CN105538301B - Single-degree-of-freedom moves polycyclic symmetrical coupled mechanism - Google Patents

Abstract

The single-degree-of-freedom mobile multi-ring symmetric coupling mechanism, according to the geometric structure characteristics of all edges and vertices of the space polyhedron ABCDA', uses nine rod groups to connect two regular triangle components and three regular quadrilateral components to obtain a coupling mechanism. The axes of the three rotation pairs on each regular triangular member are located in the triangular plane, and the included angles between adjacent axes are all 60°. The axes of the four revolving pairs of each regular quadrilateral member are located in the plane of the member itself, and the axes of adjacent revolving pairs are perpendicular to each other, and the axes of opposite sides are parallel to each other. Each rod group is obtained by connecting two secondary rods in series. The two secondary rods are the same type of connecting rods with the same structure. The axes of rotation are parallel. The mechanism has the characteristics of high rigidity, strong bearing capacity, stable movement, simple structure, convenient assembly and maintenance, and provides patent information and technical support for domestic enterprises and research institutions.

Description

Single-degree-of-freedom moving multi-ring symmetrical coupling mechanism

technical field

The invention relates to a symmetrical coupling mechanism, relates to the technical field of mechanism application, and in particular relates to a robot actuator with single-degree-of-freedom movement.

Background technique

With the continuous development of mechanisms from simple to complex, from plane to space, and from single loop to multiple loops, mechanism innovation has always been the key and research hotspot of machine equipment innovation. In some high-intensity and heavy-duty occasions, it is very common to replace human labor with industrial mechanical arms. These occasions often require the actuator of the mechanical arm to have high strength, simple structure, low cost, convenient maintenance, and the characteristics of smooth movement and easy control of the end actuator. The existing parallel mechanism has the advantages of strong bearing capacity, high rigidity, and low inertia, but the working space is limited; the series mechanism has a large working space, simple and smart structure, but low strength, and is not suitable for heavy-duty occasions; the hybrid mechanism combines series and Parallel mechanisms perform effective compounding while breaking through the shortcomings of their respective structures. However, the connection between the frame of the hybrid mechanism and the end effector usually exists in the form of adding a series manipulator connected to the upper and lower platforms on the parallel mechanism, which makes While the whole mechanism obtains a large working space, its own volume is not flexible and light enough, which brings inconvenience to the assembly, transportation and execution of the mechanism.

Contents of the invention

Based on the above background, the present invention provides a single-degree-of-freedom mobile symmetrical coupling mechanism that can be used as an actuator of a mobile robot. This mechanism has the characteristics of high rigidity, strong bearing capacity, stable movement, simple structure, and convenient assembly and maintenance. Enterprises and research institutions provide patent information and technical support.

In order to achieve the above purpose, the present invention adopts a technical solution with a single degree of freedom moving symmetrical coupling mechanism based on the characteristics of the framework composed of regular polyhedral structures. According to the characteristics of the geometric elements that make up the regular polyhedron, select two regular tetrahedrons ABCD and A'B'C'D' with exactly the same structure size, and select the regular triangular faces BCD and B'C contained in these two regular tetrahedrons respectively 'D' coincides to obtain a new space polyhedron ABCDA' or A B'C'D'A', where B coincides with B', C coincides with C', and D coincides with D'. Replace B', C', and D' with three regular quadrilateral members, replace A and A' with regular triangular members, and replace nine edges of the space polyhedron with nine two-bar and three-rotation sub-bar groups. The rod group with three rotating pairs is referred to as the rod group for short; according to the geometric structure characteristics of all the edges and vertices of the space polyhedron ABCDA', nine rod groups are used to connect two regular triangular components and three regular quadrilateral components to obtain a coupling mechanism. The axes of the three rotation pairs on each regular triangular member are located in the triangular plane, and the included angles between adjacent axes are all 60°. The axes of the four revolving pairs of each regular quadrilateral member are located in the plane of the member itself, and the axes of adjacent revolving pairs are perpendicular to each other, and the axes of opposite sides are parallel to each other. Each rod group is obtained by connecting two secondary rods in series. The two secondary rods are the same type of connecting rods with the same structure. The axes of rotation are parallel.

The mechanism includes a frame (N1), a moving platform (N5), three branches connecting the frame and the moving platform, and three coupling rod groups. The three branches include the first branch, the second branch and the third branch. The three coupling rod groups include a first coupling rod group, a second coupling rod group and a third coupling rod group. Each coupling rod group is connected with two branches, and three branches and three coupling rod groups are connected at intervals to form a network coupling structure. The three regular quadrilateral members connecting the coupling rod groups in each branch are defined as node members. Respectively, the first node member (N4), the second node member (N2) and the third node member (N3).

The first branch includes the first revolving pair (R11) of the frame, the first rod group (L1), the first revolving pair (R41) of node member one, the fourth revolving pair (R44) of node member one, the seventh rod group (L7), the first revolving pair of the moving platform (R51); the first rod group (L1) is connected with the frame (N1) through the first revolving pair (R11) of the frame, Component one (N4) is connected through the first revolving pair (R41) of node component one, and the seventh rod group (L7) is connected with node component one (N4) through the fourth revolving pair (R44) of node component one; wherein the first The composition of the rod set (L1) is represented as a simple serial kinematic chain -R11-R1-R41-, and the composition of the seventh rod group (L7) is represented as a simple serial kinematic chain -R44-R7-R51-.

The second branch includes the second revolving pair (R12) of the frame, the second rod group (L2), the second revolving pair (R22) of the second node member, the fourth revolving pair (R24) of the second node member, the eighth rod group (L8), the second revolving pair (R52) of the moving platform; the second rod group (L2) is connected to the frame (N1) through the second revolving pair (R12) of the frame, and the second rod group (L2) is connected to the node Component 2 (N2) is connected through the second revolving pair (R22) of node component 2, and the eighth rod group (L8) is connected with node component 2 (N2) through the fourth revolving pair (R24) of node component 2; the second The composition of the rod set (L2) is represented as a simple serial kinematic chain -R12-R2-R22-, and the composition of the eighth rod group (L8) is represented as a simple serial kinematic chain -R24-R8-R52-.

The third branch includes the third revolving pair (R13) of the frame, the third rod group (L3), the third revolving pair (R33) of the node member three, the fourth revolving pair (R34) of the node member three, the ninth rod group (L9), the third rotating pair (R53) of the moving platform; the third rod group (L3) is connected to the frame (N1) through the third rotating pair (R13) of the frame, and the third rod group (L3) is connected to the node Component three (N3) is connected through the third revolving pair (R33) of the node component three, and the ninth rod group (L9) is connected with the node component three (N3) through the fourth revolving pair (R34) of the node component three; wherein, the The composition of the three-bar group (L3) is represented as a simple serial kinematic chain -R13-R3-R33-, and the composition of the ninth rod group (L9) is represented as a simple serial kinematic chain-R34-R9-R53-.

Select the equilateral triangle component (N5) as the moving platform, the first branch is connected to the moving platform (N5) through the first rotating pair (R51) of the moving platform, and the second branch is connected to the moving platform through the second turning pair (R52) of the moving platform. Platform (N5), the third branch is connected to the moving platform (N5) through the third rotating pair (R53) of the moving platform, and the three branches are connected to the moving platform (N5) in parallel. In addition, the first branch node component one (N4) and the second branch node component two (N2) are coupled and connected through the first coupling rod group (M1), and the second branch node component two (N2) and the third branch node component Three (N3) are coupled and connected through the second coupling rod group (M2), and the third branch node component three (N3) and the first branch node component one (N4) are coupled and connected through the third coupling rod group (M3) . Among them, the first coupling rod group is represented as a simple motion kinematic chain (-R42-R4-R21-), the second coupling rod group is represented as a simple motion kinematic chain (-R23-R5-R32-), and the third coupling rod group is represented as Simple Motion Kinematic Chain (-R31-R6-R43-).

Compared with the prior art, the present invention has the following advantages:

1. The branch structure of the mechanism is simple and symmetrical. There are only two types of node components and secondary rod components assembled, and the entire mechanism frame is composed of a space polyhedron structure based on the combination of two regular tetrahedrons. The early assembly and later maintenance are simple. Convenience;

2. Compared with the mechanism that realizes the same motion properties, the internal structure of the mechanism is a multi-ring network structure, which has the advantages of a series-parallel mechanism, has the characteristics of high bearing capacity, high rigidity and large working space, and is suitable for heavy-duty manipulators. the executive body;

3. The mechanism has the nature of single-degree-of-freedom movement, and can perform telescopic movement in a specific direction. It can be stretched and retracted according to working conditions and environmental requirements, which is convenient for transportation and can better adapt to special occasions. It has a good application prospect.

Description of drawings

Figure 1 is a schematic diagram of a space polyhedron structure obtained by combining two identical regular tetrahedrons.

In the figure: A, B, C, D are the 4 vertices of a regular tetrahedron, A', B', C', D' are the 4 vertices of another regular tetrahedron, so that B and B' coincide, C Coincident with C', D and D' coincide to get a new space polyhedron ABCDA' or A B'C'D'A'.

Fig. 2 is a schematic diagram of a single-degree-of-freedom moving multi-ring symmetric coupling mechanism based on a spatial polyhedron structural frame.

In the figure: N1, frame N4, node component one N2, node component two N3, node component three N5, moving platform R11, the first rotating pair R12 of the frame, the second rotating pair R13 of the frame, and the second rotating pair R13 of the frame Three revolving pair R21, the first revolving pair R22 of node member two, the second revolving pair R23 of node member two, the third revolving pair R24 of node member two, the fourth revolving pair R31 of node member two, the third revolving pair of node member three The first revolving pair R32, the second revolving pair R33 of the third node member, the third revolving pair R34 of the third node member, the fourth revolving pair R41 of the third node member, the first revolving pair R42 of the first node member, the first revolving pair R42 of the first node member The second revolving pair R43, the third revolving pair R44 of node member one, the fourth revolving pair R51 of node member one, the first revolving pair R52 of the moving platform, the second revolving pair R53 of the moving platform, and the third revolving pair of the moving platform R1, the intermediate rotation pair R2 connecting R11 and R41 in the rod group one (L1), the intermediate rotation pair R3 connecting R12 and R22 in the rod group two (L2), and the intermediate rotation connecting R13 and R33 in the rod group three (L3) Pair R4, intermediate rotating pair R5 connecting R21 and R42 in coupling rod group one (M1), intermediate rotating pair R6 connecting R23 and R32 in coupling rod group two (M2), connecting R31 and R32 in coupling rod group three (M3) The middle rotating pair R7 of R43, the middle rotating pair R8 connecting R44 and R51 in the rod group seven (L7), the intermediate rotating pair R9 connecting R24 and R52 in the rod group eight (L8), and the connecting R34 in the rod group nine (L9) And the middle rotary pair of R53.

detailed description

As shown in Figure 2, the first branch includes the first revolving pair (R11) of the frame, the first rod group (L1), the first revolving pair (R41) of node member one, and the fourth revolving pair of node member one ( R44), the seventh rod group (L7), the first revolving pair of the moving platform (R51); the first rod group (L1) is connected with the frame (N1) through the first revolving pair (R11) of the frame, and the first rod The group (L1) is connected with the node member one (N4) through the first revolving pair (R41) of the node member one, and the seventh rod group (L7) is connected with the node member one (N4) through the fourth revolving pair (R44 ) connection; wherein the composition of the first rod group (L1) is expressed as a simple serial kinematic chain -R11-R1-R41-, and the composition of the seventh rod group (L7) is expressed as a simple serial kinematic chain -R44-R7-R51-.

The second branch includes the second revolving pair (R12) of the frame, the second rod group (L2), the second revolving pair (R22) of the second node member, the fourth revolving pair (R24) of the second node member, the eighth rod group (L8), the second revolving pair (R52) of the moving platform; the second rod group (L2) is connected to the frame (N1) through the second revolving pair (R12) of the frame, and the second rod group (L2) is connected to the node Component 2 (N2) is connected through the second revolving pair (R22) of node component 2, and the eighth rod group (L8) is connected with node component 2 (N2) through the fourth revolving pair (R24) of node component 2; the second The composition of the rod set (L2) is represented as a simple serial kinematic chain -R12-R2-R22-, and the composition of the eighth rod group (L8) is represented as a simple serial kinematic chain -R24-R8-R52-.

The third branch includes the third revolving pair (R13) of the frame, the third rod group (L3), the third revolving pair (R33) of the node member three, the fourth revolving pair (R34) of the node member three, the ninth rod group (L9), the third rotating pair (R53) of the moving platform; the third rod group (L3) is connected to the frame (N1) through the third rotating pair (R13) of the frame, and the third rod group (L3) is connected to the node Component three (N3) is connected through the third revolving pair (R33) of node component three, and the ninth rod group (L9) is connected with node component three (N3) through the fourth revolving pair (R34) of node component three; the third The composition of the rod group (L3) is represented as a simple serial kinematic chain -R13-R3-R33-, and the composition of the ninth rod group (L9) is represented as a simple serial kinematic chain -R34-R9-R53-.

Select the equilateral triangle component (N5) as the moving platform, the first branch is connected to the moving platform (N5) through the first rotating pair (R51) of the moving platform, and the second branch is connected to the moving platform through the second turning pair (R52) of the moving platform. Platform (N5), the third branch is connected to the moving platform (N5) through the third rotating pair (R53) of the moving platform, and the three branches are connected to the moving platform (N5) in parallel. In addition, the first branch node component one (N4) and the second branch node component two (N2) are coupled and connected through the first coupling rod group (M1), and the second branch node component two (N2) and the third branch node component Three (N3) are coupled and connected through the second coupling rod group (M2), and the third branch node component three (N3) and the first branch node component one (N4) are coupled and connected through the third coupling rod group (M3) . Among them, the first coupling rod group is represented as a simple motion kinematic chain (-R42-R4-R21-), the second coupling rod group is represented as a simple motion kinematic chain (-R23-R5-R32-), and the third coupling rod group is represented as Simple Motion Kinematic Chain (-R31-R6-R43-).

Claims (6)

1. The single-degree-of-freedom mobile multi-ring symmetrical coupling mechanism is characterized in that: according to the characteristics of the geometric elements that make up the regular polyhedron, two regular tetrahedrons ABCD and A'B'C'D' with exactly the same structure size are selected, and these The regular triangular faces BCD and B'C'D' contained in the two regular tetrahedrons coincide to obtain a new space polyhedron ABCDA' or A B'C'D'A', where B and B' coincide, and C and C' Coincident, D and D'coincidence; use three regular quadrilateral members to replace B', C' and D', replace A and A' with regular triangular members, and use nine two-bar three-rotation sub-bar groups to replace nine spatial polyhedrons Edges, the two-rod three-rotation sub-rod group of the following scheme is referred to as the rod group for short; according to the geometric structure characteristics of all the edges and vertices of the space polyhedron ABCDA', nine rod groups are used to connect two equilateral triangular members and three regular The quadrilateral member obtains the coupling mechanism; the three rotational axis axes on each regular triangular member are located in the triangular plane, and the included angles between adjacent axes are all 60°; the four rotational joint axes of each regular quadrilateral member are all It is located in the plane where the component itself is located, and the axes of adjacent rotating pairs are perpendicular to each other, and the axes of opposite sides are parallel to each other; each rod group is obtained by connecting two secondary rods in series, and the two secondary rods are the same type of connecting rods with the same structure , the two connecting kinematic pairs included in each secondary rod are revolving pairs, and the axes of these two revolving pairs are parallel. 2. The single-degree-of-freedom mobile multi-ring symmetrical coupling mechanism according to claim 1, characterized in that: the mechanism includes a frame N1, a moving platform N5, and three branches connecting the frame and the moving platform and three coupling rod groups; The three branches include the first branch, the second branch and the third branch; the three coupling rod groups include the first coupling rod group, the second coupling rod group and the third coupling rod group; each coupling rod group is connected with two branches Connection, three branches and three coupling rod groups are connected at intervals to form a network coupling structure, and the three regular quadrilateral members connected to the coupling rod groups in each branch are defined as node members, which are respectively the first node member N4, the second A node member N2 and a third node member N3. 3. The single-degree-of-freedom mobile multi-ring symmetrical coupling mechanism according to claim 2, characterized in that: the first branch includes the first revolving pair R11 of the frame, the first rod group L1, and the first revolving pair of node member one R41, the fourth revolving pair R44 of node member 1, the seventh lever group L7, the first rotating pair R51 of the moving platform; the first rod group L1 is connected with the frame N1 through the first rotating pair R11 of the frame, and the first rod group L1 is connected to node member one N4 through the first revolving pair R41 of node member one, and the seventh rod group L7 is connected to node member one N4 through the fourth revolving pair R44 of node member one; wherein the composition of the first rod group L1 is expressed as Series kinematic chain: -R11-R1-R41-, wherein, R1 represents the intermediate revolving pair connecting R11 and R41 in the first rod group L1, and the composition of the seventh rod group L7 is expressed as a serial kinematic chain: -R44-R7-R51- , wherein, R7 represents the intermediate revolving pair connecting R44 and R51 in the rod group seven L7. 4. The single-degree-of-freedom mobile multi-ring symmetrical coupling mechanism according to claim 2, characterized in that: the second branch includes the second revolving pair R12 of the frame, the second rod group L2, and the second revolving pair of the second node member R22, the fourth revolving pair R24 of node member 2, the eighth rod group L8, the second rotating pair R52 of the moving platform; the second rod group L2 is connected with the frame N1 through the second rotating pair R12 of the frame, and the second rod group L2 is connected to node member 2 N2 through the second revolving pair R22 of node member 2, and the eighth rod group L8 is connected to node member 2 N2 through the fourth revolving pair R24 of node member 2; wherein the composition of the second rod group L2 is expressed as Series kinematic chain: -R12-R2-R22-, wherein, R2 represents the intermediate revolving pair connecting R12 and R22 in the second rod group L2; the composition of the eighth rod group L8 is expressed as a serial kinematic chain -R24-R8-R52-, Among them, R8 represents the intermediate revolving pair connecting R24 and R52 in the rod group eight L8. 5. The single-degree-of-freedom mobile multi-ring symmetrical coupling mechanism according to claim 2, characterized in that: the third branch includes the third revolving pair R13 of the frame, the third rod group L3, and the third revolving pair of the node member three R33, the fourth revolving pair R34 of node component three, the ninth rod group L9, the third rotating pair R53 of the moving platform; the third rod group L3 is connected with the frame N1 through the third rotating pair R13 of the frame, and the third rod group L3 is connected to node member 3 N3 through the third rotation pair R33 of node member 3, and the ninth rod group L9 is connected to node member 3 N3 through the fourth rotation pair R34 of node member 3; wherein, the composition of the third rod group L3 represents It is a series kinematic chain: -R13-R3-R33-, wherein, R3 represents the intermediate revolving pair connecting R13 and R33 in the third rod group L3; the composition of the ninth rod group L9 is expressed as a series kinematic chain: -R34-R9-R53 -, wherein, R9 represents the intermediate revolving pair connecting R34 and R53 in the rod group nine L9. 6. The single-degree-of-freedom mobile multi-ring symmetrical coupling mechanism according to claim 2, characterized in that: the regular triangular member N5 is selected as the moving platform, and the first branch is connected to the moving platform N5 through the first rotating pair R51 of the moving platform, The second branch is connected to the moving platform N5 through the second rotating pair R52 of the moving platform, the third branch is connected to the moving platform N5 through the third turning pair R53 of the moving platform, and the three branches are connected to the moving platform N5 in parallel; in addition, The first branch node member N4 and the second branch node member N2 are coupled and connected through the first coupling rod group M1, and the second branch node member N2 and the third branch node member N3 are connected through the second coupling rod group M2 coupling connection, the third branch node component N3 and the first branch node component N4 are coupled and connected through the third coupling rod group M3; wherein the first coupling rod group is expressed as a kinematic chain: -R42-R4-R21-, Among them, R4 represents the intermediate revolving pair connecting R21 and R42 in the first coupling rod group M1; the second coupling rod group is expressed as a kinematic chain: -R23-R5-R32-, wherein R5 represents the connection between R23 and R23 in the second coupling rod group M2 The middle revolving pair of R32; the third coupling rod group is expressed as a kinematic chain: -R31-R6-R43-, wherein, R6 represents the middle revolving pair connecting R31 and R43 in the third coupling rod group M3.