CN109746896B - Parallel system with 3T, 2T1R and 1R2T motion patterns - Google Patents
Parallel system with 3T, 2T1R and 1R2T motion patterns Download PDFInfo
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- CN109746896B CN109746896B CN201811511289.8A CN201811511289A CN109746896B CN 109746896 B CN109746896 B CN 109746896B CN 201811511289 A CN201811511289 A CN 201811511289A CN 109746896 B CN109746896 B CN 109746896B
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Abstract
The invention discloses a parallel system with 3T, 2T1R and 1R2T motion modes, which comprises a fixed platform and a movable platform, wherein the fixed platform is connected with the movable platform through a first branched chain, a second branched chain and a third branched chain. The invention has a parallel system with 3T, 2T1R and 1R2T motion modes, a universal hinge is formed by a revolute pair respectively connected with a fixed platform and a movable platform in three branched chains, the motion can be flexible, and the parallel system can realize the motion modes of three movements (3T), two movements and one rotation (the rotation axis of 2T1R is vertical to the moving plane) and one rotation and two movements (the movement plane of 1R2T is parallel to the rotation axis) by controlling the revolute pair and the revolute pair, so that the parallel system can rapidly change the motion modes after being used in the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like, and the work requirements under the complex conditions are met.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a parallel system with 3T, 2T1R and 1R2T motion modes.
Background
The parallel robot system is in a space multi-degree-of-freedom multi-ring closed chain form. Since the eighties of the last century, parallel systems have been widely used in the fields of virtual axis machine tools, micro-motion operation tables, motion simulators, multi-dimensional force sensors and the like due to their characteristics of high rigidity, large bearing capacity, small accumulated error, good dynamic characteristics, compact structure and the like. The parallel system has 2, 3, 4, 5 or 6 degrees of freedom, at present, the parallel system with 6 degrees of freedom is researched more comprehensively and deeply, but the reduction of the degrees of freedom of the parallel system enables the system structure to be simpler, and the manufacturing and control cost to be relatively lower, so that the parallel robot with less degrees of freedom has unique advantages under the condition of meeting the expected working requirement.
The parallel system with multiple motion modes has the characteristic of motion bifurcation under the condition of singular configuration of the system, and can realize multiple motion modes through fewer driving pairs and branched chains, thereby being suitable for different work requirements. And the motion mode of the system is changed without reassembling the system, and the motion mode is high in changing speed and simple and convenient in process. In the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like, a parallel structure which simultaneously has three-movement (3T), two-movement one-rotation (2T1R rotation axis is vertical to a movement plane) and one-rotation two-movement (1R2T rotation axis is parallel to the movement plane) motion modes is required to adapt to various different motion modes, work under various circumstances is adapted, and the whole work flow is simplified.
Disclosure of Invention
The invention aims to provide a parallel system with 3T, 2T1R and 1R2T motion modes, solves the problem of single structure of the parallel system in the prior art, and can meet the working requirements of the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like under complex conditions.
The technical scheme adopted by the invention is that the parallel system with the 3T, 2T1R and 1R2T motion modes comprises a fixed platform and a movable platform, wherein the fixed platform is connected with the movable platform through a first branched chain, a second branched chain and a third branched chain.
The invention is also characterized in that:
the movable platform is T-shaped, the first branched chain is connected with one port of the movable platform, the second branched chain is connected with the second port of the movable platform, and the third branched chain is connected with the third port of the movable platform.
The first branched chain comprises a revolute pair R connected with the fixed platform11Rotational pair R11Is connected with a revolute pair R12Rotational pair R11And a revolute pair R12Forming a universal hinge; revolute pair R12Is connected with a first connecting rod, a second connecting rod is sleeved in the first connecting rod, a driving motor is connected on the second connecting rod, and a revolute pair R is connected on the second connecting rod14Rotational pair R14Is connected with a revolute pair R15Rotational pair R14And a revolute pair R15Form a universal hinge and a revolute pair R15Is connected with one port of the movable platform.
The second branched chain comprises a first sliding rod fixedly connected with the fixed platform, a third connecting rod is connected to the first sliding rod, a driving motor is connected to the third connecting rod, and the third connecting rod can move along the first sliding rodA sliding rod slides; the third connecting rod is connected with a fourth connecting rod, and the fourth connecting rod can slide along the third connecting rod; a seventh connecting rod is connected on the fourth connecting rod, and the seventh connecting rod comprises a sliding rod and a revolute pair R which are fixedly connected with each other21The sliding rod of the seventh connecting rod is sleeved with the fourth connecting rod, and the revolute pair R of the seventh connecting rod21Is connected with a revolute pair R22And a revolute pair R21And a revolute pair R22Forming a universal hinge; revolute pair R22Is connected with the movable platform.
The first sliding rod, the third connecting rod and the fourth connecting rod are mutually vertical.
The third connecting rod comprises a connecting rod and a hollow sliding rod which are connected in a T shape, the sliding rod is sleeved with the first sliding rod, the fourth connecting rod also comprises a connecting rod and a hollow sliding rod which are connected in a T shape, and the sliding rod of the fourth connecting rod is sleeved with the connecting rod of the third connecting rod; the sliding rod of the seventh connecting rod is sleeved with the connecting rod of the fourth connecting rod.
The third branched chain comprises a second sliding rod connected with the fixed platform, a fifth connecting rod is connected to the second sliding rod, a driving motor is connected to the fifth connecting rod, the fifth connecting rod can move along the second sliding rod, a sixth connecting rod is connected to the fifth connecting rod, and the sixth connecting rod can move along the fifth connecting rod; the sixth connecting rod is connected with an eighth connecting rod which comprises a hollow sliding rod and a revolute pair R31The sliding rod of the eighth connecting rod is sleeved with the sixth connecting rod, and the revolute pair R of the eighth connecting rod31Is connected with a revolute pair R32Rotational pair R31And a revolute pair R32Forming a universal hinge; revolute pair R32Is connected with the movable platform.
The second sliding rod, the fifth connecting rod and the sixth connecting rod are mutually vertical.
The fifth connecting rod comprises a connecting rod and a hollow sliding rod, the sliding rod of the fifth connecting rod is sleeved with the second sliding rod, the sixth connecting rod also comprises a connecting rod and a hollow sliding rod, and the sliding rod of the sixth connecting rod is sleeved with the connecting rod of the fifth connecting rod; the sliding rod of the eighth connecting rod 17 is sleeved with the connecting rod of the sixth connecting rod 16.
The invention has the advantages that
The invention has a parallel system with 3T, 2T1R and 1R2T motion modes, a universal hinge is formed by a revolute pair respectively connected with a fixed platform and a movable platform in three branched chains, the motion can be flexible, and the parallel system can realize the motion modes of three movements (3T), two movements and one rotation (the rotation axis of 2T1R is vertical to the moving plane) and one rotation and two movements (the movement plane of 1R2T is parallel to the rotation axis) by controlling the revolute pair and the revolute pair, so that the parallel system can rapidly change the motion modes after being used in the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like, and the work requirements under the complex conditions are met.
Drawings
FIG. 1 is a schematic diagram of the parallel system of the present invention having 3T, 2T1R and 1R2T motion patterns with 1R2T motion patterns;
FIG. 2 is a schematic diagram of the parallel system with 3T, 2T1R and 1R2T motion modes of the present invention with 2T2R instantaneous degrees of freedom;
FIG. 3 is a schematic diagram of a 2T1R mode transition of the parallel system of the present invention having 3T, 2T1R and 1R2T modes of motion;
FIG. 4 is a schematic diagram of the parallel system with 3T1R instantaneous degrees of freedom timing diagram of the present invention with 3T, 2T1R and 1R2T motion patterns;
fig. 5 is a schematic diagram of the parallel system with 3T, 2T1R and 1R2T motion patterns according to the present invention with 3T motion patterns.
In the figure, 1 is a fixed platform, 2 is a movable platform, and 3 is a revolute pair R11And 4. revolute pair R 125, a first connecting rod, 6, a second connecting rod, 7, a revolute pair R14And 8. revolute pair R 159, a first sliding rod, 10, a third connecting rod, 11, a fourth connecting rod, 12, a seventh connecting rod and 13, a revolute pair R 2214, a second sliding rod, 15, a fifth connecting rod, 16, a sixth connecting rod, 17, an eighth connecting rod and 18, a revolute pair R32。
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
A parallel system with 3T, 2T1R and 1R2T motion modes, as shown in fig. 1, comprises a fixed platform 1 and a movable platform 2 which is connected with the fixed platform 1 through a first branched chain, a second branched chain and a third branched chain and takes a T shape;
wherein the first branch chain comprises a revolute pair R connected with a certain platform 113, revolute pair R 113 is connected with a revolute pair R 124, revolute pair R 113 and revolute pair R 124 forming a universal hinge; revolute pair R12A first connecting rod 5 is connected to the connecting rod 4, a second connecting rod 6 is sleeved on the first connecting rod 5, a driving motor is connected to the second connecting rod 6, and the second connecting rod 6 can move along the first connecting rod 5 to form a sliding pair P11Will move the pair P11As a moving driving pair; the second connecting rod 6 is connected with a revolute pair R 147, revolute pair R 147 is connected with a revolute pair R 158, revolute pair R 147 and revolute pair R 158 form a universal hinge and a revolute pair R 158 is connected with one port of the movable platform 2.
The second branched chain comprises a first sliding rod 9 fixedly connected with the fixed platform 1, a third connecting rod 10 is connected to the first sliding rod 9, the third connecting rod 10 comprises a connecting rod and a hollow sliding rod which are connected in a T shape, the sliding rod is sleeved with the first sliding rod 9, and the third connecting rod 10 can form a sliding pair P along the sliding of the first sliding rod 921Of moving pair P21A mobile driving motor is connected to form a mobile driving pair; a fourth connecting rod 11 is connected to the third connecting rod 10, the fourth connecting rod 11 also comprises a connecting rod and a hollow slide rod which are connected in a T shape, the slide rod of the fourth connecting rod 11 is sleeved with the connecting rod of the third connecting rod 10, and the fourth connecting rod 11 can slide along the third connecting rod 10 to form a sliding pair P22(ii) a The first sliding rod 9, the third link 10 and the fourth link 11 are perpendicular to each other.
A seventh connecting rod 12 is connected to the fourth connecting rod 11, and the seventh connecting rod 12 comprises a sliding rod and a revolute pair R which are fixedly connected with each other21The sliding rod of the seventh link 12 is sleeved with the link of the fourth link 11, and the seventh link 12 can slide along the link of the fourth link 11 to form a sliding pair P23A revolute pair R of the seventh link 1221Is connected with a revolute pair R 2213 and a revolute pair R21And a revolute pair R 2213 forming a universal hinge; revolute pair R 2213 is connected with the movable platform 2.
Third stepThe branched chain comprises a second sliding rod 14 connected with the fixed platform 1, a fifth connecting rod 15 is connected to the second sliding rod 14, the fifth connecting rod 15 comprises a connecting rod and a hollow sliding rod, the sliding rod of the fifth connecting rod 15 is sleeved with the second sliding rod 14, and the fifth connecting rod 15 can move along the second sliding rod 14 to form a sliding pair P31Of moving pair P31A driving motor is connected on the upper part; a sixth connecting rod 16 is connected to the fifth connecting rod 15, the sixth connecting rod 16 also comprises a connecting rod and a hollow slide rod, the slide rod of the sixth connecting rod 16 is sleeved with the connecting rod of the fifth connecting rod 15, and the sixth connecting rod 16 can move along the fifth connecting rod 15 to form a sliding pair P32(ii) a The second sliding rod 14, the fifth link 15 and the sixth link 16 are perpendicular to each other. Sliding pair P32The upper part is connected with an auxiliary moving driving motor which works when the movement mode of the mechanism is changed.
The sixth connecting rod 16 is connected with an eighth connecting rod 17, and the eighth connecting rod 17 comprises a hollow sliding rod and a revolute pair R which are fixedly connected with each other31The sliding rod of the eighth link 17 is sleeved with the link of the sixth link 16, and the eighth link 17 can slide along the link of the sixth link 16 to form a sliding pair P33A revolute pair R of an eighth link 1731Is connected with a revolute pair R 3218, revolute pair R31And a revolute pair R 3218 form a universal hinge; revolute pair R 3218 is connected to a third port of the moving platform 2.
The first sliding rod 9 and the second sliding rod 14 are arranged vertically.
Under the configuration shown in fig. 1, a coordinate system is established, and a three-dimensional coordinate system is established by taking the third connecting rod 10 as an x axis, taking the second sliding rod 14 as a Y axis and taking the first sliding rod 9 as a Z axis; in the configuration shown in FIG. 1, the parallel system of the present invention, revolute pair R 113 the axis of the rotating shaft is parallel to the Y axis, and the revolute pair R 124 axis of rotation and R 113 the axis of the rotating shaft is vertical, and the moving driving pair P11Moving direction and revolute pair R 124 the axis of the rotating shaft is vertical, and the rotating pair R 147 axis of rotating shaft and revolute pair R 124 the axes of the rotating shafts are parallel, and the rotating pair R 158 axis of rotation and R 147 are vertical, the parallel system of the present invention has a 1R2T motionMode(s). Control short, move pair P21Move up and down and move pair P31Move forward and backward to make the sliding pair P11The elongation and contraction achieve the control of the motion mode of 1R 2T.
The system configuration shown in FIG. 1 of the parallel system of the present invention is deformed to lock the sliding pair P11Locking sliding pair P31Controlling the sliding pair P21Moving downwards, so that the parallel system of the invention moves to the configuration of the system shown in fig. 2, revolute pair R 124 rotating shaft axis and revolute pair R 2112, the shaft axes are parallel, and the parallel system of the present invention has 2R2T instantaneous degrees of freedom.
Controlling the sliding pair P31In a locked state, the sliding pair P32Is in locking state and controls the driving pair P11Contracting along the moving direction to control the moving pair P21Moving upwards so that the parallel system of the present invention is in the configuration shown in fig. 3; in the system configuration of fig. 3, the parallel system of the present invention has a motion pattern of 2T 1R. Controlling the sliding pair P11Extension and contraction and sliding pair P21Move the sliding pair upward and downward P31Moving to the left and right, the control of the 2T1R motion mode can be realized.
Controlling the sliding pair P11Shortening and moving pair P21Upward movement and locking movement pair P31When the system moves from the system configuration shown in figure 3 to the system configuration shown in figure 4, the parallel system has 3T1R instantaneous degree of freedom, and in the system configuration shown in figure 4, the revolute pair R 158 shaft axis and revolute pair R 113 the axes of the rotating shafts are parallel, and the rotating pair R22The axis of the rotating shaft of 13 is along the Z-axis direction. In the system configuration shown in fig. 4, the parallel system of the present invention has 3T1R instantaneous degrees of freedom.
Controlling the sliding pair P11Extending in the direction of movement, locking the sliding pair P31Controlling the sliding pair P32Move to the left, control the sliding pair P21Moving downward so that the parallel system of the present invention is in the configuration shown in fig. 5. In the configuration shown in fig. 5, the parallel system of the present invention has a 3T motion mode, controlling the sliding pair P11Moving driving pairP21Moving the driving pair P31The control of the system in this motion mode can be realized.
According to the parallel system, the fixed platform 1 and the movable platform 2 are connected through the three branched chains, different motion modes of the parallel system can be realized by controlling the movable pair and the rotating pair, namely the parallel system comprises three movements (3T), two movements and one rotation (2T1R) and one rotation and two movements (1R2T), the parallel system can be applied to motion simulation, machine assembly, sorting and grabbing and parallel machine tools, the motion modes can be rapidly changed, and the working requirements under complex conditions are met.
Claims (5)
1. The parallel system with the 3T, 2T1R and 1R2T motion modes is characterized by comprising a fixed platform (1) and a movable platform (2), wherein the fixed platform (1) is connected with the movable platform (2) through a first branched chain, a second branched chain and a third branched chain; the movable platform (2) is T-shaped, the first branched chain is connected with one port of the movable platform (2), the second branched chain is connected with the second port of the movable platform, and the third branched chain is connected with the third port of the movable platform (2); the first branched chain comprises a revolute pair R connected with the fixed platform11(3) Said revolute pair R11(3) Is connected with a revolute pair R12(4) Said revolute pair R11(3) And a revolute pair R12(4) Forming a universal hinge; the revolute pair R12(4) The upper end of the first connecting rod (5) is connected with a first connecting rod (5), a second connecting rod (6) is sleeved in the first connecting rod (5), a driving motor is connected to the second connecting rod (6), the second connecting rod (6) can move along the first connecting rod (5), and a revolute pair R is connected to the second connecting rod (6)14(7) Said revolute pair R14(7) Is connected with a revolute pair R15(8) Said revolute pair R14(7) And a revolute pair R15(8) Form a universal hinge, the revolute pair R15(8) Is connected with the movable platform (2);
the second branched chain comprises a first sliding rod (9) fixedly connected with the fixed platform (1), a third connecting rod (10) is connected to the first sliding rod (9), a driving motor is connected to the third connecting rod (10), and the third connecting rod (10) can slide along the first sliding rod (9); a fourth connecting rod is connected on the third connecting rod (10)(11) The fourth link (11) is slidable along the third link (10); a seventh connecting rod (12) is connected on the fourth connecting rod (11), and the seventh connecting rod (12) comprises a sliding rod and a revolute pair R which are fixedly connected with each other21The sliding rod of the seventh connecting rod (12) is sleeved with the fourth connecting rod (11), and the revolute pair R of the seventh connecting rod (12)21Is connected with a revolute pair R22(13) And said revolute pair R21And a revolute pair R22(13) Forming a universal hinge; the revolute pair R22(13) Is connected with the movable platform (2);
the third branched chain comprises a second sliding rod (14) connected with the fixed platform (1), a fifth connecting rod (15) is connected to the second sliding rod (14), a driving motor is connected to the fifth connecting rod (15), the fifth connecting rod (15) can move along the second sliding rod (14), a sixth connecting rod (16) is connected to the fifth connecting rod (15), and the sixth connecting rod (16) can move along the fifth connecting rod (15); an eighth connecting rod (17) is connected to the sixth connecting rod (16), and the eighth connecting rod (17) comprises a hollow sliding rod and a revolute pair R which are fixedly connected with each other31The sliding rod of the eighth connecting rod (17) is sleeved with the sixth connecting rod (16), and the revolute pair R of the eighth connecting rod (17)31Is connected with a revolute pair R32(18) Said revolute pair R31And a revolute pair R32(18) Forming a universal hinge; the revolute pair R32(18) Is connected with the movable platform (2).
2. Parallel system with 3T, 2T1R and 1R2T movement patterns according to claim 1, characterized in that the first sliding bar (9), the third link (10) and the fourth link (11) are mutually perpendicular.
3. Parallel system with 3T, 2T1R and 1R2T movement patterns according to claim 1, characterized in that the third link (10) comprises a T-connected link and a hollow slide bar, which is journalled to the first glide bar (9), and the fourth link (11) also comprises a T-connected link and a hollow slide bar, the slide bar of the fourth link (11) being journalled to the link of the third link (10).
4. The parallel system with 3T, 2T1R and 1R2T modes of motion of claim 1, wherein the second glide rod (14), fifth link (15) and sixth link (16) are perpendicular to each other.
5. The parallel system of claim 4, having 3T, 2T1R and 1R2T motion patterns, wherein the fifth link (15) comprises a link and a hollow slide, the slide of the fifth link (15) is nested with the second glide rod (14), the sixth link (16) also comprises a link and a hollow slide, the slide of the sixth link (16) is nested with the link of the fifth link (15); the sliding rod of the eighth connecting rod (17) is sleeved with the connecting rod of the sixth connecting rod (16).
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Effective date of registration: 20220630 Address after: 710000 2-2602, building 7, aodawen landscape garden community, Jianyuan Road, caotan street, Xi'an Economic and Technological Development Zone, Xi'an City, Shaanxi Province Patentee after: Xi'an depsecco measuring equipment Co.,Ltd. Address before: 710048 No. 19 Jinhua South Road, Shaanxi, Xi'an Patentee before: XI'AN POLYTECHNIC University |