CN110815182B - Five-degree-of-freedom parallel mechanism containing dual-drive composite branched chains - Google Patents
Five-degree-of-freedom parallel mechanism containing dual-drive composite branched chains Download PDFInfo
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- CN110815182B CN110815182B CN201911107115.XA CN201911107115A CN110815182B CN 110815182 B CN110815182 B CN 110815182B CN 201911107115 A CN201911107115 A CN 201911107115A CN 110815182 B CN110815182 B CN 110815182B
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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
A five-degree-of-freedom parallel mechanism containing dual-drive composite branched chains comprises a static platform, a movable platform, an end effector, three branched chains connected in parallel between the static platform and the movable platform, and three branched chains connected in parallel between the movable platform and the end effector; two branched chains in the three branched chains connected in parallel between the static platform and the movable platform are dual-drive branched chains, and one branched chain is a single-drive branched chain; the dual-drive branched chain comprises a main drive branched chain and an auxiliary drive branched chain arranged on the main drive branched chain; one of three branched chains connected in parallel between the movable platform and the end effector is a passive branched chain, and the movable platform and the end effector are directly connected together through a Hooke hinge by the branched chain. The invention realizes the five-degree-of-freedom motion of three-translation and two-rotation of the parallel mechanism.
Description
Technical Field
The invention belongs to the field of industrial robots, and particularly relates to a five-degree-of-freedom parallel mechanism with dual-drive composite branched chains.
Background
The high-speed parallel robot has the advantages that a serial robot mechanism does not have, and is widely applied to the operation of carrying, sorting, assembling and the like of an automatic production line in the fields of food medicine, modern logistics, electronic information and the like. The traditional Delta mechanism only has three or four degrees of freedom, so that the application field of the Delta mechanism is limited to a certain extent, and the requirement of a modern flexible automatic production line cannot be met.
The patent CN108326832A divides four branched chains uniformly distributed around the fixed platform into two groups and connects the two groups to the up-down moving platform, and the end effector is driven to swing by the rack-and-pinion mechanism by using the displacement change of the up-down moving platform. The mechanism arranges a transmission branched chain between a movable platform and a fixed platform to transmit rotation around a vertical axis direction to an end effector. Thus, the patent CN108326832A can realize three-dimensional translation and two-dimensional rotation (rotation around the vertical direction and swing around the horizontal axis). Because the mechanism is provided with four branched chains which are connected on the up-down moving platform together, the mechanism has stronger motion coupling in all directions and small working space.
Patent CN103350417B proposes a parallel mechanism capable of achieving three-dimensional translational motion and two-dimensional rotation, the mechanism has five independent branched chains connected in parallel between a movable platform and a fixed platform, the movable platform includes a central plate and a rocker vertically penetrating through the central position of the central plate, the central plate achieves three-dimensional translational motion under the drive of three branched chains, and the rocker achieves two-dimensional rotation relative to the central plate through a hooke hinge under the drive of the other two branched chains, so that the rocker has not only three translational motion degrees of freedom but also two rotational degrees of freedom. The mechanism is simple and compact in structure, the five degrees of freedom are ingeniously realized by utilizing the Hooke hinge, and the complexity of the mechanism is reduced. Because the three-dimensional translational motion working space of the parallel mechanism is actually the intersection of the motion spaces of all the branched chains, the branched chain for controlling the swinging of the rocker in the mechanism is directly driven by the branched chain independently arranged between the movable platform and the fixed platform, the working space of the mechanism is restricted by the 5 motion branched chains, and the motion working space of the mechanism can be reduced.
Disclosure of Invention
The invention aims to provide a five-degree-of-freedom parallel mechanism containing a dual-drive composite branched chain so as to realize three-translation and two-rotation five-degree-of-freedom movement of the parallel mechanism.
The technical solution for realizing the purpose of the invention is as follows:
a five-degree-of-freedom parallel mechanism containing dual-drive composite branched chains comprises a static platform, a movable platform, an end effector and three branched chains connected in parallel between the static platform and the movable platform; two of the three branched chains are dual-drive branched chains, and one branched chain is a single-drive branched chain; the dual-drive branched chain comprises a main drive branched chain and an auxiliary drive branched chain arranged on the main drive branched chain; the end effector is connected with the movable platform through a Hooke hinge;
the main driving branched chain comprises a driving motor, a speed reducer, a first driving arm and a driven arm assembly which are sequentially connected together; the driven arm assembly is connected with the movable platform, the driving motor and the speed reducer are fixed on the static platform, one end of the first driving arm is connected with the speed reducer through a revolute pair, and the driving motor drives the first driving arm 4 to rotate through the speed reducer;
the driven arm assembly comprises an upper connecting rod, a lower connecting rod and two connecting rods connected in parallel between the upper connecting rod and the lower connecting rod; two ends of the two connecting rods are respectively hinged with the upper connecting rod and the lower connecting rod to form a quadrilateral mechanism; the upper connecting rod and the lower connecting rod are equal in length; the two connecting rods have equal length; the first driving arm is connected with the middle of the upper connecting rod, and the movable platform is connected with the middle of the lower connecting rod in the driven arm component; the axis of the upper connecting rod is parallel to the axis of the rotating pair of the first driving arm 4;
the auxiliary driving branched chain comprises a driving motor, a speed reducer, a second driving arm, a pull rod, a first connecting piece, a driven rod and a second connecting piece; a driving motor and a speed reducer in the auxiliary driving branched chain are fixed on the static platform; one end of the second driving arm is connected with the static platform through a revolute pair, the driving motor drives the second driving arm through a speed reducer, and the rotation axis of the second driving arm is parallel to the rotation axis of the first driving arm of the main driving branched chain; the other end of the second driving arm is connected with the pull rod through a revolute pair, the other end of the pull rod is connected with a first connecting piece through a revolute pair, the first connecting piece is connected with the first driving arm through a revolute pair, and the axes of the revolute pairs on the second driving arm, the pull rod and the first connecting piece are parallel to the axis of rotation of the first driving arm of the main driving branched chain; the other end of the first connecting piece is hinged with the driven connecting rod, and the other end of the driven connecting rod is hinged with the second connecting piece; the second connecting piece is connected with the movable platform through a rotating pair, and the axis of the rotating pair is parallel to the axis of the lower connecting rod of the corresponding driven arm assembly; the second connecting piece is connected with the end effector through a connecting rod; and two ends of the connecting rod are respectively connected with the connecting piece and the end effector through spherical hinges.
Compared with the prior art, the invention has the following remarkable advantages: the auxiliary driving branched chain in the double-driving branched chain is used for controlling the swinging of the end effector, and the partial decoupling of the translation and rotation motion is realized. In addition, the auxiliary driving branched chain in the mechanism is attached to the main driving branched chain, so that the number of the constraint branched chains for the movable platform in the mechanism is only three, and the mechanism has a larger working space.
Drawings
Fig. 1 is a schematic structural diagram of embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of a movable platform according to embodiment 1 of the present invention.
Fig. 3(a) is a schematic structural diagram of embodiment 2 of the present invention.
Fig. 3(b) is a schematic structural view of a movable platform according to embodiment 2 of the present invention.
Fig. 4(a) is a schematic structural diagram of embodiment 3 of the present invention.
Fig. 4(b) is a schematic structural view of a movable platform according to embodiment 3 of the present invention.
Fig. 5(a) is a schematic structural diagram of embodiment 4 of the present invention.
Fig. 5(b) is a schematic structural view of a movable platform according to embodiment 4 of the present invention.
Fig. 6(a) is a schematic structural diagram of embodiment 5 of the present invention.
Fig. 6(b) is a schematic structural view of a movable platform according to embodiment 5 of the present invention.
Fig. 7(a) is a schematic structural view of embodiment 6 of the present invention.
Fig. 7(b) is a schematic structural view of a movable platform according to embodiment 6 of the present invention.
Fig. 7(c) is a schematic view of a quadrilateral mechanism according to embodiment 6 of the present invention.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Example 1
With reference to fig. 1 and 2, the five-degree-of-freedom parallel mechanism including the dual-drive composite branched chain according to the embodiment includes a static platform 1, a movable platform 18, an end effector 23, and three branched chains connected in parallel between the static platform 1 and the movable platform 18; two of three branched chains connected in parallel between the static platform 1 and the movable platform 18 are double-drive branched chains, and one branched chain is a single-drive branched chain; the dual-drive branched chain comprises a main drive branched chain and an auxiliary drive branched chain arranged on the main drive branched chain; the end effector 23 is connected with the movable platform 18 through a Hooke joint 22.
The first branched chain is a single-driving branched chain I, comprises a first driving motor 31, a first speed reducer 32, a first driving arm 4 and a driven arm component, and is sequentially connected together; the driven arm assembly is connected with the movable platform 18, the first driving motor 31 and the first speed reducer 32 are fixed on the static platform 1, one end of the first driving arm 4 is connected with the first speed reducer 32 through a rotating pair, and the first driving motor 31 drives the first driving arm 4 to rotate through the first speed reducer 32.
The driven arm component adopts a space 4S quadrilateral mechanism and comprises an upper connecting rod 6, a lower connecting rod 8 and two connecting rods 7a and 7b which are connected in parallel between the upper connecting rod 6 and the lower connecting rod 8; the length of the upper connecting rod 6 is equal to that of the lower connecting rod 8, and the length of the two connecting rods 7a and 7b is equal; the connecting rods 7a and 7b are connected with the upper connecting rod 6 and the lower connecting rod 8 through spherical hinges to form a quadrilateral mechanism; the first driving arm 4 is fixedly connected with the upper connecting rod 6, the lower connecting rod 8 is fixedly connected with the movable platform 18, and the axis of the upper connecting rod 6 is parallel to the axis of the rotating pair of the first driving arm 4.
The second and third branched chains are two double-driving branched chains II and III with the same structure, the double-driving branched chain comprises a main driving branched chain and an auxiliary driving branched chain arranged on the main driving branched chain, and the main driving branched chain and the single-driving branched chain I have the same structure. The auxiliary driving branched chain comprises a second driving motor 3, a second speed reducer 2, a second driving arm 10, a pull rod 11, a first connecting piece 12, a driven rod 14 and a second connecting piece 16; a second driving motor 3 and a second speed reducer 2 in the auxiliary driving branched chain are fixed on the static platform 1; one end of a second driving arm 10 is connected with the static platform 1 through a revolute pair, a second driving motor 3 drives the second driving arm 10 through a second speed reducer 2, and the rotation axis is parallel to the rotation axis of a first driving arm 4 of the main driving branched chain; the other end of the second driving arm 10 is connected with a pull rod 11 through a revolute pair, the other end of the pull rod 11 is connected with a first connecting piece 12 through a revolute pair, the first connecting piece 12 is connected with the first driving arm 4 through a revolute pair, and the axes of the revolute pairs on the second driving arm 10, the pull rod 11 and the first connecting piece 12 are parallel to the axis of rotation of the first driving arm 4 of the main driving branched chain; the other end of the first connecting piece 12 is connected with the driven connecting rod 14 through a spherical hinge, and the other end of the driven connecting rod 14 is connected with the second connecting piece 16 through a spherical hinge; the second connecting piece 16 is connected with the movable platform 18 through a rotating pair, and the axis of the rotating pair is parallel to the axis of the lower connecting rod 8 of the driven arm assembly; the axis of the follower link 14 is parallel to the axes of the connecting rods 7a and 7 b. The second connecting piece 16 is connected with the end effector 23 through a connecting rod 20; the two ends of the connecting rod 20 are respectively connected with the connecting piece 16 and the end effector 23 through spherical hinges.
In this embodiment, three revolute pairs of the first driving arm 4 connected to the stationary platform 1 are horizontally arranged and uniformly arranged at intervals of 120 ° in pairs. The three-dimensional translation of the movable platform 18 can be realized by driving the three first driving arms 4, and the two-dimensional rotation of the end effector 23 relative to the movable platform 18 can be realized by driving the two second driving arms 10, so that the five-degree-of-freedom motion of the end effector 23 is realized.
Example 2
The structure of this embodiment is as shown in fig. 3(a) and 3(b), unlike embodiment 1, the driven link 14 in the dual-drive branched chains II and III of this embodiment is arranged to intersect with the two connecting rods 7a and 7b in the space quadrilateral mechanism, that is, the projection lines of the two connecting rods 7a and 7b in the space quadrilateral mechanism on the plane perpendicular to the secondary axis of rotation of the first driving arm 4 coincide with each other, and intersect with the projection line of the driven link 14 on the plane perpendicular to the secondary axis of rotation of the first driving arm 4.
Example 3
The structure of this embodiment is shown in fig. 4(a), and the present embodiment is different from embodiment 1 in that: the arrangement of the movable platforms 18 is different.
As shown in fig. 4(b), the center of the movable platform 18 is provided with an opening, the driving end of the hooke joint 22 is fixedly connected to the center of the movable platform 18, the axis of the driving end coincides with the central plane of the movable platform 18, the end effector 23 passes through the center of the movable platform 18 and is fixedly connected to the driven end of the hooke joint 22, the connecting rod 20 is arranged above the movable platform 18, and the two ends are respectively connected to the second connecting member 16 and the end effector 23 through ball joints.
Example 4
The structure of this embodiment is shown in fig. 5(a), and the present embodiment is different from embodiment 1 in that: and the revolute pair formed by connecting the two first driving arms 4 in the first branched chain I and the third branched chain III with the static platform 1 is horizontally arranged, and the plane formed by the two first driving arms 4 is orthogonally arranged with the revolute pair formed by connecting the first driving arms 4 in the second branched chain II with the static platform 1. The driven connecting rod 14 in the dual-drive branched chain II and the two connecting rods 7a and 7b in the space quadrilateral mechanism are arranged in a crossed mode, and the driven connecting rod 14 in the dual-drive branched chain III and the two connecting rods 7a and 7b in the space quadrilateral mechanism are arranged in a parallel mode.
As shown in fig. 5(b), since the first and third branches I, III and the second branch II are orthogonally arranged, the lower links 8 of the first and third branches I, III are arranged in a horizontal plane with their axes parallel to each other; the lower connecting rod 8 in the second branch chain II is arranged in a vertical plane, and the rest of the components and the connection mode are the same as those in the embodiment 1.
Example 5
The structure of this embodiment is shown in fig. 6(a), and the present embodiment is different from embodiment 4 in that: and the revolute pair formed by connecting the two first driving arms 4 in the second branched chain II and the third branched chain III with the static platform 1 is vertically arranged, and the plane formed by the two first driving arms 4 is orthogonally arranged with the revolute pair formed by connecting the first driving arm 4 in the first branched chain I with the static platform 1. The driven connecting rods 14 in the double-drive branched chains II and III and the two connecting rods 7a and 7b in the space quadrilateral mechanism are arranged in parallel.
As shown in fig. 6(b), since the second and third branches II and III are orthogonally arranged to the first branch I, the lower links 8 of the second and third branches II and III are arranged in a vertical plane with their axes parallel to each other; the lower connecting rod 8 in the first branch chain I is arranged in the horizontal plane, and the rest of the components and the connection mode are the same as those of the embodiment 4.
Example 6
The structure of the present embodiment is shown in fig. 7(a) and 7(b), and the present embodiment is different from embodiment 5 in that: the driven arm assembly adopts a plane 4R quadrilateral mechanism, and as shown in figure 7(c), the connecting rods 7a and 7b are connected with the upper connecting rod 6 and the lower connecting rod 8 through a revolute pair; the first driving arm 4 is connected with the upper connecting rod 6 through a revolute pair, and the axis of the revolute pair is parallel to the axis of a revolute pair connected with the static platform 1 through the first driving arm 4; the lower connecting rod 8 is connected with the movable platform 18 through a revolute pair, and the axis of the revolute pair is superposed with the axis of the lower connecting rod 8; the motion effect is the same as the quadrilateral of the spatial 4S mechanism, and the rest components and the connection mode are the same as those of the embodiment 5.
Claims (7)
1. A five-degree-of-freedom parallel mechanism containing dual-drive composite branched chains comprises a static platform (1), a movable platform (18), an end effector (23) and three branched chains connected in parallel between the static platform (1) and the movable platform (18); the three branched chains are characterized in that two branched chains in the three branched chains are dual-drive branched chains, one branched chain is a single-drive branched chain, and only the single-drive branched chain comprises a main drive branched chain; the dual-drive branched chain comprises a main drive branched chain and an auxiliary drive branched chain arranged on the main drive branched chain; the end effector (23) is connected with the movable platform (18) through a Hooke joint (22);
the main driving branched chain comprises a first driving motor (31), a first speed reducer (32), a first driving arm (4) and a driven arm assembly which are sequentially connected together; the driven arm assembly is connected with the movable platform (18), the first driving motor (31) and the first speed reducer (32) are fixed on the static platform (1), one end of the first driving arm (4) is connected with the first speed reducer (32) through a revolute pair, and the first driving motor (31) drives the first driving arm (4) to rotate through the first speed reducer (32);
the driven arm assembly comprises an upper connecting rod (6), a lower connecting rod (8) and two connecting rods connected in parallel between the upper connecting rod (6) and the lower connecting rod (8); two ends of the two connecting rods are respectively hinged with the upper connecting rod (6) and the lower connecting rod (8) to form a quadrilateral mechanism; the lengths of the upper connecting rod (6) and the lower connecting rod (8) are equal; the two connecting rods have equal length; the other end of the first driving arm (4) is connected with the middle of the upper connecting rod (6), and the movable platform (18) is connected with the middle of the lower connecting rod (8) in the driven arm component; the axis of the upper connecting rod (6) is parallel to the axis of the rotating pair of the first driving arm (4);
the auxiliary driving branched chain comprises a second driving motor (3), a second speed reducer (2), a second driving arm (10), a pull rod (11), a first connecting piece (12), a driven connecting rod (14) and a second connecting piece (16); a second driving motor (3) and a second speed reducer (2) in the auxiliary driving branched chain are fixed on the static platform (1); one end of the second driving arm (10) is connected with the static platform (1) through a revolute pair, the second driving motor (3) drives the second driving arm (10) through a second speed reducer (2), and the rotating axis of the second driving arm (10) is parallel to the rotating axis of the first driving arm (4) of the main driving branched chain; the other end of the second driving arm (10) is connected with one end of a pull rod (11) through a revolute pair, the other end of the pull rod (11) is connected with the upper end of a first connecting piece (12) through a first revolute pair, the inner side of the lower end of the first connecting piece (12) is connected with the first driving arm (4) through a second revolute pair, and the axes of the revolute pairs on the second driving arm (10), the pull rod (11) and the first connecting piece (12) are parallel to the axis of rotation of the first driving arm (4) of the main driving branched chain; the outer side of the lower end of the first connecting piece (12) is hinged with one end of a driven connecting rod (14), and the other end of the driven connecting rod (14) is hinged with a second connecting piece (16); the second connecting piece (16) is connected with the movable platform (18) through a rotating pair, and the axis of the rotating pair is parallel to the axis of the lower connecting rod (8) of the corresponding driven arm assembly; the second connecting piece (16) is connected with the end effector (23) through a connecting rod (20); two ends of the connecting rod (20) are respectively connected with the second connecting piece (16) and the end effector (23) through spherical hinges.
2. The five-degree-of-freedom parallel mechanism with the dual-drive composite branched chains according to claim 1 is characterized in that the driven arm assembly adopts a spatial 4S quadrilateral mechanism, namely the two connecting rods are connected with the upper connecting rod (6) and the lower connecting rod (8) through spherical hinges; the first driving arm (4) is fixedly connected with the upper connecting rod (6), and the lower connecting rod (8) is fixedly connected with the movable platform (18).
3. The five-degree-of-freedom parallel mechanism with the dual-drive composite branched chains according to claim 1 is characterized in that the driven arm assembly adopts a planar 4R quadrilateral mechanism, namely the two connecting rods are connected with the upper connecting rod (6) and the lower connecting rod (8) through revolute pairs; the first driving arm (4) is connected with the upper connecting rod (6) through a revolute pair, and the axis of the revolute pair is parallel to the axis of a revolute pair connected with the static platform (1) and the first driving arm (4); the lower connecting rod (8) is connected with the movable platform (18) through a rotating pair, and the axis of the rotating pair is superposed with the axis of the lower connecting rod (8).
4. The five-degree-of-freedom parallel mechanism containing the dual-drive composite branched chain according to claim 1, wherein three revolute pairs of the first driving arms (4) connected with the static platform (1) are horizontally arranged and uniformly arranged with a distance of 120 degrees in pairs.
5. The five-degree-of-freedom parallel mechanism with the dual-drive composite branched chains according to claim 1 is characterized in that a revolute pair, connected with the static platform (1), of the two first driving arms (4) rotates horizontally, and a plane formed by the two first driving arms (4) is orthogonal to a revolute pair, connected with the static platform (1), of the other first driving arm (4).
6. The five-degree-of-freedom parallel mechanism with the dual-drive composite branched chains according to claim 1 is characterized in that two first driving arms (4) vertically rotate with a revolute pair connected with the static platform (1), and a plane formed by the two first driving arms (4) is orthogonal to a revolute pair connected with the static platform (1) of the other first driving arm (4).
7. The five-degree-of-freedom parallel mechanism with the dual-drive composite branched chains according to claim 1 is characterized in that the outer side of the lower end of the first connecting piece (12) is connected with one end of the driven connecting rod (14) through a hook hinge or a ball hinge, and the other end of the driven connecting rod (14) is connected with the second connecting piece (16) through a hook hinge or a ball hinge.
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| CN114378794B (en) * | 2022-01-21 | 2023-09-26 | 天津工业大学 | Three-translation high-speed parallel robot with branched chain end hinging structure |
| CN114918903B (en) * | 2022-05-19 | 2024-03-19 | 南京理工大学 | Three-plane two-to-five-degree-of-freedom parallel mechanism |
| CN115741639A (en) * | 2022-11-16 | 2023-03-07 | 天津大学 | Six-branched-chain five-degree-of-freedom parallel processing robot for complex curved surface |
| CN116766164B (en) * | 2023-08-23 | 2023-10-20 | 太原理工大学 | High-rigidity five-degree-of-freedom parallel driving robot with multi-ring coupling branched chains |
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