CN102229141B - Parallel mechanism capable of realizing four-degree-of-freedom movement - Google Patents
Parallel mechanism capable of realizing four-degree-of-freedom movement Download PDFInfo
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- CN102229141B CN102229141B CN 201110149529 CN201110149529A CN102229141B CN 102229141 B CN102229141 B CN 102229141B CN 201110149529 CN201110149529 CN 201110149529 CN 201110149529 A CN201110149529 A CN 201110149529A CN 102229141 B CN102229141 B CN 102229141B
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Abstract
The invention discloses a parallel mechanism capable of realizing four-degree-of-freedom movement. The mechanism is characterized in that a subangle mechanism or the combination of the subangle mechanism and a parallelogram structure is adopted for a moving platform, thus the moving platform is of a rhombus structure, the relative positions of virtual central points of the structure are not changed, and only the deformation movement of relative extension and compression along the diagonal direction can be performed. The mechanism provided by the invention has the advantages of flexible movement, uniform stress, high movement accuracy; the relative movement is converted into rotation movement of an actuator through an angular magnification mechanism, moving pairs are not used in the mechanism, the defects such as nonuniform stress, great friction, short service life and the like are avoided, the integral structure has good rigidity and stability, high-speed movement can be realized easily, and requirements of complex grabbing operations are satisfied; and the mechanism has high reorganization, multiple configurations can be realized, and the clamping and rotation operations can be implemented, thus multiple choices are provided for practical applications.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of parallel institution with space four-degree-of-freedom of robot.
Background technology
Patent documentation US20090019960 and EP1084802 disclose a kind of parallel institution of realizing that three-dimensional translation and one-dimensional rotates, comprise four active branched chain and a moving platform, and every side chain comprises nearly hack lever and hack lever two parts far away.Wherein nearly hack lever one end only has a movement or rotational freedom with respect to fixed frame, and the other end is connected with an end of hack lever far away by the hinge that only has two revolution frees degree; The hack lever other end far away is connected with moving platform by the hinge that only has two revolution frees degree, thereby guarantees the translation of mechanism; Moving platform is made up of four parts, wherein two parts need be parallel to each other, two other parts are connected by turning joint with aforementioned two parts that are parallel to each other, can realize winding rotational freedom perpendicular to the axis of moving platform by the mutual rotation between the parts, be equipped with corresponding enlarger simultaneously and can enlarge angle range.The limitation of said mechanism is: the parts that this mechanism's moving platform is driven have only two, and these two parts are equivalent to one group of opposite side of parallelogram, and such type of drive is dumb, and stressing conditions is inhomogeneous, is unfavorable for the smooth and easy operation of mechanism.
Summary of the invention
The present invention provides a kind of moving platform force transmission effect good for solving the technical problem that exists in the known technology, and long service life and design can realize the parallel institution of four-degree-of-freedom motion cleverly.
The present invention for first technical scheme that solves the technical problem that exists in the known technology and take is: a kind of parallel institution of realizing the four-degree-of-freedom motion comprises fixed mount, moving platform and is arranged symmetrically in four side chains that structure is identical between described fixed mount and the moving platform; Be connected with drive unit on the described fixed mount; Every side chain comprises nearly hack lever, two parallel and isometric hack levers far away, last connecting axle and following connecting axles, and described nearly hack lever one end and described drive unit are affixed, and the other end and last connecting axle are affixed; Two parallel hack lever one ends described far away are gone up the connecting axle ball-joint with described respectively, the other end respectively with following connecting axle ball-joint, described connecting axle down, described connecting axle and described two the parallel hack levers formation parallelogram far away gone up on every side chain; Described moving platform comprises the corresponding first affixed gusset of following connecting axle, second gusset, third angle plate and the Square consisting of two isosceles right-angled triangles with four side chains, and described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles are according to arranging successively clockwise; Described first gusset is provided with the first subangle mechanism, the described first subangle mechanism comprises first gear, second gear, the first subangle connecting rod and the second subangle connecting rod, described first gear and described second gear are meshing with each other and are symmetrical arranged along the center line of described first gusset, and are connected by revolute pair with described first gusset respectively; One end of the described first subangle connecting rod and described first gear are affixed, and the other end is connected on the described Square consisting of two isosceles right-angled triangles by revolute pair; One end of the described second subangle connecting rod and described second gear are affixed, and the other end is connected on described second gusset by revolute pair; Between described first gusset and described second gusset, be provided with the first rhombus side rod, the two ends of the described first rhombus side rod are connected with described second gusset with described first gusset by revolute pair respectively, and described first gusset, described second gusset, the described second subangle connecting rod and the described first rhombus side rod form parallelogram sturcutre; Between described second gusset and described third angle plate, be provided with the second rhombus side rod and first parallel rod, the two ends of the described second rhombus side rod and first parallel rod respectively are connected with described third angle plate with described second gusset by revolute pair, and the described second rhombus side rod, described first parallel rod, described second gusset and described third angle plate form parallelogram sturcutre; Between described third angle plate and described Square consisting of two isosceles right-angled triangles, be provided with Three Diamond side rod and second parallel rod, the two ends of described Three Diamond side rod and second parallel rod respectively are connected with described Square consisting of two isosceles right-angled triangles with described third angle plate by revolute pair, and described Three Diamond side rod, described second parallel rod, described third angle plate and described Square consisting of two isosceles right-angled triangles form parallelogram sturcutre; The effective length of described first parallel rod, described second parallel rod, the described first rhombus side rod, the described second rhombus side rod and described Three Diamond side rod, the described first subangle connecting rod and the described second subangle connecting rod equates that all described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles form four summits of rhombus.
The present invention for second technical scheme that solves the technical problem that exists in the known technology and take is: a kind of parallel institution of realizing the four-degree-of-freedom motion comprises fixed mount, moving platform and is arranged symmetrically in four side chains that structure is identical between described fixed mount and the moving platform; Be connected with drive unit on the described fixed mount; Every side chain comprises nearly hack lever, two parallel and isometric hack levers far away, last connecting axle and following connecting axles, and described nearly hack lever one end and described drive unit are affixed, and the other end and last connecting axle are affixed; Two parallel hack lever one ends described far away are gone up the connecting axle ball-joint with described respectively, the other end respectively with following connecting axle ball-joint, described connecting axle down, described connecting axle and described two the parallel hack levers formation parallelogram far away gone up on every side chain; Described moving platform comprises the corresponding first affixed gusset of following connecting axle, second gusset, third angle plate and the Square consisting of two isosceles right-angled triangles with four side chains, and described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles are according to arranging successively clockwise; Described first gusset is provided with the first subangle mechanism, the described first subangle mechanism comprises first gear, second gear, the first subangle connecting rod and the second subangle connecting rod, described first gear and described second gear are meshing with each other and are symmetrical arranged along the center line of described first gusset, and are connected by revolute pair with described first gusset respectively; One end of the described first subangle connecting rod and described first gear are affixed, and the other end is connected on the described Square consisting of two isosceles right-angled triangles by revolute pair; One end of the described second subangle connecting rod and described second gear are affixed, and the other end and the 3rd gear are affixed; Described second gusset is provided with the second subangle mechanism, the described second subangle mechanism comprises described the 3rd gear, the 4th gear, described second subangle connecting rod and the trisectrix connecting rod, described the 3rd gear and described the 4th gear are meshing with each other and are symmetrical arranged along the center line of described second gusset, and are connected by revolute pair with described second gusset respectively; One end of described trisectrix connecting rod and described the 4th gear are affixed, and the other end is connected on the described third angle plate by revolute pair; Between described second gusset and described third angle plate, be provided with the first rhombus side rod, the two ends of the described first rhombus side rod are connected with described third angle plate with described second gusset by revolute pair respectively, and described second gusset, described third angle plate, described trisectrix connecting rod and the described first rhombus side rod form parallelogram sturcutre; Between described third angle plate and described Square consisting of two isosceles right-angled triangles, be provided with the second rhombus side rod and first parallel rod, the two ends of the described second rhombus side rod and described first parallel rod respectively are connected with described Square consisting of two isosceles right-angled triangles with described third angle plate by revolute pair, and the described second rhombus side rod, described first parallel rod, described third angle plate and described Square consisting of two isosceles right-angled triangles form parallelogram sturcutre; The effective length of described first parallel rod, the described first rhombus side rod, the described second rhombus side rod, the described first subangle connecting rod and the described second subangle connecting rod and described trisectrix connecting rod equates that all described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles form four summits of rhombus.
The present invention for the 3rd technical scheme that solves the technical problem that exists in the known technology and take is: a kind of parallel institution of realizing the four-degree-of-freedom motion comprises fixed mount, moving platform and is arranged symmetrically in four side chains that structure is identical between described fixed mount and the moving platform; Be connected with drive unit on the described fixed mount; Every side chain comprises nearly hack lever, two parallel and isometric hack levers far away, last connecting axle and following connecting axles, and described nearly hack lever one end and described drive unit are affixed, and the other end and last connecting axle are affixed; Two parallel hack lever one ends described far away are gone up the connecting axle ball-joint with described respectively, the other end respectively with following connecting axle ball-joint, described connecting axle down, described connecting axle and described two the parallel hack levers formation parallelogram far away gone up on every side chain; Described moving platform comprises the corresponding first affixed gusset of following connecting axle, second gusset, third angle plate and the Square consisting of two isosceles right-angled triangles with four side chains, and described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles are according to arranging successively clockwise; Described first gusset is provided with the first subangle mechanism, the described first subangle mechanism comprises first gear, second gear, the first subangle connecting rod and the second subangle connecting rod, described first gear and described second gear are meshing with each other and are symmetrical arranged along the center line of described first gusset, and are connected by revolute pair with described first gusset respectively; One end of the described first subangle connecting rod and described first gear are affixed, and the other end is connected on the described Square consisting of two isosceles right-angled triangles by revolute pair; One end of the described second subangle connecting rod and described second gear are affixed, and the other end and the 3rd gear are affixed; Described second gusset is provided with the second subangle mechanism, the described second subangle mechanism comprises described the 3rd gear, the 4th gear, described second subangle connecting rod and the trisectrix connecting rod, described the 3rd gear and described the 4th gear are meshing with each other and are symmetrical arranged along the center line of described second gusset, and are connected by revolute pair with described second gusset respectively; One end of described trisectrix connecting rod and described the 4th gear are affixed, and the other end and the 5th gear are affixed; Described third angle plate is provided with trisectrix mechanism, described trisectrix mechanism comprises described the 5th gear, the 6th gear, described trisectrix connecting rod and the 4th subangle connecting rod, described the 5th gear and described the 6th gear are meshing with each other and are symmetrical arranged along the center line of described third angle plate, and are connected by revolute pair with described third angle plate respectively; One end of described the 4th subangle connecting rod and described the 6th gear are affixed, and the other end is connected on the described Square consisting of two isosceles right-angled triangles by revolute pair; Between described third angle plate and described Square consisting of two isosceles right-angled triangles, be provided with the first rhombus side rod, the two ends of the described first rhombus side rod are connected with described Square consisting of two isosceles right-angled triangles with described third angle plate by revolute pair respectively, and described third angle plate, described Square consisting of two isosceles right-angled triangles, described the 4th subangle connecting rod and the described first rhombus side rod form parallelogram sturcutre; The effective length of the described first rhombus side rod, the described first subangle connecting rod, the described second subangle connecting rod, described trisectrix connecting rod and described the 4th subangle connecting rod equates that all described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles form four summits of rhombus.
The present invention for the 4th technical scheme that solves the technical problem that exists in the known technology and take is: a kind of parallel institution of realizing the four-degree-of-freedom motion comprises fixed mount, moving platform and is arranged symmetrically in four side chains that structure is identical between described fixed mount and the moving platform; Be connected with drive unit on the described fixed mount; Every side chain comprises nearly hack lever, two parallel and isometric hack levers far away, last connecting axle and following connecting axles, and described nearly hack lever one end and described drive unit are affixed, and the other end and last connecting axle are affixed; Two parallel hack lever one ends described far away are gone up the connecting axle ball-joint with described respectively, the other end respectively with following connecting axle ball-joint, described connecting axle down, described connecting axle and described two the parallel hack levers formation parallelogram far away gone up on every side chain; It is characterized in that, described moving platform comprises the corresponding first affixed gusset of following connecting axle, second gusset, third angle plate and the Square consisting of two isosceles right-angled triangles with four side chains, and described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles are according to arranging successively clockwise; Described first gusset is provided with the first subangle mechanism, the described first subangle mechanism comprises first gear, second gear, the first subangle connecting rod and the second subangle connecting rod, described first gear and described second gear are meshing with each other and are symmetrical arranged along the center line of described first gusset, and are connected by revolute pair with described first gusset respectively; One end of the described first subangle connecting rod and described first gear are affixed, and the other end and octadentate wheel are affixed; One end of the described second subangle connecting rod and described second gear are affixed, and the other end and the 3rd gear are affixed; Described second gusset is provided with the second subangle mechanism, the described second subangle mechanism comprises described the 3rd gear, the 4th gear, described second subangle connecting rod and the trisectrix connecting rod, described the 3rd gear and described the 4th gear are meshing with each other and are symmetrical arranged along the center line of described second gusset, and are connected by revolute pair with described second gusset respectively; One end of described trisectrix connecting rod and described the 4th gear are affixed, and the other end and the 5th gear are affixed; Described third angle plate is provided with trisectrix mechanism, described trisectrix mechanism comprises described the 5th gear, the 6th gear, described trisectrix connecting rod and the 4th subangle connecting rod, described the 5th gear and described the 6th gear are meshing with each other and are symmetrical arranged along the center line of described third angle plate, and are connected by revolute pair with described third angle plate respectively; One end of described the 4th subangle connecting rod and described the 6th gear are affixed, and the other end and the 7th gear are affixed; Described Square consisting of two isosceles right-angled triangles is provided with the 4th subangle mechanism, described the 4th subangle mechanism comprises described the 7th gear, described octadentate wheel, the described first subangle connecting rod and described the 4th subangle connecting rod, described the 7th gear and described octadentate wheel is meshing with each other and is symmetrical arranged along the center line of described Square consisting of two isosceles right-angled triangles, and is connected by revolute pair with described Square consisting of two isosceles right-angled triangles respectively; The effective length of the described first subangle connecting rod, the described second subangle connecting rod, described trisectrix connecting rod and described the 4th subangle connecting rod equates that all described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles form four summits of rhombus.
Advantage and good effect that the present invention has are: the characteristic that has fixed drive ratio when utilizing the subangle gear to be used in the moving platform structure, and used the effect of contraction of parallelogram sturcutre, limit the extra dof in many bars structure, make moving platform form a diamond structure, the virtual center point relative position of its structure is constant, can only do along the relative stretching of diagonal and the amoeboid movement of compression.Novel in design ingenious, four following connecting axles of this mechanism's moving platform are in the same plane, be equivalent to the motion of four gusset control moving platforms on rhombus summit by driving, make between the adjacent both sides of rhombus and produce relative motion, make the moving platform motion flexibly, stressed even, the kinematic accuracy height is converted into rotatablely moving of actuator by the angle enlarger with this relative motion, does not use moving sets in the mechanism, avoided discontinuity, frictional force is big, hangs down service life and waits deficiency, integrally-built rigidity and good stability, easily realize high-speed motion, and satisfy the requirement of complicated pick-and-place operation.This mechanism's reconfigurability is strong, can realize multiple configuration, also can finish clamping and rotary manipulation, for practical application provides multiple choices.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention 1;
Fig. 2 produces the structural representation of the moving platform that rotatablely moves for the embodiment of the invention 1;
Fig. 3 is the structural representation that the embodiment of the invention 1 produces the moving platform of open and close movement;
Fig. 4 is the structural representation of the embodiment of the invention 2;
Fig. 5 is the structural representation of the embodiment of the invention 3;
Fig. 6 is the structural representation of the embodiment of the invention 4.
The specific embodiment
For further understanding summary of the invention of the present invention, characteristics and effect, exemplify following examples now, and conjunction with figs. is described in detail as follows:
Embodiment 1:
See also Fig. 1～Fig. 3, the present invention is a kind of parallel institution of realizing four-degree-of-freedom motion, comprises fixed mount 2, moving platform 7 and is arranged symmetrically in the described fixed mount 2 side chain formation identical with four structures between the moving platform 7; Every side chain by nearly hack lever 3, go up that connecting axle 4, two are parallel to each other and isometric hack lever 5a far away and hack lever 5b far away constitutes.One end of described nearly hack lever 3 is affixed with the output of the drive unit 1 that is fixed in fixed mount 2, and the other end and the last connecting axle 4 of nearly hack lever 3 are affixed; The end of described hack lever 5a far away and hack lever 5b far away is respectively by spherical hinge and described upward connecting axle 4 ball-joints, and the other end is respectively by spherical hinge and following connecting axle 6 ball-joints that are fixed on the described moving platform 7; Described connecting axle 6 down, the described connecting axle 4 of going up on every side chain constitute parallelogram with described two parallel hack lever 5a far away, 5b; Described drive unit 1 provides a rotational freedom for the nearly hack lever 3 affixed with it.
See also Fig. 2, described moving platform 7 comprises the following connecting axle 6 corresponding first affixed gusset 8a, the second gusset 8b, third angle plate 8c and the Square consisting of two isosceles right-angled triangles 8d with four side chains, and the first gusset 8a, the second gusset 8b, third angle plate 8c and Square consisting of two isosceles right-angled triangles 8d are according to arranging successively clockwise; The described first gusset 8a is provided with the first subangle mechanism, the described first subangle mechanism comprises the first gear 9a, the second gear 9b, the first subangle connecting rod 10a and the second subangle connecting rod 10b, the described first gear 9a and the described second gear 9b are symmetrical arranged along the center line of the described first gusset 8a, and are connected with the first gusset 8a by revolute pair respectively; The end of the described first subangle connecting rod 10a and the described first gear 9a are affixed, and the other end is connected on the described Square consisting of two isosceles right-angled triangles 8d adjacent with the described first gusset 8a by revolute pair; The end of the described second subangle connecting rod 10b and the described second gear 9b are affixed, and the other end is connected on the described second gusset 8b adjacent with the described first gusset 8a by revolute pair, and the first gear 9a and the second gear 9b are meshing with each other; Between the described first gusset 8a and the described second gusset 8b, be provided with the first rhombus side rod 11a, the two ends of the described first rhombus side rod 11a are connected with the described second gusset 8b with the described first gusset 8a by revolute pair respectively, and the described first gusset 8a, the described second gusset 8b, the described second subangle connecting rod 10b and the described first rhombus side rod 11a form parallelogram sturcutre; Between the described second gusset 8b and described third angle plate 8c, be provided with the second rhombus side rod 11b and the first parallel rod 12a, the two ends of the described second rhombus side rod 11b and the first parallel rod 12a respectively are connected with described third angle plate 8c with the described second gusset 8b by revolute pair, and the described second rhombus side rod 11b, the described first parallel rod 12a, the described second gusset 8b and described third angle plate 8c form parallelogram sturcutre; Between described third angle plate 8c and described Square consisting of two isosceles right-angled triangles 8d, be provided with Three Diamond side rod 11c and the second parallel rod 12b, the two ends of described Three Diamond side rod 11c and the second parallel rod 12b respectively are connected with described Square consisting of two isosceles right-angled triangles 8d with described third angle plate 8c by revolute pair, and described Three Diamond side rod 11c, the described second parallel rod 12b, described third angle plate 8c and described Square consisting of two isosceles right-angled triangles 8d form parallelogram sturcutre; The effective length of the described first parallel rod 12a, the described second parallel rod 12b, the described first rhombus side rod 11a, the described second rhombus side rod 11b and described Three Diamond side rod 11c, the described first subangle connecting rod 10a and the described second subangle connecting rod 10b equates that all the described first gusset 8a, the described second gusset 8b, described third angle plate 8c and described Square consisting of two isosceles right-angled triangles 8d form four summits of rhombus.
Present embodiment is by the motion restriction of a subangle mechanism and three parallelogram sturcutres, make moving platform 7 do the amoeboid movement that stretches and compress along diagonal, produce relative motion between the adjacent rod member, the relative motion between the rod member of moving platform can be converted into rotatablely moving of end effector by the setting angle enlarger.Described angle enlarger is made up of intermeshing tooth fan 13 and gear 14, described gear 14 is connected on the crossbeam connecting rod 15 by revolute pair, the first rhombus side rod 11a that described crossbeam connecting rod 15 is relative with one group and the center of Three Diamond side rod 11c are connected by revolute pair, and described tooth fan 13 can be fixed in the first rhombus side rod 11a or Three Diamond side rod 11c.
Tooth fan 13 is fixed on the Three Diamond side rod 11c in the present embodiment, the center line of described tooth fan 13 overlaps with the revolute pair axis of its affixed Three Diamond side rod 11c and crossbeam connecting rod 15, gear 14 and described tooth fan 13 engagements, gearratio between tooth fan 13 and the gear 14 can be selected according to actual conditions, be connected with end effector 16 at described gear 14, in order to realize final rotatablely moving.Above-mentioned crossbeam connecting rod 15 is not limited to be connected between the relative first rhombus side rod 11a and Three Diamond side rod 11c, also can be connected between the first subangle connecting rod 10a and the second rhombus side rod 11b, perhaps be connected between the second subangle connecting rod 10b and the second parallel rod 12b, make connected end effector realize rotatablely moving.
See also Fig. 3, at two relative gussets hold assembly 17a and 17b are installed, when moving platform is done the amoeboid movement that stretches and compress along diagonal, can directly produce corresponding open and close movement, realize the clamping operation.
Embodiment 2:
See also Fig. 4, its overall structure is with to execute example 1 identical, as different from Example 1, moving platform has adopted a kind of reconstruct structure of embodiment 1 moving platform, the structure of its moving platform comprises the following connecting axle 6 corresponding first affixed gusset 8a, the second gusset 8b, third angle plate 8c and the Square consisting of two isosceles right-angled triangles 8d with four side chains, and the first gusset 8a, the second gusset 8b, third angle plate 8c and Square consisting of two isosceles right-angled triangles 8d are according to arranging successively clockwise; The described first gusset 8a is provided with the first subangle mechanism, the described first subangle mechanism comprises the first gear 9a, the second gear 9b, the first subangle connecting rod 10a and the second subangle connecting rod 10b, the described first gear 9a and the described second gear 9b are symmetrical arranged along the center line of the described first gusset 8a, and are connected by revolute pair with the first gusset 8a respectively; The end of the described first subangle connecting rod 10a and the described first gear 9a are affixed, and the other end is connected on the described Square consisting of two isosceles right-angled triangles 8d adjacent with the described first gusset 8a by revolute pair; The end of the described second subangle connecting rod 10b and the described second gear 9b are affixed, and the 3rd gear 9c on the other end and the second gusset 8b is affixed, and the described first gear 9a and the described second gear 9b are meshing with each other.The described second gusset 8b is provided with the second subangle mechanism, the described second subangle mechanism comprises the 3rd gear 9c, the 4th gear 9d, the second subangle connecting rod 10b and trisectrix connecting rod 10c, described the 3rd gear 9c and described the 4th gear 9d are meshing with each other and are symmetrical arranged along the center line of the described second gusset 8b, and are connected by revolute pair with the second gusset 8b respectively; The end of described trisectrix connecting rod 10c and described the 4th gear 9d are affixed, and the other end is connected on the described third angle plate 8c adjacent with the described second gusset 8b by revolute pair; Between the described second gusset 8b and described third angle plate 8c, be provided with the first rhombus side rod 11a, the two ends of the described first rhombus side rod 11a are connected with described third angle plate 8c with the described second gusset 8b by revolute pair respectively, and the described second gusset 8b, described third angle plate 8c, described trisectrix connecting rod 10c and the described first rhombus side rod 11a form parallelogram sturcutre; Between described third angle plate 8c and described Square consisting of two isosceles right-angled triangles 8d, be provided with the second rhombus side rod 11b and the first parallel rod 12a, the two ends of the described second rhombus side rod 11b and the first parallel rod 12a respectively are connected with described Square consisting of two isosceles right-angled triangles 8d with described third angle plate 8c by revolute pair, and the described second rhombus side rod 11b, the described first parallel rod 12a, described third angle plate 8c and described Square consisting of two isosceles right-angled triangles 8d form parallelogram sturcutre; The effective length of the described first parallel rod 12a, the described first rhombus side rod 11a, the described second rhombus side rod 11b, the described first subangle connecting rod 10a, the described second subangle connecting rod 10b and described trisectrix connecting rod 10c equates that all the described first gusset 8a, the described second gusset 8b, described third angle plate 8c and described Square consisting of two isosceles right-angled triangles 8d form four summits of rhombus.
Present embodiment can be at relative subangle connecting rod 10a, 10c, perhaps setting angle enlarger between the second subangle connecting rod 10b and the first parallel rod 12a, make end effector realize rotatablely moving, also can be on two relative gusset 8a, 8c, the perhaps last installation of 8b, 8d hold assembly, when moving platform is done the amoeboid movement that stretches and compress along diagonal, can directly produce corresponding open and close movement, can realize the clamping operation.
Embodiment 3:
See also Fig. 5, its overall structure is with to execute example 1 identical, as different from Example 1, moving platform has adopted a kind of reconstruct structure of embodiment 1 moving platform, the structure of its moving platform comprises the following connecting axle 6 corresponding first affixed gusset 8a, the second gusset 8b, third angle plate 8c and the Square consisting of two isosceles right-angled triangles 8d with four side chains, and the first gusset 8a, the second gusset 8b, third angle plate 8c and Square consisting of two isosceles right-angled triangles 8d are according to arranging successively clockwise; The described first gusset 8a is provided with the first subangle mechanism, the described first subangle mechanism comprises the first gear 9a, the second gear 9b, the first subangle connecting rod 10a and the second subangle connecting rod 10b, the described first gear 9a and the described second gear 9b are meshing with each other and are symmetrical arranged along the center line of the described first gusset 8a, and are connected by revolute pair with the first gusset 8a respectively; The end of the described first subangle connecting rod 10a and the described first gear 9a are affixed, and the other end is connected on the described Square consisting of two isosceles right-angled triangles 9d adjacent with the described first gusset 8a by revolute pair; The end of the described second subangle connecting rod 10b and the described second gear 9b are affixed, and the 3rd gear 9c on the other end and the second gusset 8b is affixed; The described second gusset 8b is provided with the second subangle mechanism, the described second subangle mechanism comprises the 3rd gear 9c, the 4th gear 9d, the second subangle connecting rod 10b and trisectrix connecting rod 10c, described the 3rd gear 9c and described the 4th gear 9d are meshing with each other and are symmetrical arranged along the center line of the described second gusset 8b, and are connected by revolute pair with the second gusset 8b respectively; The end of described trisectrix connecting rod 10c and described the 4th gear 9d are affixed, and the 5th gear 9e on the other end and the third angle plate 8c is affixed; Described third angle plate 8c is provided with trisectrix mechanism, described trisectrix mechanism comprises the 5th gear 9e, the 6th gear 9f, trisectrix connecting rod 10c and the 4th subangle connecting rod 10d, described the 5th gear 9e and described the 6th gear 9f are meshing with each other and are symmetrical arranged along the center line of described third angle plate 8c, and are connected by revolute pair with third angle plate 8c respectively; The end of described the 4th subangle connecting rod 10d and described the 6th gear 9f are affixed, and the other end is connected on the described Square consisting of two isosceles right-angled triangles 8d adjacent with described third angle plate 8c by revolute pair; Between described third angle plate 8c and described Square consisting of two isosceles right-angled triangles 8d, be provided with the first rhombus side rod 11a, the two ends of the described first rhombus side rod 11a are connected with described Square consisting of two isosceles right-angled triangles 8d with described third angle plate 8c by revolute pair respectively, and described third angle plate 8c, described Square consisting of two isosceles right-angled triangles 8d, described the 4th subangle connecting rod 10d and the described first rhombus side rod 11a form parallelogram sturcutre; The effective length of the described first rhombus side rod 11a, the described first subangle connecting rod 10a, the described second subangle connecting rod 10b, described trisectrix connecting rod 10c and described the 4th subangle connecting rod 10d equates that all the described first gusset 8a, the described second gusset 8b, described third angle plate 8c and described Square consisting of two isosceles right-angled triangles 8d form four summits of rhombus.
Present embodiment can be at any two relative subangle connecting rod 10a, 10c, and perhaps setting angle enlarger between 10b, the 10d makes end effector realize rotatablely moving; Also can be at two relative gusset 8a, 8c, perhaps the last installation of 8b, 8d hold assembly when moving platform is done the amoeboid movement that stretches and compress along diagonal, can directly produce corresponding open and close movement, can realize the clamping operation.
Embodiment 4:
See also Fig. 6, its overall structure is with to execute example 1 identical, as different from Example 1, moving platform has adopted a kind of reconstruct structure of embodiment 1 moving platform, the structure of its moving platform comprises the following connecting axle 6 corresponding first affixed gusset 8a, the second gusset 8b, third angle plate 8c and the Square consisting of two isosceles right-angled triangles 8d with four side chains, and the first gusset 8a, the second gusset 8b, third angle plate 8c and Square consisting of two isosceles right-angled triangles 8d are according to arranging successively clockwise; The described first gusset 8a is provided with the first subangle mechanism, the described first subangle mechanism comprises the first gear 9a, the second gear 9b, the first subangle connecting rod 10a and the second subangle connecting rod 10b, the described first gear 9a and the described second gear 9b are meshing with each other and are symmetrical arranged along the center line of the described first gusset 8a, and are connected by revolute pair with the described first gusset 8a respectively; The end of the described first subangle connecting rod 10a and the described first gear 9a are affixed, and the octadentate wheel 9h on the other end and the Square consisting of two isosceles right-angled triangles 8d is affixed; The end of the described second subangle connecting rod 10b and the described second gear 9b are affixed, and the 3rd gear 9c on the other end and the second gusset 8b is affixed; The described second gusset 8b is provided with the second subangle mechanism, the described second subangle mechanism comprises the 3rd gear 9c, the 4th gear 9d, the second subangle connecting rod 10b and trisectrix connecting rod 10c, described the 3rd gear 9c and described the 4th gear 9d are meshing with each other and are symmetrical arranged along the center line of the described second gusset 8b, and are connected by revolute pair with the described second gusset 8b respectively; The end of described trisectrix connecting rod 10c and described the 4th gear 9d are affixed, and the 5th gear 9e on the other end and the third angle plate 8c is affixed; Described third angle plate 8c is provided with trisectrix mechanism, described trisectrix mechanism comprises the 5th gear 9e, the 6th gear 9f, trisectrix connecting rod 10c and the 4th subangle connecting rod 10d, described the 5th gear 9e and described the 6th gear 9f are meshing with each other and are symmetrical arranged along the center line of described third angle plate 8c, and are connected by revolute pair with third angle plate 8c respectively; The end of described the 4th subangle connecting rod 10d and described the 6th gear 9f are affixed, and the 7th gear 9g on the other end and the Square consisting of two isosceles right-angled triangles 8d is affixed; Described Square consisting of two isosceles right-angled triangles 8d is provided with the 4th subangle mechanism, described the 4th subangle mechanism comprises the 7th gear 9g, octadentate wheel 9h, the first subangle connecting rod 10a and the 4th subangle connecting rod 10d, described the 7th gear 9g and described octadentate wheel 9h is meshing with each other and is symmetrical arranged along the center line of described Square consisting of two isosceles right-angled triangles 8d, and is connected by revolute pair with Square consisting of two isosceles right-angled triangles 8d respectively; The effective length of the described first subangle connecting rod 10a, the described second subangle connecting rod 10b, described trisectrix connecting rod 10c and described the 4th subangle connecting rod 10d equates that all the described first gusset 8a, the described second gusset 8b, described third angle plate 8c and described Square consisting of two isosceles right-angled triangles 8d form four summits of rhombus.
Present embodiment can be at any two relative subangle connecting rod 10a, 10c, perhaps setting angle enlarger between 10b, the 10d, make end effector realize rotatablely moving, also can be at two relative gusset 8a, 8c, the perhaps last installation of 8b, 8d hold assembly, when moving platform is done the amoeboid movement that stretches and compress along diagonal, can directly produce corresponding open and close movement, can realize the clamping operation.
The present invention compared with prior art, its difference is:
1) moving platform is connected to form by connecting rod by four gussets, forms a diamond structure, and the virtual center point relative position of its structure is constant, and driven gusset is equivalent to the summit of the diamond structure of moving platform, and four following connecting axles are in the same plane.
2) moving platform is made up of subangle mechanism or subangle mechanism and parallelogram sturcutre, novel structure is ingenious, proper restraint the free degree of moving platform, all connections are revolute pair and connect, discontinuity when having avoided using moving sets, deficiency such as frictional force big and service life is low.And subangle mechanism and parallelogram sturcutre can mutual alternative, can realize that finally four kinds meet the moving platform structures that motion requires.
3) use the subangle gear in the subangle mechanism, had the characteristic of fixed drive ratio when utilizing gear to be used, made the relevant property of motion of two subangle connecting rods, limited the whole free degree.
4) design of this moving platform can realize multiple configuration, and can realize clamping and rotatablely move, and for practical application provides multiple choices, flexibility is stronger.
The ingenious uniqueness of this invention design, the rigidity of structure and good stability, motion is flexible, and it is stressed that evenly precision is higher, and long service life easily realizes high-speed motion, and satisfies the requirement of complicated pick-and-place operation.And the compound mode of multiple moving platform provides multiple choices for practical application.
Although by reference to the accompanying drawings the preferred embodiments of the present invention are described above; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not breaking away under the scope situation that aim of the present invention and claim protect, can also make a lot of forms, these all belong within protection scope of the present invention.
Claims (4)
1. the parallel institution that can realize four-degree-of-freedom motion comprises fixed mount, moving platform and is arranged symmetrically in four side chains that structure is identical between described fixed mount and the moving platform; Be connected with drive unit on the described fixed mount; Every side chain comprises nearly hack lever, two parallel and isometric hack levers far away, last connecting axle and following connecting axles, and described nearly hack lever one end and described drive unit are affixed, and the other end and last connecting axle are affixed; Two parallel hack lever one ends described far away are gone up the connecting axle ball-joint with described respectively, the other end respectively with following connecting axle ball-joint, described connecting axle down, described connecting axle and described two the parallel hack levers formation parallelogram far away gone up on every side chain; It is characterized in that, described moving platform comprises the corresponding first affixed gusset of following connecting axle, second gusset, third angle plate and the Square consisting of two isosceles right-angled triangles with four side chains, and described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles are according to arranging successively clockwise; Described first gusset is provided with the first subangle mechanism, the described first subangle mechanism comprises first gear, second gear, the first subangle connecting rod and the second subangle connecting rod, described first gear and described second gear are meshing with each other and are symmetrical arranged along the center line of described first gusset, and are connected by revolute pair with described first gusset respectively; One end of the described first subangle connecting rod and described first gear are affixed, and the other end is connected on the described Square consisting of two isosceles right-angled triangles by revolute pair; One end of the described second subangle connecting rod and described second gear are affixed, and the other end is connected on described second gusset by revolute pair; Between described first gusset and described second gusset, be provided with the first rhombus side rod, the two ends of the described first rhombus side rod are connected with described second gusset with described first gusset by revolute pair respectively, and described first gusset, described second gusset, the described second subangle connecting rod and the described first rhombus side rod form parallelogram sturcutre; Between described second gusset and described third angle plate, be provided with the second rhombus side rod and first parallel rod, the two ends of the described second rhombus side rod and first parallel rod respectively are connected with described third angle plate with described second gusset by revolute pair, and the described second rhombus side rod, described first parallel rod, described second gusset and described third angle plate form parallelogram sturcutre; Between described third angle plate and described Square consisting of two isosceles right-angled triangles, be provided with Three Diamond side rod and second parallel rod, the two ends of described Three Diamond side rod and second parallel rod respectively are connected with described Square consisting of two isosceles right-angled triangles with described third angle plate by revolute pair, and described Three Diamond side rod, described second parallel rod, described third angle plate and described Square consisting of two isosceles right-angled triangles form parallelogram sturcutre; The effective length of described first parallel rod, described second parallel rod, the described first rhombus side rod, the described second rhombus side rod and described Three Diamond side rod, the described first subangle connecting rod and the described second subangle connecting rod equates that all described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles form four summits of rhombus.
2. the parallel institution that can realize four-degree-of-freedom motion comprises fixed mount, moving platform and is arranged symmetrically in four side chains that structure is identical between described fixed mount and the moving platform; Be connected with drive unit on the described fixed mount; Every side chain comprises nearly hack lever, two parallel and isometric hack levers far away, last connecting axle and following connecting axles, and described nearly hack lever one end and described drive unit are affixed, and the other end and last connecting axle are affixed; Two parallel hack lever one ends described far away are gone up the connecting axle ball-joint with described respectively, the other end respectively with following connecting axle ball-joint, described connecting axle down, described connecting axle and described two the parallel hack levers formation parallelogram far away gone up on every side chain; It is characterized in that, described moving platform comprises the corresponding first affixed gusset of following connecting axle, second gusset, third angle plate and the Square consisting of two isosceles right-angled triangles with four side chains, and described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles are according to arranging successively clockwise; Described first gusset is provided with the first subangle mechanism, the described first subangle mechanism comprises first gear, second gear, the first subangle connecting rod and the second subangle connecting rod, described first gear and described second gear are meshing with each other and are symmetrical arranged along the center line of described first gusset, and are connected by revolute pair with described first gusset respectively; One end of the described first subangle connecting rod and described first gear are affixed, and the other end is connected on the described Square consisting of two isosceles right-angled triangles by revolute pair; One end of the described second subangle connecting rod and described second gear are affixed, and the other end and the 3rd gear are affixed; Described second gusset is provided with the second subangle mechanism, the described second subangle mechanism comprises described the 3rd gear, the 4th gear, described second subangle connecting rod and the trisectrix connecting rod, described the 3rd gear and described the 4th gear are meshing with each other and are symmetrical arranged along the center line of described second gusset, and are connected by revolute pair with described second gusset respectively; One end of described trisectrix connecting rod and described the 4th gear are affixed, and the other end is connected on the described third angle plate by revolute pair; Between described second gusset and described third angle plate, be provided with the first rhombus side rod, the two ends of the described first rhombus side rod are connected with described third angle plate with described second gusset by revolute pair respectively, and described second gusset, described third angle plate, described trisectrix connecting rod and the described first rhombus side rod form parallelogram sturcutre; Between described third angle plate and described Square consisting of two isosceles right-angled triangles, be provided with the second rhombus side rod and first parallel rod, the two ends of the described second rhombus side rod and described first parallel rod respectively are connected with described Square consisting of two isosceles right-angled triangles with described third angle plate by revolute pair, and the described second rhombus side rod, described first parallel rod, described third angle plate and described Square consisting of two isosceles right-angled triangles form parallelogram sturcutre; The effective length of described first parallel rod, the described first rhombus side rod, the described second rhombus side rod, the described first subangle connecting rod and the described second subangle connecting rod and described trisectrix connecting rod equates that all described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles form four summits of rhombus.
3. the parallel institution that can realize four-degree-of-freedom motion comprises fixed mount, moving platform and is arranged symmetrically in four side chains that structure is identical between described fixed mount and the moving platform; Be connected with drive unit on the described fixed mount; Every side chain comprises nearly hack lever, two parallel and isometric hack levers far away, last connecting axle and following connecting axles, and described nearly hack lever one end and described drive unit are affixed, and the other end and last connecting axle are affixed; Two parallel hack lever one ends described far away are gone up the connecting axle ball-joint with described respectively, the other end respectively with following connecting axle ball-joint, described connecting axle down, described connecting axle and described two the parallel hack levers formation parallelogram far away gone up on every side chain; It is characterized in that, described moving platform comprises the corresponding first affixed gusset of following connecting axle, second gusset, third angle plate and the Square consisting of two isosceles right-angled triangles with four side chains, and described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles are according to arranging successively clockwise; Described first gusset is provided with the first subangle mechanism, the described first subangle mechanism comprises first gear, second gear, the first subangle connecting rod and the second subangle connecting rod, described first gear and described second gear are meshing with each other and are symmetrical arranged along the center line of described first gusset, and are connected by revolute pair with described first gusset respectively; One end of the described first subangle connecting rod and described first gear are affixed, and the other end is connected on the described Square consisting of two isosceles right-angled triangles by revolute pair; One end of the described second subangle connecting rod and described second gear are affixed, and the other end and the 3rd gear are affixed; Described second gusset is provided with the second subangle mechanism, the described second subangle mechanism comprises described the 3rd gear, the 4th gear, described second subangle connecting rod and the trisectrix connecting rod, described the 3rd gear and described the 4th gear are meshing with each other and are symmetrical arranged along the center line of described second gusset, and are connected by revolute pair with described second gusset respectively; One end of described trisectrix connecting rod and described the 4th gear are affixed, and the other end and the 5th gear are affixed; Described third angle plate is provided with trisectrix mechanism, described trisectrix mechanism comprises described the 5th gear, the 6th gear, described trisectrix connecting rod and the 4th subangle connecting rod, described the 5th gear and described the 6th gear are meshing with each other and are symmetrical arranged along the center line of described third angle plate, and are connected by revolute pair with described third angle plate respectively; One end of described the 4th subangle connecting rod and described the 6th gear are affixed, and the other end is connected on the described Square consisting of two isosceles right-angled triangles by revolute pair; Between described third angle plate and described Square consisting of two isosceles right-angled triangles, be provided with the first rhombus side rod, the two ends of the described first rhombus side rod are connected with described Square consisting of two isosceles right-angled triangles with described third angle plate by revolute pair respectively, and described third angle plate, described Square consisting of two isosceles right-angled triangles, described the 4th subangle connecting rod and the described first rhombus side rod form parallelogram sturcutre; The effective length of the described first rhombus side rod, the described first subangle connecting rod, the described second subangle connecting rod, described trisectrix connecting rod and described the 4th subangle connecting rod equates that all described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles form four summits of rhombus.
4. the parallel institution that can realize four-degree-of-freedom motion comprises fixed mount, moving platform and is arranged symmetrically in four side chains that structure is identical between described fixed mount and the moving platform; Be connected with drive unit on the described fixed mount; Every side chain comprises nearly hack lever, two parallel and isometric hack levers far away, last connecting axle and following connecting axles, and described nearly hack lever one end and described drive unit are affixed, and the other end and last connecting axle are affixed; Two parallel hack lever one ends described far away are gone up the connecting axle ball-joint with described respectively, the other end respectively with following connecting axle ball-joint, described connecting axle down, described connecting axle and described two the parallel hack levers formation parallelogram far away gone up on every side chain; It is characterized in that, described moving platform comprises the corresponding first affixed gusset of following connecting axle, second gusset, third angle plate and the Square consisting of two isosceles right-angled triangles with four side chains, and described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles are according to arranging successively clockwise; Described first gusset is provided with the first subangle mechanism, the described first subangle mechanism comprises first gear, second gear, the first subangle connecting rod and the second subangle connecting rod, described first gear and described second gear are meshing with each other and are symmetrical arranged along the center line of described first gusset, and are connected by revolute pair with described first gusset respectively; One end of the described first subangle connecting rod and described first gear are affixed, and the other end and octadentate wheel are affixed; One end of the described second subangle connecting rod and described second gear are affixed, and the other end and the 3rd gear are affixed; Described second gusset is provided with the second subangle mechanism, the described second subangle mechanism comprises described the 3rd gear, the 4th gear, described second subangle connecting rod and the trisectrix connecting rod, described the 3rd gear and described the 4th gear are meshing with each other and are symmetrical arranged along the center line of described second gusset, and are connected by revolute pair with described second gusset respectively; One end of described trisectrix connecting rod and described the 4th gear are affixed, and the other end and the 5th gear are affixed; Described third angle plate is provided with trisectrix mechanism, described trisectrix mechanism comprises described the 5th gear, the 6th gear, described trisectrix connecting rod and the 4th subangle connecting rod, described the 5th gear and described the 6th gear are meshing with each other and are symmetrical arranged along the center line of described third angle plate, and are connected by revolute pair with described third angle plate respectively; One end of described the 4th subangle connecting rod and described the 6th gear are affixed, and the other end and the 7th gear are affixed; Described Square consisting of two isosceles right-angled triangles is provided with the 4th subangle mechanism, described the 4th subangle mechanism comprises described the 7th gear, described octadentate wheel, the described first subangle connecting rod and described the 4th subangle connecting rod, described the 7th gear and described octadentate wheel is meshing with each other and is symmetrical arranged along the center line of described Square consisting of two isosceles right-angled triangles, and is connected by revolute pair with described Square consisting of two isosceles right-angled triangles respectively; The effective length of the described first subangle connecting rod, the described second subangle connecting rod, described trisectrix connecting rod and described the 4th subangle connecting rod equates that all described first gusset, described second gusset, described third angle plate and described Square consisting of two isosceles right-angled triangles form four summits of rhombus.
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| CN102490185B (en) * | 2011-12-13 | 2014-05-21 | 天津大学 | Face-symmetry five-freedom-degree parallel-connection manipulator |
| CN102501249A (en) * | 2011-12-19 | 2012-06-20 | 天津大学 | Six-degree-of-freedom high-speed parallel mechanism and three-degree-of-freedom rotation mechanism thereof |
| CN102554918A (en) * | 2012-01-10 | 2012-07-11 | 天津大学 | Over-constraint parallel mechanism with three degrees of freedom |
| CN102632499B (en) * | 2012-03-27 | 2014-07-02 | 西安交通大学 | Operating mechanism used in Par4 parallel robot |
| CN102642204B (en) * | 2012-03-27 | 2015-06-03 | 西安交通大学 | Alternating-current servo direct drive type series-parallel composite robot |
| CN102615643B (en) * | 2012-03-29 | 2014-04-02 | 天津大学 | Four-degree-of-freedom parallel manipulator |
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| FR3020977B1 (en) * | 2014-05-19 | 2017-07-28 | Univ Montpellier 2 Sciences Et Techniques | NACELLE FOR PARALLEL ROBOT FOR ACTING ON AN OBJECT |
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