CN111203857B - Flexible parallel mechanism with multi-degree-of-freedom translational motion - Google Patents
Flexible parallel mechanism with multi-degree-of-freedom translational motion Download PDFInfo
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- CN111203857B CN111203857B CN202010047931.2A CN202010047931A CN111203857B CN 111203857 B CN111203857 B CN 111203857B CN 202010047931 A CN202010047931 A CN 202010047931A CN 111203857 B CN111203857 B CN 111203857B
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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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
Abstract
The invention relates to a flexible parallel mechanism with multiple degrees of freedom of translational motion, wherein a first driver, a second driver and a third driver respectively drive the upper ends of a first flexible motion branched chain, a second flexible motion branched chain and a third flexible motion branched chain to respectively translate along a first guide rail, a second guide rail and a third guide rail, the first driver, the second driver and the third driver pull each flexible motion branched chain to enable each flexible motion branched chain to be bent and deformed, and because flexible rods in each flexible motion branched chain are parallel to each other and have equal length, an upper connecting piece and a lower connecting piece of each flexible motion branched chain are kept parallel, so that a moving platform fixedly connected with a lower connecting piece of each flexible motion branched chain keeps horizontal translation; the first driver, the second driver and the third driver are controlled by the control device to translate to different positions along the first guide rail, the second guide rail and the third guide rail respectively, so that the moving platform can move in the vertical direction and any horizontal direction.
Description
Technical Field
The invention relates to a flexible parallel mechanism for space multi-degree-of-freedom translation motion, belonging to the flexible parallel robot technology.
Background
The three-freedom-degree translation parallel mechanism is a very important configuration of a few-freedom-degree parallel mechanism, and a motion platform of the three-freedom-degree translation parallel mechanism can realize spatial three-dimensional rapid translation motion. Because the robot has the characteristics of simple structure, convenient control, low cost, high micromotion precision and the like, the robot is widely applied to the material sorting operation process in the industries of food, medicine, electronics, chemical engineering and the like.
At present, the three-degree-of-freedom translational motion parallel mechanism which is most widely applied in sorting operation is a Delta type mechanism. The Delta type mechanism consists of a frame, a mobile platform and 3 motion branched chains which are connected with the frame and the mobile platform. Each motion branched chain is provided with a parallelogram mechanism for limiting the rotation of the mobile platform, so that the mobile platform can not rotate and can only move in space. Because the hinge pair in the parallelogram has certain motion limitation, the Delta type mechanism cannot obtain a large working space. To obtain a large working space, only large-sized Delta-type mechanisms are used. It is clear that the large size of the Delta-type mechanism results in higher manufacturing costs and larger assembly space. Moreover, the existing parallel mechanism has poor man-machine compatibility, and a protective cover is usually needed in use to prevent the human body or the surrounding environment from being injured.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a flexible parallel mechanism with multiple degrees of freedom of translational motion, which can realize the translational motion of a mobile platform with multiple degrees of freedom in a space coordinate system.
In order to realize the aim, the invention provides a flexible parallel mechanism with multi-degree-of-freedom translational motion, which adopts the following technical scheme: a flexible parallel mechanism with multiple degrees of freedom translation motion comprises the following parts:
the device comprises a rack, a first guide rail, a second guide rail, a guide rail support and a guide rail support, wherein the first guide rail and the second guide rail are (8230) \ 8230and the Nth guide rail, and N is a positive integer more than or equal to 3; the device comprises a first guide rail, a second guide rail, a first driver, a second driver, a third driver, a fourth driver, a fifth driver and a sixth driver, wherein the first guide rail and the second guide rail are (8230) \\ 8230and the nth driver are respectively connected on the nth guide rail in a sliding manner;
the frame is connected with a first flexible moving branched chain the flexible motion branched chain has the structure shown in the specification of No. N, wherein the flexible motion branched chain has the structure shown in the specification of No. N, and the flexible motion branched chain has the structure shown in the specification of No. 8230;
the flexible motion device comprises a first flexible motion branched chain, a second flexible motion branched chain, an upper connecting piece and a lower connecting piece, wherein the first flexible motion branched chain and the second flexible motion branched chain have a structure of (8230) \ 8230, the Nth flexible motion branched chain is provided with the upper connecting piece and the lower connecting piece which are arranged in parallel, and at least 3 flexible rods which are parallel to each other and have the same length are connected between the upper connecting piece and the lower connecting piece; the upper connecting piece is provided with an upper connecting surface connected with one end of each flexible moving branched chain, the lower connecting piece is provided with a lower connecting surface connected with the other end of each flexible moving branched chain, and the upper connecting surface is parallel to the lower connecting surface;
the flexible motion device comprises a first flexible motion branched chain, a second flexible motion branched chain, a connecting piece and a flexible motion branched chain, wherein the connecting piece is fixedly arranged on the first flexible motion branched chain, the connecting piece is fixedly arranged on the second flexible motion branched chain, and the connecting piece is fixedly arranged on the upper flexible motion branched chain.
Preferably, a plurality of retaining pieces are arranged between the upper connecting piece and the lower connecting piece, each flexible rod penetrates through a through hole in each retaining piece, and a certain distance is reserved between every two adjacent retaining pieces.
Preferably, a support spring is arranged between two adjacent retaining sheets.
More guide rails, drives and flexible moving branches can be arranged between the frame and the moving platform. The actual displacement of the mobile platform is determined by the minimum elastic potential energy sum of all flexible motion branched chains.
Preferably, the first flexible moving branch, the second flexible moving branch, \8230; \8230andthe Nth flexible moving branch are provided with one or more cylindrical rigid retainer nodes, and the flexible rods penetrate through the through holes of the rigid retainer nodes.
Preferably, the first and second electrodes are formed of a metal, the upper end of the N-shaped guide rail is connected to each vertex of the regular N-shaped connecting plate; the lower ends of the first guide rail and the second guide rail are connected together, wherein the section of the first guide rail is 8230; preferably, said N is equal to 3.
Preferably, the first and second electrodes are formed of a metal, the upper end of the N-shaped guide rail is connected to each vertex of the regular N-shaped connecting plate; the first guide rail and the second guide rail are (8230) \8230, and the Nth guide rail is parallel to each other and extends along the vertical direction; preferably, said N is equal to 3.
Preferably, the first guide rail, the second guide rail, the 8230, the Nth guide rail, the N equals to 3, and the first guide rail, the second guide rail and the third guide rail are connected into a Y-shaped structure.
Preferably, the first guide rail (13), the second guide rail (14) \8230, and the Nth guide rail are connected to form a regular N-shaped edge; preferably, said N is equal to 3.
Preferably, the flexible rods are made of a superelastic material.
Preferably, the lower connecting member is fixed to the moving platform.
As mentioned above, the flexible parallel mechanism with multiple degrees of freedom translation motion related by the invention has the following beneficial effects: in the multi-degree-of-freedom translational motion flexible parallel mechanism, a first driver and a second driver are used for 8230, an N driver is used for driving a first flexible motion branched chain and a second flexible motion branched chain 8230, an N driver is used for driving the first flexible motion branched chain and the second flexible motion branched chain 8230, the N driver is used for driving the 8230, the upper end of the N flexible motion branched chain is respectively along a first guide rail and a second guide rail, the N guide rail is used for translating, the first driver and the second driver are used for 8230, the N driver is used for pulling each flexible motion branched chain to enable each flexible motion branched chain to be bent and deformed, and the flexible rods in each flexible motion branched chain are parallel to each other and have equal lengths, so that an upper connecting piece and a lower connecting piece of each flexible motion branched chain are kept parallel, and a moving platform of the lower connecting piece is kept horizontally translated; the control device controls the first driver and the second driver to move 8230, the Nth driver respectively moves along the first guide rail and the second guide rail 8230, the 8230and the Nth guide rail horizontally move to different positions, so that the mobile platform can move in the vertical direction and any horizontal direction. Therefore, the flexible parallel mechanism with multiple degrees of freedom of translational motion can realize translational motion in a space coordinate system, and achieve a better man-machine co-fusion effect.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of a flexible parallel mechanism with multiple degrees of freedom translation motion according to the invention;
FIG. 2 is a schematic structural diagram of a second embodiment of a multiple degree of freedom translational motion flexible parallel mechanism of the present invention;
FIG. 3 is a schematic structural diagram of a third embodiment of a multiple-degree-of-freedom translational motion flexible parallel mechanism according to the invention;
FIG. 4 is a schematic structural diagram of a fourth embodiment of a multiple degree of freedom translational motion flexible parallel mechanism of the present invention;
FIG. 5 is a schematic view of a flexible kinematic chain;
FIG. 6 is a schematic view showing the structure of the holding sheet;
description of the element reference
1. Frame 18 first guide rail
2. Connecting plate 19 second guide rail
3. First rail 20 third rail
4. Second guide rail 21 first driver
5. Third guide rail 22 second driver
6. Frame 23 third drive
7. Connecting plate 24 moving platform
8. First guide 25 first flexible moving branch
9. Second guide rail 26 second flexible moving branch chain
10. Third guide 27 third flexible moving branch
11. Connecting piece on frame 28
12. Triangular frame 29 lower connecting piece
13. First guide 30 flexible rod
14. Second rail 31 holding piece
15. Third guide rail 32 via hole
16. Rigid holding joint of frame 33
17. Triangular frame 34 through hole
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure of the present invention.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are used for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms may be changed or adjusted without substantial change in the technical content. In the description of the present specification, N represents an integer of 3 or more.
As shown in fig. 1 to 4, the present invention provides a flexible parallel mechanism with multiple degrees of freedom translation motion, which comprises the following parts:
the device comprises a rack 1/6/11/16, a first guide rail 3/8/13/18, a second guide rail 4/9/14/19 \8230, an Nth guide rail, wherein N is a positive integer more than or equal to 3; the first guide rail 3/8/13/18 and the second guide rail 4/9/14/19 \8230thesecond guide rail 8230, the first driver 21 and the second driver 22 \8230arerespectively connected on the Nth guide rail in a sliding way;
a first flexible moving branched chain 25, a second flexible moving branched chain 26\8230, a No. N flexible moving branched chain are connected between the moving platform 24 and the rack 1/6/11/16;
the flexible motion branched chain comprises a first flexible motion branched chain 25, a second flexible motion branched chain 26, an upper connector 28 and a lower connector 29 which are arranged in parallel, wherein at least 3 flexible rods 30 which are parallel to each other and have the same length are connected between the upper connector 28 and the lower connector 29; the upper connecting piece 28 is provided with an upper connecting surface connected with one end of each flexible moving branched chain, the lower connecting piece 29 is provided with a lower connecting surface connected with the other end of each flexible moving branched chain, and the upper connecting surface is parallel to the lower connecting surface;
the flexible moving device comprises a first flexible moving branched chain 25, a second flexible moving branched chain 26, an upper connector 28, an upper connector 8230, an upper connector 28, a first driver 21, a second driver 22, an upper connector 8230, an upper connector 26, a first flexible moving branched chain 25, a second flexible moving branched chain 26, an upper connector 8230, a lower connector 29, a flexible moving branched chain 26 and a flexible moving branched chain N.
In the multi-degree-of-freedom translational motion flexible parallel mechanism, a first driver 21 and a second driver 22 \8230: \8230, an Nth driver respectively drives a first flexible motion branched chain 25 and a second flexible motion branched chain 26 \8230: \8230, the upper end of the Nth flexible motion branched chain respectively follows a first guide rail 3/8/13/18 and a second guide rail 4/9/14/19 \8230: \8230, an Nth guide rail is translated, the flexible motion branched chains are pulled by the Nth driver to bend and deform the flexible motion branched chains, the flexible rods in the flexible motion branched chains are parallel to each other and have the same length, the upper connecting piece 28 is provided with an upper connecting surface connected with one end of each flexible motion branched chain, the lower connecting piece 29 is provided with a lower connecting surface connected with the other end of each flexible motion branched chain, and the upper connecting surface is parallel to the lower connecting surface; the moving platform 24 with the lower link remains horizontally translated; the control device controls the first driver 21 and the second driver 22 to lift 8230, the Nth driver lifts 82308230along the first guide rail 25 and the second guide rail 26, the Nth guide rail lifts 8230to different positions, the mobile platform 24 can be moved in a vertical direction and optionally in a horizontal direction. Therefore, the flexible parallel mechanism with multiple degrees of freedom of translational motion can realize translational motion in a space coordinate system.
In the flexible parallel mechanism with multi-degree-of-freedom translational motion, the flexible rod is arranged, so that the man-machine compatibility is greatly improved, and the flexible parallel mechanism has a wider application prospect.
In a preferred embodiment, a plurality of retaining pieces 31 are disposed between the upper connecting member 28 and the lower connecting member 29, each flexible rod 30 passes through a through hole 32 on each retaining piece 31, and a certain distance is provided between two adjacent retaining pieces 31. More guide rails, drives and flexible moving branches can be arranged between the frame and the moving platform. The actual displacement of the mobile platform is determined by the minimum elastic potential energy sum of all flexible motion branched chains.
In order to conveniently fix the lower connecting piece 29, as shown in fig. 1 to 4, the flexible parallel mechanism with multiple degrees of freedom translational motion of the invention further comprises a moving platform 24, and the lower connecting piece 29 is fixed on the moving platform 24.
In the multi-degree-of-freedom translational motion flexible parallel mechanism, a first flexible motion branch chain 25 and a second flexible motion branch chain 26 \8230areconnected between a mobile platform 24 and a rack 1/6/11/16, wherein the \8230andthe Nth flexible motion branch chain can realize the translation of the mobile platform 24 through the first flexible motion branch chain 25 and the second flexible motion branch chain 26 \8230andthe bending deformation of the Nth flexible motion branch chain, of course, more flexible motion branch chains can be arranged between the mobile platform 24 and the rack 1/6/11/16, each flexible motion branch chain is connected with a driver and driven by the driver to be bent and deformed, and the deformation of the flexible motion branch chains is combined to make the mobile platform translate. Preferably, the first guide rail 3/8/13/18, the second guide rail 4/9/14/19 and the third guide rail 5/10/15/20 may be linear guide rails or arc guide rails, and all can realize three-degree-of-freedom translational motion of the mobile platform 24.
As shown in fig. 5, which is a schematic structural diagram of a flexible moving branched chain, the flexible moving branched chain is a flexible continuum mechanism, and in a flexible parallel mechanism with multiple degrees of freedom of translational motion according to the present invention, preferably, the first flexible moving branched chain 25, the second flexible moving branched chain 26, and the third flexible moving branched chain 27 all adopt this structure. The flexible motion branched chain is provided with an upper connecting piece 28 and a lower connecting piece 29 which are arranged in parallel, at least 3 flexible rods 30 which are parallel to each other and have the same length and a plurality of retaining pieces 31 are connected between the upper connecting piece 28 and the lower connecting piece 29, as shown in fig. 6, the retaining pieces 31 are provided with through holes 32, each flexible rod 30 penetrates through the through hole 32 on the retaining piece 31, and a certain distance is reserved between every two adjacent retaining pieces 31; the flexible rod 30 is made of a super-elastic material, and the flexible rod 30 can be made of a metal material with high strength, high toughness and elasticity, such as nickel-titanium alloy. The flexible moving branched chains can be bent and deformed, when the flexible moving branched chains are bent, the flexible rods 30 of the flexible moving branched chains are kept in a parallel bent state, and because the flexible rods 30 are parallel to each other and have equal lengths, when the flexible moving branched chains are bent and deformed, the flexible rods 30 are bent, but the flexible rods 30 are still kept parallel, and the upper connecting piece 28 and the lower connecting piece 29 are always kept in a parallel state, so that the flexible moving branched chains can limit the rotation of the moving platform 24 relative to the machine frame 1/6/11/16, and the moving platform 24 has three translational degrees of freedom.
In the structure of the flexible kinematic chain shown in fig. 5, it also comprises one or more cylindrical rigid holding nodes 33, and the flexible rod 30 passes through the through hole 34 of the rigid holding node 33; the rigid holding node 33 has a plurality of holding pieces 31 at both ends thereof, and the through holes 34 in the rigid holding node 33 and the through holes 32 in the holding pieces 31 are all for supporting the flexible rods 30 from the radial direction of the flexible rods 30, so that the flexible rods 30 are kept in a parallel state during the bending deformation. The length of the rigid retainer segment 33 may be set as needed, or the rigid retainer segment 33 may be omitted, and only the plurality of retainer pieces 31 may be put on each flexible rod 30, and the flexible rods 30 may be kept parallel by the retainer pieces 31 even when they are bent. Adjacent retaining pieces 31 should have a certain distance therebetween, the distance between two adjacent retaining pieces 31 is kept between 3mm and 20mm, and a support spring (not shown) can be installed between two adjacent retaining pieces 31, the support spring can be a compression spring sleeved on the flexible rod 30, and the support spring can also be a compression spring with two ends respectively connected to two adjacent retaining pieces 31. The two ends of the supporting spring bear against two adjacent retaining tabs 31, respectively. The through hole 34 in the rigid retainer node 33 and the through hole 32 in the retaining sheet 31 are slightly larger than the diameter of the flexible rod 30, and the flexible rod 30 can slide in the through hole 34 in the rigid retainer node 33 and the through hole 32 in the retaining sheet 31.
In a preferred embodiment, the first driver 21, the second driver 22, the third driver 8230, (the fourth driver 8230) can be a linear motion mechanism driven by air pressure, hydraulic pressure or a motor.
The multi-degree-of-freedom translational motion flexible parallel mechanism can realize translational motion with multiple degrees of freedom, and as shown in fig. 1 to 4, when the first driver 21 moves downwards along the first linear guide rail 3/8/13/18, the lower end of the first flexible motion branched chain 25 pushes the moving platform 24 to move downwards and move horizontally in a direction away from the first guide rail 3/8/13/18. Similarly, movement of the second actuator 22 along the second track 4/9/14/19 causes a component of vertical movement of the mobile platform 24 and a component of horizontal movement toward or away from the second track 4/9/14/19; the movement of the third actuator 23 along the third rail 5/10/15/20 causes a vertical component of movement and a horizontal component of movement of the mobile platform 24 towards or away from the third rail 5/10/15/20. It can be seen that the mobile platform 24 can be translated to any position in a space by the control means controlling the first, second and third actuators 21, 22, 23 to translate to different positions along the first, second and third rails 3/8/13/18, 4/9/14/19, 5/10/15/20, respectively. The flexible parallel mechanism with multiple degrees of freedom of translational motion can enable the moving platform 24 to have two degrees of freedom in a horizontal plane and one degree of freedom in a vertical direction, so that the translational motion with multiple degrees of freedom can be realized.
The multi-degree-of-freedom translational motion flexible parallel mechanism can be realized in various ways, and as a preferred embodiment, please refer to fig. 1, wherein the first guide rail 3, the second guide rail 4 \ 8230, the '8230', the upper end of the N guide rail is connected to each vertex of the regular N-shaped connecting plate 7; the first guide rail 3, the second guide rail 4, 8230the 8230and the lower end of the Nth guide rail are connected together. As shown in FIG. 2, the upper ends of the first guide rail 8 and the second guide rail 9 \8230, the upper ends of the Nth guide rail 8230are connected to the vertexes of the regular N-edge connecting plate 7; the first guide rail 8, the second guide rail 9, 82308230and the Nth guide rail are parallel to each other and extend in the vertical direction. The situation of the horizontal arrangement of the guide rails can also be shown in fig. 3 and 4, wherein the first guide rail (13), the second guide rail (14) \8230 \8230andthe Nth guide rail extend along the horizontal direction.
In the following, a flexible parallel mechanism of multi-degree-of-freedom translational motion according to the present invention will be described with four embodiments, and N =3 will be described as an example.
The first embodiment:
as shown in fig. 1, a frame 1 is fixedly disposed, the frame 1 includes a connecting plate 2 disposed horizontally, in this embodiment, N =3, the connecting plate 2 is an equilateral triangle, and upper ends of a first rail 3, a second rail 4, and a third rail 5 are connected to respective vertexes of the connecting plate 2; the lower ends of the first rail 3, the second rail 4 and the third rail 5 are connected together. Preferably, the first guide rail 3, the second guide rail 4 and the third guide rail 5 are at the same angle to each other, and more preferably, the first guide rail 3, the second guide rail 4 and the third guide rail 5 are at an angle of 120 ° to each other; the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 have the same structure, upper connecting pieces 28 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 are respectively fixed on the first driver 21, the second driver 22 and the third driver 23, lower connecting pieces 29 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 are all fixed on the upper surface of the moving platform 24, the lower part of the moving platform 24 is arranged in a suspended manner, connecting lines of centers of the lower connecting pieces 29 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 form a triangle, and connecting lines of centers of the lower connecting pieces 29 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 preferably form a triangle.
The second embodiment:
in the flexible parallel mechanism with multiple degrees of freedom of translational motion shown in fig. 2, the frame 6 is fixedly arranged, the frame 6 includes a connecting plate 7 horizontally arranged, in this embodiment, N =3, the connecting plate 7 is an equilateral triangle, and the upper ends of the first guide rail 8, the second guide rail 9 and the third guide rail 10 are connected to the respective vertex points of the connecting plate 7; the first guide rail 8, the second guide rail 9 and the third guide rail 10 are parallel to each other and extend in the up-down direction. The first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 have the same structure, upper connecting pieces 28 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 are respectively fixed on the first driver 21, the second driver 22 and the third driver 23, lower connecting pieces 29 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 are all fixed on the upper surface of the moving platform 24, the lower part of the moving platform 24 is arranged in a suspended manner, connecting lines of centers of the lower connecting pieces 29 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 form a triangle, and connecting lines of centers of the lower connecting pieces 29 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 preferably form an equilateral triangle.
Third embodiment:
as shown in fig. 3, the frame 11 is fixedly disposed, the frame 11 has a horizontally disposed triangular frame 12, in this embodiment, N =3, the triangular frame 12 is an equilateral triangle, the first guide rail 13, the second guide rail 14 and the third guide rail 15 are connected in the triangular frame 12, the first guide rail 13, the second guide rail 14 and the third guide rail 15 all extend in a horizontal direction, outer ends of the first guide rail 13, the second guide rail 14 and the third guide rail 15 are connected at respective vertex points of the triangular frame 12, inner ends of the first guide rail 13, the second guide rail 14 and the third guide rail 15 are connected together, the first guide rail 13, the second guide rail 14 and the third guide rail 15 are connected in a "Y" shape, and an included angle between the first guide rail 13, the second guide rail 14 and the third guide rail 15 is preferably 120 °. The first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 have the same structure, upper connecting pieces 28 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 are respectively fixed on the first driver 21, the second driver 22 and the third driver 23, lower connecting pieces 29 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 are all fixed on the upper surface of the moving platform 24, the lower part of the moving platform 24 is arranged in a suspended manner, connecting lines of centers of the lower connecting pieces 29 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 form a triangle, and connecting lines of centers of the lower connecting pieces 29 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 preferably form a triangle.
The fourth embodiment:
as shown in fig. 4, the frame 16 is fixedly disposed, and the first rail 18, the second rail 19 and the third rail 20 are connected end to form a horizontally disposed triangular frame 17, where N =3 in this embodiment, the triangular frame 17 is an equilateral triangle, the first rail 18, the second rail 19 and the third rail 20 all extend in the horizontal direction, and the first rail 18, the second rail 19 and the third rail 20 are connected to form a triangular structure. The structure of the first flexible moving branched chain 25, the structure of the second flexible moving branched chain 26 and the structure of the third flexible moving branched chain 27 are the same, the upper connecting pieces 28 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 are respectively fixed on the first driver 21, the second driver 22 and the third driver 23, the lower connecting pieces 29 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 are all fixed on the upper surface of the moving platform 24, the lower part of the moving platform 24 is arranged in a suspended manner, the connecting lines of the centers of the lower connecting pieces 29 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 form a triangle, and the connecting lines of the centers of the lower connecting pieces 29 of the first flexible moving branched chain 25, the second flexible moving branched chain 26 and the third flexible moving branched chain 27 form a triangle.
The guide rail structure of the planar form shown in fig. 3 and 4 is compact and easier to implement, compared to the guide rail structure of the solid form shown in fig. 1 and 2.
In the flexible parallel mechanism with multiple degrees of freedom translation motion, a first driver 21, a second driver 22 and a third driver 23 are all connected with a control device, the control device can control the first driver 21, the second driver 22 and the third driver 23 to respectively move to any position on a first guide rail 3/8/13/18, a second guide rail 4/9/14/19 and a third guide rail 5/10/15/20, so that the first driver 21, the second driver 22 and the third driver 23 can drive a moving platform 24 to translate to a preset position in a three-dimensional space in a coordinated manner, and the control device can control the first driver 21, the second driver 22 and the third driver 23 to move in an open-loop control manner. It should be noted that, although the four embodiments provided by the present invention all employ three drivers respectively connected to three guide rails to respectively drive the three flexible moving branched chains to drive the moving platform to translate, in practice, more flexible moving branched chains may be disposed between the moving platform and the frame, each flexible moving branched chain is connected to one driver, each driver is connected to one guide rail, and the drivers are mutually matched to move to finally implement the translation movement of the moving platform.
Based on the technical scheme of the embodiment, the flexible parallel mechanism with multiple degrees of freedom of translational motion can realize translational motion with multiple degrees of freedom in a space coordinate system, and the flexible joint formed by the flexible motion branched chains replaces a hinge pair in a Delta-type mechanism, so that the motion range of each flexible motion branched chain is greatly increased, the working space of the three-degree-of-freedom translational parallel mechanism is increased, the occupied space is small, the structure is simple, and the cost is low. The moving platform of the multi-degree-of-freedom translational motion flexible parallel mechanism can be assembled with an end effector, is applied to sorting operation in industry, and can select different end effectors such as a sucker, an electromagnet, a mechanical claw and the like according to the grabbing requirements of different objects.
In conclusion, the present invention effectively overcomes various disadvantages of the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (15)
1. A flexible parallel mechanism with multiple degrees of freedom of translational motion is characterized by comprising the following parts:
the device comprises a rack (1, 6, 11, 16) and a second guide rail (4, 9, 14, 19) \8230; and an Nth guide rail, wherein the first guide rail (3, 8, 13, 18) and the second guide rail (8230) are provided, and N is a positive integer more than or equal to 3; the device comprises a first guide rail (3, 8, 13, 18), a second guide rail (4, 9, 14, 19) \8230, a first driver (21), a second driver (22) \8230, an N driver and a second driver, wherein the first driver, the second driver and the N driver are respectively connected to the first guide rail (3, 8, 13, 18) and the second guide rail (4, 9, 14, 19) \8230;
the rack (1, 6, 11, 16) is connected with a first flexible moving branched chain (25), a second flexible moving branched chain (26) \8230, a No. 8230and a No. N flexible moving branched chain;
the flexible motion device comprises a first flexible motion branched chain (25), a second flexible motion branched chain (26) \8230, an Nth flexible motion branched chain is provided with an upper connecting piece (28) and a lower connecting piece (29) which are arranged in parallel, and at least 3 flexible rods (30) which are parallel to each other and have the same length are connected between the upper connecting piece (28) and the lower connecting piece (29); the upper connecting piece (28) is provided with an upper connecting surface connected with one end of each flexible moving branched chain, the lower connecting piece (29) is provided with a lower connecting surface connected with the other end of each flexible moving branched chain, and the upper connecting surface is parallel to the lower connecting surface;
the flexible motion device comprises a first flexible motion branched chain (25), a second flexible motion branched chain (26) \ 8230 \ 8230, an upper connecting piece (28) of an Nth flexible motion branched chain is respectively fixed on a first driver (21), a second driver (22) \ 8230 \ on the Nth driver, and a lower connecting piece (29) of the Nth flexible motion branched chain is fixedly arranged on the first flexible motion branched chain (25), the second flexible motion branched chain (26) \ 8230 \ 8230and the Nth flexible motion branched chain.
2. The flexible parallel mechanism with multiple degrees of freedom of translational motion of claim 1, wherein: a plurality of retaining pieces (31) are arranged between the upper connecting piece (28) and the lower connecting piece (29), each flexible rod (30) penetrates through a through hole (32) in each retaining piece (31), and a certain distance is reserved between every two adjacent retaining pieces (31).
3. The flexible parallel mechanism of multiple degrees of freedom translational motion of claim 2, further comprising: a supporting spring is arranged between two adjacent retaining sheets (31).
4. The flexible parallel mechanism of multiple degrees of freedom translational motion of claim 1, further comprising: the first flexible moving branched chain (25), the second flexible moving branched chain (26) \8230;, the Nth flexible moving branched chain are provided with one or more cylindrical rigid protection nodes (33), and the flexible rod (30) penetrates through a through hole (34) of the rigid protection node (33).
5. The flexible parallel mechanism of multiple degrees of freedom translational motion of claim 1, further comprising: the upper end of the first guide rail (3) and the second guide rail (4) \8230, the upper end of the Nth guide rail is connected to each vertex of the regular N-edge-shaped connecting plate (7); the first guide rail (3), the second guide rail (4) \8230, the lower ends of the Nth guide rail are connected together, wherein the 8230is formed by connecting the first guide rail and the second guide rail.
6. The flexible parallel mechanism of multiple degrees of freedom translational motion of claim 5, wherein: said N is equal to 3.
7. The flexible parallel mechanism of multiple degrees of freedom translational motion of claim 1, further comprising: the upper end of the first guide rail (8) and the second guide rail (9) \8230, the upper end of the Nth guide rail is connected to each vertex of the regular N-edge-shaped connecting plate (7); the first guide rail (8) and the second guide rail (9) \8230, wherein the Nth guide rail is parallel to each other and extends along the vertical direction.
8. The flexible parallel mechanism of multiple degrees of freedom translational motion of claim 7, wherein: said N is equal to 3.
9. The flexible parallel mechanism of multiple degrees of freedom translational motion of claim 1, further comprising: the first guide rail (13), the second guide rail (14) \8230 \8230andthe Nth guide rail extend along the horizontal direction.
10. The flexible parallel mechanism of multiple degrees of freedom translational motion of claim 9, further comprising: said N is equal to 3.
11. The flexible parallel mechanism of multiple degrees of freedom translational motion of claim 10, wherein:
the first guide rail (13), the second guide rail (14) and the third guide rail (15) are connected into a Y-shaped structure.
12. The flexible parallel mechanism with multiple degrees of freedom of translational motion of claim 1, wherein: the first guide rail (13) and the second guide rail (14) \8230 \8230andthe Nth guide rail are connected to form a regular N-edge.
13. The flexible parallel mechanism of multiple degrees of freedom translational motion of claim 12, wherein: said N is equal to 3.
14. The flexible parallel mechanism with multiple degrees of freedom of translational motion of claim 1, wherein: the flexible rod (30) is made of a super-elastic material.
15. The flexible parallel mechanism of multiple degrees of freedom translational motion of claim 1, further comprising: the lower connecting piece (29) is fixed on the moving platform (24).
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| CN111853481B (en) * | 2020-08-14 | 2022-04-05 | 西安应用光学研究所 | Multi-degree-of-freedom flexible supporting structure and photoelectric stabilized sighting turret universal frame |
| CN112025684B (en) * | 2020-09-08 | 2022-04-05 | 中南大学 | Under-actuated variable-rigidity flexible robot |
| CN112223311A (en) * | 2020-10-09 | 2021-01-15 | 武汉大学 | Flexible ultrasonic detection device with touch sense and visual sense |
| CN112518720A (en) * | 2020-12-01 | 2021-03-19 | 上海交通大学 | Robot system based on coupling effect of multiple software drivers and operation method |
| CN113917642B (en) * | 2021-09-23 | 2022-07-19 | 中国科学院西安光学精密机械研究所 | Series-parallel coupling multi-degree-of-freedom optical element precision adjusting platform |
| CN114211475B (en) * | 2021-12-31 | 2023-10-20 | 上海交通大学 | Rope and elastic rod piece hybrid drive parallel robot |
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