CN106584429A - Drive fixed two rotating and one movable parallel mechanism - Google Patents
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Abstract
本发明涉及一种驱动固定的两转动一移动并联机构。目的是提供的并联机构应具有操作速度高、结构紧凑、刚度高、承载能力大、动力学性能好等优点。技术方案是：一种驱动固定的两转动一移动并联机构，包括机架、动平台以及两个第一分支和一个第二分支；第一分支包括第一移动副导轨、第一移动副滑块、虎克铰、第一连杆以及第一转动副；第二分支包括第二移动副导轨、第二移动副滑块、第一球副、第二连杆以及第二转动副；所述两个第一分支中，虎克铰的第一转动轴线重合，第一转动副轴线垂直于第二分支中第二转动副轴线，两个第一分支中的第一移动副轴线与第二分支中的第二移动副轴线垂直。
The invention relates to a drive-fixed two-rotation-one-movement parallel mechanism. The purpose is to provide a parallel mechanism that should have the advantages of high operating speed, compact structure, high rigidity, large bearing capacity, and good dynamic performance. The technical solution is: a drive-fixed two-rotation-one-movement parallel mechanism, including a frame, a moving platform, two first branches and a second branch; the first branch includes a first moving auxiliary guide rail, a first moving auxiliary slider , Hooke hinge, the first connecting rod and the first rotating pair; the second branch includes the second moving pair guide rail, the second moving pair slider, the first ball pair, the second connecting rod and the second rotating pair; the two In the first branch, the first rotation axis of the Hooke hinge is coincident, the first rotation axis is perpendicular to the second rotation axis in the second branch, and the first moving axis in the two first branches is in the second branch The second minor axis of movement is vertical.
Description
技术领域technical field
本发明涉及机器人技术领域，具体是一种驱动固定的两转动一移动并联机构。The invention relates to the technical field of robots, in particular to a drive-fixed two-rotation-one-movement parallel mechanism.
背景技术Background technique
相比于串联机构，并联机构中存在许多不需安装驱动的被动关节，这使得其具有较高的操作速度和较好的动力学性能。此外，由于其特殊的多闭环特征，并联机构的结构紧凑，刚度高，承载能力大。因此，并联机构在现代加工生产中的应用前景广阔，并已得到了广泛的研究。特别地，具有两转动一移动自由度的并联机构可用于机器人喷涂、焊接、并联机床等领域，引起了人们的高度关注。Compared with the series mechanism, there are many passive joints that do not need to be installed and driven in the parallel mechanism, which makes it have a higher operating speed and better dynamic performance. In addition, due to its special multi-closed-loop feature, the parallel mechanism has a compact structure, high rigidity, and large load-carrying capacity. Therefore, parallel mechanisms have broad application prospects in modern processing and production, and have been extensively studied. In particular, the parallel mechanism with two degrees of freedom of rotation and one movement can be used in robot spraying, welding, parallel machine tools and other fields, which has attracted people's great attention.
并联机构理想的驱动布置方案是将驱动都安装在与机架相连的关节上，这样可以尽可能的降低运动部分的质量，获得最优的动力学性能。但现有的一些两转动一移动并联机构(CN 104889978 A，CN 103144097 B)的驱动不能都安装在机架上，影响了机构的操作速度，限制了机构的应用。因此，提出一种驱动固定，操作速度高的两转动一移动并联机构很有必要。The ideal drive arrangement for parallel mechanisms is to install the drives on the joints connected to the frame, so that the mass of the moving parts can be reduced as much as possible and the optimal dynamic performance can be obtained. But the drives of some existing two-rotation-one-movement parallel mechanisms (CN 104889978 A, CN 103144097 B) cannot all be installed on the frame, which affects the operating speed of the mechanism and limits the application of the mechanism. Therefore, it is necessary to propose a two-rotating-moving parallel mechanism with high operating speed and fixed drive.
发明内容Contents of the invention
本发明所要解决的技术问题是克服背景技术存在的不足，提供一种驱动固定的两转动一移动并联机构，该并联机构应具有操作速度高、结构紧凑、刚度高、承载能力大、动力学性能好等优点。The technical problem to be solved by the present invention is to overcome the deficiencies in the background technology and provide a drive-fixed two-rotation-moving parallel mechanism. The parallel mechanism should have high operating speed, compact structure, high rigidity, large bearing capacity, and dynamic performance. Good and other advantages.
本发明的技术方案是：Technical scheme of the present invention is:
一种驱动固定的两转动一移动并联机构，包括机架、动平台以及并联连接在机架与动平台之间的两个第一分支和一个第二分支；其特征在于：A drive-fixed two-rotation-moving parallel mechanism, comprising a frame, a moving platform, and two first branches and a second branch connected in parallel between the frame and the moving platform; it is characterized in that:
第一分支包括依次连接在机架与动平台之间的第一移动副导轨、第一移动副滑块、虎克铰、第一连杆以及第一转动副；虎克铰的第一转动轴线与第一移动副轴线平行，虎克铰与第一连杆连接的第二转动轴线与第一转动副轴线平行且垂直于第一移动副轴线；The first branch includes the first moving auxiliary guide rail, the first moving auxiliary slider, the Hooke hinge, the first connecting rod and the first rotating pair connected in sequence between the frame and the moving platform; the first rotation axis of the Hooke hinge Parallel to the axis of the first moving pair, the second axis of rotation of the Hooke hinge connected to the first connecting rod is parallel to the axis of the first rotating pair and perpendicular to the axis of the first moving pair;
第二分支包括依次连接在机架与动平台之间的第二移动副导轨、第二移动副滑块、第一球副、第二连杆以及第二转动副；The second branch includes a second moving sub-guide rail, a second moving sub-slider, a first ball pair, a second connecting rod and a second rotating pair sequentially connected between the frame and the moving platform;
所述两个第一分支中，虎克铰的第一转动轴线重合，第一转动副轴线垂直于第二分支中第二转动副轴线，两个第一分支中的第一移动副轴线与第二分支中的第二移动副轴线垂直。In the two first branches, the first rotation axis of the Hooke hinge coincides, the first rotation axis is perpendicular to the second rotation axis in the second branch, and the first moving axis in the two first branches is parallel to the second axis. The second minor axis of movement in the two branches is vertical.
第一移动副导轨、第二移动副导轨均平行于水平面。Both the first movable auxiliary guide rail and the second movable auxiliary guide rail are parallel to the horizontal plane.
第二移动副导轨与水平面呈锐角布置。The second movable auxiliary guide rail is arranged at an acute angle with the horizontal plane.
第二移动副导轨与水平面垂直。The second mobile auxiliary guide rail is perpendicular to the horizontal plane.
一种驱动固定的两转动一移动并联机构，包括机架、动平台以及并联连接在机架与动平台之间的两个第一分支和一个第三分支；其特征在于：A drive-fixed two-rotation-moving parallel mechanism, comprising a frame, a moving platform, and two first branches and a third branch connected in parallel between the frame and the moving platform; it is characterized in that:
第一分支包括依次连接在机架与动平台之间的第一移动副导轨、第一移动副滑块、虎克铰、第一连杆以及第一转动副；虎克铰的第一转动轴线与第一移动副轴线平行，虎克铰与第一连杆连接的第二转动轴线与第一转动副轴线平行且垂直于第一移动副轴线；The first branch includes the first moving auxiliary guide rail, the first moving auxiliary slider, the Hooke hinge, the first connecting rod and the first rotating pair connected in sequence between the frame and the moving platform; the first rotation axis of the Hooke hinge Parallel to the axis of the first moving pair, the second axis of rotation of the Hooke hinge connected to the first connecting rod is parallel to the axis of the first rotating pair and perpendicular to the axis of the first moving pair;
第三分支包括依次连接在机架与动平台之间的第三移动副导轨、第三移动副滑块、第三转动副、第三连杆以及第二球副；第三转动副轴线垂直于第三移动副轴线；The third branch includes the third moving pair guide rail, the third moving pair slider, the third rotating pair, the third connecting rod and the second ball pair which are sequentially connected between the frame and the moving platform; the axis of the third rotating pair is perpendicular to The third secondary axis of movement;
所述两个第一分支中，虎克铰的第一转动轴线重合，第一移动副轴线与第三分支中的第三移动副轴线垂直。In the two first branches, the first rotation axis of the Hooke hinge coincides, and the first secondary axis of movement is perpendicular to the third secondary axis of movement in the third branch.
第一移动副导轨、第三移动副导轨均平行于水平面布置。Both the first movable auxiliary guide rail and the third movable auxiliary guide rail are arranged parallel to the horizontal plane.
第三移动副导轨与水平面呈锐角布置。The third movable auxiliary guide rail is arranged at an acute angle with the horizontal plane.
第三移动副导轨与水平面垂直。The third mobile auxiliary guide rail is perpendicular to the horizontal plane.
本发明的有益效果是：The beneficial effects of the present invention are:
本发明提出的并联机构可以执行两转动一移动运动，具有驱动固定、操作速度高、结构紧凑、刚度高、承载能力大、动力学性能好等优点，可用于机器人喷涂、并联机床等领域。The parallel mechanism proposed by the invention can perform two rotations and one movement, and has the advantages of fixed drive, high operating speed, compact structure, high rigidity, large bearing capacity, and good dynamic performance. It can be used in robot spraying, parallel machine tools and other fields.
附图说明Description of drawings
图1为本发明实施例一的立体结构示意图。FIG. 1 is a schematic perspective view of the three-dimensional structure of Embodiment 1 of the present invention.
图2为本发明实施例二的立体结构示意图。FIG. 2 is a schematic diagram of a three-dimensional structure of Embodiment 2 of the present invention.
图3为本发明实施例三的立体结构示意图。FIG. 3 is a schematic diagram of a three-dimensional structure of Embodiment 3 of the present invention.
图4为本发明实施例四的立体结构示意图。Fig. 4 is a schematic diagram of a three-dimensional structure of Embodiment 4 of the present invention.
图5为本发明实施例五的立体结构示意图。Fig. 5 is a schematic perspective view of the fifth embodiment of the present invention.
图6为本发明实施例六的立体结构示意图。Fig. 6 is a schematic perspective view of the sixth embodiment of the present invention.
图7为第一分支的立体结构示意图。Fig. 7 is a schematic diagram of the three-dimensional structure of the first branch.
图8为第二分支的立体结构示意图。Fig. 8 is a schematic perspective view of the second branch.
图9为第三分支的立体结构示意图。Fig. 9 is a schematic diagram of the three-dimensional structure of the third branch.
具体实施方式detailed description
以下结合说明书附图，对本发明作进一步说明，但本发明并不局限于以下实施例。The present invention will be further described below in conjunction with the accompanying drawings, but the present invention is not limited to the following examples.
实施例一Embodiment one
如图1，7，8所示，一种驱动固定的两转动一移动并联机构，包括机架(图中省略)、动平台1以及并联连接在机架与动平台之间的两个第一分支和一个第二分支。As shown in Figures 1, 7, and 8, a driving and fixed two-rotation-moving parallel mechanism includes a frame (omitted in the figure), a moving platform 1, and two first parallel connections between the frame and the moving platform. branch and a second branch.
第一分支包括依次连接在机架与动平台之间的第一移动副导轨11、第一移动副滑块12(第一移动副导轨与第一移动副滑块配合形成第一移动副)、虎克铰13、第一连杆14以及第一转动副15；虎克铰的第一转动轴线(即虎克铰与第一移动副滑块连接的转动轴轴线)与第一移动副轴线平行，虎克铰与第一连杆连接的第二转动轴线与第一转动副轴线平行且垂直于第一移动副轴线(即第一移动副移动轴线；以下类同)。The first branch comprises a first mobile sub-guide rail 11, a first mobile sub-slider 12 (the first mobile sub-guide rail cooperates with the first mobile sub-slider to form a first mobile sub), Hooke hinge 13, first connecting rod 14 and first revolving pair 15; the first axis of rotation of Hooke hinge (that is, the axis of rotation of the Hooke hinge connected to the first moving pair slider) is parallel to the first moving pair axis , the second axis of rotation of the Hooke hinge connected to the first connecting rod is parallel to the axis of the first rotation pair and perpendicular to the axis of the first moving pair (ie, the axis of movement of the first moving pair; similarly below).
第二分支包括依次连接在机架与动平台之间的第二移动副导轨21、第二移动副滑块22、第一球副23、第二连杆24以及第二转动副25；第二移动副导轨与第二移动副滑块配合形成第二移动副。The second branch includes a second moving sub-guide rail 21, a second moving sub-slider 22, a first ball pair 23, a second connecting rod 24 and a second rotating pair 25 connected in sequence between the frame and the moving platform; The moving auxiliary guide rail cooperates with the second moving auxiliary slider to form the second moving auxiliary.
两个第一分支中，虎克铰的第一转动轴线重合，第一转动副轴线垂直于第二分支中第二转动副轴线。两个第一分支中的第一移动副轴线与第二分支中的第二移动副轴线垂直。第二移动副导轨平行于水平面布置，第一移动副导轨也平行于水平面布置。In the two first branches, the first rotation axis of the Hooke hinge coincides, and the first rotation axis is perpendicular to the second rotation axis in the second branch. The first minor axis of movement in the two first branches is perpendicular to the second minor axis of movement in the second branch. The second movable auxiliary guide rail is arranged parallel to the horizontal plane, and the first movable auxiliary guide rail is also arranged parallel to the horizontal plane.
本实施例中，驱动副为各分支上的移动副，驱动方式可选用滚珠丝杠(图中省略)；当驱动副运动时，机构作两转动一移动三自由度运动。In this embodiment, the driving pair is a moving pair on each branch, and the driving method can be a ball screw (omitted in the figure); when the driving pair moves, the mechanism performs two rotations and one movement in three degrees of freedom.
实施例二Embodiment two
如图2所示，一种驱动固定的两转动一移动并联机构，包括机架(图中省略)、动平台1以及并联连接在机架与动平台之间的两个第一分支和一个第二分支。实施例二的结构与实施例一的结构类似，不同之处在于：实施例二中第二移动副导轨与水平面呈锐角布置，具体角度根据需要确定。As shown in Figure 2, a driving and fixed two-rotation-moving parallel mechanism includes a frame (omitted in the figure), a moving platform 1, and two first branches and a first branch connected in parallel between the frame and the moving platform. Two branches. The structure of the second embodiment is similar to the structure of the first embodiment, the difference is that in the second embodiment, the second moving auxiliary guide rail is arranged at an acute angle with the horizontal plane, and the specific angle is determined according to the needs.
实施例三Embodiment three
如图3所示，一种驱动固定的两转动一移动并联机构，包括机架(图中省略)、动平台1以及并联连接在机架与动平台之间的两个第一分支和一个第二分支。实施例三的结构与实施例一的结构类似，不同之处在于：实施例三中第二移动副导轨与水平面垂直。As shown in Figure 3, a driving and fixed two-rotation-moving parallel mechanism includes a frame (omitted in the figure), a moving platform 1, and two first branches and a first branch connected in parallel between the frame and the moving platform. Two branches. The structure of the third embodiment is similar to the structure of the first embodiment, the difference is that in the third embodiment, the second moving sub-rail is perpendicular to the horizontal plane.
实施例四Embodiment four
如图4，7，9所示，一种驱动固定的两转动一移动并联机构，包括机架(图中省略)、动平台1以及并联连接在机架与动平台之间的两个第一分支和一个第三分支。As shown in Figures 4, 7, and 9, a drive-fixed two-rotation-one-movement parallel mechanism includes a frame (omitted in the figure), a moving platform 1, and two first parallel connections between the frame and the moving platform. branch and a third branch.
第一分支包括依次连接在机架与动平台之间的第一移动副导轨11、第一移动副滑块12(第一移动副导轨与第一移动副滑块配合形成第一移动副)、虎克铰13、第一连杆14以及第一转动副15；虎克铰的第一转动轴线(即虎克铰与第一移动副滑块连接的转动轴轴线)与第一移动副轴线平行，虎克铰与第一连杆连接的第二转动轴线与第一转动副轴线平行且垂直于第一移动副轴线。The first branch comprises a first mobile sub-guide rail 11, a first mobile sub-slider 12 (the first mobile sub-guide rail cooperates with the first mobile sub-slider to form a first mobile sub), Hooke hinge 13, first connecting rod 14 and first revolving pair 15; the first axis of rotation of Hooke hinge (that is, the axis of rotation of the Hooke hinge connected to the first moving pair slider) is parallel to the first moving pair axis , the second rotation axis of the Hooke hinge connected to the first connecting rod is parallel to the first rotation axis and perpendicular to the first movement axis.
第三分支包括依次连接在机架与动平台之间的第三移动副导轨31、第三移动副滑块32(第三移动副导轨与第三移动副滑块配合形成第三移动副)、第三转动副33、第三连杆34以及第二球副35；第三转动副轴线垂直于第三移动副轴线。The 3rd branch comprises the 3rd mobile auxiliary guide rail 31, the 3rd mobile auxiliary slide block 32 (the 3rd mobile auxiliary guide rail cooperates with the 3rd mobile auxiliary slide block to form the 3rd mobile auxiliary) that is connected between frame and moving platform successively, The third rotating pair 33 , the third connecting rod 34 and the second ball pair 35 ; the axis of the third rotating pair is perpendicular to the axis of the third moving pair.
两个第一分支中，虎克铰的第一转动轴线重合。两个第一分支中的第一移动副轴线与第三分支中的第三移动副轴线垂直。第三移动副导轨平行于水平面布置，第一移动副导轨也平行于水平面布置。In the two first branches, the first axes of rotation of the Hooke hinge coincide. The first secondary axis of movement in the two first branches is perpendicular to the third secondary axis of movement in the third branch. The third movable auxiliary guide rail is arranged parallel to the horizontal plane, and the first movable auxiliary guide rail is also arranged parallel to the horizontal plane.
本实施例中，驱动副为各分支上的移动副，驱动方式可选用滚珠丝杠(图中省略)；当驱动副运动时，机构作两转动一移动三自由度运动。In this embodiment, the driving pair is a moving pair on each branch, and the driving method can be a ball screw (omitted in the figure); when the driving pair moves, the mechanism performs two rotations and one movement in three degrees of freedom.
实施例五Embodiment five
如图5所示，一种驱动固定的两转动一移动并联机构，包括机架(图中省略)、动平台1以及并联连接在机架与动平台之间的两个第一分支和一个第三分支。实施例五的结构与实施例四的结构类似，不同之处在于：实施例五中第三移动副导轨与水平面呈锐角布置，具体角度根据需要确定。As shown in Figure 5, a driving and fixed two-rotation-moving parallel mechanism includes a frame (omitted in the figure), a moving platform 1, and two first branches and a first branch connected in parallel between the frame and the moving platform. three branches. The structure of the fifth embodiment is similar to the structure of the fourth embodiment, the difference is that in the fifth embodiment, the third moving auxiliary guide rail is arranged at an acute angle with the horizontal plane, and the specific angle is determined according to the needs.
实施例六Embodiment six
如图6所示，一种驱动固定的两转动一移动并联机构，包括机架(图中省略)、动平台1以及并联连接在机架与动平台之间的两个第一分支和一个第三分支。实施例六的结构与实施例四的结构类似，不同之处在于：实施例六中第三移动副导轨与水平面垂直。As shown in Figure 6, a driving and fixed two-rotation-moving parallel mechanism includes a frame (omitted in the figure), a moving platform 1, and two first branches and a first branch connected in parallel between the frame and the moving platform. three branches. The structure of the sixth embodiment is similar to that of the fourth embodiment, except that the third moving sub-rail in the sixth embodiment is perpendicular to the horizontal plane.
Claims (8)
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Cited By (7)
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| CN108465929A (en) * | 2018-01-22 | 2018-08-31 | 清华大学 | A kind of agitating friction welder and the stirring friction welding system including it |
| CN110116399A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of Three Degree Of Freedom 2PRU-PSR parallel institution |
| CN110116400A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of PRS-PRU-PUR parallel institution |
| CN110962115A (en) * | 2019-12-05 | 2020-04-07 | 浙江理工大学 | A five-degree-of-freedom parallel robot for ship bulkhead grinding |
| CN111197693A (en) * | 2018-11-16 | 2020-05-26 | 英业达科技有限公司 | Gas storage device |
| CN113715003A (en) * | 2021-09-16 | 2021-11-30 | 江南大学 | RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts |
| CN114668629A (en) * | 2022-04-22 | 2022-06-28 | 河北工业大学 | Novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with son closed chain |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108465929A (en) * | 2018-01-22 | 2018-08-31 | 清华大学 | A kind of agitating friction welder and the stirring friction welding system including it |
| US11260469B2 (en) | 2018-01-22 | 2022-03-01 | Tsinghua University | Friction stir welding apparatus and friction stir welding system comprising the same |
| CN111197693A (en) * | 2018-11-16 | 2020-05-26 | 英业达科技有限公司 | Gas storage device |
| CN111197693B (en) * | 2018-11-16 | 2021-11-26 | 英业达科技有限公司 | Gas storage device |
| CN110116399A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of Three Degree Of Freedom 2PRU-PSR parallel institution |
| CN110116400A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of PRS-PRU-PUR parallel institution |
| CN110962115A (en) * | 2019-12-05 | 2020-04-07 | 浙江理工大学 | A five-degree-of-freedom parallel robot for ship bulkhead grinding |
| CN113715003A (en) * | 2021-09-16 | 2021-11-30 | 江南大学 | RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts |
| CN114668629A (en) * | 2022-04-22 | 2022-06-28 | 河北工业大学 | Novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with son closed chain |
| CN114668629B (en) * | 2022-04-22 | 2024-01-12 | 河北工业大学 | Four-degree-of-freedom ankle joint rehabilitation parallel mechanism with closed chain of children |
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