CN110355738B - Multi-degree-of-freedom guide mechanism - Google Patents
Multi-degree-of-freedom guide mechanism Download PDFInfo
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- CN110355738B CN110355738B CN201810316148.4A CN201810316148A CN110355738B CN 110355738 B CN110355738 B CN 110355738B CN 201810316148 A CN201810316148 A CN 201810316148A CN 110355738 B CN110355738 B CN 110355738B
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- movable
- assembly
- guide rail
- bridge
- guide
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
The invention provides a multi-degree-of-freedom guide mechanism which comprises a base platform, a first guide rail, a second guide rail, a first movable assembly, a second movable assembly and a bridge assembly, wherein the first guide rail and the second guide rail are arranged on the base platform, the first movable assembly can reciprocate along the first guide rail, the second movable assembly can reciprocate along the second guide rail, one end of the bridge assembly is hinged with the first movable assembly, the other end of the bridge assembly is hinged with the second movable assembly, and the length and/or the posture of the bridge assembly can be correspondingly adjusted in the process that the first movable assembly reciprocates along the first guide rail and/or the second movable assembly reciprocates along the second guide rail. The guide mechanism adopts a non-completely symmetrical structural design and is suitable for the cooperative work of a plurality of 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 invention is made in view of the state of the prior art, and the multi-degree-of-freedom guide mechanism provided by the invention belongs to a parallel mechanism, adopts a non-completely symmetrical structural design, and is suitable for the cooperative work of multiple mechanisms in a limited space.
A multi-degree-of-freedom guide mechanism comprises a base platform, a first guide rail, a second guide rail, a first movable assembly, a second movable assembly and a bridge assembly, wherein the first guide rail and the second guide rail are arranged on the base platform, the first movable assembly can reciprocate along the first guide rail, the second movable assembly can reciprocate along the second guide rail, one end of the bridge assembly is hinged to the first movable assembly, the other end of the bridge assembly is hinged to the second movable assembly, the first movable assembly reciprocates along the first guide rail and/or the second movable assembly reciprocates along the second guide rail, and the length and/or the posture of the bridge assembly can be adjusted correspondingly.
In at least one embodiment, the first movable assembly includes a first movable rail and a first movable block, the first movable block is capable of reciprocating along the first movable rail, and the guidance of the first movable rail is different from the guidance of the first movable rail; the second movable assembly comprises a second movable guide rail and a second movable block, the second movable block can reciprocate along the second movable guide rail, and the direction of the second movable guide rail is different from that of the second guide rail.
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 first movable assembly, 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 second movable assembly, and the other end of the second hinge part is hinged with the first end of the second assembly of the transfer bridge; and 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 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 first movable block, 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 second movable block, and the other end of the second hinge part is hinged with the first end of the second assembly of the transfer bridge; the first assembly of the transfer bridge is connected with the second assembly of the transfer bridge in a relatively movable manner.
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 first movable block, 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 second movable block, 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 includes a bridge rail and an end movable block that is reciprocally movable along the bridge rail.
In at least one embodiment, the bridge assembly further includes a bridge guide rail and a terminal movable block, the bridge guide rail is disposed on the first assembly of the transfer bridge or the second assembly of the transfer bridge, and the terminal movable block can reciprocate along the bridge guide rail.
In at least one embodiment, the base is capable of reciprocating.
The invention can achieve one or more of the following technical effects:
1. through the independent movement of the first movable assembly and the second movable assembly along the first guide rail and the second guide rail respectively, a translation degree of freedom and a rotation degree of freedom are provided for the terminal movable block;
2. adding a translational degree of freedom and a rotational degree of freedom to the terminal movable block by respectively superposing another set of slide rails on the first movable assembly and the second movable assembly;
3. a bridge guide rail is arranged on the bridge component or the base station is integrally moved, so that another translation degree of freedom is added to the terminal movable block;
4. the whole 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 structural view according to a first embodiment of the present invention.
Fig. 2 is a partial structural view of a connector according to a second embodiment of the present invention.
Description of the reference numerals
1 base station
2 first guide rail
3 second guide rail
400 first movable assembly
401 first movable rail
402 first active block
500 second Movable Assembly
501 second movable guide rail
502 second movable block
600 bridge component
601 first articulation
602 second hinge member
603 transfer bridge first assembly
6031 guide rod
604 Transaxle second Assembly
6041 guide block
605 bridge guide rail
606 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. 1-2, the main structure and implementation of the present invention is described below.
A first guide rail 2 and a second guide rail 3 are provided on the base 1 at a certain distance, and in the present embodiment, the first guide rail 2 and the second guide rail 3 are provided in parallel with the y-axis shown in fig. 1 and aligned with each other in the z-axis direction; however, such a position arrangement is not essential, that is, the projections of the first guide rail 2 and the second guide rail 3 in the xoy plane may not coincide, and the first guide rail 2 and the second guide rail 3 may also form an angle (the angle is not 90 °) with each other.
A first movable assembly 400 is arranged on the first guide rail 2, and the first movable assembly 400 can reciprocate along the first guide rail 2 under the driving of a motor; the second guide rail 3 is provided with a second movable assembly 500, and the second movable assembly 500 can reciprocate along the second guide rail 3 under the driving of a motor. The first movable assembly 400 comprises a first movable guide rail 401, a first movable block 402 is arranged on the first movable guide rail 401, and the first movable block 402 can reciprocate along the first movable guide rail 401 under the driving of a motor; the second movable assembly 500 includes a second movable rail 501, a second movable block 502 is disposed on the second movable rail 501, and the second movable block 502 can reciprocate along the second movable rail 501 under the driving of a motor. In the present embodiment, the first movable rail 401 is provided so as to be orthogonal to the first rail 2, and the second movable rail 501 is provided so as to be orthogonal to the second rail 3; however, this is not essential, i.e. the first moveable rail 401 may be arranged at other angles (not parallel) to the first rail 2 and the second moveable rail 501 may be arranged at other angles (not parallel) to the second rail 3.
A first hinge 601 is hinged to the first movable block 402, and the hinge is a first hinge; a second hinge member 602 is hinged to the second movable block 502, and the hinge shaft is a second hinge shaft; in the present embodiment, the first hinge shaft and the second hinge shaft are both parallel to the x-axis, but this is not essential, and the first hinge shaft and the second hinge shaft may be respectively disposed at a certain angle (not 90 °) with respect to the x-axis corresponding to the positional relationship of the respective members in the present embodiment.
The other end of the first hinge member 601 is hinged to the first assembly 603 of the transfer bridge, and the hinge shaft is a third hinge shaft; the other end of the second hinge member 602 is hinged to the second assembly 604 of the transfer bridge, and the hinge shaft is a fourth hinge shaft; in the present embodiment, the third hinge shaft is perpendicular to the first hinge shaft and the fourth hinge shaft is perpendicular to the second hinge shaft, but this is not essential, and the third hinge shaft may be disposed at another angle (not parallel) with the first hinge shaft and the fourth hinge shaft may be disposed at another angle (not parallel) with the second hinge shaft corresponding to the positional relationship of the respective members in the present embodiment.
The first assembly 603 is connected to the second assembly 604 to form an intermediate bridge. During the reciprocating motion of any one or more of the first movable assembly 400, the second movable assembly 500, the first movable block 402, and the second movable block 502 relative to the respective mating guideways, the length and/or attitude of the intermediate bridge will change accordingly, so that the entire bridge assembly 600 articulating between the first movable block 402 and the second movable block 502 can conform to the adjustment in the overall attitude of the guide mechanism.
Two embodiments of varying the length and/or attitude of the intermediate bridge are described below.
First embodiment
In the first embodiment, the intermediate bridge is adapted to the adjustment of the overall attitude of the guide mechanism in such a manner as to be elongated or shortened as a whole.
Referring to fig. 1, a guide bar 6031 is disposed at an end of the first assembly 603 of the transfer bridge away from the third hinge axis, and a guide block 6041 is disposed at an end of the second assembly 604 of the transfer bridge away from the fourth hinge axis. The guide block 6041 is provided with a through groove which is matched with the guide rod 6031 and through which the guide rod 6031 passes, and the guide rod 6031 passes through the through groove and is connected with the guide block 6041 in a relatively sliding manner. So that when the distance between the third hinge shaft and the fourth hinge shaft varies during the reciprocating motion of any one or more of the first movable assembly 400, the second movable assembly 500, the first movable block 402 and the second movable block 502 with respect to the respective mating guide rails, the guide bar 6031 may extend into or out of the guide block 6041, so that the intermediate bridge member is adapted to the adjustment of the overall posture of the guide mechanism in such a manner as to be shortened or lengthened as a whole.
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 block, and other connections that allow relative sliding movement between the two components, or that provide a degree of freedom of relative movement between the two components, may be used.
Second embodiment
The same or similar components as those of the first embodiment are denoted by the same or similar reference numerals, and detailed description thereof is omitted.
In the second embodiment, the intermediate bridge adapts to the adjustment of the overall attitude of the guide mechanism in such a way that the attitude changes (the angle between the first assembly 613 of the intermediate transfer bridge and the second assembly 614 of the intermediate transfer bridge changes).
Referring to fig. 2, one end of the first intermediate bridge component 613, which is far away from the third hinge shaft, is hinged to one end of the second intermediate bridge component 614, which is far away from the fourth hinge shaft, which is a fifth hinge shaft. Therefore, when the distance between the third hinge shaft and the fourth hinge shaft changes during the reciprocating motion of any one or more of the first movable assembly 400, the second movable assembly 500, the first movable block 402 and the second movable block 502 relative to the respective matched guide rails, the first intermediate bridge assembly 613 and the second intermediate bridge assembly 614 can rotate relatively, so that the posture of the intermediate bridge changes, and the distance between two end parts of the intermediate bridge can be adjusted to adapt to the adjustment of the overall posture of the guide mechanism.
Further, the second assembly 604/614 of the transfer bridge of the guide mechanism of the present invention is provided with a bridge guide 605. Referring to fig. 1, the bridge rail 605 is provided with an end movable block 606, the end movable block 606 can reciprocate along the bridge rail 605, and the end movable block 606 can be displaced along the z-axis during the reciprocating motion along the bridge rail 605.
In the above embodiment, the terminal moving block 606 has five degrees of freedom, which are: the cooperation of the first guide rail 2 with the first movable assembly 400 and the cooperation of the second guide rail 3 with the second sliding block 500 provide the terminal movable block 606 with freedom of translation along the y-axis; when the displacement of the first movable assembly 400 on the first rail 2 is not synchronized with the displacement of the second movable assembly 500 on the second rail 3, the end movable block 606 is provided with a degree of freedom of rotation about the x-axis; the cooperation of the first movable block 402 with the first movable rail 401 and the cooperation of the second movable block 502 with the second movable rail 501 provide the terminal movable block 606 with freedom to translate along the x-axis; when the displacement of the first movable block 402 on the first movable rail 401 is not synchronized with the displacement of the second movable block 502 on the second movable rail 501, a degree of freedom of rotation around the y-axis is provided for the terminal movable block 606; the mating of the bridge rail 605 with the end movable block 606 provides the end movable block 606 with 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) the first movable assembly 400 reciprocates along the first guide rail 2, (2) the second movable assembly 500 reciprocates along the second guide rail 3, (3) the first movable block 402 reciprocates along the first movable guide rail 401, (4) the second movable block 502 reciprocates along the second movable guide rail 501, and (5) the terminal movable block 606 reciprocates along the bridge guide rail 605. 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.
In practical applications, an operation part, such as a manipulator for performing fine operations, may be disposed on the terminal movable block 606, so as to provide a multi-degree-of-freedom displacement guide for the operation part via the guide mechanism.
Compared with the prior art, the guide mechanism adopts a non-completely symmetrical parallel robot structure, and can be provided with a plurality of sets of guide mechanisms in a limited space, namely, the plurality of sets of guide mechanisms are respectively provided with the terminal movable blocks, and the plurality of terminal movable blocks form a terminal movable block group for coordinated operation.
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 the description, however, it should be understood that the parts can be implemented by 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.
For example:
(1) in the present invention, the end movable block 606 may be fixedly disposed on the intermediate bridge (without the bridge guide 605), for example, the end movable block 606 may be fixedly disposed on the second intermediate bridge component 604/614, and the base 1 may be disposed to have a degree of freedom of translation in the z-axis direction. The base 1 in the invention is a base body part directly fixed with the first guide rail 2 and the second guide rail 3, which can be used as a supporting base body of the guide mechanism alone or as a part of the supporting base body of the guide mechanism; when the base 1 is used as part of the support base body of the guide mechanism, and the base 1 is translated along the z-axis, another part of the support base body of the guide mechanism may remain fixed.
(2) The guide rail of the present invention is not limited to a linear guide rail, and the guide rail path may be a curved path, only that it is sufficient that the movable assembly/movable block reciprocating on the guide rail has displacement components along the x, y and z axes during the movement.
(3) The first hinge 601 described in the second embodiment of the present invention provides two rotational degrees of freedom for the terminal movable block 606, which are respectively implemented by a first hinge shaft where the first hinge 601 is hinged to the first movable block 402 and a third hinge shaft where the first hinge 601 is hinged to the first component 613 of the intermediate transfer bridge; the second hinge 602 provides two degrees of freedom for the terminal movable block 606, which are achieved by a second hinge axis of the second hinge 602 hinged to the second movable block 502 and a fourth hinge axis of the second hinge 602 hinged to the second component 614 of the intermediate bridge. In other embodiments, the first articulation 601 and the first movable block 402 may be arranged in a fixed connection and the respective articulation axis may be transferred between the first articulation 601 and the first intermediate component 613 (i.e., one degree of rotational freedom may be transferred between the first articulation 601 and the first intermediate component 613), and/or the second articulation 602 and the second movable block 502 may be arranged in a fixed connection and the respective articulation axis may be transferred between the second intermediate component 614 and the first intermediate component 613 (i.e., one degree of rotational freedom may be transferred between the second intermediate component 614 and the first intermediate component 613). While the specific hinge axis arrangement is within the scope of the present invention, it is within the scope of the present invention that the skilled person can select a suitable hinge to achieve the corresponding rotational degree of freedom, for example, when one of the two rotational degrees of freedom provided by the first hinge member 601 to the movable end block 606 is transferred to the first intermediate member 613, the hinge between the first intermediate member 613 and the first hinge member 601 can be replaced by a hooke hinge.
(4) When the terminal movable block 606 does not require five degrees of freedom, several components of the guiding mechanism of the present invention may be omitted, for example, the first movable assembly 400 is not provided with the first movable rail 401 and the first movable block 402, and/or the second movable assembly 500 is not provided with the second movable rail 501 and the second movable block 502, i.e., the first hinge 601 is directly hinged to the first movable assembly 400 and/or the second hinge 602 is directly hinged to the second movable assembly 500.
(5) 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 (6)
1. A multi-degree-of-freedom guide mechanism comprises a base platform, a first guide rail, a second guide rail, a first movable assembly, a second movable assembly and a bridge assembly, wherein the first guide rail and the second guide rail are arranged on the base platform, the first movable assembly can reciprocate along the first guide rail, the second movable assembly can reciprocate along the second guide rail, wherein,
one end of the bridge component is hinged with the first movable component, the other end of the bridge component is hinged with the second movable component, the length and/or the posture of the bridge component can be correspondingly adjusted in the reciprocating process of the first movable component along the first guide rail and/or the second movable component along the second guide rail,
the first movable assembly comprises a first movable guide rail and a first movable block, the first movable block can reciprocate along the first movable guide rail, and the guide direction of the first movable guide rail is different from that of the first guide rail; the second movable assembly comprises a second movable guide rail and a second movable block, the second movable block can reciprocate along the second movable guide rail, the direction of the second movable guide rail is different from that of the second guide rail,
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 first movable block, 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 second movable block, and the other end of the second hinge part is hinged with the first end of the second assembly of the transfer bridge; the first assembly of the transfer bridge is connected with the second assembly of the transfer bridge in a relatively movable manner.
2. 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.
3. A multi-degree-of-freedom guide mechanism comprises a base platform, a first guide rail, a second guide rail, a first movable assembly, a second movable assembly and a bridge assembly, wherein the first guide rail and the second guide rail are arranged on the base platform, the first movable assembly can reciprocate along the first guide rail, the second movable assembly can reciprocate along the second guide rail, wherein,
one end of the bridge component is hinged with the first movable component, the other end of the bridge component is hinged with the second movable component, the length and/or the posture of the bridge component can be correspondingly adjusted in the reciprocating process of the first movable component along the first guide rail and/or the second movable component along the second guide rail,
the first movable assembly comprises a first movable guide rail and a first movable block, the first movable block can reciprocate along the first movable guide rail, and the guide direction of the first movable guide rail is different from that of the first guide rail; the second movable assembly comprises a second movable guide rail and a second movable block, the second movable block can reciprocate along the second movable guide rail, the direction of the second movable guide rail is different from that of the second guide rail,
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 first movable block, 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 second movable block, 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.
4. The multiple degree of freedom guide mechanism of any one of claims 1 to 3, wherein: the bridge assembly further comprises a bridge guide rail and a terminal movable block, wherein the terminal movable block can move back and forth along the bridge guide rail.
5. The multiple degree of freedom guide mechanism of any one of claims 1 to 3, wherein: the bridge assembly further comprises a bridge guide rail and a terminal movable block, the bridge guide rail is arranged on the transfer bridge first assembly or the transfer bridge second assembly, and the terminal movable block can move along the bridge guide rail in a reciprocating mode.
6. The multiple degree of freedom guide mechanism of any one of claims 1 to 3, wherein: the base is capable of reciprocating.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810316148.4A CN110355738B (en) | 2018-04-10 | 2018-04-10 | Multi-degree-of-freedom guide mechanism |
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| CN201810316148.4A CN110355738B (en) | 2018-04-10 | 2018-04-10 | Multi-degree-of-freedom guide mechanism |
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| CN110355738A CN110355738A (en) | 2019-10-22 |
| CN110355738B true CN110355738B (en) | 2021-12-24 |
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| CN114786882B (en) * | 2019-11-01 | 2023-06-30 | 苏州迈澜科技有限公司 | Multi-freedom-degree parallel 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 |
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