each branch chain, the upper connecting shaft and the two parallel far-end rods form a parallelogram; it is characterized in that the moving platform includes four corresponding to the lower connecting shaft of the branch chain The fixed first corner plate, the second corner plate, the third corner plate and the fourth corner plate, the first corner plate, the second corner plate, the third corner plate and the fourth corner plate are arranged clockwise Arrangement; the first angle plate is provided with a first angle-dividing mechanism, and the first angle-dividing mechanism includes a first gear, a second gear, a first angle-dividing connecting rod and a second angle-dividing connecting rod. A gear and the second gear mesh with each other and are arranged symmetrically along the center line of the first angle plate, and are connected with the first angle plate through a rotating pair; one end of the first angle-dividing connecting rod is connected to the first angle One gear is fixedly connected, and the other end is fixedly connected to the eighth gear; one end of the second angle-dividing connecting rod is fixedly connected to the second gear, and the other end is fixedly connected to the third gear; There is a second angle-dividing mechanism, and the second angle-dividing mechanism includes the third gear, the fourth gear, the second angle-dividing connecting rod and the third angle-dividing connecting rod, the third gear and the first The four gears mesh with each other and are symmetrically arranged along the center line of the second angle plate, and are connected with the second angle plate through a rotating pair; one end of the third angle-dividing connecting rod is fixedly connected to the fourth gear, and the other One end is affixed to the fifth gear; the third angle plate is provided with a third angle-dividing mechanism, and the third angle-dividing mechanism includes the fifth gear, the sixth gear, the third angle-dividing connecting rod and the fourth Angle split connecting rod, the fifth gear and the sixth gear are engaged with each other and arranged symmetrically along the center line of the third angle plate, and are connected with the third angle plate through a rotating pair; one end of the fourth angle split connecting rod It is fixedly connected with the sixth gear, and the other end is fixedly connected with the seventh gear; the fourth corner plate is provided with a fourth angle-dividing mechanism, and the fourth angle-dividing mechanism includes the seventh gear, the first Eight gears, the first split angle connecting rod and the fourth split angle connecting rod, the seventh gear and the eighth gear are mutually meshed and arranged symmetrically along the center line of the fourth angle plate, and the The fourth corner plate is connected by a rotating pair; the effective lengths of the first split angle connecting rod, the second split angle connecting rod, the third split angle connecting rod and the fourth split angle connecting rod are all equal , the first angled plate, the second angled plate, the third angled plate and the fourth angled plate form four vertices of a rhombus.
本发明具有的优点和积极效果是：动平台结构中利用分角齿轮配合使用时具有固定传动比的特性，并且运用了平行四边形结构的约束作用，限制多杆结构中的多余自由度，使动平台形成一菱形结构，其结构的虚中心点相对位置不变，只能做沿对角线方向的相对拉伸和压缩的变形运动。设计新颖巧妙，该机构动平台的四个下连接轴处于同一平面内，通过驱动相当于菱形顶点的四个角板控制动平台的运动，使菱形相邻两边之间产生相对运动，使动平台运动灵活，受力均匀，运动精度高，通过角度放大机构将此相对运动转化为执行器的旋转运动，机构中没有使用移动副，避免了受力不均匀，摩擦力大，使用寿命低等不足，整体结构的刚性和稳定性好，易实现高速运动，且满足复杂抓放操作的要求。该机构可重构性强，可实现多种构型，也可完成夹持和旋转操作，为实际应用提供了多种选择。The advantages and positive effects of the present invention are: the movable platform structure has the characteristics of a fixed transmission ratio when the split-angle gear is used in conjunction with it, and the constraint effect of the parallelogram structure is used to limit the redundant degrees of freedom in the multi-rod structure, so that the dynamic The platform forms a rhombus structure, the relative position of the imaginary center of the structure remains unchanged, and it can only perform relative stretching and compressing deformation movements along the diagonal direction. The design is novel and ingenious. The four lower connecting shafts of the moving platform of this mechanism are in the same plane. By driving the four corner plates corresponding to the vertices of the rhombus to control the movement of the braking platform, the relative movement between the two adjacent sides of the rhombus is generated, so that the moving platform The movement is flexible, the force is uniform, and the movement precision is high. The relative movement is converted into the rotary movement of the actuator through the angle amplification mechanism. There is no moving pair in the mechanism, which avoids the problems of uneven force, large friction, and low service life. , the rigidity and stability of the overall structure are good, it is easy to realize high-speed movement, and it meets the requirements of complex pick-and-place operations. The mechanism has strong reconfigurability, can realize various configurations, and can also complete clamping and rotating operations, providing multiple options for practical applications.
附图说明 Description of drawings
图1为本发明实施例1的结构示意图；Fig. 1 is the structural representation of
图2为本发明实施例1产生旋转运动的动平台的结构示意图；Fig. 2 is a schematic structural view of a moving platform that generates rotational motion in
图3为本发明实施例1产生开合运动的动平台的结构示意图；Fig. 3 is a schematic structural diagram of a moving platform that generates opening and closing motion in
图4为本发明实施例2的结构示意图；Fig. 4 is the structural representation of embodiment 2 of the present invention;
图5为本发明实施例3的结构示意图；FIG. 5 is a schematic structural view of Embodiment 3 of the present invention;
图6为本发明实施例4的结构示意图。Fig. 6 is a schematic structural diagram of Embodiment 4 of the present invention.
具体实施方式 Detailed ways
为能进一步了解本发明的发明内容、特点及功效，兹例举以下实施例，并配合附图详细说明如下：In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:
实施例1：Example 1:
请参阅图1～图3，本发明是一种可实现四自由度运动的并联机构，包括固定架2、动平台7以及对称布置在所述固定架2与动平台7之间的四条结构相同的支链构成；每条支链由近架杆3、上连接轴4、两个相互平行且等长的远架杆5a和远架杆5b构成。所述近架杆3的一端与固定于固定架2的驱动装置1的输出端固接，近架杆3的另一端与上连接轴4固接；所述远架杆5a和远架杆5b的一端分别通过球铰链与所述上连接轴4球铰接，另一端分别通过球铰链与固接于所述动平台7上的下连接轴6球铰接；每条支链上的所述下连接轴6、所述上连接轴4和所述两个平行的远架杆5a、5b构成平行四边形；所述驱动装置1为与其固接的近架杆3提供一个转动自由度。Please refer to Figures 1 to 3, the present invention is a parallel mechanism that can realize four-degree-of-freedom movement, including a fixed frame 2, a moving
请参阅图2，所述动平台7包括与四条支链的下连接轴6对应固接的第一角板8a、第二角板8b、第三角板8c和第四角板8d，第一角板8a、第二角板8b、第三角板8c和第四角板8d按照顺时针依次布置；所述第一角板8a上设有第一分角机构，所述第一分角机构包括第一齿轮9a、第二齿轮9b、第一分角连杆10a和第二分角连杆10b，所述第一齿轮9a和所述第二齿轮9b沿所述第一角板8a的中心线对称设置，并分别通过转动副与第一角板8a连接；所述第一分角连杆10a的一端与所述第一齿轮9a固接，另一端通过转动副连接在与所述第一角板8a相邻的所述第四角板8d上；所述第二分角连杆10b的一端与所述第二齿轮9b固接，另一端通过转动副连接在与所述第一角板8a相邻的所述第二角板8b上，第一齿轮9a和第二齿轮9b相互啮合；在所述第一角板8a和所述第二角板8b之间设有第一菱形边杆11a，所述第一菱形边杆11a的两端分别通过转动副与所述第一角板8a和所述第二角板8b连接，所述第一角板8a、所述第二角板8b、所述第二分角连杆10b和所述第一菱形边杆11a形成平行四边形结构；在所述第二角板8b和所述第三角板8c之间设有第二菱形边杆11b和第一平行连杆12a，所述第二菱形边杆11b和第一平行连杆12a的两端各通过转动副与所述第二角板8b和所述第三角板8c连接，所述第二菱形边杆11b、所述第一平行连杆12a、所述第二角板8b和所述第三角板8c形成平行四边形结构；在所述第三角板8c和所述第四角板8d之间设有第三菱形边杆11c和第二平行连杆12b，所述第三菱形边杆11c和第二平行连杆12b的两端各通过转动副与所述第三角板8c和所述第四角板8d连接，所述第三菱形边杆11c、所述第二平行连杆12b、所述第三角板8c和所述第四角板8d形成平行四边形结构；所述第一平行连杆12a、所述第二平行连杆12b、所述第一菱形边杆11a、所述第二菱形边杆11b和所述第三菱形边杆11c、所述第一分角连杆10a和所述第二分角连杆10b的有效长度均相等，所述第一角板8a、所述第二角板8b、所述第三角板8c和所述第四角板8d形成菱形的四个顶点。Please refer to FIG. 2 , the
本实施例通过一个分角机构和三个平行四边形结构的运动限制作用，使动平台7只能沿对角线方向做拉伸和压缩的变形运动，相邻的杆件之间产生相对运动，通过安装角度放大机构可以将动平台的杆件之间的相对运动转化为末端执行器的旋转运动。所述角度放大机构由相互啮合的齿扇13和齿轮14组成，所述齿轮14通过转动副连接在一个横梁连杆15上，所述横梁连杆15与一组相对的第一菱形边杆11a和第三菱形边杆11c的中心处通过转动副连接，所述齿扇13可固接于第一菱形边杆11a或第三菱形边杆11cIn this embodiment, through the motion restriction effect of an angle-dividing mechanism and three parallelogram structures, the
在本实施例中齿扇13固接在第三菱形边杆11c上，所述齿扇13的中心线与其所固接的第三菱形边杆11c和横梁连杆15的转动副轴线重合，齿轮14与所述齿扇13啮合，齿扇13和齿轮14之间的传动比可根据实际情况选择，在所述齿轮14上固接有末端执行器16，用以实现最终的旋转运动。上述横梁连杆15并不限于连接在相对的第一菱形边杆11a和第三菱形边杆11c之间，还可连接在第一分角连杆10a和第二菱形边杆11b之间，或者连接在第二分角连杆10b和第二平行连杆12b之间，使与其连接的末端执行器实现旋转运动。In this embodiment, the
请参阅图3，在相对的两个角板上安装夹持部件17a和17b，当动平台沿对角线方向做拉伸和压缩的变形运动时，能够直接产生相应的开合运动，实现夹持操作。Please refer to Figure 3, the
实施例2：Example 2:
请参阅图4，其整体结构与施例1相同，与实施例1不同的是，动平台采用了实施例1动平台的一种重构结构，其动平台的结构包括与四条支链的下连接轴6对应固接的第一角板8a、第二角板8b、第三角板8c和第四角板8d，第一角板8a、第二角板8b、第三角板8c和第四角板8d按照顺时针依次布置；所述第一角板8a上设有第一分角机构，所述第一分角机构包括第一齿轮9a、第二齿轮9b、第一分角连杆10a和第二分角连杆10b，所述第一齿轮9a和所述第二齿轮9b沿所述第一角板8a的中心线对称设置，并与第一角板8a通过转动副连接；所述第一分角连杆10a的一端与所述第一齿轮9a固接，另一端通过转动副连接在与所述第一角板8a相邻的所述第四角板8d上；所述第二分角连杆10b的一端与所述第二齿轮9b固接，另一端与第二角板8b上的第三齿轮9c固接，所述第一齿轮9a和所述第二齿轮9b相互啮合。所述第二角板8b上设有第二分角机构，所述第二分角机构包括第三齿轮9c、第四齿轮9d、第二分角连杆10b和第三分角连杆10c，所述第三齿轮9c和所述第四齿轮9d相互啮合并沿所述第二角板8b的中心线对称设置，与第二角板8b通过转动副连接；所述第三分角连杆10c的一端与所述第四齿轮9d固接，另一端通过转动副连接在与所述第二角板8b相邻的所述第三角板8c上；在所述第二角板8b和所述第三角板8c之间设有第一菱形边杆11a，所述第一菱形边杆11a的两端分别通过转动副与所述第二角板8b和所述第三角板8c连接，所述第二角板8b、所述第三角板8c、所述第三分角连杆10c和所述第一菱形边杆11a形成平行四边形结构；在所述第三角板8c和所述第四角板8d之间设有第二菱形边杆11b和第一平行连杆12a，所述第二菱形边杆11b和第一平行连杆12a的两端各通过转动副与所述第三角板8c和所述第四角板8d连接，所述第二菱形边杆11b、所述第一平行连杆12a、所述第三角板8c和所述第四角板8d形成平行四边形结构；所述第一平行连杆12a、所述第一菱形边杆11a、所述第二菱形边杆11b、所述第一分角连杆10a、所述第二分角连杆10b和所述第三分角连杆10c的有效长度均相等，所述第一角板8a、所述第二角板8b、所述第三角板8c和所述第四角板8d形成菱形的四个顶点。Please refer to Fig. 4, its overall structure is the same as that of
本实施例可在相对的分角连杆10a、10c，或者第二分角连杆10b和第一平行连杆12a之间安装角度放大机构，使末端执行器实现旋转运动，也可以在相对的两个角板8a、8c上，或者8b、8d上安装夹持部件，当动平台沿对角线方向做拉伸和压缩的变形运动时，能够直接产生相应的开合运动，可以实现夹持操作。In this embodiment, an angle magnification mechanism can be installed between the opposite split-
实施例3：Example 3:
请参阅图5，其整体结构与施例1相同，与实施例1不同的是，动平台采用了实施例1动平台的一种重构结构，其动平台的结构包括与四条支链的下连接轴6对应固接的第一角板8a、第二角板8b、第三角板8c和第四角板8d，第一角板8a、第二角板8b、第三角板8c和第四角板8d按照顺时针依次布置；所述第一角板8a上设有第一分角机构，所述第一分角机构包括第一齿轮9a、第二齿轮9b、第一分角连杆10a和第二分角连杆10b，所述第一齿轮9a和所述第二齿轮9b相互啮合并沿所述第一角板8a的中心线对称设置，并与第一角板8a通过转动副连接；所述第一分角连杆10a的一端与所述第一齿轮9a固接，另一端通过转动副连接在与所述第一角板8a相邻的所述第四角板9d上；所述第二分角连杆10b的一端与所述第二齿轮9b固接，另一端与第二角板8b上的第三齿轮9c固接；所述第二角板8b上设有第二分角机构，所述第二分角机构包括第三齿轮9c、第四齿轮9d、第二分角连杆10b和第三分角连杆10c，所述第三齿轮9c和所述第四齿轮9d相互啮合并沿所述第二角板8b的中心线对称设置，与第二角板8b通过转动副连接；所述第三分角连杆10c的一端与所述第四齿轮9d固接，另一端与第三角板8c上的第五齿轮9e固接；所述第三角板8c上设有第三分角机构，所述第三分角机构包括第五齿轮9e、第六齿轮9f、第三分角连杆10c和第四分角连杆10d，所述第五齿轮9e和所述第六齿轮9f相互啮合并沿所述第三角板8c的中心线对称设置，与第三角板8c通过转动副连接；所述第四分角连杆10d的一端与所述第六齿轮9f固接，另一端通过转动副连接在与所述第三角板8c相邻的所述第四角板8d上；在所述第三角板8c和所述第四角板8d之间设有第一菱形边杆11a，所述第一菱形边杆11a的两端分别通过转动副与所述第三角板8c和所述第四角板8d连接，所述第三角板8c、所述第四角板8d、所述第四分角连杆10d和所述第一菱形边杆11a形成平行四边形结构；所述第一菱形边杆11a、所述第一分角连杆10a、所述第二分角连杆10b、所述第三分角连杆10c和所述第四分角连杆10d的有效长度均相等，所述第一角板8a、所述第二角板8b、所述第三角板8c和所述第四角板8d形成菱形的四个顶点。Please refer to Fig. 5. Its overall structure is the same as that of
本实施例可在任意两个相对的分角连杆10a、10c，或者10b、10d之间安装角度放大机构，使末端执行器实现旋转运动；也可以在相对的两个角板8a、8c，或者8b、8d上安装夹持部件，当动平台沿对角线方向做拉伸和压缩的变形运动时，能够直接产生相应的开合运动，可以实现夹持操作。In this embodiment, an angle magnification mechanism can be installed between any two opposite angle-dividing
实施例4：Example 4:
请参阅图6，其整体结构与施例1相同，与实施例1不同的是，动平台采用了实施例1动平台的一种重构结构，其动平台的结构包括与四条支链的下连接轴6对应固接的第一角板8a、第二角板8b、第三角板8c和第四角板8d，第一角板8a、第二角板8b、第三角板8c和第四角板8d按照顺时针依次布置；所述第一角板8a上设有第一分角机构，所述第一分角机构包括第一齿轮9a、第二齿轮9b、第一分角连杆10a和第二分角连杆10b，所述第一齿轮9a和所述第二齿轮9b相互啮合并沿所述第一角板8a的中心线对称设置，与所述第一角板8a通过转动副连接；所述第一分角连杆10a的一端与所述第一齿轮9a固接，另一端与第四角板8d上的第八齿轮9h固接；所述第二分角连杆10b的一端与所述第二齿轮9b固接，另一端与第二角板8b上的第三齿轮9c固接；所述第二角板8b上设有第二分角机构，所述第二分角机构包括第三齿轮9c、第四齿轮9d、第二分角连杆10b和第三分角连杆10c，所述第三齿轮9c和所述第四齿轮9d相互啮合并沿所述第二角板8b的中心线对称设置，与所述第二角板8b通过转动副连接；所述第三分角连杆10c的一端与所述第四齿轮9d固接，另一端与第三角板8c上的第五齿轮9e固接；所述第三角板8c上设有第三分角机构，所述第三分角机构包括第五齿轮9e、第六齿轮9f、第三分角连杆10c和第四分角连杆10d，所述第五齿轮9e和所述第六齿轮9f相互啮合并沿所述第三角板8c的中心线对称设置，与第三角板8c通过转动副连接；所述第四分角连杆10d的一端与所述第六齿轮9f固接，另一端与第四角板8d上的第七齿轮9g固接；所述第四角板8d上设有第四分角机构，所述第四分角机构包括第七齿轮9g、第八齿轮9h、第一分角连杆10a和第四分角连杆10d，所述第七齿轮9g和所述第八齿轮9h相互啮合并沿所述第四角板8d的中心线对称设置，与第四角板8d通过转动副连接；所述第一分角连杆10a、所述第二分角连杆10b、所述第三分角连杆10c和所述第四分角连杆10d的有效长度均相等，所述第一角板8a、所述第二角板8b、所述第三角板8c和所述第四角板8d形成菱形的四个顶点。Please refer to Fig. 6. Its overall structure is the same as that of
本实施例可在任意两个相对的分角连杆10a、10c，或者10b、10d之间安装角度放大机构，使末端执行器实现旋转运动，也可以在相对的两个角板8a、8c，或者8b、8d上安装夹持部件，当动平台沿对角线方向做拉伸和压缩的变形运动时，能够直接产生相应的开合运动，可以实现夹持操作。In this embodiment, an angle magnification mechanism can be installed between any two opposite angle-dividing
本发明与现有技术相比，其不同点在于：Compared with the prior art, the present invention differs in that:
1)动平台由四个角板通过连杆连接组成，形成一个菱形结构，其结构的虚中心点相对位置不变，被驱动的角板相当于动平台的菱形结构的顶点，且四个下连接轴处于同一个平面内。1) The moving platform is composed of four corner plates connected by connecting rods to form a rhombus structure. The relative position of the virtual center point of the structure remains unchanged. The driven corner plate is equivalent to the apex of the diamond structure of the moving platform, and the four lower The connecting axes lie in the same plane.
2)动平台由分角机构或者分角机构和平行四边形结构组成，结构新颖巧妙，合理约束了动平台的自由度，所有连接均为转动副连接，避免了使用移动副时的受力不均匀，摩擦力大和使用寿命低等不足。并且分角机构与平行四边形结构可以相互替换，最终可实现四种符合运动要求的动平台结构。2) The moving platform is composed of an angle-dividing mechanism or an angle-dividing mechanism and a parallelogram structure. The structure is novel and ingenious, and the degree of freedom of the moving platform is reasonably restricted. All connections are connected by rotating pairs, which avoids uneven force when using moving pairs , high friction and low service life. In addition, the sub-angle mechanism and the parallelogram structure can be replaced with each other, and finally four kinds of moving platform structures that meet the motion requirements can be realized.
3)分角机构中使用了分角齿轮，利用齿轮配合使用时具有固定传动比的特性，使两个分角连杆的运动有关联性，限制了整体的自由度。3) The angle-dividing gear is used in the angle-dividing mechanism, which has the characteristic of fixed transmission ratio when the gears are used together, so that the motions of the two angle-dividing connecting rods are correlated, and the overall degree of freedom is limited.
4)此动平台的设计可以实现多种构型，并且能实现夹持和旋转运动，为实际应用提供了多种选择，灵活性较强。4) The design of this moving platform can realize various configurations, and can realize clamping and rotating motions, which provides multiple options for practical applications and has strong flexibility.
该发明设计巧妙独特，结构的刚性和稳定性好，运动灵活，受力均匀，精度较高，使用寿命长，易实现高速运动，且满足复杂抓放操作的要求。并且多种动平台的组合方式为实际应用提供了多种选择。The invention has ingenious and unique design, good structural rigidity and stability, flexible movement, uniform force, high precision, long service life, easy realization of high-speed movement, and meets the requirements of complex pick-and-place operations. And the combination of multiple moving platforms provides a variety of options for practical applications.
尽管上面结合附图对本发明的优选实施例进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，并不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨和权利要求所保护的范围情况下，还可以作出很多形式，这些均属于本发明的保护范围之内。Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments. The above-mentioned specific embodiments are only illustrative and not restrictive. Those of ordinary skill in the art Under the enlightenment of the present invention, people can also make many forms without departing from the purpose of the present invention and the scope of protection of the claims, and these all belong to the protection scope of the present invention.
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