CN109732572A - A kind of change born of the same parents' parallel institution - Google Patents
A kind of change born of the same parents' parallel institution Download PDFInfo
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- CN109732572A CN109732572A CN201910208141.5A CN201910208141A CN109732572A CN 109732572 A CN109732572 A CN 109732572A CN 201910208141 A CN201910208141 A CN 201910208141A CN 109732572 A CN109732572 A CN 109732572A
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Abstract
The invention discloses a kind of change born of the same parents' parallel institution, including fixed platform and motion platform, fixed platform is connected with motion platform by first branch and two the second branches；When fixed platform is parallel with motion platform, two the second branches are equal with the distance between the first branch in same level；First branch includes that the spherical five-bar mechanisms being sequentially connected, first movement vice mechanism and space parallelogram mechanism, spherical five-bar mechanisms are connect with fixed platform, and space parallelogram mechanism is connect with motion platform；Second branch includes the second mobile vice mechanism, the first ball pair, connecting rod and the second ball pair being sequentially connected, and the second mobile vice mechanism is connect with fixed platform, and the second ball pair is connect with motion platform.The present invention can be realized this change born of the same parents' parallel institution with 3T2R movement, 3T1R by locked or the first revolute pair of driving and the second revolute pairXMovement, 3T1RYThe switching of movement and 3T movement has the ability for changing and converting its topological structure and freedom degree according to operation task.
Description
Technical field
The present invention relates to theory of mechanisms and robotics field more particularly to a kind of change born of the same parents' parallel institutions.
Background technique
Parallel institution is because of the fisher's formula structure with truss leverage instead of the mechanized equipments such as traditional robot and lathe, thus
It has many advantages, such as that rigidity height, large carrying capacity, dynamic property are good, makes it in industrial robot, walking robot, conveying mechanical
The fields such as kinetic-simulator, mechanical servo press, parallel kinematics machine tool, 3D printing be widely applied.
In fields such as Control During Paint Spraying by Robot, agitating friction weldering, 3D printing, machining manufactures, in the operation of heterogeneity surface
When, freedom degree required for end effector of robot is different.Such as work surface be plane when, end effector have 3T
(when indicating movement, tee represents movement) locomitivity；When work surface is ruled surface, end effector need to have 3T1R
(when indicating movement, letter r represents rotation) locomitivity；When work surface is free form surface, end effector need to have 3T2R fortune
Kinetic force.The generally fixed freedom degree equipment of traditional parallel architecture equipment, does not have and changes according to operation task and convert it
The ability of topological structure and freedom degree.
Summary of the invention
The object of the present invention is to provide a kind of change born of the same parents' parallel institutions, solve traditional parallel architecture equipment and generally fix certainly
The problem of being equipped by degree, not adapting to the operation of heterogeneity surface.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of change born of the same parents' parallel institution of the present invention, including fixed platform and motion platform, the fixed platform and motion platform
It is connected by first branch and two the second branches；When the fixed platform is parallel with motion platform, same level
Upper two second branches are equal with the distance between the first branch；
First branch includes the spherical five-bar mechanisms being sequentially connected, first movement vice mechanism and space parallelogram
Mechanism, the spherical five-bar mechanisms are connect with the fixed platform, the space parallelogram mechanism and the motion platform
Connection；
Second branch includes the second mobile vice mechanism, the first ball pair, connecting rod and the second ball pair being sequentially connected, described
Second mobile vice mechanism is connect with the fixed platform, and the second ball pair is connect with the motion platform.
Further, the spherical five-bar mechanisms include the first straight-bar and second being vertically fixed in the fixed platform
Straight-bar；The end of first straight-bar is connected with one end of the first curved bar, the end of second straight-bar by the first revolute pair
One end of the second curved bar is connected with by the second revolute pair；The other end of first curved bar is connected with by third revolute pair
One end of three curved bars, the other end of second curved bar are connected with one end of the 4th curved bar by the 4th revolute pair, and the described 4th
The other end of curved bar is connect with the other end of the third curved bar by the 5th revolute pair；
First curved bar, the second curved bar, third curved bar and the 4th curved bar bent angle angle be 90 °；The first movement
The lower end of vice mechanism is fixed on the corner of the 4th curved bar, and first movement vice mechanism is upwards perpendicular to flat where the 4th curved bar
Face；
When the first movement vice mechanism is perpendicular to the fixed platform, first revolute pair, the second revolute pair,
The axis of four revolute pairs and the 5th revolute pair is located in same level, and wherein the axis of two neighboring revolute pair mutually hangs down
Directly, the axis of the third revolute pair is overlapped with the axis of first movement vice mechanism.
Further, the first movement vice mechanism includes fixing sleeve and mobile bar, and the mobile bar is telescopically inserted
It is located in the fixing sleeve, fixing sleeve is located on the downside of mobile bar, and the lower end of fixing sleeve is connect with the spherical five-bar mechanisms, moves
The upper end of lever is connect with the space parallelogram mechanism.
Further, the space parallelogram mechanism includes halfpace, third straight-bar, the 4th straight-bar and the 5th
Straight-bar；The lower end of the third straight-bar, the 4th straight-bar and the 5th straight-bar passes through the first Hooke's hinge, the second Hooke's hinge and third respectively
Hooke's hinge is connect with the upper surface of the halfpace；The upper end of the third straight-bar, the 4th straight-bar and the 5th straight-bar leads to respectively
The 4th Hooke's hinge, the 5th Hooke's hinge and the 6th Hooke's hinge is crossed to connect with the lower end surface of the motion platform；The third straight-bar,
Four straight-bars and the 5th straight-bar are parallel to each other；The three of first Hooke's hinge, the second Hooke's hinge and third Hooke's hinge and halfpace
A tie point is in a circular trace, and the three of the 4th Hooke's hinge, the 5th Hooke's hinge and the 6th Hooke's hinge and motion platform
A tie point is also in a circular trace, and two circular trace diameters are identical；
The upper end of the first movement vice mechanism is fixedly connected with the lower end surface of the halfpace, and first movement slave
The tie point of structure and halfpace is located at three connections of the first Hooke's hinge, the second Hooke's hinge and third Hooke's hinge and halfpace
The center point of circular trace where point.
Further, the described second mobile vice mechanism includes fixed link and movable block, and the movable block is slideably set
It sets in the fixed link, the lower end of fixed link is vertically fixed in the fixed platform；The movable block and first ball
Secondary one end connection.
Compared with prior art, advantageous effects of the invention are as follows:
By locked or the first revolute pair of driving and the second revolute pair, can be realized this change born of the same parents' parallel institution has the present invention
3T2R movement, 3T1RXMovement, 3T1RYThe switching of movement and 3T movement, adapts to the operation of heterogeneity surface, has and is appointed according to operation
Business changes and converts the ability of its topological structure and freedom degree.
Detailed description of the invention
The invention will be further described for explanation with reference to the accompanying drawing.
Fig. 1 is the structure chart of spherical five-bar mechanisms of the invention；
Fig. 2 is the structure chart of space parallelogram mechanism of the invention；
Fig. 3 is the structure chart of the first branch of the invention；
Fig. 4 is drives the first revolute pair and the second revolute pair institute of spherical five-bar mechanisms simultaneously in the first branch of the invention
The schematic diagram of the sub- structure state A switched to；
Fig. 5 is the first revolute pair that spherical five-bar mechanisms are driven in the first branch of the invention, and locked second revolute pair
The schematic diagram of the sub- structure state B switched to；
Fig. 6 is the first revolute pair that spherical five-bar mechanisms are locked in the first branch of the invention, and drives the second revolute pair
The schematic diagram of the sub- structure state C switched to；
Fig. 7 is the structure chart that the present invention becomes born of the same parents' parallel institution；
Description of symbols: 1, fixed platform；2, motion platform；3, the first branch；301, spherical five-bar mechanisms；30101,
First straight-bar；30102, the second straight-bar；30103, the first revolute pair；30104, the first curved bar；30105, the second revolute pair；
30106, the second curved bar；30107, third revolute pair；30108, third curved bar；30109, the 4th revolute pair；30110, the 4th is curved
Bar；30111, the 5th revolute pair；302, first movement vice mechanism；3021, fixing sleeve；3022, mobile bar；303, space parallel four
Bian Xing mechanism；30301, halfpace；30302, third straight-bar；30303, the 4th straight-bar；30304, the 5th straight-bar；30305,
One Hooke's hinge；30306, the second Hooke's hinge；30307, third Hooke's hinge；30308, the 4th Hooke's hinge；30309, the 5th Hooke's hinge；
30310, the 6th Hooke's hinge；4, the second branch；401, the second mobile vice mechanism；4011, fixed link；4012, movable block；402,
One ball pair；403, connecting rod；404, the second ball pair.
Specific embodiment
As shown in fig. 7, a kind of specific embodiment for becoming born of the same parents' parallel institution, including fixed platform 1 and motion platform 2, it is described
Fixed platform 1 is connected by first branch 3 with two the second branches 4 with motion platform 2；When the fixed platform 1 and fortune
When moving platform 2 is parallel, two second branches 4 are equal with the distance between the first branch 3 in same level；I.e. when described
When fixed platform 1 is parallel with motion platform 2, if rotated by axis of the central axis of the first branch, two the second branch rotation rails
Mark can be overlapped.First branch 3 includes spherical five-bar mechanisms 301, first movement vice mechanism 302 and the space being sequentially connected
Parallelogram mechanism 303, the spherical five-bar mechanisms 301 are connect with the fixed platform 1, the space parallelogram machine
Structure 303 is connect with the motion platform 2.Second branch 4 includes the second mobile vice mechanism 401, the first ball being sequentially connected
Pair 402, connecting rod 403 and the second ball pair 404, the described second mobile vice mechanism 402 are connect with the fixed platform 1, and described second
Ball pair 404 is connect with the motion platform 2.
As shown in Figure 1, 2, 3, more specifically, the spherical five-bar mechanisms 301 in the first branch include being vertically fixed on institute
State the first straight-bar 30101 and the second straight-bar 30102 in fixed platform 1.The end of first straight-bar 30101 passes through first turn
Dynamic pair 30103 is connected with one end of the first curved bar 30104, and the end of second straight-bar 30102 passes through the second revolute pair 30105
It is connected with one end of the second curved bar 30106.The other end of first curved bar 30104 is connected with by third revolute pair 30107
One end of third curved bar 30108, it is curved that the other end of second curved bar 30106 by the 4th revolute pair 30109 is connected with the 4th
One end of bar 30110, the other end of the 4th curved bar 30110 and the other end of the third curved bar 30108 pass through the 5th turn
Dynamic pair 30111 connects.First revolute pair and the second revolute pair are that input is secondary.Wherein, first curved bar 30104, the second curved bar
30106, the bent angle angle of third curved bar 30108 and the 4th curved bar 30110 is 90 °.The first movement vice mechanism 302 includes solid
Surely set 3021 and mobile bar 3022, the mobile bar 3022 are telescopically plugged in the fixing sleeve 3021, fixing sleeve 3021
Positioned at 3022 downside of mobile bar, and the lower end of fixing sleeve 3021 is fixed on the corner of the 4th curved bar 30110, and fixing sleeve 3021
With mobile bar 3022 upwards perpendicular to the plane where the 4th curved bar 30110.When the first movement vice mechanism 302 is perpendicular to institute
When stating fixed platform 1, first revolute pair 30103, the second revolute pair 30105, the 4th revolute pair 30109 and the 5th revolute pair
30111 axis is located in same level, and wherein the axis of two neighboring revolute pair is mutually perpendicular to, the third revolute pair
30107 axis is overlapped with the axis of first movement vice mechanism 302.
The space parallelogram mechanism 303 includes halfpace 30301, third straight-bar 30302, the 4th straight-bar
30303 and the 5th straight-bar 30304.Distinguish the lower end of the third straight-bar 30302, the 4th straight-bar 30303 and the 5th straight-bar 30304
Pass through the upper end of the first Hooke's hinge 30305, the second Hooke's hinge 30306 and third Hooke's hinge 30307 and the halfpace 30301
Face connection.The upper end of the third straight-bar 30302, the 4th straight-bar 30303 and the 5th straight-bar 30304 passes through the 4th Hooke's hinge respectively
30308, the 5th Hooke's hinge 30309 and the 6th Hooke's hinge 30310 are connect with the lower end surface of the motion platform 2.The third is straight
Bar 30302, the 4th straight-bar 30303 and the 5th straight-bar 30304 are parallel to each other.First Hooke's hinge 30305, the second Hooke's hinge
30306 and third Hooke's hinge 30307 and halfpace 30301 three tie points in a circular trace, the 4th tiger
Three tie points of gram the 30308, the 5th Hooke's hinge 30309 of hinge and the 6th Hooke's hinge 30310 and motion platform 2 are also in a circle
On track, and two circular trace diameters are identical.The upper end and the centre of the mobile bar 3022 of first movement vice mechanism 302 are flat
The lower end surface of platform 30301 is fixedly connected, and the tie point of first movement vice mechanism 302 and halfpace 30301 is located at the first tiger
It is round where three tie points of gram the 30305, second Hooke's hinge 30306 of hinge and third Hooke's hinge 30307 and halfpace 30301
The center point of track.
As shown in fig. 7, more specifically, the described second mobile vice mechanism 401 in the second branch includes fixed link 4011
With movable block 4012, the lower end of fixed link 4011 is vertically fixed in fixed platform 1, and the movable block 4012 can slide up and down to
It is mounted in the fixed link 4011, the movable block is connect with one end of the first ball pair 402, the first ball pair 402
The other end connect with one end of connecting rod 403, the other end of connecting rod is connect with one end of the second ball pair 404, described second
The other end of ball pair 404 is connect with the motion platform 2.Two the second branches are without geometry effect of contraction in motion platform, movement
The geometrical constraint and freedom degree of platform depend entirely on the first branch.
Fixed coordinate system o-xyz is established in the geometric center o point of spherical five-bar mechanisms, x-axis and the first revolute pair axis are same
To y-axis and the second revolute pair axis are in the same direction, and z-axis is determined by x-axis and y-axis multiplication cross.Spherical five-bar mechanisms are the driving of the first branch
Pair, the first revolute pair and the second revolute pair being connected by selection driving or locked spherical five-bar mechanisms with fixed platform, first
Branch has 4 kinds of different sub- structure states, and the first branch, which has, becomes born of the same parents' characteristic.
When driving the first revolute pair and the second revolute pair simultaneously, spherical five-bar mechanisms output is that 2DOF rotates, accordingly
First branch has 3T2R movement (when indicating movement, tee represents movement, and letter r represents rotation, similarly hereinafter), and the first branch is deposited
In 1 constraint couple of force, for the constraint couple of force along the normal direction of motion platform, motion platform is restrained along the rotation of its normal direction, and first
Chain is moved with 3T2R, and the first branch is claimed to be switched to sub- structure state A at this time (with reference to Fig. 4).Then change born of the same parents' parallel institution of the invention is cut
It is changed to operation mode A.
When driving the first revolute pair, the second revolute pair is locked, spherical five-bar mechanisms are equivalent to the single-degree-of-freedom rotated around x-axis
Revolute pair, corresponding first branch have 3T1RX(subscript X represent around x-axis rotate) movement, the first branch there are 2 constraint couple of forces,
Claim the first branch to be switched to sub- structure state B at this time (with reference to Fig. 5).Motion platform along reference axis y to along reference axis z to rotation quilt
Constraint, motion platform have 3T1RXMovement, then change born of the same parents' parallel institution of the invention is switched to operation mode B.
When driving the second revolute pair, the first revolute pair is locked, spherical five-bar mechanisms are equivalent to the single-degree-of-freedom rotated around y-axis
Revolute pair, corresponding first branch have 3T1RY(subscript Y represent around y-axis rotate) movement, the first branch there are 2 constraint couple of forces,
Claim the first branch to be switched to sub- structure state C at this time (with reference to Fig. 6).Motion platform along reference axis x to along reference axis z to rotation quilt
Constraint, motion platform have 3T1RYMovement, then change born of the same parents' parallel institution of the invention is switched to operation mode C.
When simultaneously, locked first revolute pair and the second revolute pair, spherical five-bar mechanisms are locked, no output, and corresponding first
Branch is moved with 3T, and there are 3 constraint couple of forces for the first branch, and 3 independent rotations of first branch in space are all restrained,
Claim the first branch to be switched to sub- structure state D at this time (with reference to Fig. 3).3 independent rotations of the motion platform in space are all restrained, fortune
Moving platform is moved with 3T, then change born of the same parents' parallel institution of the invention is switched to operation mode D.
When the input corner of the first revolute pair and the second revolute pair is zero, switched over for the different sub- structure states of the first branch
Initial bit shape, the first branch when initial bit shape is also as shown in Figure 3.
Change born of the same parents' parallel institution of the invention can be applied to setting for multi-mode 3D printing robot and restructural parallel machine
Meter.
Embodiment described above is only that preferred embodiment of the invention is described, and is not carried out to the scope of the present invention
It limits, without departing from the spirit of the design of the present invention, those of ordinary skill in the art make technical solution of the present invention
Various changes and improvements, should all fall into claims of the present invention determine protection scope in.
Claims (5)
1. a kind of change born of the same parents' parallel institution, it is characterised in that: including fixed platform (1) and motion platform (2), the fixed platform
(1) it is connected by first branch (3) with two the second branches (4) with motion platform (2)；When the fixed platform (1) with
When motion platform (2) is parallel, two second branches (4) are equal with the distance between the first branch (3) in same level；
First branch (3) includes the spherical five-bar mechanisms (301) being sequentially connected, first movement vice mechanism (302) and space
Parallelogram mechanism (303), the spherical five-bar mechanisms (301) connect with the fixed platform (1), the space parallel four
Bian Xing mechanism (303) is connect with the motion platform (2)；
Second branch (4) includes second mobile vice mechanism (401) being sequentially connected, the first ball secondary (402), connecting rod (403)
Secondary (404) with the second ball, described second mobile vice mechanism (401) are connect with the fixed platform (1), the second ball pair
(404) it is connect with the motion platform (2).
2. change born of the same parents' parallel institution according to claim 1, it is characterised in that: the spherical five-bar mechanisms (301) include hanging down
The first straight-bar (30101) and the second straight-bar (30102) being directly fixed on the fixed platform (1)；First straight-bar
(30101) end is connected with one end of the first curved bar (30104), second straight-bar by the first revolute pair (30103)
(30102) end is connected with one end of the second curved bar (30106) by the second revolute pair (30105)；First curved bar
(30104) the other end is connected with one end of third curved bar (30108), second curved bar by third revolute pair (30107)
(30106) the other end is connected with one end of the 4th curved bar (30110), the 4th curved bar by the 4th revolute pair (30109)
(30110) the other end is connect with the other end of the third curved bar (30108) by the 5th revolute pair (30111)；
First curved bar (30104), the second curved bar (30106), third curved bar (30108) and the 4th curved bar (30110) it is curved
Angle angle is 90 °；The lower end of the first movement vice mechanism (302) is fixed on the corner of the 4th curved bar (30110), and first
Mobile vice mechanism (302) are upwards perpendicular to the plane where the 4th curved bar (30110)；
When the first movement vice mechanism (302) is perpendicular to the fixed platform (1), first revolute pair (30103),
The axis of two revolute pairs (30105), the 4th revolute pair (30109) and the 5th revolute pair (30111) is located in same level, and
Wherein the axis of two neighboring revolute pair is mutually perpendicular to, the axis and first movement vice mechanism of the third revolute pair (30107)
(302) axis is overlapped.
3. change born of the same parents' parallel institution according to claim 1, it is characterised in that: the first movement vice mechanism (302) includes
Fixing sleeve (3021) and mobile bar (3022), the mobile bar (3022) are telescopically plugged in the fixing sleeve (3021),
Fixing sleeve (3021) is located on the downside of mobile bar (3022), and the lower end of fixing sleeve (3021) and the spherical five-bar mechanisms (301)
Connection, the upper end of mobile bar (3022) is connect with the space parallelogram mechanism (303).
4. change born of the same parents' parallel institution according to claim 1, it is characterised in that: the space parallelogram mechanism (303)
Including halfpace (30301), third straight-bar (30302), the 4th straight-bar (30303) and the 5th straight-bar (30304)；The third
The lower end of straight-bar (30302), the 4th straight-bar (30303) and the 5th straight-bar (30304) pass through respectively the first Hooke's hinge (30305),
Second Hooke's hinge (30306) and third Hooke's hinge (30307) are connect with the upper surface of the halfpace (30301)；Described
The upper end of three straight-bars (30302), the 4th straight-bar (30303) and the 5th straight-bar (30304) passes through the 4th Hooke's hinge respectively
(30308), the 5th Hooke's hinge (30309) and the 6th Hooke's hinge (30310) are connect with the lower end surface of the motion platform (2)；Institute
Third straight-bar (30302), the 4th straight-bar (30303) and the 5th straight-bar (30304) is stated to be parallel to each other；First Hooke's hinge
(30305), the second Hooke's hinge (30306) and third Hooke's hinge (30307) and three tie points of halfpace (30301) are one
In a circular trace, the 4th Hooke's hinge (30308), the 5th Hooke's hinge (30309) and the 6th Hooke's hinge (30310) and movement
Three tie points of platform (2) are also in a circular trace, and two circular trace diameters are identical；
The upper end of the first movement vice mechanism (302) is fixedly connected with the lower end surface of the halfpace (30301), and first
The tie point of mobile vice mechanism (302) and halfpace (30301) is located at the first Hooke's hinge (30305), the second Hooke's hinge
(30306) and the center point of circular trace where three tie points of third Hooke's hinge (30307) and halfpace (30301).
5. change born of the same parents' parallel institution according to claim 1, it is characterised in that: described second mobile vice mechanism (401) include
Fixed link (4011) and movable block (4012), the movable block (4012) are slidably disposed in the fixed link (4011),
The lower end of fixed link (4011) is vertically fixed on the fixed platform (1)；The movable block (4012) and the first ball pair
(402) one end connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910208141.5A CN109732572A (en) | 2019-03-19 | 2019-03-19 | A kind of change born of the same parents' parallel institution |
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| CN201910208141.5A CN109732572A (en) | 2019-03-19 | 2019-03-19 | A kind of change born of the same parents' parallel institution |
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Family
ID=66370859
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022122048A1 (en) * | 2020-12-07 | 2022-06-16 | 中国民航大学 | Split-type five-degrees-of-freedom parallel mechanism |
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| JP2003311667A (en) * | 2002-04-19 | 2003-11-05 | Osaka Industrial Promotion Organization | Robot arm, and robot arm operation system |
| CN1546287A (en) * | 2003-11-28 | 2004-11-17 | 清华大学 | Spatial five freedom degree parallel robot mechanism |
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Application publication date: 20190510 |