CN108161901B

CN108161901B - Two-rotation parallel mechanism with high deflection capability

Info

Publication number: CN108161901B
Application number: CN201711450674.1A
Authority: CN
Inventors: 曹文熬; 徐世杰; 饶坤; 杨栋皓
Original assignee: China University of Geosciences
Current assignee: China University of Geosciences
Priority date: 2017-12-27
Filing date: 2017-12-27
Publication date: 2020-02-14
Anticipated expiration: 2037-12-27
Also published as: CN108161901A

Abstract

A two-turn parallel mechanism with high deflection capability comprises a frame, a movable platform, a first branch and a second branch, wherein the first branch and the second branch are connected between the frame and the movable platform in parallel; the first branch comprises a rotating pair and a moving pair which are sequentially arranged from the rack to the moving platform, and the second branch comprises a first rotating pair, a moving pair and a second rotating pair which are sequentially arranged from the rack to the moving platform; the revolute pair axes of the first branch, the first revolute pair axes of the second branch and the second revolute pair axes of the second branch intersect at a point. The invention has compact structure, high deflection capability, no singular configuration and flexible motion. The mechanism has good application prospect in the fields of surgical robots and spherical engraving machines.

Description

Two-rotation parallel mechanism with high deflection capability

The technical field is as follows:

the invention relates to a two-rotation parallel mechanism with high deflection capability, belonging to the field of parallel robot mechanics.

Background art:

along with the development of industry, many occasions need mechanism types with compact structure, large motion space, flexible motion points and high precision, and a parallel connection mechanism can well meet the requirements, wherein the two-rotation parallel connection mechanism has the characteristics of few branches, compact structure, flexible motion and the like, and is widely designed and applied.

The existing two-rotation parallel mechanism has more types, and Chinese patent CN 205394532U discloses a large-working-space spherical two-rotation parallel mechanism; chinese patent CN205394530U discloses a two-rotation parallel mechanism with large working space; chinese patent CN 103472852A invented a two-degree-of-freedom two-rotation parallel mechanism; the Chinese patent CN 205614648U discloses a two-degree-of-freedom spherical parallel mechanism with high-rigidity redundant drive; chinese patent CN103624773A discloses a two-degree-of-freedom rotation parallel mechanism; chinese patent CN104325456A discloses a novel two-rotation parallel mechanism; chinese patent CN 104308842A invented a novel plane-symmetric two-rotation parallel mechanism. The two-degree-of-freedom mechanism related in the invention patent is mostly three branches or more than three branches, the structure is complex, the kinematic pair is a revolute pair and a linear type kinematic pair, the number of the kinematic pair and the number of rod pieces are large, and the manufacturing and the installation of the kinematic pair and the rod pieces are complex.

Chinese patent CN 107443987a invented a spherical parallel mechanism and spherical carving machine; chinese patent CN106965161A discloses a three-degree-of-freedom parallel mechanism with arc-shaped moving pairs; chinese patent CN104308833A discloses a decoupled two-rotation parallel mechanism capable of realizing hemispherical rotation. The invention patent adopts an arc-shaped moving pair, but a two-rotation parallel mechanism with the arc-shaped moving pair, which has high deflection capability and no singular configuration, is not involved.

The invention content is as follows:

the invention relates to a two-turn parallel mechanism with high deflection capability, which is different from the existing two-turn parallel mechanism and the existing mechanism containing arc-shaped movement in structure and principle. The mechanism has compact structure, high deflection capability, no strange configuration and flexible movement, and can be used for surgical robots and spherical carving machines.

A two-turn parallel mechanism with high deflection capability comprises a frame, a movable platform, a first branch and a second branch, wherein the first branch and the second branch are connected between the frame and the movable platform in parallel; the first branch comprises a revolute pair, an L-shaped arc slide rod, a moving pair and a T-shaped slide block, wherein the revolute pair, the L-shaped arc slide rod and the moving pair are sequentially arranged from the rack to the moving platform; the second branch comprises a first rotating pair, an L-shaped arc slide rod, a moving pair, a T-shaped slide block and a second rotating pair which are sequentially arranged from the rack to the moving platform; the L-shaped arc slide bar in the first branch is connected with the rack through a revolute pair, and the T-shaped slide block fixedly connected to the movable platform is connected with the L-shaped arc slide bar through a sliding pair; the L-shaped arc slide rod in the second branch is connected with the rack through a first revolute pair, the T-shaped slide block is connected with the L-shaped arc slide rod through a revolute pair, and the movable platform is connected with the T-shaped slide block through a second revolute pair; the axis of the rotating pair of the first branch, the axis of the first rotating pair of the second branch and the axis of the second rotating pair of the second branch are converged at a point, and the convergence point is the common circle center of the L-shaped arc slide bars in the two branches.

Description of the drawings:

fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a perspective view of an L-shaped arc slide bar.

Fig. 3 is a perspective view of the T-shaped slider of the first branch.

Fig. 4 is a perspective view of the T-shaped slider of the second branch.

In fig. 1: 1-frame, 2-moving platform, R11-first branch revolute pair, P11-first branch revolute pair, R21-second branch first revolute pair, P21-second branch revolute pair, R22-second branch second revolute pair and O-junction.

The specific implementation method comprises the following steps:

the invention relates to a two-rotation parallel mechanism with high deflection capability, which is described in detail in the following with reference to the accompanying drawings:

referring to fig. 1 to 4, a two-turn parallel mechanism with high deflection capability includes a frame 1, a movable platform 2, and a first branch and a second branch connected in parallel between the frame 1 and the movable platform 2; the first branch comprises a revolute pair R11, an L-shaped arc slide rod, a sliding pair P11 and a T-shaped slide block, wherein the revolute pair R11, the L-shaped arc slide rod and the sliding pair P11 are sequentially arranged from the rack 1 to the movable platform 2; the second branch comprises a first revolute pair R21, an L-shaped arc sliding rod, a sliding pair P21, a T-shaped sliding block and a second revolute pair R22 which are sequentially arranged from the machine frame 1 to the movable platform 2; the L-shaped arc slide bar in the first branch is connected with the frame through a revolute pair R11, and the T-shaped slide block fixedly connected on the movable platform 2 is connected with the L-shaped arc slide bar through a sliding pair P11; the L-shaped arc slide bar in the second branch is connected with the frame 1 through a first revolute pair R21, the T-shaped slide block is connected with the L-shaped arc slide bar through a sliding pair P21, and the movable platform 2 is connected with the T-shaped slide block through a second revolute pair R22; the axis of the revolute pair R11 of the first branch, the axis of the revolute pair R21 of the second branch and the axis of the revolute pair R22 of the second branch are intersected at a point, and the intersection point is the common circle center of the L-shaped arc slide bars in the two branches.

Claims

1. A two-turn parallel mechanism with high deflection capability is characterized in that: the device comprises a rack, a movable platform, a first branch and a second branch, wherein the first branch and the second branch are connected between the rack and the movable platform in parallel; the first branch comprises a revolute pair, an L-shaped arc slide rod, a sliding pair and a T-shaped slide block, wherein the revolute pair, the L-shaped arc slide rod, the sliding pair and the T-shaped slide block are sequentially arranged from the rack to the movable platform; the second branch comprises a first rotating pair, an L-shaped arc slide rod, a moving pair, a T-shaped slide block and a second rotating pair which are sequentially arranged from the rack to the moving platform; the L-shaped arc slide bar in the first branch is connected with the rack through a revolute pair, and the T-shaped slide block fixedly connected to the movable platform is connected with the L-shaped arc slide bar through a sliding pair; the L-shaped arc slide rod in the second branch is connected with the rack through a first revolute pair, the T-shaped slide block is connected with the L-shaped arc slide rod through a revolute pair, and the movable platform is connected with the T-shaped slide block through a second revolute pair; the axis of the rotating pair of the first branch, the axis of the first rotating pair of the second branch and the axis of the second rotating pair of the second branch are converged at a point, and the convergence point is the common circle center of the L-shaped arc slide bars in the two branches.