CN103144097B - Asymmetric parallel robot mechanism with two rotations and one movement - Google Patents

Abstract

An asymmetric parallel robot mechanism with two rotations and one movement, which includes a frame, a moving platform and three movable branches connecting them, wherein the ball pair in the first branch is connected with the frame, the rotating pair is connected with the moving platform, and the ball pair It is connected with the swivel pair through a swivel pair; the universal hinge in the second branch is connected with the frame, the swivel pair is connected with the moving platform, and the universal hinge and the swivel pair are connected through a swivel pair; the universal joint in the third branch The hinge is connected with the frame, the ball joint is connected with the moving platform, and the universal joint and the ball joint are connected through a rotating joint; the rotating joint axis connecting the moving platform in the first branch and the rotating joint axis connecting the moving platform in the second branch Not parallel. The invention has simple branch structure, no over-constraint, convenient processing and manufacturing, easy realization of calibration and control, and has very good application prospects.

Description

Two-rotation-one-transfer asymmetric parallel robot mechanism

Technical Field The present invention belongs to the field of robots, and in particular relates to an asymmetric parallel robot mechanism.

BACKGROUND OF THE INVENTION Compared with serial robots, parallel robots have the advantages of high rigidity, fast movement speed, and high precision, and are widely used in the field of machinery industry. The parallel mechanism with two degrees of freedom of rotation and one movement can be applied to motion simulators, coordinate measuring machines, spindle heads of machining centers, etc., and the most typical application is as the spindle head of parallel machine tools, on which a two-dimensional The rotating head with a degree of freedom can realize the processing of complex parts in aerospace, automobile industry and other fields. In the existing literature, such as the paper published by K. Neumann in 2008 (K.Neumann, 2008. Adaptive in-jig high load Exechon machining & assembly technology, SAE International, 08AMT-0044.) and patents CN 101049699A, CN 201625978U, In the parallel mechanism mentioned in CN 201389855Y, the moving platform has the advantage of being easy to calibrate and control because there is no rotating shaft accompanying the movement, but these mechanisms have the harsh geometric condition of collinearity, and the matching accuracy is very high. If the geometric conditions are met, the performance of the mechanism cannot meet the requirements. Such harsh geometric conditions bring great difficulties to the machining and manufacturing of the mechanism, and it is difficult to guarantee the machining accuracy. The other type of 3-RPS/SPR two-rotation-one-shift parallel mechanism does not have strict geometric conditions, but there is accompanying movement in the rotation motion, which makes calibration and control very difficult.

SUMMARY OF THE INVENTION The object of the present invention is to provide a two-rotation-one-transfer asymmetric parallel robot mechanism with simple branch structure, no over-constraint, convenient manufacturing, and easy guarantee of machining accuracy. The present invention includes moving platform, frame and three movable branches connecting them, and it has seven connection modes:

The first connection method: the ball pair in the first branch is connected to the frame, the rotating pair is connected to the moving platform, and the ball pair and the rotating pair are connected through a rotating pair, wherein the axes of the above two rotating pairs are parallel to each other; the second branch The universal hinge is connected with the frame, the swivel pair is connected with the moving platform, and the universal hinge and the swivel pair are connected through the swivel pair, wherein the axes of the above two swivel pairs are parallel to the axis of the second swivel pair of the universal hinge ; The universal joint in the third branch is connected with the frame, the ball joint is connected with the moving platform, and the universal joint and the ball joint are connected by a rotating joint, wherein the axis of the rotating joint is parallel to the second rotating joint axis of the universal joint; The axis of the rotary pair connected to the movable platform in the first branch is not parallel to the axis of the rotary pair connected to the movable platform in the second branch.

The second connection method: the ball pair in the first branch is connected to the frame, the rotating pair is connected to the moving platform, and the ball pair and the rotating pair are connected through a moving pair, wherein the axis of the rotating pair is perpendicular to the axis of the moving pair; the second branch The universal hinge is connected with the frame, the swivel pair is connected with the moving platform, and the universal hinge and the swivel pair are connected through the swivel pair, wherein the axes of the above two swivel pairs are parallel to the axis of the second swivel pair of the universal hinge ; The universal joint in the third branch is connected with the frame, the ball joint is connected with the moving platform, and the universal joint and the ball joint are connected by a rotating joint, wherein the axis of the rotating joint is parallel to the second rotating joint axis of the universal joint; The axis of the rotary pair connected to the movable platform in the first branch is not parallel to the axis of the rotary pair connected to the movable platform in the second branch.

The third connection method: the ball pair in the first branch is connected to the frame, the rotating pair is connected to the moving platform, and the ball pair and the rotating pair are connected through a rotating pair, and the axes of the two rotating pairs are parallel to each other; in the second branch The universal hinge is connected with the frame, the rotating pair is connected with the moving platform, and the universal hinge and the rotating pair are connected by a moving pair, wherein the axis of the rotating pair is parallel to the axis of the second rotating pair of the universal hinge and perpendicular to the moving platform. Auxiliary axis; the universal joint in the third branch is connected to the frame, the ball joint is connected to the moving platform, and the universal joint and the ball joint are connected through a rotating joint, wherein the rotating joint axis is parallel to the second rotating joint of the universal joint Axis; the axis of the rotary pair connected to the movable platform in the first branch is not parallel to the axis of the rotary pair connected to the movable platform in the second branch.

The fourth connection method: the ball pair in the first branch is connected to the frame, the rotating pair is connected to the moving platform, and the ball pair and the rotating pair are connected through a rotating pair, and the axes of the two rotating pairs are parallel to each other; in the second branch The universal hinge is connected to the frame, the rotating pair is connected to the moving platform, and the universal hinge and the rotating pair are connected through a rotating pair, wherein the axes of the above two rotating pairs are parallel to the axes of the second rotating pair of the universal hinge; The universal joint in the third branch is connected to the frame, the ball joint is connected to the moving platform, and the universal joint and the ball joint are connected through a moving joint, wherein the axis of the moving joint is perpendicular to the axis of the second rotating joint of the universal joint; the above The axis of rotation pair connected to the movable platform in the first branch is not parallel to the axis of rotation pair connected to the movable platform in the second branch.

The fifth connection method: the ball pair in the first branch is connected to the frame, the rotating pair is connected to the moving platform, and the ball pair and the rotating pair are connected through a moving pair, wherein the axis of the rotating pair is perpendicular to the axis of the moving pair; the second branch The universal hinge is connected with the frame, the rotating pair is connected with the moving platform, and the universal hinge and the rotating pair are connected by a moving pair, in which the axis of the rotating pair is parallel to the axis of the second rotating pair of the universal hinge and perpendicular to the Move the secondary axis; the universal joint in the third branch is connected with the frame, the ball joint is connected with the moving platform, and the universal joint and the ball joint are connected by a rotating joint, wherein the rotating joint axis is parallel to the second rotation of the universal joint Secondary axis; the secondary axis of rotation connected to the movable platform in the first branch is not parallel to the secondary axis of rotation connected to the movable platform in the second branch.

The sixth connection method: the ball pair in the first branch is connected to the frame, the rotating pair is connected to the moving platform, and the ball pair and the rotating pair are connected through a moving pair, wherein the axis of the rotating pair is perpendicular to the axis of the moving pair; the second branch The universal hinge is connected with the frame, the swivel pair is connected with the moving platform, and the universal hinge and the swivel pair are connected through the swivel pair, wherein the axes of the above two swivel pairs are parallel to the axis of the second swivel pair of the universal hinge ; The universal joint in the third branch is connected to the frame, the ball joint is connected to the moving platform, and the universal joint and the ball joint are connected through a moving joint, wherein the moving joint axis is perpendicular to the second rotating joint axis of the universal joint; The axis of the rotary pair connected to the movable platform in the first branch is not parallel to the axis of the rotary pair connected to the movable platform in the second branch.

The seventh connection method: the ball pair in the first branch is connected to the frame, the rotating pair is connected to the moving platform, and the ball pair and the rotating pair are connected through a rotating pair, and the axes of the two rotating pairs are parallel to each other; in the second branch The universal hinge is connected with the frame, the rotating pair is connected with the moving platform, and the universal hinge and the rotating pair are connected by a moving pair, wherein the axis of the rotating pair is parallel to the axis of the second rotating pair of the universal hinge and perpendicular to the moving platform. Auxiliary axis; the universal joint in the third branch is connected with the frame, the ball joint is connected with the moving platform, and the universal joint and the ball joint are connected by a moving joint, wherein the moving joint axis is perpendicular to the second rotating joint of the universal joint Axis; the axis of the rotary pair connected to the movable platform in the first branch is not parallel to the axis of the rotary pair connected to the movable platform in the second branch.

Compared with the prior art, the present invention has the following advantages: there are no harsh geometric conditions in the mechanism, there is a rotating shaft without accompanying movement on the moving platform, the driver can approach the frame, the branch structure is very simple, there is no over-constraint, the processing and manufacturing are relatively convenient, and calibration And control is easy to realize, and has a very good application prospect.

Description of drawings:

Fig. 1 is a schematic perspective view of Embodiment 1 of the present invention.

Fig. 2 is a schematic perspective view of Embodiment 2 of the present invention.

Fig. 3 is a schematic perspective view of Embodiment 3 of the present invention.

Fig. 4 is a schematic perspective view of Embodiment 4 of the present invention.

Fig. 5 is a schematic perspective view of Embodiment 5 of the present invention.

Fig. 6 is a schematic perspective view of Embodiment 6 of the present invention.

Fig. 7 is a schematic perspective view of Embodiment 7 of the present invention.

Detailed ways:

Further description will be given below in conjunction with the embodiments shown in the accompanying drawings.

In the following embodiments, the axis of the moving pair refers to a straight line parallel to the direction of motion of the moving pair, the axis of the rotating pair refers to the centerline around which the rotating pair rotates, and the first rotating pair of the universal hinge is the rotary pair close to the frame, and the second rotary pair of the universal joint refers to the rotary pair close to the moving platform. the

Example 1:

In the schematic diagram of the two-rotation-one-transfer asymmetric parallel robot mechanism shown in Figure 1, the ball pair S11 in the first branch is connected to the frame 1, the revolving pair R13 is connected to the moving platform 2, and the ball pair and the revolving pair are connected by a rotating The pair R12 is connected, wherein the axes of the above two rotating pairs R13 and R12 are parallel to each other; the universal hinges R21 and R22 in the second branch are connected to the frame, the rotating pair R24 is connected to the moving platform, and the universal hinge and the rotating pair pass through The rotating pair R23 is connected, wherein the axes of the above two rotating pairs R24 and R23 are parallel to the axes of the second rotating pair R22 of the universal joint; the universal joints R31 and R32 in the third branch are connected with the frame, and the ball pair S34 and The moving platform is connected, and the universal joint and the ball pair are connected through the rotating pair R33, wherein the axis of the rotating pair R33 is parallel to the axis of the second rotating pair R32 of the universal joint; the axis of the rotating pair R13 in the first branch is connected with the second branch The axes of the rotating pair R24 are not parallel.

Example 2:

In the schematic diagram of the two-rotation-one-transfer asymmetric parallel robot mechanism shown in Figure 2, the ball pair S11 in the first branch is connected to the frame 1, the revolving pair R13 is connected to the moving platform 2, and the ball pair and the revolving pair are connected by moving The pair P12 is connected, wherein the axis of the rotating pair R13 is perpendicular to the axis of the moving pair P12; the universal hinges R21 and R22 in the second branch are connected with the frame, and the rotating pair R24 is connected with the moving platform, and the universal hinge and the rotating pair are connected by rotating The pair R23 is connected, wherein the axes of the above two rotating pairs R24 and R23 are parallel to the axes of the second rotating pair R22 of the universal joint; the universal joint R31 and R32 in the third branch are connected with the frame, and the ball pair S34 is connected with the moving The platform is connected, and the universal joint and the ball pair are connected through the rotating pair R33, wherein the axis of the rotating pair R33 is parallel to the axis of the second rotating pair R32 of the universal joint; the axis of the rotating pair R13 in the above-mentioned first branch and the second branch The axes of the rotating pair R24 are not parallel.

Example 3:

In the schematic diagram of the two-rotation-one-transfer asymmetric parallel robot mechanism shown in Figure 3, the ball pair S11 in the first branch is connected to the frame 1, the revolving pair R13 is connected to the moving platform 2, and the ball pair and the revolving pair are connected by rotating The pair R12 is connected, wherein the axes of the above two rotating pairs R13 and R12 are parallel to each other; the universal hinges R21 and R22 in the second branch are connected to the frame, the rotating pair R24 is connected to the moving platform, and the universal hinge and the rotating pair pass through The moving pair P23 is connected, in which the axis of the rotating pair R24 is parallel to the axis of the second rotating pair R22 of the universal joint and perpendicular to the axis of the moving pair P23; the universal joints R31 and R32 in the third branch are connected to the frame, and the ball joint S34 is connected with the moving platform, and the universal joint and the ball pair are connected through the rotating pair R33, wherein the axis of the rotating pair R33 is parallel to the axis of the second rotating pair R32 of the universal joint; the axis of the rotating pair R13 in the above-mentioned first branch and the second The axes of the rotating pair R24 in the two branches are not parallel.

Example 4:

In the schematic diagram of the two-rotation-one-transfer asymmetric parallel robot mechanism shown in Figure 4, the ball pair S11 in the first branch is connected to the frame 1, the revolving pair R13 is connected to the moving platform 2, and the ball pair and the revolving pair are connected by a rotating The pair R12 is connected, wherein the axes of the above two rotating pairs R13 and R12 are parallel to each other; the universal hinges R21 and R22 in the second branch are connected to the frame, the rotating pair R24 is connected to the moving platform, and the universal hinge and the rotating pair pass through The rotating pair R23 is connected, wherein the axes of the above two rotating pairs R24 and R23 are parallel to the axes of the second rotating pair R22 of the universal joint; the universal joints R31 and R32 in the third branch are connected with the frame, and the ball pair S34 and The moving platform is connected, and the universal joint and the ball pair are connected through the moving pair P33, wherein the axis of the moving pair P33 is perpendicular to the axis of the second rotating pair R32 of the universal joint; the axis of the rotating pair R13 in the first branch is connected to the second branch The axes of the rotating pair R24 are not parallel.

Example 5:

In the schematic diagram of the two-rotation-one-transfer asymmetric parallel robot mechanism shown in Figure 5, the ball pair S11 in the first branch is connected to the frame 1, the revolving pair R13 is connected to the moving platform 2, and the ball pair and the revolving pair are connected by moving The pair P12 is connected, wherein the axis of the rotating pair R13 is perpendicular to the axis of the moving pair P12; the universal hinges R21 and R22 in the second branch are connected to the frame, and the rotating pair R24 is connected to the moving platform, and the universal hinge and the rotating pair are connected by moving The pair P23 is connected, in which the axis of the rotating pair R24 is parallel to the axis of the second rotating pair R22 of the universal joint and perpendicular to the axis of the moving pair P23; the universal joints R31 and R32 in the third branch are connected to the frame, and the ball pair S34 Connected with the moving platform, the universal joint and the ball pair are connected through the rotating pair R33, wherein the axis of the rotating pair R33 is parallel to the axis of the second rotating pair R32 of the universal joint; the axis of the rotating pair R13 in the first branch is parallel to the second The axes of the rotating pair R24 in the branch are not parallel.

Embodiment 6:

In the schematic diagram of the two-rotation-one-transfer asymmetric parallel robot mechanism shown in Figure 6, the ball pair S11 in the first branch is connected to the frame 1, the revolving pair R13 is connected to the moving platform 2, and the ball pair and the revolving pair are connected by moving The pair P12 is connected, wherein the axis of the rotating pair R13 is perpendicular to the axis of the moving pair P12; the universal hinges R21 and R22 in the second branch are connected with the frame, and the rotating pair R24 is connected with the moving platform, and the universal hinge and the rotating pair are connected by rotating The pair R23 is connected, wherein the axes of the above two rotating pairs R24 and R23 are parallel to the axes of the second rotating pair R22 of the universal joint; the universal joint R31 and R32 in the third branch are connected with the frame, and the ball pair S34 is connected with the moving The platform is connected, and the universal joint and the ball pair are connected through the moving pair P33, wherein the axis of the moving pair P33 is perpendicular to the axis of the second rotating pair R32 of the universal joint; The axes of the rotating pair R24 are not parallel.

Embodiment 7:

In the schematic diagram of the two-rotation-one-transfer asymmetric parallel robot mechanism shown in Figure 7, the ball pair S11 in the first branch is connected to the frame 1, the revolving pair R13 is connected to the moving platform 2, and the ball pair and the revolving pair are connected by rotating The pair R12 is connected, wherein the axes of the above two rotating pairs R13 and R12 are parallel to each other; the universal hinges R21 and R22 in the second branch are connected to the frame, the rotating pair R24 is connected to the moving platform, and the universal hinge and the rotating pair pass through The moving pair P23 is connected, in which the axis of the rotating pair R24 is parallel to the axis of the second rotating pair R22 of the universal joint and perpendicular to the axis of the moving pair P23; the universal joints R31 and R32 in the third branch are connected to the frame, and the ball joint S34 is connected with the moving platform, and the universal joint and the ball pair are connected through the moving pair P33, wherein the axis of the moving pair P33 is perpendicular to the axis of the second rotating pair R32 of the universal joint; the axis of the rotating pair R13 in the above-mentioned first branch is connected with the second The axes of the rotating pair R24 in the two branches are not parallel.

Claims (7)

1. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by revolute pair (R12) with between revolute pair, and wherein above-mentioned two revolute pair (R13, R12) axis are parallel to each other; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by revolute pair (R23) with between revolute pair, and wherein above-mentioned two revolute pair (R24, R23) axis are all parallel to each other with the second revolute pair (R22) axis of universal hinge; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by revolute pair (R33) between universal hinge with ball pair, wherein revolute pair (R33) axis being parallel is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.

2. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by moving sets (P12) with between revolute pair, and wherein revolute pair (R13) axes normal is in moving sets (P12) axis; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by revolute pair (R23) with between revolute pair, and wherein above-mentioned two revolute pair (R24, R23) axis are all parallel to each other with the second revolute pair (R22) axis of universal hinge; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by revolute pair (R33) between universal hinge with ball pair, wherein revolute pair (R33) axis being parallel is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.

3. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by revolute pair (R12) with between revolute pair, and wherein above-mentioned two revolute pair (R13, R12) axis are parallel to each other; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by moving sets (P23) with between revolute pair, wherein revolute pair (R24) axis had both been parallel to the second revolute pair (R22) axis of universal hinge, again perpendicular to moving sets (P23) axis; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by revolute pair (R33) between universal hinge with ball pair, wherein revolute pair (R33) axis being parallel is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.

4. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by revolute pair (R12) with between revolute pair, and wherein above-mentioned two revolute pair (R13, R12) axis are parallel to each other; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by revolute pair (R23) with between revolute pair, and wherein above-mentioned two revolute pair (R24, R23) axis are all parallel to each other with the second revolute pair (R22) axis of universal hinge; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by moving sets (P33) between universal hinge with ball pair, wherein moving sets (P33) axes normal is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.

5. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by moving sets (P12) with between revolute pair, and wherein revolute pair (R13) axes normal is in moving sets (P12) axis; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by moving sets (P23) with between revolute pair, wherein revolute pair (R24) axis had both been parallel to the second revolute pair (R22) axis of universal hinge, again perpendicular to moving sets (P23) axis; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by revolute pair (R33) between universal hinge with ball pair, wherein revolute pair (R33) axis being parallel is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.

6. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by moving sets (P12) with between revolute pair, and wherein revolute pair (R13) axes normal is in moving sets (P12) axis; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by revolute pair (R23) with between revolute pair, and wherein above-mentioned two revolute pair (R24, R23) axis are all parallel to each other with the second revolute pair (R22) axis of universal hinge; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by moving sets (P33) between universal hinge with ball pair, wherein moving sets (P33) axes normal is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.

7. one kind two turns one are moved asymmetric parallel robot mechanism, comprise frame (1), moving platform (2) and connect their three active branch, it is characterized in that: the ball pair (S11) in its first branch is connected with frame, revolute pair (R13) is connected with moving platform, ball is secondary to be connected by revolute pair (R12) with between revolute pair, and wherein above-mentioned two revolute pair (R13, R12) axis are parallel to each other; Universal hinge (R21, R22) in second branch is connected with frame, revolute pair (R24) is connected with moving platform, universal hinge is connected by moving sets (P23) with between revolute pair, wherein revolute pair (R24) axis had both been parallel to the second revolute pair (R22) axis of universal hinge, again perpendicular to moving sets (P23) axis; Universal hinge (R31, R32) in 3rd branch is connected with frame, ball pair (S34) is connected with moving platform, be connected by moving sets (P33) between universal hinge with ball pair, wherein moving sets (P33) axes normal is in the second revolute pair (R32) axis of universal hinge; Revolute pair (R13) axis in above-mentioned first branch and revolute pair (R24) axis in the second branch not parallel.