CN103192368A - Parallel moving mechanism with changeable platform - Google Patents

Abstract

A parallel moving mechanism of a variable platform, the mechanism includes a lower platform A, an upper platform B, the first to third branch chains (I, II, III); one end of the first branch chain (I) and the upper platform B The vertex B1 is fixedly connected by a pin, the other end of the first branch chain (I) is fixedly connected to the vertex A1 of the lower platform A by a pin, and one end of the second branch chain (II) is fixedly connected to the vertex B2 of the upper platform B by a pin. The other end of the second branch chain (II) is fixedly connected with the vertex A2 of the lower platform A by a pin, and one end of the third branch chain (III) is fixedly connected with the vertex B3 of the upper platform B by a pin, and the third branch chain (III) The other end is fixedly connected with the apex A3 of the lower platform A through pins; through the rotation of the three branch chains, and the zooming of the lower platform A and the upper platform B, a large range of spatial deformation and movement can be realized.

Description

A Parallel Moving Mechanism with Variable Platform

Technical field: The present invention relates to a space linkage mechanism, in particular to a spatially deformable moving mechanism, which can be used to design a mobile robot detection platform, and can also be applied to a deformable mobile display platform and teaching aids. the

Background technique:

The spatial closed-chain link mechanism has flexible movement and small degree of freedom, and is widely used in the design of robot structures. In particular, Chinese patent application CN101973319 discloses a hexahedron walking mechanism. The mechanism is composed of two cross rods and four branch chains, each cross rod is respectively connected with one end of the four branch chains, driven by two motors, so as to realize the movement and steering of the mechanism. However, the deformation of this mechanism is small, and the movement space is limited, which affects its ability to move. The invention designs a spatial closed-chain linkage mechanism with large deformation capacity, which improves the movement performance of the mechanism. the

Summary of the invention: The technical problem to be solved by the present invention is the overall large-scale deformation of the mechanism and the large-scale spatial scale translation and rotation of the platform. the

The present invention solves the technical scheme of its technical problem:

The mechanism includes a scalable lower platform, a scalable upper platform, three branch chains with the same structure, and two platforms and three branch chains form a parallel mechanism;

The upper platform is an equilateral triangle, and is provided with three apexes with the same structural size, and each apex is provided with a rod for connecting branch chains. the

The lower platform is an equilateral triangle, and is provided with three apexes with the same structural size, and each apex is provided with a toothed rod for connecting branch chains. the

The three branch chains are composed of the same structural size, and one of the branch chains is used as an illustration. Each branch chain includes a ball pair and two identical rods. One end of one rod is connected to the counterbore on the cylindrical protrusion of the ball pair. The other rod is fixedly connected with the other counterbore on the cylindrical protrusion of the ball pair through a pin. The parts of the two rods on each branch chain away from the ball pair are respectively connected to the corresponding vertices of the upper platform and the lower platform. The connection is secured by pins. the

Through the rotation of the three branch chains and the contraction movement of each telescopic rod, the lower platform and the upper platform can be scaled, translated and rotated in a large range in space, and the whole mechanism can realize a large range of spatial deformation. the

Beneficial effects of the present invention: the whole mechanism can realize large-scale deformation in space, the platform can realize large-scale zooming, translation and rotation in space, and at the same time, the whole mechanism can realize folding and zooming, and can be placed in a smaller space after shrinking, which can be applied to Design of special mobile robots, such as pipeline robots, reconnaissance robots, etc. the

Description of drawings:

Figure 1 shows the overall structure of a variable platform parallel mechanism. the

Figure 2 shows the effect of removing one hemisphere from the vertex of platform A. the

The overall rendering of the vertex of platform A on Figure 3. the

Fig. 4 is the axis effect diagram of connecting the two hemispheres between the upper platform A and the lower platform apex. the

Fig. 5 is a vertex cross-sectional view of platform A. the

Figure 6 is the rendering of removing the hemisphere without the motor at the apex of the lower platform B. the

Figure 7 shows the overall structure of the lower platform B apex. the

Figure 8 Schematic diagram of the spherical pair. the

Figure 9 shows the overall structure of platform A. the

Figure 10 shows the overall structure of platform B. the

Figure 11 Effect drawing of the first branch chain. the

Figure 12 Effect drawing of the second branch chain. the

Figure 13 Effect drawing of the third branch chain. the

Figure 14 is a schematic diagram of the connection between the branch chain and the vertices of the upper and lower platforms. the

Figure 15 Rod with gear face and cylindrical face. the

Figure 16 is a schematic diagram of the vertex of a rod with a gear surface and a cylindrical surface that can realize epicyclic motion. the

Figure 17 Schematic diagram of upper platform B passing through lower platform A. the

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS: The present invention will be further described in conjunction with the accompanying drawings. the

A parallel moving mechanism of a variable platform, as shown in Figure 1, includes a lower platform A, an upper platform B, a first branch chain (I), a second branch chain (II), and a third branch chain (III). the

The upper platform B is an equilateral triangle with three vertices (B1), (B2) and (B3), each of which is provided with a rod (8) for connecting branch chains. the

The three vertices (B1), (B2) and (B3) constitute structures with the same size. the

The lower platform A is an equilateral triangle with three vertices (A1), (A2) and (A3), each of which is provided with a toothed rod (12) for connecting branch chains. the

The three vertices (A1), (A2) and (A3) constitute structures with the same size. the

Through the rotation of the first branch chain (I), the second branch chain (II), and the third branch chain (III), as well as the contraction movement of each telescopic rod, the large-scale zooming and translation of the lower platform A and the upper platform B can be realized And rotation, the whole mechanism can realize a large range of spatial deformation. the

The upper platform B includes the vertices (B1), (B2), (B3), the follow-up secondary telescopic rod (4), the upper platform electric push rod (5), and the follow-up secondary telescopic rod (6); as shown in Figure 2, 3, vertices (B1), (B2), and (B3) have the same composition and structure size, which is illustrated by vertex (B1). Vertex (B1) includes hemispherical rod (7), hemispherical rod (10), rod ( 8), the shaft (9); as shown in Figure 4, the two ends of the shaft (9) are square sections, and the middle is a circular section; as shown in Figure 5, there is a cylindrical protrusion on the hemispherical rod (7). There is a counterbore (71) on the platform, and there is a cylindrical protrusion on the hemispherical rod (10). The counterbore (101) is arranged on the protrusion. for 60. the

Both ends of the shaft (9) are in interference connection with the hemispherical rod (7) and the square hole of the hemispherical rod (10), and the middle cylindrical part of the shaft (9) forms a revolving pair with the circular hole of the rod (8). the

As shown in Figure 9, the big end of the upper platform electric push rod (5) is fixedly connected with the counterbore (101) of the upper hemisphere rod (7) at the apex (B1), and the small end of the upper platform electric push rod (5) The end is fixedly connected with the counterbore of the upper hemisphere pole of the apex (B2) by a pin, and the large end of the secondary expansion rod (4) of the follower is fixedly connected with the counterbore of the upper hemisphere pole of the apex (B3) by a pin. The small end of the first-level telescopic rod (4) is fixedly connected with the counterbore of the top hemisphere (B1) by pins, and the large end of the secondary telescopic rod (6) is connected with the counterbore of the upper hemisphere of the apex (B2). The pin is fixedly connected, and the small end of the follow-up secondary telescopic rod (6) is fixedly connected with the counterbore of the upper hemispherical rod of the apex (B3) by a pin. the

The lower platform A includes the vertices (A1), (A2), (A3), the follow-up secondary telescopic rod (1), the lower platform electric push rod (2), and the follow-up secondary telescopic rod (3); As shown in Figures 6 and 7, the components and structures of the vertices (A1), (A2), and (A3) have the same size, and are illustrated by the vertices (A1). , with toothed rod (12), shaft (13), gear (14), motor (15); there is a cylindrical ledge on the hemispherical rod (11), counterbore (110) is arranged on the ledge, hemispherical rod ( 16) There is a cylindrical protrusion on which there is a counterbore (160), the angle between the axis of the counterbore (110) and the axis of the counterbore (160) is 60; the two ends of the shaft (13) are square sections, The middle is a circular section. the

The two ends of the shaft (13) are interferingly connected with the square holes of the hemispherical rod (11) and the hemispherical rod (16), and the middle cylindrical part of the shaft (13) forms a rotating pair with the round hole of the rod (12). The toothed portion of the rack bar (12) forms a gear pair with the gear (14), and the gear (14) is fixedly connected with the output shaft of the motor (15) through a key. the

As shown in Figure 10, the small end of the lower platform electric push rod (2) is fixedly connected with the counterbore (110) of the upper hemisphere rod (11) at the apex (A1), and the large end of the lower platform electric push rod (2) The end is fixedly connected with the counterbore of the upper hemisphere pole of the apex (A2) by pins, and the large end of the secondary telescopic rod (1) of the follower is fixedly connected with the counterbore of the upper hemisphere pole of the apex (A1) by a pin. The small end of the first-level telescopic rod (1) is fixedly connected with the counterbore of the top hemisphere (A3) by pins, and the large end of the secondary telescopic rod (3) is connected with the counterbore of the upper hemisphere of the apex (A3). The pin is fixedly connected, and the small end of the follow-up secondary telescopic rod (3) is fixedly connected with the counterbore of the upper hemisphere rod of the apex (A2) through a pin. the

The first branch chain (I), the second branch chain (II), and the third branch chain (III) as shown in Figures 11, 12 and 13

The first branch chain (I) comprises a ball pair (S), a branch chain bar a (19), and a branch chain bar b (20); one end of the branch chain bar a (19) is connected with the ball pair (S) on the cylindrical protrusion The counterbore is fixedly connected by a pin, and the branch chain rod b (20) is fixedly connected with another counterbore on the cylindrical protrusion of the ball pair (S) by a pin. the

The second branch chain (II) includes a ball pair (S), a branch chain rod a (21), and a branch chain rod b (22); one end of the branch chain rod a (21) is connected with the ball pair (S) on the cylindrical protrusion The counterbore is fixedly connected by a pin, and the branch chain bar b (22) is fixedly connected with another counterbore on the cylindrical protrusion of the ball pair (S) by a pin. the

The third branch chain (III) comprises a ball pair (S), a branch chain rod a (23), and a branch chain rod b (24); one end of the branch chain rod a (23) is connected with the ball pair (S) on the cylindrical protrusion The counterbore is fixedly connected by a pin, and the branch chain bar b (24) is fixedly connected with another counterbore on the cylindrical protrusion of the ball pair (S) by a pin. the

The first branch (I), the second branch (II) and the third branch (III) have the same composition structure and size. the

As shown in Figure 14, the branch chain rod a (19) on the first branch chain (I) is fixedly connected with the apex B1 of the upper platform B through pins, and the branch chain rod b (20) on the first branch chain (I) It is fixedly connected with the apex A1 of the lower platform A by pins. the

The branch chain rod a (21) on the second branch chain (II) is fixedly connected with the apex B2 of the upper platform B by a pin, and the branch chain rod b (22) on the second branch chain (II) is connected to the top of the lower platform A A2 is fixedly connected by pins. the

The branch chain rod a (23) on the third branch chain (III) is fixedly connected with the apex B3 of the upper platform B by pins, and the branch chain rod b (24) on the third branch chain (III) is connected with the apex of the lower platform A A3 is fixedly connected by pins. the

Through the rotation of the first branch chain (I), the second branch chain (II), and the third branch chain (III), as well as the contraction movement of each telescopic rod, the large-scale zooming and translation of the lower platform A and the upper platform B can be realized And rotation, the whole mechanism can realize a large range of spatial deformation. the

The two-stage telescopic rods (1), (2), (3), (4), (5), and (6) are not limited to the two-stage telescopic rods, and multi-stage telescopic rods can be used to make the deformation adjustment range of the mechanism bigger. the

The toothed rod (12) on the apex (A1) of the lower platform A cannot realize the epicyclic motion, but can only realize the swing motion. In order to realize the epicyclic motion, as shown in Figure 15, the toothed rod (12) can be changed to a toothed Rod (21), surface (211) is a smooth cylindrical surface, and surface (212) is a gear surface. As shown in Figure 16, the gear surface (212) and gear (22) form a gear pair. The toothed rod (21) of this mechanism ) can realize the epicyclic motion, so that the whole parallel mechanism has more space to change the attitude. the

As shown in Figure 17, it is a schematic diagram of the moving process of the mechanism, where A1, A2, A3 represent the three vertices of the lower platform A, and B1, B2, B3 respectively represent the three vertices of the upper platform B. According to the above description, both the lower platform A and the upper platform B can be enlarged and reduced as a whole through their respective electric push rods. Also be provided with three motors (15) on A on the lower platform to control the motion of three branch chains. The following describes the movement process of the mechanism:

Figure 17(a) is the initial position, the lower platform A and the upper platform B are in the reduced state, and the three branch chains are in the vertical state. the

In Figure 17(b), the lower platform A is enlarged, and the upper platform B is still in a reduced state. the

In Figure 17(c), the sizes of the two platforms remain unchanged, and the three motors on the lower platform A are controlled to make the three branch chains rotate inside the lower platform A synchronously, so that the upper platform B gradually approaches the lower platform A. the

In Figure 17(d), the size of the two platforms remains unchanged, and the three branch chains continue to rotate synchronously, so that the upper platform B passes through the lower platform A. the

In Fig. 17(e), the lower platform A is shrunk. The interpenetration of the two platforms that can be realized through similar control can obtain a larger movement space. This kind of movement is beneficial to the rapid movement of the mechanism in the pipe or narrow space. the

What is shown above is the synchronous movement of the three branch chains, which can make the two platforms interspersed in parallel. The three branch chains can also move asynchronously, which can also realize the above-mentioned interspersed movement of the two platforms. When the branch chains are not synchronized, the two platforms are allowed to tilt. the

Claims (3)

1. the travel mechanism in parallel of a variable platform, it is characterized in that: this mechanism comprises lower platform A, upper mounting plate B, first side chain (I), second side chain (II), the 3rd side chain (III);

Described upper mounting plate B is the scalable mechanism with triangle profile, can realize its whole variable size by upper mounting plate electric pushrod (5); Also be provided with three summit B1, B2, B3 on the platform B, each summit is provided with a rotating bar (8), in order to connect side chain;

Described lower platform A is the scalable mechanism with triangle profile, can realize its whole variable size by lower platform electric pushrod (2); Also be provided with three summit A1, A2, A3 on the platform A, each summit is provided with a serrated rod (12), and in order to connect side chain, serrated rod (12) drives by the motor on the summit (50);

First side chain (I) comprises ball pair (S), side chain bar a(19), side chain bar b(20); Side chain bar a(19) a end is fixedlyed connected side chain bar b(20 with the counterbore on the cylindrical convex of ball pair (S) by pin) fixedly connected by pin with another counterbore on the cylindrical convex of ball pair (S);

Second side chain (II) comprises ball pair (S), side chain bar a(21), side chain bar b(22); Side chain bar a(21) a end is fixedlyed connected side chain bar b(22 with the counterbore on the cylindrical convex of ball pair (S) by pin) fixedly connected by pin with another counterbore on the cylindrical convex of ball pair (S);

The 3rd side chain (III) comprises ball pair (S), side chain bar a(23), side chain bar b(24); Side chain bar a(23) a end is fixedlyed connected side chain bar b(24 with the counterbore on the cylindrical convex of ball pair (S) by pin) fixedly connected by pin with another counterbore on the cylindrical convex of ball pair (S);

Described first side chain (I), second side chain (II), the 3rd side chain (III) are formed structure and measure-alike;

Side chain bar a(19 on first side chain (I)) fixedly connected the side chain bar b(20 on first side chain (I) by pin with the summit B1 of upper mounting plate B) fixedly connected by pin with the summit A1 of lower platform A;

Side chain bar a(21 on second side chain (II)) fixedly connected the side chain bar b(22 on second side chain (II) by pin with the summit B2 of upper mounting plate B) fixedly connected by pin with the summit A2 of lower platform A;

Side chain bar a(23 on the 3rd side chain (III)) fixedly connected the side chain bar b(24 on the 3rd side chain (III) by pin with the summit B3 of upper mounting plate B) fixedly connected by pin with the summit A3 of lower platform A;

Rotation by first side chain (I), second side chain (II), the 3rd side chain (III), and the contractile motion of each expansion link can realize space convergent-divergent translation on a large scale and the rotation of lower platform A, upper mounting plate B, and entire mechanism can realize geometric distortion in a big way.

2. the parallel institution of a kind of variable platform according to claim 1, it is characterized in that: described upper mounting plate B comprises summit B1, B2, B3, the first servo-actuated secondary expansion link (4), upper mounting plate electric pushrod (5), the second servo-actuated secondary expansion link (6); Summit B1 comprises hemisphere bar (7), hemisphere bar (10), bar (8), axle (9); One cylindrical convex is arranged on the hemisphere bar (7), counterbore (71) is arranged on the convex, a cylindrical convex is arranged on the hemisphere bar (10), counterbore (101) is arranged on the convex, the angle of the axis of the axis of counterbore (71) and counterbore (101) is 60; Axle (9) two ends are the square-section, and the centre is circular cross-section; The composition physical dimension of summit B1, B2, B3 is identical;

Two ends and the hemisphere bar (7) of axle (9), the square hole interference of hemisphere bar (10) connects, and the intermediate cylindrical part of axle (9) forms revolute pair with the circular hole of bar (8);

The big end of upper mounting plate electric pushrod (5) is fixedlyed connected by pin with the counterbore (101) of first club of summit B1 (7), the small end of upper mounting plate electric pushrod (5) is fixedlyed connected by pin with the counterbore of summit first club of B2, the big end of the first servo-actuated secondary expansion link (4) is fixedlyed connected by pin with the counterbore of summit first club of B3, the small end of the first servo-actuated secondary expansion link (4) is fixedlyed connected by pin with the counterbore of summit first club of B1, the big end of the second servo-actuated secondary expansion link (6) is fixedlyed connected by pin with the counterbore of summit first club of B2, and the small end of the second servo-actuated secondary expansion link (6) is fixedlyed connected by pin with the counterbore of summit first club of B3;

By above-mentioned annexation, elongation that can be by upper mounting plate electric pushrod (5) and shorten the amplification that realizes lower platform B integral body and dwindle; Bar on each summit (8) rotates around its connecting axle (9) respectively.

3. the parallel institution of a kind of variable platform according to claim 1, it is characterized in that: described lower platform A comprises summit A1, A2, A3, the first servo-actuated secondary expansion link (1), lower platform electric pushrod (2), the second servo-actuated secondary expansion link (3); Summit A1 comprises hemisphere bar (11), hemisphere bar (16), serrated rod (12), axle (13), gear (14), motor (15); One cylindrical convex is arranged on the hemisphere bar (11), counterbore (110) is arranged on the convex, a cylindrical convex is arranged on the hemisphere bar (16), counterbore (160) is arranged on the convex, the angle of the axis of the axis of counterbore (110) and counterbore (160) is 60; Axle (13) two ends are the square-section, the centre is circular cross-section, two ends and the hemisphere bar (11) of axle (13), the square hole interference of hemisphere bar (16) connects, the intermediate cylindrical part of axle (9) forms revolute pair with the circular hole of bar (8), the parts of tooth of serrated rod (12) and gear (14) formative gear pair, gear (14) is fixedlyed connected by key with the output shaft of motor (15); The composition physical dimension of summit A1, A2, A3 is identical;

The small end of lower platform electric pushrod (2) is fixedlyed connected by pin with the counterbore (110) of first club of summit A1 (11), the big end of lower platform electric pushrod (2) is fixedlyed connected by pin with the counterbore of summit first club of A2, the big end of the first servo-actuated secondary expansion link (1) is fixedlyed connected by pin with the counterbore of summit first club of A1, the small end of the first servo-actuated secondary expansion link (1) is fixedlyed connected by pin with the counterbore of summit first club of A3, the big end of the second servo-actuated secondary expansion link (3) is fixedlyed connected by pin with the counterbore of summit first club of A3, and the small end of the second servo-actuated secondary expansion link (3) is fixedlyed connected by pin with the counterbore of summit first club of A2;

By above-mentioned annexation, elongation that can be by lower platform electric pushrod (2) and shorten the amplification that realizes lower platform A integral body and dwindle; In addition, the motor (15) on each summit can be distinguished control gear bar (12) rotation.

Images