CN110355737B - Translation mechanism and multi-degree-of-freedom guide mechanism with same - Google Patents
Translation mechanism and multi-degree-of-freedom guide mechanism with same Download PDFInfo
- Publication number
- CN110355737B CN110355737B CN201810316146.5A CN201810316146A CN110355737B CN 110355737 B CN110355737 B CN 110355737B CN 201810316146 A CN201810316146 A CN 201810316146A CN 110355737 B CN110355737 B CN 110355737B
- Authority
- CN
- China
- Prior art keywords
- slide rail
- connecting rod
- movable block
- hinged
- bridge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- 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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention provides a translation mechanism and a multi-degree-of-freedom guide mechanism with the translation mechanism. The translation mechanism comprises a first slide rail, a second slide rail, a first slide block, a second slide block, a first connecting rod, a second connecting rod, a third connecting rod and a movable block, wherein the first slide block is arranged on the first slide rail and can reciprocate along the first slide rail, the second slide block is arranged on the second slide rail and can reciprocate along the second slide rail, the first end of the first connecting rod is hinged with the first slide block, the second end of the first connecting rod is hinged with the movable block, the first end of the second connecting rod is hinged with the first slide block, the second end of the second connecting rod is hinged with the movable block, the first end of the third connecting rod is hinged with the second slide block, the second end of the third connecting rod is hinged with the movable block, and four hinge joint lines of the first connecting rod, the second connecting rod, the first slide block and the movable block form a parallelogram. The guide mechanism adopts a non-completely symmetrical structural design and is suitable for cooperative work of multiple mechanisms in a limited space.
Description
Technical Field
The invention relates to the field of robots, in particular to a composition mechanism of a parallel robot.
Background
From the perspective of mechanics, robots can be divided into two categories, namely series robots and parallel robots, and the parallel robots have the advantages of high rigidity, strong bearing capacity, high precision, small inertia of end pieces and the like compared with the series robots. However, most of the existing parallel robots adopt a completely symmetrical design, so that the overall size of the robot is large, and the robot is not suitable for simultaneous arrangement of a plurality of robots in a limited space.
Disclosure of Invention
The present invention has been made in view of the above-mentioned state of the art, and the present invention firstly provides a two-degree-of-freedom translation mechanism, in which the rails of the translation mechanism can be arranged in a staggered manner, thereby improving the space utilization; further provides a multi-degree-of-freedom guide mechanism with the two-degree-of-freedom translation mechanism, which belongs to a parallel structure robot, adopts a non-completely symmetrical structural design and is suitable for the cooperative work of multiple mechanisms in a limited space.
A translation mechanism comprises a first slide rail, a second slide rail, a first slide block, a second slide block, a first connecting rod, a second connecting rod, a third connecting rod and a movable block, wherein the first slide block is arranged on the first slide rail and can reciprocate along the first slide rail, the second slide block is arranged on the second slide rail and can reciprocate along the second slide rail, the first end of the first connecting rod is hinged with the first slide block, the second end of the first connecting rod is hinged with the movable block, the first end of the second connecting rod is hinged with the first slide block, the second end of the second connecting rod is hinged with the movable block, the first end of the third connecting rod is hinged with the second slide block, the second end of the third connecting rod is hinged with the movable block, and the first connecting rod, the second connecting rod, the first slide block and the movable block form a four-bar mechanism, four hinge point connecting lines of the four-bar linkage mechanism form a parallelogram.
In at least one embodiment, the robot further comprises a fourth connecting rod, a first end of the fourth connecting rod is hinged to the second sliding block, a second end of the fourth connecting rod is hinged to the movable block, the third connecting rod, the fourth connecting rod, the second sliding block and the movable block form a second four-bar linkage, and four hinged points of the second four-bar linkage are connected to form a parallelogram.
In at least one embodiment, the first and second slide rails are non-parallel to each other.
In at least one embodiment, the first slide rail is penetrated by the second slide rail, the first slider is movable along the first slide rail to the second slide rail and is reciprocated along a penetrating rail formed by the first slide rail and the second slide rail, and the second slider is movable along the second slide rail to the first slide rail and is reciprocated along a penetrating rail formed by the first slide rail and the second slide rail.
In at least one embodiment, the first slide rail and the second slide rail are in a broken line shape or an arc shape after penetrating through the first slide rail and the second slide rail.
In at least one embodiment, the first and second slide rails are spaced apart by a distance.
In at least one embodiment, still include fourth connecting rod and third slider, the third slider set up in on the second slide rail and can follow second slide rail reciprocating motion, the first end of fourth connecting rod with the third slider is articulated, the second end of fourth connecting rod with the movable block is articulated, the third connecting rod with the articulated shaft of movable block with the fourth connecting rod with the articulated shaft of movable block is coaxial.
In at least one embodiment, the second slide rail has a first sliding section along which the second slider reciprocates and a second sliding section along which the third slider reciprocates.
A multi-degree-of-freedom guide mechanism comprises a base station, a first translation mechanism, a second translation mechanism and a bridge assembly, and is characterized in that: the first translation mechanism is a translation mechanism according to the invention, the second translation mechanism is a translation mechanism according to the invention, the first translation mechanism and the second translation mechanism are arranged on the base platform at a certain distance, one end of the bridge assembly is hinged with the movable block of the first translation mechanism, the other end of the bridge assembly is hinged with the movable block of the second translation mechanism, and the length and/or the posture of the bridge assembly can be correspondingly adjusted in the moving process of the movable block of the first translation mechanism and/or the movable block of the second translation mechanism.
In at least one embodiment, the bridge assembly includes a first hinge, a second hinge, a transfer bridge first assembly, and a transfer bridge second assembly, the first hinge and the second hinge comprising two ends of the bridge assembly; one end of the first hinge part is hinged with the movable block of the first translation mechanism, and the other end of the first hinge part is hinged with the first end of the first assembly of the transfer bridge; one end of the second hinge part is hinged with the movable block of the second translation mechanism, and the other end of the second hinge part is hinged with the first end of the second assembly of the transfer bridge; the second end of the first assembly of the transfer bridge is connected with the second end of the second assembly of the transfer bridge in a relatively movable way.
In at least one embodiment, a guide rod is arranged at the second end of the first assembly of the transfer bridge, a guide block is arranged at the second end of the second assembly of the transfer bridge, a through groove is formed in the guide block, the guide rod penetrates through the through groove, and when the posture of the bridge assembly changes, the guide rod can extend into or extend out of the through groove relatively.
In at least one embodiment, the bridge assembly includes a first hinge, a second hinge, a transfer bridge first assembly, and a transfer bridge second assembly, the first hinge and the second hinge comprising two ends of the bridge assembly; one end of the first hinge part is hinged with the movable block of the first translation mechanism, and the other end of the first hinge part is hinged with the first end of the first assembly of the transfer bridge; one end of the second hinge part is hinged with the movable block of the second translation mechanism, and the other end of the second hinge part is hinged with the first end of the second assembly of the transfer bridge; the second end of the first assembly of the transfer bridge is hinged with the second end of the second assembly of the transfer bridge.
In at least one embodiment, the bridge assembly further comprises a bridge slide and an end movable block that is capable of reciprocating along the bridge slide.
In at least one embodiment, the abutment is capable of reciprocating.
The invention can achieve one or more of the following technical effects:
1. the four-bar mechanism is additionally provided with at least one connecting bar, one end of the connecting bar slides along the slide rail, and the other end of the connecting bar is hinged with a certain target component on the four-bar mechanism, so that the translation mechanism with simple structure and good stability is formed, and the guide of two translation degrees of freedom of the target component on the four-bar mechanism is realized;
2. the sliding rails of the translation mechanism can be arranged in sections, and the sliding rails in different sections are not parallel to each other, so that the size of the whole device is reduced, and the structure of the device is more compact;
3. when two sliding rails of one set of translation mechanism are arranged at an angle with each other, a plurality of sets of similar translation mechanisms can be reasonably arranged in an array manner, so that more translation mechanisms can be arranged in a limited space;
4. the two sets of translation mechanisms are used as supporting arms to form the multi-degree-of-freedom guide mechanism, the guide mechanism belongs to a non-completely symmetrical structure in a parallel robot structure, and the guide mechanism is small in size, strong in bearing capacity and high in precision.
Drawings
Fig. 1 is a schematic configuration diagram of a first embodiment of a translation mechanism according to the present invention.
Fig. 2 is a schematic structural view of a second embodiment of the translation mechanism according to the present invention.
Fig. 3 is a schematic structural view of a third embodiment of the translation mechanism according to the present invention.
Fig. 4 is a schematic structural view of a first embodiment of the multiple degree of freedom guide mechanism having a translation mechanism according to the present invention.
Fig. 5 is a schematic structural view of a second embodiment of the multiple degree of freedom guide mechanism having a translation mechanism according to the present invention.
Description of the reference numerals
101. 111 first slide rail
102. 112 second slide rail
1121 first section of second slide rail
1122 second slide rail second section
201. 211 first slider
202. 212 second slider
213 third slide
301. 311 first link
302. 312 second connecting rod
303. 313 third connecting rod
304. 314 fourth link
400. 410, 420, 430, 440 movable block
501-508-511-515 articulated shaft
600 base station
L, L ', L', L-1, L-2, L '-1, L' -2 translation mechanism
700 bridge assembly
701 first hinge member
702 second hinge member
703 transfer bridge first component
7031 guide groove
704 Transaxle second Assembly
7041 guide bar
705 bridge slide rail
706 terminal movable block
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the detailed description is intended only to teach one skilled in the art how to practice the invention, and is not intended to be exhaustive or to limit the scope of the invention.
Referring to fig. 1-5, the main structure and implementation of the present invention is described below.
The invention firstly provides a two-degree-of-freedom translation mechanism which can be used as a supporting arm of a robot guide mechanism, and the translation mechanism provides two-direction translation freedom degrees for a suspended end part of the translation mechanism in a compact structure.
Referring now to fig. 1-3, the principal structure of the translation mechanism according to the present invention will be described.
First embodiment of the translation mechanism
Referring to fig. 1, the translation mechanism L according to the first embodiment includes a first slide rail 101 and a second slide rail 102, and the first slide rail 101 and the second slide rail 102 are disposed on the base platform at an angle. The first slide rail 101 and the second slide rail 102 form a certain included angle, so that the size of the base station can be correspondingly reduced, and a plurality of sets of translation mechanisms L can be arranged in an array form on the plane where the first slide rail 101 and the second slide rail 102 are located as shown in fig. 1, thereby improving the space utilization rate. The first slide rail 101 and the second slide rail 102 may not communicate with each other or may be communicated with each other, and when the first slide rail 101 and the second slide rail 102 are communicated with each other, the first slide rail 101 and the second slide rail 102 may be integrally formed curved (e.g., arc curve, elliptic curve, etc.) rails. Of course, where there is no special requirement for space utilization, the first slide rail 101 and the second slide rail 102 can be parallel to each other or even penetrate through a straight rail.
A first sliding block 201 is arranged on the first sliding rail 101, and the first sliding block 201 can reciprocate along the first sliding rail 101; the second slide rail 102 is provided with a second slide block 202, and the second slide block 202 can reciprocate along the second slide rail 102. When the first slide rail 101 and the second slide rail 102 penetrate each other, the first slider 201 can enter the second slide rail 102 along the first slide rail 101 and reciprocate on the penetrating track formed by the first slide rail 101 and the second slide rail 102, and the second slider 202 can also enter the first slide rail 101 along the second slide rail 102 and reciprocate on the penetrating track formed by the first slide rail 101 and the second slide rail 102.
One end of first link 301 and first slider are hinged to hinge shaft 501, the other end of first link 301 and movable block 400 are hinged to hinge shaft 502, one end of second link 302 and first slider are hinged to hinge shaft 503, and the other end of second link 302 and movable block 400 are hinged to hinge shaft 504; cutting hinge shaft 501, hinge shaft 502, hinge shaft 503, and hinge shaft 504 with a plane passing through first link 301 and second link 302 will result in four hinge points whose lines form a parallelogram. One end of the third connecting rod 303 and the second sliding block are hinged to a hinge shaft 505, the other end of the third connecting rod 303 and the movable block 400 are hinged to a hinge shaft 506, one end of the fourth connecting rod 304 and the second sliding block are hinged to a hinge shaft 507, and the other end of the fourth connecting rod 304 and the movable block 400 are hinged to a hinge shaft 508; cutting hinge shaft 505, hinge shaft 506, hinge shaft 507, and hinge shaft 508 with a plane passing through third link 303 and fourth link 304 will result in four hinge points whose lines form a parallelogram.
The two parallelogram structures ensure the fixed posture of the movable block 400 relative to the base, that is, the movable block 400 can only move in a translation manner but not rotate during the reciprocating motion of the first slider 201 and/or the second slider 202. It should be noted that the fourth link 304 is not necessary, that is, in the above mechanism, the fourth link 304 and the corresponding hinge shaft 507 and hinge shaft 508 are omitted, and the same effect of keeping the posture of the movable block 400 fixed relative to the base station can be achieved; with the fourth link 304 omitted, the device will have a more compact structure.
In the rectangular spatial coordinate system shown in fig. 1, the first slider 201 and the second slider 202 are respectively driven, and the position of each link changes, so as to drive the movable block 400 to generate translation along two directions of the x axis and the y axis, that is, the movable block has two degrees of freedom in translation.
Second embodiment of the translation mechanism
Referring to fig. 2, the same or similar components as those of the first embodiment of the translation mechanism are denoted by the same or similar reference numerals, and detailed description thereof is omitted. The translation mechanism L' of the second embodiment has a more compact structure than the translation mechanism L of the first embodiment. In the second embodiment, the hinge axes of the first link 301 and the second link 302 and the movable block 400 are provided on one surface of the movable block, and the hinge axes of the third link 303 and the fourth link 304 and the movable block 400 are provided on the other surface of the movable block, that is, the parallelogram formed by the first slider 201, the first link 301, the second link 302, and the movable block 400 and the parallelogram formed by the second slider 202, the third link 303, the fourth link 304, and the movable block 400 are offset by the dimension of the movable block in the other direction (different from the direction from the hinge axis 502 toward the hinge axis 508 in the first embodiment) so that the first movable block 201 and the second movable block 202 do not have motion interference during the reciprocating motion of the respective links.
Also, in this embodiment, the fourth link 304 may be omitted.
Third embodiment of the translation mechanism
Referring to fig. 3, a third embodiment of the translation mechanism is another modification of the first embodiment of the parallel mechanism, and the same or similar components as those of the first embodiment of the translation mechanism are denoted by the same or similar reference numerals, and detailed description thereof is omitted.
The first slide rail 111 in the translation mechanism L ″ of the third embodiment is a linear rail, but this is not essential, and the first slide rail 111 may be a curved slide rail. The second slide rail 112 is spaced from the first slide rail 111 by a certain distance, that is, in the z-axis direction shown in fig. 3, the second slide rail 112 is staggered from the first slide rail 111 by a certain distance. The second slide rail 112 is configured to have two sections, and the second slide rail first section 1121 and the second slide rail second section 1122 form an included angle so that the size of the base station can be reduced correspondingly; however, this is not necessary, and in the case that there is no special requirement for space utilization, the second sliding rail first section 1121 and the second sliding rail second section 1122 can be parallel to each other, or even penetrate through the straight rail; in addition, the second slide rail first section 1121 and the second slide rail second section 1122 can also penetrate into a curved track.
The first slider 211 is disposed on the first slide rail 111 and can reciprocate along the first slide rail 111; the second slider 212 is disposed on the second sliding rail first section 1121 and can reciprocate along the second sliding rail first section 1121; the third sliding block 213 is disposed on the second sliding rail second section 1122 and can reciprocate along the second sliding rail second section 1122. When the second sliding rail first section 1121 and the second sliding rail second section 1122 penetrate each other, the second sliding block 212 can enter the second sliding rail second section 1122 along the second sliding rail first section 1121 and reciprocate on the whole second sliding rail 112, and the third sliding block 213 can also enter the second sliding rail first section 1121 along the second sliding rail second section 1122 and reciprocate on the whole second sliding rail 112.
One end of the first link 311 is hinged to the hinge shaft 511 with the first slider 211, the other end of the first link 311 is hinged to the hinge shaft 512 with the movable block 400, one end of the second link 312 is hinged to the hinge shaft 513 with the first slider 211, and the other end of the second link 312 is hinged to the hinge shaft 514 with the movable block 400; cutting the hinge shaft 511, the hinge shaft 512, the hinge shaft 513 and the hinge shaft 514 with a plane passing through the first link 311 and the second link 312 results in four hinge points whose lines form a parallelogram. One end of the third connecting rod 313 is hinged with the second sliding block 212, and the other end of the third connecting rod 313 is hinged with the movable block 400 at the hinged shaft 515; one end of the fourth link 314 is hinged to the third slider 213, and the other end of the fourth link 314 is hinged to the hinge shaft 515 with the movable block 400.
In the orthogonal spatial coordinate system shown in fig. 3, the second slider 212 and the third slider 213 are driven respectively, the position of each link changes, the first slider 211 will act as a follower to move along the first sliding rail 111, and the movable block 400 acts as a target moving object with translational freedom along two directions of the x-axis and the y-axis.
Also, in this embodiment, the fourth link 314 may be omitted. When the fourth connecting rod 314 is omitted, the first slider 211 and the second slider 212 are respectively driven, and the position of each connecting rod changes, so as to drive the movable block 400 to generate displacement in translation along two directions of the x axis and the y axis.
In other embodiments, the first slide rail 111 and the second slide rail 112 may be respectively disposed on two radial sides of the hinge shaft 515, that is, in the space orthogonal coordinate system shown in fig. 3, the first slide rail 111 and the second slide rail 112 may be disposed at a certain distance in the x-axis direction, and in this case, the first slide rail 111 and the second slide rail 112 may be disposed at a certain distance in the z-axis direction, or may have the same coordinates in the z-axis direction.
Still another one of the above translation mechanisms L, L' or L "may be used as one of the two support arms of the guide mechanism with five degrees of freedom as the invention is next set forth.
A multiple degree of freedom guide mechanism having a translation mechanism according to the present invention will be described below with reference to fig. 4 to 5.
First embodiment of multiple degrees of freedom guide mechanism
Referring to fig. 4, two sets of translation mechanisms, i.e., a translation mechanism L-1 and a translation mechanism L-2, are disposed on the base 600 at a certain distance, and the two support arms of the two sets of translation mechanisms as guide mechanisms support the bridge assembly 700 at both ends. The end movable block 706 of the bridge assembly 700 provides an interface for access to an operative component (e.g., a robotic arm for performing fine manipulation, not shown), or the end movable block 706 may be considered to be an operative component itself, thereby providing multiple degrees of freedom of displacement guidance to the operative component via the guide mechanism.
The slides of the two sets of translation mechanisms are substantially aligned in the z-axis direction of the rectangular spatial coordinate system as shown in fig. 4, however, this is not essential, i.e. the projections of the slides of the translation mechanism L-1 and the translation mechanism L-2 on the xoy plane may not coincide with each other; this will be more readily understood in the case where the structures of the translation means L-1 and the translation means L-2 themselves are not identical (the translation means L-1 and the translation means L-2 shown in fig. 4 are identical), both of which can be taken from any of the three embodiments of translation means mentioned above.
A bridge assembly 700 is articulated between the movable block 410 of the translation mechanism L-1 and the movable block 420 of the translation mechanism L-2, and the length of the bridge assembly 700 and the attitude of the bridge assembly 700 in space can vary as the movable blocks 410 and 420 are displaced in space. To achieve variation in the length and spatial attitude of bridge assembly 700, bridge assembly 700 is configured such that:
two ends of the bridge assembly 700 are respectively a first hinge 701 and a second hinge 702, one end of the first hinge 701 is hinged with the movable block 410, and the other end of the first hinge 701 is hinged with a first end of the first assembly 703 of the transfer bridge; one end of the second hinge 702 is hinged to the movable block 420, and the other end of the second hinge 702 is hinged to the first end of the second assembly 704; a second end of the first assembly 703 and a second end of the second assembly 704 are movably connected to each other to form a "middle bridge". The first and second hinges 701, 702 at the ends provide the intermediate bridge with rotational freedom about the x-axis and rotational freedom about the y-axis. The two rotational degrees of freedom provided by the first hinge 701 and the second hinge 702 for the middle bridge, respectively, in this embodiment are both achieved by two hinge axes at both ends of the first hinge 701 and the second hinge 702; in other embodiments, first hinge 701 and movable block 410 may be configured to be fixedly connected to transfer the corresponding hinge axis between first hinge 701 and intermediate bridge first assembly 703 (i.e., one degree of rotational freedom is transferred between first hinge 701 and intermediate bridge first assembly 703), and/or second hinge 702 and movable block 420 may be configured to be fixedly connected to transfer the corresponding hinge axis between second hinge 702 and intermediate bridge second assembly 704 (i.e., one degree of rotational freedom is transferred between second hinge 702 and intermediate bridge second assembly 704); furthermore, it is also possible to transfer both rotational degrees of freedom provided by the first articulation 701 to the intermediate bridge between the first articulation 701 and the movable block 410 and/or to transfer both rotational degrees of freedom provided by the second articulation 702 to the intermediate bridge between the second articulation 702 and the movable block 420. While the specific arrangement of the hinge shafts is conventional in the art, those skilled in the art may select suitable hinges to achieve the corresponding rotational degrees of freedom in the prior art, for example, when one of the two rotational degrees of freedom provided by the first hinge member 701 to the middle bridge member is transferred between the first hinge member 701 and the first intermediate bridge member 703, the hinge between the first hinge member 701 and the first intermediate bridge member 703 may be replaced by a hooke hinge.
Further, as the movable blocks 410 and 420 move, respectively, the distance between the movable blocks 410 and 420 may change, in this embodiment, the intermediate bridge may be extended or shortened to accommodate the change in distance between the movable blocks 410 and 420. The second end of the second assembly 704 is provided with a guide rod 7041, the first assembly 703 is provided with a guide slot 7031 matched with the guide rod 7041, and the guide rod 7041 can movably pass through the guide slot 7031 to connect the first assembly 703 and the second assembly 704 together. When the distance between the movable block 410 and the movable block 420 is changed, the length of the guide rod 7041 extending into the inner section of the guide slot 7031 is changed accordingly, thereby achieving the extension or contraction of the intermediate bridge. It should be understood that the overall extension or contraction of the intermediate bridge is not limited to the connection of the guide bar to the guide slot, and other connections that allow relative sliding movement of the two components may be used as is known in the art.
A bridge glide 705 is also provided on the intermediate bridge member, and in this embodiment, the bridge glide 705 is provided on the second intermediate bridge component 704 (although this is not required, e.g., the bridge glide 705 is also provided on the first intermediate bridge component 703). The bridge slide rail 705 is provided with a terminal movable block 706, the terminal movable block 706 can reciprocate along the bridge slide rail 705, and the terminal movable block 706 can generate displacement along the z-axis in the process of reciprocating along the bridge slide rail 705. In another embodiment, the movable end block 706 can be fixedly disposed on the intermediate bridge, and the base 600 can be disposed with a degree of freedom to translate along the z-axis. It should be understood that the base 600 in the present invention is a base body portion directly fixed to the first slide rail and the second slide rail of the translation mechanism, and can be used as the support base body of the translation mechanism alone or as a part of the support base body of the translation mechanism; when the base 600 is part of the support housing of the translation mechanism, and the base 600 translates along the z-axis, another part of the support housing of the translation mechanism may remain fixed.
In the above embodiment, the terminal moving block 706 has five degrees of freedom, which are: a degree of freedom to translate along the x-axis, a degree of freedom to translate along the y-axis, a degree of freedom to rotate about the x-axis, a degree of freedom to rotate about the y-axis, and a degree of freedom to translate along the z-axis.
In practical application, the guide mechanism controls the displacement of the terminal movable block by respectively driving the following components: (1) respectively driving the two sliding blocks on the translation mechanism L-1 to move along the sliding rails, (2) respectively driving the two sliding blocks on the translation mechanism L-2 to move along the sliding rails, and (3) driving the terminal movable block 706 to move along the bridge sliding rails 705. The driving mode can be motor driving, and can also be other driving modes commonly used in the prior art, such as air pressure, hydraulic pressure and the like.
Second embodiment of the multiple degree of freedom guide mechanism
This embodiment is mainly a modification of the arrangement of the "intermediate bridge" in the first embodiment of the multi-degree-of-freedom guide mechanism.
Referring to fig. 5, the same or similar components as those of the first embodiment of the multiple degree of freedom guide mechanism are denoted by the same or similar reference numerals, and detailed description thereof is omitted. The intermediate bridge adapts to the overall attitude adjustment of the guiding mechanism in such a way that the attitude changes (the angle between the first intermediate bridge component 713 and the second intermediate bridge component 714 changes). The second end of the first intermediate bridge assembly 713 is hinged to the second end of the second intermediate bridge assembly 714, so that when the distance between the movable block 430 on the translation mechanism L '-1 and the movable block 440 on the translation mechanism L' -2 changes, the first intermediate bridge assembly 713 and the second intermediate bridge assembly 714 can rotate relatively, and the distance between the two ends of the intermediate bridge can be adjusted in the form of posture change.
The above embodiments may be arbitrarily combined within a range not departing from the spirit of the present invention. For the sake of brevity, some parts are omitted from this description, however, it should be understood that the parts can be implemented using the prior art.
It should be understood that the above embodiments are only exemplary and are not intended to limit the present invention. Various modifications and alterations of the above-described embodiments may be made by those skilled in the art in light of the teachings of the present invention without departing from the scope thereof.
The positional relationships defined according to the x, y and z axes in the present invention are relative, and the coordinate axes can be rotated in space according to the actual application of the device.
Claims (11)
1. A multi-degree-of-freedom guide mechanism comprises a base station, a first translation mechanism, a second translation mechanism and a bridge assembly, and is characterized in that: the first translation mechanism and the second translation mechanism are both translation mechanisms,
the translation mechanism comprises a first slide rail, a second slide rail, a first slide block, a second slide block, a first connecting rod, a second connecting rod, a third connecting rod and a movable block, wherein the first slide block is arranged on the first slide rail and can reciprocate along the first slide rail, the second slide block is arranged on the second slide rail and can reciprocate along the second slide rail,
The first end of the first connecting rod is hinged with the first sliding block, the second end of the first connecting rod is hinged with the movable block, the first end of the second connecting rod is hinged with the first sliding block, the second end of the second connecting rod is hinged with the movable block, the first end of the third connecting rod is hinged with the second sliding block, and the second end of the third connecting rod is hinged with the movable block,
the first connecting rod, the second connecting rod, the first sliding block and the movable block form a four-bar linkage mechanism, four hinge points of the four-bar linkage mechanism are connected to form a parallelogram,
the first translation mechanism and the second translation mechanism are arranged on the base station at a certain distance, one end of the bridge component is hinged with the movable block of the first translation mechanism, the other end of the bridge component is hinged with the movable block of the second translation mechanism, the length and/or the posture of the bridge component can be correspondingly adjusted in the moving process of the movable block of the first translation mechanism and/or the movable block of the second translation mechanism,
the bridge assembly comprises a first hinge piece, a second hinge piece, a transfer bridge first assembly and a transfer bridge second assembly, and the first hinge piece and the second hinge piece form two end parts of the bridge assembly; one end of the first hinge part is hinged with the movable block of the first translation mechanism through a hinge shaft, and the other end of the first hinge part is hinged with the first end of the first assembly of the transfer bridge through a hinge shaft; one end of the second hinge part is hinged with the movable block of the second translation mechanism through a hinge shaft, and the other end of the second hinge part is hinged with the first end of the second assembly of the transfer bridge through a hinge shaft; the second end of the first intermediate bridge component and the second end of the second intermediate bridge component are connected in a relatively movable manner to form an intermediate bridge component, the first hinge component and the second hinge component provide the intermediate bridge component with a rotational degree of freedom around an x axis and a rotational degree of freedom around a y axis,
The bridge assembly further comprises a bridge slide rail and a terminal movable block, and the terminal movable block can move along the bridge slide rail in a reciprocating mode.
2. The multiple degree of freedom guide mechanism of claim 1, wherein: the translation mechanism further comprises a fourth connecting rod, the first end of the fourth connecting rod is hinged to the second sliding block, the second end of the fourth connecting rod is hinged to the movable block, the third connecting rod, the fourth connecting rod, the second sliding block and the movable block form a second four-bar mechanism, and four hinged points of the second four-bar mechanism are connected to form a parallelogram.
3. The multiple degree of freedom guide mechanism according to claim 1 or 2, characterized in that: the first sliding rail and the second sliding rail are not parallel to each other.
4. The multiple degree of freedom guide mechanism according to claim 1 or 2, characterized in that: the first slide rail is communicated with the second slide rail, the first slider can move to the second slide rail along the first slide rail and can reciprocate along a through track formed by the first slide rail and the second slide rail, and the second slider can move to the first slide rail along the second slide rail and can reciprocate along the through track formed by the first slide rail and the second slide rail.
5. The multiple degree of freedom guide mechanism of claim 4, wherein: the first slide rail and the second slide rail are in a broken line shape or an arc shape after penetrating through.
6. The multiple degree of freedom guide mechanism of claim 1, wherein: the first slide rail and the second slide rail are spaced at a certain distance.
7. The multiple degree of freedom guide mechanism of claim 6, wherein: translation mechanism still includes fourth connecting rod and third slider, the third slider set up in on the second slide rail and can follow second slide rail reciprocating motion, the first end of fourth connecting rod with the third slider is articulated, the second end of fourth connecting rod with the movable block is articulated, the third connecting rod with the articulated shaft of movable block with the fourth connecting rod with the articulated shaft of movable block is coaxial.
8. The multiple degree of freedom guide mechanism of claim 7, wherein: the second sliding rail is provided with a first sliding interval and a second sliding interval, the second sliding block reciprocates along the first sliding interval, and the third sliding block reciprocates along the second sliding interval.
9. The multiple degree of freedom guide mechanism of claim 1, wherein: the second end of the first assembly of the transfer bridge is provided with a guide rod, the second end of the second assembly of the transfer bridge is provided with a guide block, the guide block is provided with a through groove, the guide rod penetrates through the through groove, and when the posture of the bridge assembly changes, the guide rod can stretch into or stretch out of the through groove relatively.
10. The multiple degree of freedom guide mechanism of claim 1, wherein: the base can reciprocate.
11. The utility model provides a multi freedom guiding mechanism, its includes base station, first translation mechanism, second translation mechanism and bridge module, its characterized in that: the first translation mechanism and the second translation mechanism are both translation mechanisms,
the translation mechanism comprises a first slide rail, a second slide rail, a first slide block, a second slide block, a first connecting rod, a second connecting rod, a third connecting rod and a movable block, wherein the first slide block is arranged on the first slide rail and can reciprocate along the first slide rail, the second slide block is arranged on the second slide rail and can reciprocate along the second slide rail,
the first end of the first connecting rod is hinged with the first sliding block, the second end of the first connecting rod is hinged with the movable block, the first end of the second connecting rod is hinged with the first sliding block, the second end of the second connecting rod is hinged with the movable block, the first end of the third connecting rod is hinged with the second sliding block, and the second end of the third connecting rod is hinged with the movable block,
the first connecting rod, the second connecting rod, the first sliding block and the movable block form a four-bar linkage mechanism, four hinge points of the four-bar linkage mechanism are connected to form a parallelogram,
The first translation mechanism and the second translation mechanism are arranged on the base station at a certain distance, one end of the bridge component is hinged with the movable block of the first translation mechanism, the other end of the bridge component is hinged with the movable block of the second translation mechanism, the length and/or the posture of the bridge component can be correspondingly adjusted in the moving process of the movable block of the first translation mechanism and/or the movable block of the second translation mechanism,
the bridge assembly comprises a first hinge part, a second hinge part, a first intermediate bridge assembly and a second intermediate bridge assembly, and the first hinge part and the second hinge part form two end parts of the bridge assembly; one end of the first hinge part is hinged with the movable block of the first translation mechanism through a hinge shaft, and the other end of the first hinge part is hinged with the first end of the first assembly of the transfer bridge through a hinge shaft; one end of the second hinge part is hinged with the movable block of the second translation mechanism through a hinge shaft, and the other end of the second hinge part is hinged with the first end of the second assembly of the transfer bridge through a hinge shaft;
the second end of the first intermediate bridge component and the second end of the second intermediate bridge component are hinged with each other to form an intermediate bridge component, so that when the distance between the movable block of the first translation mechanism and the movable block of the second translation mechanism changes, the first intermediate bridge component and the second intermediate bridge component can relatively rotate, and the intermediate bridge component can adjust the distance between two ends of the intermediate bridge component in the form of posture change,
The bridge assembly further comprises a bridge slide rail and a terminal movable block, and the terminal movable block can move along the bridge slide rail in a reciprocating mode.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810316146.5A CN110355737B (en) | 2018-04-10 | 2018-04-10 | Translation mechanism and multi-degree-of-freedom guide mechanism with same |
| PCT/CN2018/117672 WO2019196422A1 (en) | 2018-04-10 | 2018-11-27 | Multi-degree-of-freedom parallel mechanism |
| CN201880027944.4A CN110573306B (en) | 2018-04-10 | 2018-11-27 | Multi-degree-of-freedom parallel mechanism |
| PCT/CN2018/117670 WO2019196421A1 (en) | 2018-04-10 | 2018-11-27 | Multi-degree-of-freedom parallel mechanism |
| CN201880027949.7A CN110545963B (en) | 2018-04-10 | 2018-11-27 | Multi-degree-of-freedom parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810316146.5A CN110355737B (en) | 2018-04-10 | 2018-04-10 | Translation mechanism and multi-degree-of-freedom guide mechanism with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110355737A CN110355737A (en) | 2019-10-22 |
| CN110355737B true CN110355737B (en) | 2022-06-10 |
Family
ID=68163052
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810316146.5A Active CN110355737B (en) | 2018-04-10 | 2018-04-10 | Translation mechanism and multi-degree-of-freedom guide mechanism with same |
| CN201880027944.4A Active CN110573306B (en) | 2018-04-10 | 2018-11-27 | Multi-degree-of-freedom parallel mechanism |
| CN201880027949.7A Active CN110545963B (en) | 2018-04-10 | 2018-11-27 | Multi-degree-of-freedom parallel mechanism |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880027944.4A Active CN110573306B (en) | 2018-04-10 | 2018-11-27 | Multi-degree-of-freedom parallel mechanism |
| CN201880027949.7A Active CN110545963B (en) | 2018-04-10 | 2018-11-27 | Multi-degree-of-freedom parallel mechanism |
Country Status (2)
| Country | Link |
|---|---|
| CN (3) | CN110355737B (en) |
| WO (2) | WO2019196422A1 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021081978A1 (en) * | 2019-11-01 | 2021-05-06 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| WO2021109074A1 (en) * | 2019-12-05 | 2021-06-10 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| CN114786884A (en) * | 2019-12-05 | 2022-07-22 | 苏州迈澜科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| WO2021179209A1 (en) * | 2020-03-11 | 2021-09-16 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly |
| WO2021179210A1 (en) * | 2020-03-11 | 2021-09-16 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly |
| CN111702748A (en) * | 2020-07-07 | 2020-09-25 | 上海大学 | Flexible parallel mechanism suitable for grabbing in special environment |
| CN116829311A (en) * | 2021-03-25 | 2023-09-29 | 苏州迈澜科技有限公司 | Six-degree-of-freedom motion mechanism |
| WO2022261934A1 (en) * | 2021-06-18 | 2022-12-22 | 苏州迈澜科技有限公司 | Multi-degree-of-freedom guiding mechanism and multi-degree-of-freedom guiding device |
| CN114750231B (en) * | 2022-04-25 | 2024-02-06 | 淮阴工学院 | Pleurotus eryngii root cutting device and cutting track control method thereof |
| CN114738551B (en) * | 2022-05-13 | 2023-09-05 | 徐州徐工基础工程机械有限公司 | Variable-diameter self-locking type pipe pushing jack machine head supporting structure |
| CN115043157B (en) * | 2022-06-10 | 2023-04-07 | 南京航空航天大学 | Multi-functional many sliders track conveying system |
Family Cites Families (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5787758A (en) * | 1996-09-03 | 1998-08-04 | Sheldon/Van Someren, Inc. | Three-axis machine for rapid and rigid manipulation of components |
| CA2330386A1 (en) * | 1998-04-29 | 1999-11-04 | Fci's-Hertogenbosch B.V. | Device comprising two parallel linkage mechanisms |
| JP3806273B2 (en) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 4-DOF parallel robot |
| DE10126848B4 (en) * | 2001-06-01 | 2006-02-02 | Siemens Ag | production machine |
| JP2005066723A (en) * | 2003-08-21 | 2005-03-17 | Osaka Kiko Co Ltd | Parallel robot with four degrees of freedom |
| CN100364729C (en) * | 2003-12-16 | 2008-01-30 | 广东工业大学 | Two degrees of freedom moving planar parallel mechanism |
| CA2633395C (en) * | 2007-06-01 | 2016-05-31 | Socovar, Societe En Commandite | Parallel manipulator |
| CN100488735C (en) * | 2007-08-16 | 2009-05-20 | 上海交通大学 | Two-degree-of-freedom plane parallel robot mechanism |
| ES2333930B1 (en) * | 2007-10-24 | 2010-12-28 | Universidad Del Pais Vasco Euskal Herriko Unibertsitatea | PARALLEL ROBOT WITH FOUR DEGREES OF FREEDOM. |
| TWI428218B (en) * | 2009-12-28 | 2014-03-01 | Hon Hai Prec Ind Co Ltd | Parallel robot |
| CN102152300A (en) * | 2011-02-25 | 2011-08-17 | 天津大学 | Linear-driven high-speed planar parallel mechanical arm |
| CN202534249U (en) * | 2011-12-16 | 2012-11-14 | 深圳职业技术学院 | A training apparatus of a transmission robot with multiple arms |
| CN102615514B (en) * | 2012-04-10 | 2013-08-14 | 清华大学 | Two-degree-of-plane-freedom redundant drive parallel mechanism and machine tool with same |
| CN102922512A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation |
| CN103223667B (en) * | 2012-12-27 | 2015-04-01 | 广西大学 | Parallel mechanism containing prr open-loop subchain and prrrp closed-loop subchain |
| CN103056871A (en) * | 2012-12-27 | 2013-04-24 | 广西大学 | Double closed loop subchain parallel connection mechanism with kinematic pair combination as rprrr-prrrp |
| CN203557381U (en) * | 2013-10-12 | 2014-04-23 | 浙江理工大学 | Three-degree-of-freedom parallel mechanism |
| GB2520983A (en) * | 2013-12-06 | 2015-06-10 | Huber Diffraktionstechnik Gmbh & Co Kg | Redundant parallel positioning table |
| CN104354154B (en) * | 2014-09-19 | 2016-05-11 | 深圳职业技术学院 | Three translating parallel robot mechanisms |
| CN104690716A (en) * | 2015-01-21 | 2015-06-10 | 江南大学 | (2T1R)& 1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism |
| CN104972456B (en) * | 2015-07-16 | 2017-03-08 | 哈尔滨工业大学 | A kind of achievable planar positioning and the biplane parallel institution of space two-dimensional orientation |
| WO2017167349A1 (en) * | 2016-03-31 | 2017-10-05 | Aalborg Universitet | Spherical joint mechanism with a double parallelogram mechanism |
| CN105729450B (en) * | 2016-05-09 | 2018-04-20 | 中国科学院宁波材料技术与工程研究所 | Four-freedom parallel mechanism |
| CN105798892B (en) * | 2016-05-31 | 2019-02-19 | 珠海格力智能装备有限公司 | Three-axis Delta manipulator and robot |
| CN105904441B (en) * | 2016-06-07 | 2017-11-17 | 浙江理工大学 | The movement of one kind two two rotates four-degree-of-freedom holohedral symmetry parallel institution |
| CN106272354A (en) * | 2016-09-13 | 2017-01-04 | 浙江理工大学 | A kind of plane two one-movement-freedom-degree compliant parallel mechanism of large stroke and high precision |
| CN106625600B (en) * | 2016-12-23 | 2019-01-11 | 南京理工大学 | A kind of four-freedom parallel mechanism of additional branch seat rotation |
| CN106695766B (en) * | 2017-03-01 | 2023-04-28 | 东莞松山湖机器人产业发展有限公司 | Six-degree-of-freedom parallel device based on grabbing parallel mechanism |
-
2018
- 2018-04-10 CN CN201810316146.5A patent/CN110355737B/en active Active
- 2018-11-27 WO PCT/CN2018/117672 patent/WO2019196422A1/en active Application Filing
- 2018-11-27 WO PCT/CN2018/117670 patent/WO2019196421A1/en active Application Filing
- 2018-11-27 CN CN201880027944.4A patent/CN110573306B/en active Active
- 2018-11-27 CN CN201880027949.7A patent/CN110545963B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110573306A (en) | 2019-12-13 |
| WO2019196421A1 (en) | 2019-10-17 |
| WO2019196422A1 (en) | 2019-10-17 |
| CN110355737A (en) | 2019-10-22 |
| CN110545963A (en) | 2019-12-06 |
| CN110545963B (en) | 2021-04-13 |
| CN110573306B (en) | 2021-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110355737B (en) | Translation mechanism and multi-degree-of-freedom guide mechanism with same | |
| CN109605339B (en) | Multi-freedom-degree parallel mechanism | |
| CN113543942B (en) | Parallel mechanism with kinematic redundant drive | |
| CN109877813B (en) | Large-rotation-angle 2T2R four-degree-of-freedom parallel mechanism | |
| CN115175790A (en) | Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly | |
| CN111515926B (en) | Parallel robot | |
| CN108621130A (en) | Parallel institution with two kinds of motor patterns of 2R1T and 2T1R | |
| CN113319827A (en) | Five-degree-of-freedom complete parallel machining robot | |
| CN110480603B (en) | Multi-degree-of-freedom parallel manipulator with 8M-shaped base | |
| CN110355738B (en) | Multi-degree-of-freedom guide mechanism | |
| CN104875188A (en) | (2T1R)&(2R) Completely isotropic parallel serial robot mechanism | |
| CN104942795A (en) | One-translation two-rotation three-freedom-degree translation-movement complete-decoupling parallel mechanism | |
| CN109015602B (en) | Three-translation 2CPR-URU parallel mechanism | |
| CN113829332B (en) | Four-degree-of-freedom parallel robot mechanism with three movements and one rotation | |
| CN110154002A (en) | A kind of planar two-DOF mechanism | |
| CN113348055B (en) | Multi-degree-of-freedom parallel mechanism | |
| CN114603538A (en) | Complete decoupling spherical 3R rotation parallel mechanism | |
| CN115175789B (en) | Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly | |
| CN114786882B (en) | Multi-freedom-degree parallel mechanism | |
| WO2021109074A1 (en) | Multi-degree-of-freedom parallel mechanism | |
| CN108172997B (en) | Antenna attitude adjusting device based on uncoupled three-branch two-rotation parallel mechanism | |
| CN114786884A (en) | Multi-degree-of-freedom parallel mechanism | |
| CN218947728U (en) | Multi-degree-of-freedom robot | |
| CN218659065U (en) | Five-degree-of-freedom series-parallel carving robot | |
| CN215660246U (en) | Four-degree-of-freedom parallel robot based on offset parallelogram mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |