CN106671063B - A kind of mobile parallel connection mechanism - Google Patents
A kind of mobile parallel connection mechanism Download PDFInfo
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- CN106671063B CN106671063B CN201710002331.2A CN201710002331A CN106671063B CN 106671063 B CN106671063 B CN 106671063B CN 201710002331 A CN201710002331 A CN 201710002331A CN 106671063 B CN106671063 B CN 106671063B
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- telescopic rod
- rod
- frame
- connecting rod
- connect
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of mobile parallel connection mechanisms, including：Frame, moving platform and two active branched chains, wherein active branched chain includes passing through the sequentially connected master connecting-rod of revolute pair, secondary connecting rod and straight connecting rod；Moving platform includes 5 telescopic rods connected in sequence, and two neighboring telescopic rod is connected by ball connector；The inner wall that one of ball connector fixes telescopic rod and frame by first connects；The two ball connectors adjacent with the ball connector of the first fixation telescopic rod connection are respectively connect with the one end of a straight connecting rod far from time connecting rod；Two ball connectors in addition to the ball connector being connect respectively with straight connecting rod, the first fixation telescopic rod fix telescopic rod by second respectively and third fixes the inner wall connection of telescopic rod and frame；First fixation telescopic rod, the second fixation telescopic rod and third fix telescopic rod and the inner wall of frame is connected by universal joint.Mechanism structure novel can realize walking and wriggling, complete complicated Morphological Reconstruction.
Description
Technical field
The present invention relates to mobile parallel connection mechanism technical field more particularly to a kind of mobile parallel connection mechanisms.
Background technology
The features such as mobile parallel connection mechanism is simple in structure flexibly, bearing capacity is strong and stability is good due to its, can not only be multiple
It walks, easily across larger obstacle (such as trench, rock), and can be realized with dynamic gait fast on miscellaneous non-structural road surface
The advantages that speed is mobile, has extensively in fields such as military affairs, mining, nuclear power industry, celestial body detecting, fire-fighting rescue and construction industries
Wealthy application prospect.
Currently used mobile parallel connection mechanism, as shown in Figure 1, including a closed chain and four open chains, wherein closed chain includes
The four bar metamorphic mechanisms of a plane that sequentially connected first bar 01, the second bar 02, third bar 03 and the 4th bar 04 are constituted are adjacent
Two bars between pass through the first turning joint 05 connect；Every open chain includes setting in the same plane sequentially connected the
The both ends of five bars 06, the 6th bar 07 and the 7th bar 08, the 6th bar 07 pass through the second turning joint 09 and third turning joint respectively
010 is connected with the 5th bar 06 and the 7th bar 08, the axis of the second turning joint 09 and third turning joint 010 it is parallel and with
Plane where 5th bar 06, the 6th bar 07 and the 7th bar 08 is vertical.The closed chain (waist) of current mobile parallel connection mechanism is variable
Shape, can carry out movement and adaptability is adjusted, and have certain flexibility, and mobile parallel connection mechanism is made to play buffering in the process of walking and subtract
The effect of shake can greatly improve the speed of travel of mobile parallel connection mechanism.
But above-mentioned mobile parallel connection mechanism, only focus on the speed of travel aspect for improving mobile parallel-connection structure, motion mode
Still it is only limited to walk, motion mode is single, cannot be satisfied the various requirement of current every profession and trade mobile parallel connection mechanism motion mode.
Invention content
To overcome the problems in correlation technique, the present invention provides a kind of mobile parallel connection mechanism, including：Frame is moved and is put down
Platform and two active branched chains, wherein
The active branched chain includes master connecting-rod, secondary connecting rod and straight connecting rod, and one end of the master connecting-rod is interior with the frame
Wall is connected by the first revolute pair, the other end is connect with one end of the secondary connecting rod by the second revolute pair, the secondary connecting rod
The other end is connect by third revolute pair with one end of the straight connecting rod, and two first revolute pairs are along the center of the frame
Axis direction is symmetrical arranged and the central shaft of first revolute pair and the central axis of second revolute pair are arranged, institute
The central shaft and the central shaft of the third revolute pair for stating the second revolute pair are arranged in parallel；
The moving platform includes 5 telescopic rods connected in sequence, and the two neighboring telescopic rod is connected by ball connector；
One of them described ball connector is connect by the first fixation telescopic rod with the inner wall of the frame, and described first fixes telescopic rod
It is connect by universal joint with the inner wall of the frame；
It is respectively described straight with one that two adjacent ball connectors of the ball connector of telescopic rod connection are fixed with described first
The other end of connecting rod connects；
Two ball connectors in addition to the ball connector being connect respectively with the straight connecting rod, the first fixation telescopic rod are distinguished
Telescopic rod is fixed by the second fixation telescopic rod and third to connect with the inner wall of the frame, the second fixation telescopic rod and the
Three fixation telescopic rods are connect by universal joint with the inner wall of the frame.
Preferably, the ball connector includes three pipe-menders.
Preferably, the frame includes annular frame or square frame.
Preferably, the master connecting-rod and time connecting rod include curved rod or linear connecting rod.
Preferably, scroll wheel is arranged in the bottom for the ball connector being connect with the first fixation telescopic rod.
Preferably, it is respectively provided with pawl on all ball connectors.
Preferably, the bottom of all ball connectors is respectively provided with sucker.
The technical solution that the embodiment of the present invention provides can include the following benefits：
A kind of mobile parallel connection mechanism provided in an embodiment of the present invention, including：Frame, moving platform and two active branched chains,
In, the active branched chain includes master connecting-rod, secondary connecting rod and straight connecting rod, and one end of the master connecting-rod and the inner wall of the frame pass through
The connection of first revolute pair, the other end are connect with one end of the secondary connecting rod by the second revolute pair, the other end of the secondary connecting rod
It is connect with one end of the straight connecting rod by third revolute pair, two first revolute pairs are along the central axis side of the frame
To being symmetrical arranged and the central axis setting of the central shaft of first revolute pair and second revolute pair, described second
The central shaft of revolute pair and the central shaft of the third revolute pair are arranged in parallel；The moving platform includes 5 connected in sequence and stretches
Contracting bar, the two neighboring telescopic rod are connected by ball connector；One of them described ball connector is fixed flexible by first
Bar is connect with the inner wall of the frame, and the first fixation telescopic rod is connect with the inner wall of the frame by universal joint；With institute
State the adjacent two ball connectors of the ball connector of the first fixation telescopic rod connection respectively other end with a straight connecting rod
Connection；Two ball connectors in addition to the ball connector being connect respectively with the straight connecting rod, the first fixation telescopic rod lead to respectively
It crosses the second fixation telescopic rod and third is fixed telescopic rod and connect with the inner wall of the frame, described second fixes telescopic rod and third
Fixed telescopic rod is connect by universal joint with the inner wall of the frame.Mobile parallel connection mechanism provided in an embodiment of the present invention is imitated
Zhaohai luck flowing mode passes through the first fixation telescopic rod, the second fixation telescopic rod, third fixation telescopic rod, active branched chain and 5
Mobile parallel connection mechanism Morphological Reconstruction is realized in relative motion between telescopic rod, and then completes walking and wriggling two ways forward
It is mobile, meet the needs moved under a variety of different geological conditions.Mobile parallel connection mechanism provided by the invention, structure novel,
It can realize walking and wriggling, complete complicated Morphological Reconstruction, provide the foundation model for the exploitation of parallel robot.
It should be understood that above general description and following detailed description is only exemplary and explanatory, not
It can the limitation present invention.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the present invention
Example, and be used to explain the principle of the present invention together with specification.
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without having to pay creative labor, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of structural schematic diagram for mobile parallel connection mechanism that the prior art provides；
Fig. 2 is a kind of critical condition structural schematic diagram of mobile parallel connection mechanism provided in an embodiment of the present invention；
Fig. 3 is the five of a kind of mobile parallel connection mechanism provided in an embodiment of the present invention to light ground structure schematic diagram；
Fig. 4 is a kind of three points of contact structural schematic diagram of mobile parallel connection mechanism provided in an embodiment of the present invention；
In Fig. 1-4, symbolic indication：1- frames, 2- active branched chains, 21- master connecting-rods, 22- connecting rod, 23- straight connecting rods, 24-
First revolute pair, the second revolute pairs of 25-, 26- third revolute pairs, 3- moving platforms, 31- ball connectors, 311- the first ball connectors,
312- the second ball connectors, 313- triple-ball connectors, the 4th ball connectors of 314-, the 5th ball connectors of 315-, 32- are flexible
Bar, the first telescopic rods of 321-, the second telescopic rods of 322-, 323- third telescopic rods, the 4th telescopic rods of 324-, 325- the 5th are flexible
Bar, 33- first fix telescopic rod, and 34- second fixes telescopic rod, and 35- thirds fix telescopic rod, 36- universal joints.
Specific implementation mode
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects being described in detail in claims, of the invention.
A kind of mobile parallel connection mechanism provided in an embodiment of the present invention, it is shown in Figure 2, including：Frame 1, moving platform 3 and two
A active branched chain 2, wherein
Two active branched chains 2 play an important role in the reconstruct deformation of mobile parallel connection mechanism.The active branch
Chain 2 includes master connecting-rod 21, secondary connecting rod 22 and straight connecting rod 23, and the inner wall of one end of the master connecting-rod 21 and the frame 1 passes through the
The connection of one revolute pair 24, the other end are connect with one end of the secondary connecting rod 22 by the second revolute pair 25.In specific implementation process
In, the master connecting-rod 21 is driven by servo motor, can complete around with 360 ° of first revolute pair, 24 tie point
Rotation.
The master connecting-rod 21 is connect with the inner wall of the frame 1 by the first revolute pair 24, only one degree of freedom, that is, is enclosed
It around tie point center axis rotation, may be implemented to drive master connecting-rod big angle rotary, make the movement of active branched chain from two dimensional surface
It is expanded to three dimensions, first revolute pair plays important support and connection function to the active branched chain.
The secondary connecting rod 22 is driven by servo motor, can be completed around the connection with second revolute pair 25
360 ° of rotations of point.The master connecting-rod is connect with the secondary connecting rod by the second revolute pair, is equally also only had one degree of freedom, is enclosed
Around the second revolute pair central axis, the three dimensions that active branched chain moves is made to expand, secondary connecting rod cooperation master connecting-rod props up together
Support and connection function.
The other end of the secondary connecting rod 22 is connect by third revolute pair 26 with one end of the straight connecting rod 23.It is described direct-connected
Bar 23 is connect by third revolute pair 26 with time connecting rod 22, has one degree of freedom, can surround the central shaft of third revolute pair
Rotation.The other end of the straight connecting rod 23 is connect with the moving platform 3, and the straight connecting rod is same around the rotation of third revolute pair
When, the members on moving platform can be driven to move, with the master connecting-rod and time common mating reaction of connecting rod in the moving platform.
In embodiments of the present invention, the master connecting-rod 21 and time connecting rod 22 include curved rod, further, as master
The curved rod of connecting rod is identical with the curvature of the curved rod as secondary connecting rod.Certain curved rod be the master connecting-rod 21 and time
The preferred structure of connecting rod 22, in specific implementation process, user can according to actual conditions choose arbitrary shape master connecting-rod and time
Connecting rod, such as linear links, are not specifically limited herein.
In specific implementation process, two first revolute pairs 24 are symmetrically set along the central axial direction of the frame 1
It sets and the central shaft of first revolute pair 24 and the central axis of second revolute pair 25 is arranged, described second rotates
The central shaft and the central shaft of the third revolute pair 26 of pair 25 are arranged in parallel.
The moving platform 3 includes 5 telescopic rods 32 connected in sequence, and the two neighboring telescopic rod 32 passes through ball connector
31 connections.As shown in Fig. 2, sharing 5 ball connectors, 5 ball connectors move simultaneously when moving parallel-connection structure walking
It is coupled the foot of structure, for realizing the walking of the mechanism.In specific implementation process, each ball connector 31 includes three balls
Body swivel, telescopic rod 32 are connect by pipe-menders with the ball connector 31.
The ball connector 31 fixes telescopic rod 33 and the frame by first one of in 5 ball connectors 31
1 inner wall connection, the first fixation telescopic rod 33 are connect by universal joint 36 with the inner wall of the frame 1, are being embodied
In the process, a pipe-menders of the ball connector 31 are connect with one end of the first fixation telescopic rod 33, and described the
The other end of one fixation telescopic rod 33 is connect by universal joint 36 with the inner wall of the frame 1.
For clearer description, defines the ball connector 31 being connect with the first fixation telescopic rod 33 and connect for the first ball
Device 311 is connect, as shown in Fig. 2, according to clockwise, remaining 4 ball connector is respectively defined as the second ball connector 312, the
Triple-ball connector 313, the 4th ball connector 314 and the 5th ball connector 315.5 telescopic rods are also further defined：Together
When the telescopic rod 32 that is connect with the first ball connector 311 and the second ball connector 312 be the first telescopic rod 321, according to suitable
Clockwise, remaining telescopic rod 32 respectively the second telescopic rod 322, third telescopic rod 323, the 4th telescopic rod 324 and the 5th are stretched
Contracting bar 325.As shown in Fig. 2, one end of one end of the 5th telescopic rod 325 and first telescopic rod 321 passes through described the
One ball connector 311 connects；One end of the other end of first telescopic rod 321 and second telescopic rod 322 passes through described
Second ball connector 312 connects；The other end of second telescopic rod 322 and one end of the third telescopic rod 323 pass through institute
State the connection of triple-ball connector 313；The other end of the third telescopic rod 323 and one end of the 4th telescopic rod 324 pass through
4th ball connector 314 connection；The other end of the other end and the 5th telescopic rod 325 of 4th telescopic rod 324
It is connected by the 5th ball connector 315.
The moving platform 3 is sequentially connected with by 5 telescopic rods 32, forms starfish appearance, the motion mode of the moving platform 3 also with
The motion mode of starfish is similar.The moving platform 3 is controlled described dynamic flat by the telescopic actions of above-mentioned 5 telescopic rods 32
The shape of platform 3 makes moving platform become the leg of mechanism, the movement gait of determination means when mobile parallel connection mechanism is walked.Equally may be used
To become the limbs of mobile parallel connection mechanism in vermicular movement, movement, moving platform are realized by the wriggling of telescopic rod in moving platform
Deformation in space is the chief component of movement parallel-connection structure deformation.
The two ball connectors 31 adjacent with the ball connector 31 that connect of the first fixation telescopic rod 33 are respectively with one
The other end of the straight connecting rod 23 connects, as shown in Fig. 2, the i.e. described second ball connector 312 and the 5th ball connector 315 difference
It is connect with the other end of a straight connecting rod 23.While two straight connecting rods 23 are rotated around third revolute pair, the is driven
Two ball connectors 312 and the movement of the 5th ball connector 315, and then drive the movement of the moving platform 3.In specific implementation process
In, a pipe-menders of the second ball connector 312 are connect with the other end of a straight connecting rod 23, the connection of the 5th ball
One pipe-menders of device 315 are connect with the other end of another straight connecting rod 23.
Two balls in addition to fixing the ball connector 31 that telescopic rod 33 is connect with the straight connecting rod 23, first respectively connect
Device 31 is fixed telescopic rod 35 by the second fixation telescopic rod 34 and third respectively and is connect with the inner wall of the frame 1, and second fixes
Telescopic rod 34 and third are fixed telescopic rod 35 and are connect by universal joint 36 with the inner wall of the frame 1, as shown in Fig. 2, i.e. institute
It states triple-ball connector 313 to connect with the inner wall of the frame 1 by the second fixation telescopic rod 34, the 4th ball connector
314 fix telescopic rod 35 by third connect with the inner wall of the frame 1.In specific implementation process, the third ball connection
One pipe-menders of device 313 are connect with one end of the second fixation telescopic rod 34, and the one of the 4th ball connector 314
One end that pipe-menders fix telescopic rod 35 with third is connect, and the other end and third of the second fixation telescopic rod 34 are solid
The other end for determining telescopic rod 35 is respectively connect by a universal joint 36 with the inner wall of the frame 1.
In embodiments of the present invention, the first fixation telescopic rod 33, second fixes telescopic rod 34 and third is fixed and stretched
Bar 35 is connect by universal joint 36 with the inner wall of the frame 1, is connected by ball connector 31 between 5 telescopic rods 32.Institute
It states the first fixation telescopic rod 33, second fixation telescopic rod 34 and third fixes telescopic rod 35 and makes moving platform 3 that various dimensions may be implemented
Movement, first ball connector 311, triple-ball connector 313 and fourth ball connector of the telescopic action on moving platform 3
314, shape and position to moving platform, which are adjusted, to play an important role.
In the first possible embodiment, in the ball connector 31 being connect with the first fixation telescopic rod 33
Scroll wheel is arranged in bottom；Scroll wheel is arranged in 311 bottom of the first ball connector i.e. in fig. 2, makes the shifting of the movement parallel-connection structure
Flowing mode becomes walking-roller.The second ball connector 312, triple-ball connector 313, the 4th ball connector 314 and
Five ball connectors, 315 equal walking is advanced, and the first ball connector 311 rolls the paces for keeping up with remaining ball connector.As later machine
The archetype of device people exploitation is also walking-roller according to the move mode of the robot of mobile parallel connection mechanism exploitation.
In second of possible embodiment, pawl is respectively provided on all ball connectors 31.Due to movement and connect
Mechanism, which in the process of walking has stability, to be required, therefore is respectively provided with pawl on all ball connectors, at one
When bulb separation connector travels forward, the ball connector contacted with ground catches on ground by pawl, to maintain temporary stable gravity center
It is fixed.This optimal way is suitable on soft ground, as walked on sand ground.
In the third possible embodiment, the bottom of all ball connectors 31 is respectively provided with sucker, can with second
The embodiment of energy is similar, and when a part of ball connector travels forward, the ball connector contacted with ground is sucked ground by sucker
Face, to maintain temporary steadily of centre of gravity.This optimal way is suitable for walking on smooth ground or palisades.
The movement of the moving platform 3 can drive the frame 1 to move.In embodiments of the present invention, the frame 1 can be with
Under the drive of the moving platform 3, the translation on horizontal direction and vertical direction is realized.The frame is the first fixation telescopic rod
33, the second fixation telescopic rod 34, third fix telescopic rod 35 and the fulcrum of two active branched chains 2 works.When the first fixation
Telescopic rod 33, second fixes telescopic rod 34, the length of third fixation telescopic rod 35 and angle or active branched chain 2 needs to adjust
When, it will using the frame as reference, servo-drive and control are carried out, while the fixed form of the frame is for of the invention real
The control for applying the mobile parallel-connection structure complex deformation of example plays an important role.When the mobile parallel connection mechanism of the embodiment of the present invention is received
When contracting, frame makes all mechanisms shrink as on the same plane of the frame as a kind of substrate, is passing through narrow seam
There is important development prospect when gap channel.
In embodiments of the present invention, the frame 1 is steel body structure, and the frame 1 includes annular frame.Certainly, annular
Frame is the preferred structure of the frame, and in specific implementation process, the frame further includes square frame, and user can be according to reality
Border needs to choose the frame of arbitrary shape.
The technical program is more fully understood in order to facilitate those skilled in the art, once combines the compacted of mobile parallel-connection structure
Dynamic and walking process is further described.
As shown in Fig. 2, frame 1, moving platform 3 and two active branched chains 2 are on same plane, state at this time is to face
Boundary's state, when straight connecting rod 23 makees downwards rotary motion, while the first fixation fixation of telescopic rod 33, second around third revolute pair 26
Telescopic rod 34 and third are fixed telescopic rod 35 and are stretched down, at this point, being fulcrum with moving platform 3, frame 1 is to be raised above, at this time
Five ball connectors of mobile parallel connection mechanism land, and frame 1 and moving platform 3 detach, and state can be described as wriggling state at this time, such as scheme
Shown in 3, mechanism can be moved forward by wriggling.
Wriggling process is broadly divided into four steps：
The first step, triple-ball connector 313 and the 4th ball connector 314 are stretched in the second fixation telescopic rod 34, third fixation
It is moved forward under the drive of contracting bar 35, the second telescopic rod 322 and the 4th telescopic rod 324, while driving third telescopic rod 323 forward
Movement.
Second step：Two times connecting rod 22 is rotated up around the second revolute pair 25, drives 312 He of the second ball connector
5th ball connector 315 moves upwards.
Third walks：First telescopic rod 321, the second telescopic rod 322, the 4th telescopic rod 324 and the 5th telescopic rod 325 drive the
Two ball connectors 312, the 5th ball connector 315 and two straight connecting rods 23 travel forward, under the drive of two straight connecting rods 23, frame
Frame 1 travels forward.
4th step：First ball connector 311 fixes telescopic rod 33 and the first telescopic rod 321 and the 5th telescopic rod first
It travels forward under 325 drive, after moving to certain position, first, which fixes telescopic rod 33, stretches, and makes the first ball connector 311
Connection lands, and completes entire wriggling process.
When the mobile parallel connection mechanism is in wriggling state, to realize that walking movement is needed through following motion deformation：
Two straight connecting rods 23 turn round upwards around third revolute pair 26, by the second ball connector 312 and the 5th ball connector
315 are lifted up, while two master connecting-rods 21 surround the 24 upward revolution of the first revolute pair, to adjust gait and the application of walking
The angle of power, this process, two times connecting rod 22 is static relative to drive connecting rod 21；At this point, the mobile parallel connection mechanism three is lighted
Ground can be travelled forward referring to Fig. 4 by walking.
Motion process is as follows：
First, the first telescopic rod 321, the 5th telescopic rod 325 and first fixation telescopic rod 33 make first by stretching motion
Ball connector 311 travels forward.
Then, it is logical to fix telescopic rod 34, the 4th telescopic rod 324 and third fixation telescopic rod 35 for the second telescopic rod 322, second
Crossing telescopic action makes ground contact points triple-ball connector 313 and the 4th ball connector 314 move forward successively, and it is dynamic to complete walking
Make.
A kind of mobile parallel connection mechanism provided in an embodiment of the present invention, including：Frame, moving platform and two active branched chains,
In, the active branched chain includes master connecting-rod, secondary connecting rod and straight connecting rod, and one end of the master connecting-rod and the inner wall of the frame pass through
The connection of first revolute pair, the other end are connect with one end of the secondary connecting rod by the second revolute pair, the other end of the secondary connecting rod
It is connect with one end of the straight connecting rod by third revolute pair, two first revolute pairs are along the central axis side of the frame
To being symmetrical arranged and the central axis setting of the central shaft of first revolute pair and second revolute pair, described second
The central shaft of revolute pair and the central shaft of the third revolute pair are arranged in parallel；The moving platform includes 5 connected in sequence and stretches
Contracting bar, the two neighboring telescopic rod are connected by ball connector；One of them described ball connector is fixed flexible by first
Bar is connect with the inner wall of the frame, and the first fixation telescopic rod is connect with the inner wall of the frame by universal joint；With institute
State the adjacent two ball connectors of the ball connector of the first fixation telescopic rod connection respectively other end with a straight connecting rod
Connection；Two ball connectors in addition to the ball connector being connect respectively with the straight connecting rod, the first fixation telescopic rod lead to respectively
It crosses the second fixation telescopic rod and third is fixed telescopic rod and connect with the inner wall of the frame, described second fixes telescopic rod and third
Fixed telescopic rod is connect by universal joint with the inner wall of the frame.Mobile parallel connection mechanism provided in an embodiment of the present invention is imitated
Zhaohai luck flowing mode passes through the first fixation telescopic rod, the second fixation telescopic rod, third fixation telescopic rod, active branched chain and 5
Mobile parallel connection mechanism Morphological Reconstruction is realized in relative motion between telescopic rod, and then completes walking and wriggling two ways forward
It is mobile, meet the needs moved under a variety of different geological conditions.Mobile parallel connection mechanism provided by the invention, structure novel,
It can realize walking and wriggling, complete complicated Morphological Reconstruction, provide the foundation model for the exploitation of parallel robot.
Those skilled in the art will readily occur to its of the present invention after considering specification and putting into practice the disclosure invented here
Its embodiment.This application is intended to cover the present invention any variations, uses, or adaptations, these modifications, purposes or
Person's adaptive change follows the general principle of the present invention and includes undocumented common knowledge in the art of the invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be understood that the invention is not limited in the precision architectures for being described above and being shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (7)
1. a kind of mobile parallel connection mechanism, which is characterized in that including：Frame (1), moving platform (3) and two active branched chains (2),
In,
The active branched chain (2) includes master connecting-rod (21), secondary connecting rod (22) and straight connecting rod (23), one end of the master connecting-rod (21)
It is connect by the first revolute pair (24) with the inner wall of the frame (1), one end of the other end and the secondary connecting rod (22) is by the
Two revolute pairs (25) connect, and the other end of the secondary connecting rod (22) passes through third revolute pair (26) and the one of the straight connecting rod (23)
End connection, two first revolute pairs (24) are arranged symmetrically and first turn described along the central axial direction of the frame (1)
The central shaft of dynamic pair (24) and the central axis setting of second revolute pair (25), the center of second revolute pair (25)
Axis and the central shaft of the third revolute pair (26) are arranged in parallel；
The moving platform (3) includes 5 telescopic rods (32) connected in sequence, and the two neighboring telescopic rod (32) is connected by ball
Device (31) connects；The inner wall that one of them described ball connector (31) fixes telescopic rod (33) and the frame (1) by first
Connection, the first fixation telescopic rod (33) are connect with the inner wall of the frame (1) by universal joint (36)；
The two ball connectors (31) adjacent with the ball connector (31) that connect of the first fixation telescopic rod (33) respectively with
The other end of one straight connecting rod (23) connects；
Two balls in addition to the ball connector (31) being connect respectively with the straight connecting rod (23), the first fixation telescopic rod (33) connect
Meet the inner wall company that device (31) fixes telescopic rod (34) by second respectively and third fixes telescopic rod (35) with the frame (1)
It connects, the second fixation telescopic rod (34) and third fixation telescopic rod (35) and the inner wall of the frame (1) pass through universal joint
(36) it connects.
2. mobile parallel connection mechanism according to claim 1, which is characterized in that the ball connector (31) includes three spheres
Swivel.
3. mobile parallel connection mechanism according to claim 1, which is characterized in that the frame (1) includes annular frame or side
Shape frame.
4. mobile parallel connection mechanism according to claim 1, which is characterized in that the master connecting-rod (21) and time connecting rod (22) are equal
Including curved rod or linear connecting rod.
5. mobile parallel connection mechanism according to claim 1, which is characterized in that connect with the first fixation telescopic rod (33)
The ball connector (31) bottom be arranged scroll wheel.
6. mobile parallel connection mechanism according to claim 1, which is characterized in that be respectively provided on all ball connectors (31)
Pawl.
7. mobile parallel connection mechanism according to claim 1, which is characterized in that the bottom of all ball connectors (31) is equal
Sucker is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710002331.2A CN106671063B (en) | 2017-01-03 | 2017-01-03 | A kind of mobile parallel connection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710002331.2A CN106671063B (en) | 2017-01-03 | 2017-01-03 | A kind of mobile parallel connection mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN106671063A CN106671063A (en) | 2017-05-17 |
| CN106671063B true CN106671063B (en) | 2018-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710002331.2A Expired - Fee Related CN106671063B (en) | 2017-01-03 | 2017-01-03 | A kind of mobile parallel connection mechanism |
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| Country | Link |
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| CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
| CN105563468A (en) * | 2016-02-04 | 2016-05-11 | 陕西科技大学 | Parallel mechanical arm controlled by cams |
| CN105710866A (en) * | 2016-04-22 | 2016-06-29 | 燕山大学 | Four-freedom-degree parallel mechanical arm with nested structure |
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| CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
| CN105563468A (en) * | 2016-02-04 | 2016-05-11 | 陕西科技大学 | Parallel mechanical arm controlled by cams |
| CN105710866A (en) * | 2016-04-22 | 2016-06-29 | 燕山大学 | Four-freedom-degree parallel mechanical arm with nested structure |
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