CN112276912A - Parallel mechanism containing orthogonal double-linear driving branched chain - Google Patents
Parallel mechanism containing orthogonal double-linear driving branched chain Download PDFInfo
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- CN112276912A CN112276912A CN202011249967.5A CN202011249967A CN112276912A CN 112276912 A CN112276912 A CN 112276912A CN 202011249967 A CN202011249967 A CN 202011249967A CN 112276912 A CN112276912 A CN 112276912A
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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
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Abstract
A parallel mechanism containing orthogonal double-linear driving branched chains. The three-dimensional parallel mechanism comprises a fixed platform, a movable platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, and has three-translation and two-rotation freedom degrees. The invention has the advantages that: firstly, the configuration mode of driving the branched chains by orthogonal double straight lines is adopted, so that the number of the branched chains is reduced, the interference is reduced, and the working space of the mechanism is enlarged on the premise of ensuring the enough degree of freedom. And secondly, two mutually orthogonal linear driving branched chains are matched with the other three simple branched chains, so that five degrees of freedom including two rotation and three translation are realized, the moving efficiency is high, and the flexibility is good. And finally, the three branched chains have the same structure, and are simple in structure, so that the manufacturing and processing difficulty is reduced, and the manufacturing cost is saved.
Description
Technical Field
The invention belongs to the technical field of parallel mechanisms, and particularly relates to a parallel mechanism containing orthogonal double-linear driving branched chains.
Background
The parallel mechanism is a multi-degree-of-freedom mechanism comprising at least two serial kinematic chains between a movable platform and a fixed platform. The parallel mechanism has been widely used in the fields of motion simulators, parallel manipulators, parallel motion machine tools, touch devices, medical robots, remote control devices and the like because of the advantages of high rigidity, strong bearing capacity, stable structure, high running speed, no error superposition, high precision and the like.
The configuration mode of the compound driving branched chain is applied to the parallel mechanism, and the parallel mechanism has the advantages of simplifying the structure, reducing the interference and increasing the working space. The composite branched chain connects two or more branched chains, and the bearing capacity of the mechanism can be improved to a certain extent, so that the rigidity of the mechanism is increased, and the composite branched chain has great application prospect. The existence of the double-linear driving branched chain can meet the movement in two directions, and when the double-linear driving branched chains are mutually orthogonal, the occupied space is small, and considerable working space can be realized, so that the double-linear driving branched chain becomes the research and development direction in the field.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a parallel mechanism including orthogonal double linear driving branched chains.
In order to achieve the above object, the parallel mechanism with orthogonal double-linear driving branched chains provided by the invention comprises a fixed platform, a movable platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain;
the main body of the fixed platform is of a stepped plate-shaped structure with a wide lower end and a narrow upper end, three edges of the narrow end are respectively provided with a forward protruding edge, and each edge is respectively provided with a second hook hinge support;
the movable platform comprises a bedplate, three spherical hinge supports and a first hook hinge support; the three spherical hinge supports are arranged on one side surface of the bedplate in a triangle shape and are respectively used for connecting the first branched chain, the second branched chain and the third branched chain; the first hook hinge support is arranged on the same side face of the bedplate and is used for connecting a fourth branched chain;
the first branched chain, the second branched chain and the third branched chain have the same structure and respectively comprise a second hook hinge, a telescopic rod, a spherical hinge and a third motor; the front end of the telescopic rod is connected with a spherical hinge support on the movable platform through a spherical hinge, the middle part of the telescopic rod is connected with a second hook hinge support on the fixed platform through a second hook hinge, and the tail end of the telescopic rod is connected with a third motor;
the fourth branched chain is an orthogonal double-linear driving branched chain and comprises a first moving assembly, a second moving assembly, a first linear driving assembly, a second linear driving assembly, a fixed length rod and a first hook hinge; the first moving assembly comprises a first lower bottom plate, a first linear guide rail and a first sliding block; the back surface of the first lower bottom plate is fixed on the front end surface of the wide end of the fixed platform; two first linear guide rails are fixed at the upper end and the lower end of the front end face of the first lower bottom plate in parallel along the left-right direction; each first linear guide rail is provided with a first sliding block; the first linear driving assembly comprises a first motor, a first lead screw and a first lead screw nut; the first motor is fixed on one side of the front end face of the first lower base plate, an output shaft is connected with one end of a first lead screw, and the first lead screw is parallel to the first linear guide rail; the first lead screw nut is arranged on the first lead screw; the second moving assembly comprises a second lower bottom plate, a second linear guide rail and a second sliding block; the back surface of the second lower bottom plate is connected to the first sliding block and the first lead screw nut at the same time; two second linear guide rails are fixed on the left side and the right side of the front end face of the second lower bottom plate in parallel along the vertical direction; each second linear guide rail is provided with a second sliding block; the first motor drives the first lead screw to rotate and drives the first sliding block and the second lower bottom plate to move left and right along the first linear guide rail through the first lead screw nut; the second linear driving assembly comprises a second motor, a second lead screw and a second lead screw nut; the second motor is fixed at one end of the front end face of the second lower base plate, the output shaft is connected with one end of a second lead screw, and the second lead screw is parallel to the second linear guide rail; the second screw nut is arranged on the second screw and fixedly connected with the second sliding block; the second motor drives the second lead screw to rotate and drives the second sliding block to move up and down along the second linear guide rail through the second lead screw nut; the tail end of the fixed length rod is connected with a first hinged support fixed on the second sliding block to form a first rotating pair, the front end of the fixed length rod is connected with a first hook hinged support on the moving platform through a first hook hinge, and the rotating axis of the first rotating pair is parallel to the first linear guide rail.
Three edges on the fixed platform are of plate-shaped structures with equal height and equal thickness.
The bedplate is of a circular plate-shaped structure.
The parallel mechanism containing the orthogonal double-linear driving branched chain has the following advantages that:
1. the configuration mode of driving the branched chains by orthogonal double straight lines is adopted, so that the number of the branched chains is reduced, the interference is reduced, and the working space of the mechanism is enlarged on the premise of ensuring enough freedom degree.
2. Two mutually orthogonal linear driving branched chains are matched with the other three simple branched chains, so that five degrees of freedom of two-rotation three-translation are realized, the moving efficiency is high, and the flexibility is good.
3. The three branched chains have the same structure, and are simple in structure, so that the manufacturing difficulty is reduced, and the manufacturing cost is saved.
Drawings
Fig. 1 is a schematic structural diagram of a parallel mechanism including orthogonal double-linear driving branched chains according to the present invention.
Fig. 2 is a schematic diagram of a fixed platform structure of a parallel mechanism including orthogonal double-linear driving branched chains according to the present invention.
Fig. 3 is a schematic structural diagram of a first branched chain, a second branched chain or a third branched chain in the parallel mechanism containing orthogonal double linear driving branched chains provided by the present invention.
Fig. 4 is a schematic diagram illustrating a connection state between a first moving element and a first driving element in the parallel mechanism including the orthogonal double-linear driving branched chain according to the present invention.
Fig. 5 is a schematic diagram illustrating a connection state between a second moving assembly and a second driving assembly in the parallel mechanism including the orthogonal double-linear driving branched chain according to the present invention.
FIG. 6 is a schematic structural diagram of a movable platform in a parallel mechanism including orthogonal double-linear driving branched chains according to the present invention.
In the figure: 1. fixing a platform; 101. an edge; 102. a second hook hinge support; 2. a movable platform; 201. a platen; 3. a first moving assembly; 30. a first drive assembly; 301. a first linear guide rail; 303. a first lead screw; 304. a first slider; 305. a first lead screw nut, 306, a first lower base plate; 4. a second moving assembly; 40. a second drive assembly; 401. a second linear guide; 403. a second lead screw; 404. a second slider; 405. a second lead screw nut, 406, a second lower base plate; 5. a first rotating pair; 501. a first hinged support; 6. a fixed length rod; 7. a first hook joint; 701. a first hook hinge support; 8. a second hook joint; 9. a telescopic rod; 10. spherical hinge; 11. a third motor; 12. a spherical hinge support; 13. a first motor; 14. a second motor.
Detailed Description
The following describes the parallel mechanism with orthogonal double-linear driving branched chains provided by the invention in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-6, the parallel mechanism with orthogonal double linear driving branched chains provided by the present invention comprises a fixed platform 1, a movable platform 2, a first branched chain i, a second branched chain ii, a third branched chain iii and a fourth branched chain iv;
the main body of the fixed platform 1 is of a stepped plate-shaped structure with a wide lower end and a narrow upper end, three edges of the narrow end are respectively provided with an edge 101 protruding forwards, and each edge 101 is respectively provided with a second hook hinge support 102;
the movable platform 2 comprises a bedplate 201, three spherical hinge supports 12 and a first hook hinge support 701; the three spherical hinge supports 12 are arranged on one side surface of the bedplate 201 in a delta shape and are respectively used for connecting a first branch chain I, a second branch chain II and a third branch chain III; the first hook hinge support 701 is arranged on the same side face of the bedplate 201 and is used for connecting a fourth branched chain IV;
the first branched chain I, the second branched chain II and the third branched chain III are completely the same in structure and respectively comprise a second hook hinge 8, a telescopic rod 9, a spherical hinge 10 and a third motor 11; the front end of the telescopic rod 9 is connected with a spherical hinge support 12 on the movable platform 2 through a spherical hinge 10, the middle part of the telescopic rod is connected with a second hook hinge support 102 on the fixed platform 1 through a second hook hinge 8, the tail end of the telescopic rod is connected with a third motor 11, and the telescopic rod 9 is driven to stretch through the third motor 11;
the fourth branched chain IV is an orthogonal double-linear driving branched chain and comprises a first moving assembly 3, a second moving assembly 4, a first linear driving assembly 30, a second linear driving assembly 40, a fixed length rod 6 and a first hook hinge 7; the first moving assembly 3 includes a first lower base plate 306, a first linear guide 301, and a first slider 304; the back of the first lower bottom plate 306 is fixed on the front end surface of the wide end of the fixed platform 1; two first linear guide rails 301 are fixed at the upper end and the lower end of the front end face of the first lower base plate 306 in parallel along the left-right direction; a first sliding block 304 is arranged on each first linear guide rail 301; the first linear drive assembly 30 comprises a first motor 13, a first lead screw 303 and a first lead screw nut 305; the first motor 13 is fixed on one side of the front end face of the first lower base plate 306, the output shaft is connected with one end of a first lead screw 303, and the first lead screw 303 is parallel to the first linear guide rail 301; a first lead screw nut 305 is mounted on the first lead screw 303; the second moving assembly 4 includes a second lower base plate 406, a second linear guide 401, and a second slider 404; the back of the second lower base plate 406 is connected to the first slider 304 and the first lead screw nut 305 at the same time; two second linear guide rails 401 are fixed in parallel on the left and right sides of the front end surface of the second lower base plate 406 along the vertical direction; each second linear guide rail 401 is provided with a second sliding block 404; the first motor 13 drives the first lead screw 303 to rotate, and drives the first slider 304 and the second lower base plate 406 to move left and right along the first linear guide rail 301 through the first lead screw nut 305; the second linear drive assembly 40 includes a second motor 14, a second lead screw 403, and a second lead screw nut 405; the second motor 14 is fixed at one end of the front end face of the second lower base plate 406, the output shaft is connected with one end of a second lead screw 403, and the second lead screw 403 is parallel to the second linear guide rail 401; a second lead screw nut 405 is arranged on the second lead screw 403 and fixedly connected with the second sliding block 404; the second motor 14 drives the second lead screw 403 to rotate, and drives the second slider 404 to move up and down along the second linear guide rail 401 through the second lead screw nut 405; the end of the fixed length bar 6 is connected with a first hinge support 501 fixed on the second slide block 404 to form a first rotating pair 5, the front end is connected with a first hook hinge support 701 on the movable platform 2 through a first hook hinge 7, and the rotating axis of the first rotating pair 5 is parallel to the first linear guide rail 301.
Three edges 101 on the fixed platform 1 are of plate-shaped structures with equal height and equal thickness.
The bedplate 201 is a circular plate-shaped structure.
Now, the operation principle of the parallel mechanism including the orthogonal double-linear driving branched chain provided by the present invention is described as follows, taking the axial direction of the first lead screw 303 as the x-axis direction, the axial direction of the second lead screw 403 as the y-axis direction, and the vertical direction of the mounting surface of the fixed platform 1 as the z-axis direction:
the parallel mechanism with the orthogonal double-linear driving branched chain provided by the invention selects three telescopic rods 9, a first lead screw 303 and a second lead screw 403 as driving pairs, and can realize five degrees of freedom of the movable platform 2; locking a telescopic rod 9 and a fourth branched chain IV on the first branched chain I, and simultaneously enabling the telescopic rod 9 on the second branched chain II and the telescopic rod 9 on the third branched chain III to stretch out and retract in opposite directions and at equal intervals under the driving of a corresponding third motor 11, so that the rotational freedom degree of the movable platform 2 around the y axis can be realized; locking a telescopic rod 9 on the second branched chain II, a telescopic rod 9 on the third branched chain III and a first lead screw 303 on the fourth branched chain IV, simultaneously driving the telescopic rod 9 to stretch by using a third motor 11 on the first branched chain I, and correspondingly driving a second lead screw 403 to rotate by using a second motor 14 on the fourth branched chain IV, so that the rotational freedom degree of the movable platform 2 around the x axis can be realized; locking a first lead screw 303 on a fourth branched chain IV, simultaneously enabling three telescopic rods 9 on a first branched chain I, a second branched chain II and a third branched chain III to stretch and retract under the driving of corresponding third motors 11, correspondingly utilizing a second motor 14 on the fourth branched chain IV to drive the second lead screw 403 to rotate, enabling the movement components of a spherical hinge 10 on the second branched chain II and a spherical hinge 10 on the third branched chain III in the y-axis direction and the z-axis direction to be 0, enabling the movement components of the spherical hinge 10 on the first branched chain I, the spherical hinge 10 on the second branched chain II and the spherical hinge 10 on the third branched chain III in the x-axis direction to be equal, and realizing the movement freedom degree of the movable platform 2 along the x-axis; locking a first lead screw 303 on the fourth branched chain IV, simultaneously enabling a telescopic rod 9 on the second branched chain II and a telescopic rod 9 on the third branched chain III to extend and retract in the same direction and at equal intervals under the driving of a corresponding third motor 11, enabling the telescopic rod 9 on the first branched chain I to extend and retract, and correspondingly utilizing a second motor 14 on the fourth branched chain IV to drive a second lead screw 403 to rotate, so that a moving component of a spherical hinge 10 on the second branched chain II and a moving component of a spherical hinge 10 on the third branched chain III in the z-axis direction are 0 and equal to each other in the y-axis direction, and the moving freedom of the moving platform 2 along the y-axis can be realized; and locking a first lead screw 303 on the fourth branched chain IV, simultaneously enabling three telescopic rods 9 on the first branched chain I, the second branched chain II and the third branched chain III to stretch and retract under the driving of corresponding third motors 11, correspondingly utilizing a second motor 14 on the fourth branched chain IV to drive a second lead screw 403 to rotate, enabling the movement components of a spherical hinge 10 on the second branched chain II and a spherical hinge 10 on the third branched chain III in the x-axis direction and the y-axis direction to be 0, enabling the movement components of the spherical hinge 10 on the first branched chain I, the spherical hinge 10 on the second branched chain II and the spherical hinge 10 on the third branched chain III in the z-axis direction to be equal, and realizing the movement freedom degree of the movable platform 2 along the z-axis. Finally, the movable platform 2 can realize five degrees of freedom of movement in three directions and rotation around the x and y axes.
Claims (3)
1. A parallel mechanism containing orthogonal double-linear driving branched chains is characterized in that: the parallel mechanism with the orthogonal double-linear driving branched chains comprises a fixed platform (1), a movable platform (2), a first branched chain (I), a second branched chain (II), a third branched chain (III) and a fourth branched chain (IV);
the main body of the fixed platform (1) is of a stepped plate-shaped structure with a wide lower end and a narrow upper end, three edges of the narrow end are respectively provided with an edge (101) protruding forwards, and each edge (101) is respectively provided with a second hook hinge support (102);
the movable platform (2) comprises a bedplate (201), three spherical hinge supports (12) and a first hook hinge support (701); the three spherical hinge supports (12) are arranged on one side surface of the bedplate (201) in a delta shape and are respectively used for connecting a first branch chain (I), a second branch chain (II) and a third branch chain (III); the first Hooke hinge support (701) is arranged on the same side face of the bedplate (201) and is used for connecting a fourth branched chain (IV);
the first branched chain (I), the second branched chain (II) and the third branched chain (III) have the same structure and respectively comprise a second hook hinge (8), a telescopic rod (9), a spherical hinge (10) and a third motor (11); the front end of the telescopic rod (9) is connected with a spherical hinge support (12) on the movable platform (2) through a spherical hinge (10), the middle part of the telescopic rod is connected with a second hook hinge support (102) on the fixed platform (1) through a second hook hinge (8), the tail end of the telescopic rod is connected with a third motor (11), and the telescopic rod (9) is driven to stretch through the third motor (11);
the fourth branched chain (IV) is an orthogonal double-linear driving branched chain and comprises a first moving assembly (3), a second moving assembly (4), a first linear driving assembly (30), a second linear driving assembly (40), a fixed length rod (6) and a first hook hinge (7); the first moving assembly (3) comprises a first lower base plate (306), a first linear guide rail (301) and a first sliding block (304); the back of the first lower bottom plate (306) is fixed on the front end surface of the wide end of the fixed platform (1); two first linear guide rails (301) are fixed at the upper end and the lower end of the front end face of the first lower base plate (306) in parallel along the left-right direction; a first sliding block (304) is arranged on each first linear guide rail (301); the first linear driving assembly (30) comprises a first motor (13), a first lead screw (303) and a first lead screw nut (305); the first motor (13) is fixed on one side of the front end face of the first lower base plate (306), an output shaft is connected with one end of a first lead screw (303), and the first lead screw (303) is parallel to the first linear guide rail (301); a first lead screw nut (305) is mounted on the first lead screw (303); the second moving assembly (4) comprises a second lower bottom plate (406), a second linear guide rail (401) and a second sliding block (404); the back surface of the second lower bottom plate (406) is simultaneously connected to the first slide block (304) and the first lead screw nut (305); two second linear guide rails (401) are fixed on the left side and the right side of the front end face of a second lower bottom plate (406) in parallel along the vertical direction; a second sliding block (404) is arranged on each second linear guide rail (401); the first motor (13) drives the first lead screw (303) to rotate, and drives the first sliding block (304) and the second lower bottom plate (406) to move left and right along the first linear guide rail (301) through a first lead screw nut (305); the second linear driving assembly (40) comprises a second motor (14), a second lead screw (403) and a second lead screw nut (405); the second motor (14) is fixed at one end of the front end face of the second lower base plate (406), an output shaft is connected with one end of a second lead screw (403), and the second lead screw (403) is parallel to the second linear guide rail (401); a second lead screw nut (405) is arranged on the second lead screw (403) and is fixedly connected with the second sliding block (404); the second motor (14) drives the second lead screw (403) to rotate, and drives the second sliding block (404) to move up and down along the second linear guide rail (401) through a second lead screw nut (405); the tail end of the fixed length rod (6) is connected with a first hinged support (501) fixed on a second sliding block (404) to form a first rotating pair (5), the front end of the fixed length rod is connected with a first hooke hinged support (701) on the moving platform (2) through a first hooke hinge (7), and the rotating axis of the first rotating pair (5) is parallel to the first linear guide rail (301).
2. The parallel mechanism including orthogonal bi-linear drive branches of claim 1, wherein: three edges (101) on the fixed platform (1) are of plate-shaped structures with equal height and equal thickness.
3. The parallel mechanism including orthogonal bi-linear drive branches of claim 1, wherein: the bedplate (201) is of a circular plate-shaped structure.
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| CN202011249967.5A CN112276912B (en) | 2020-11-11 | 2020-11-11 | Parallel mechanism containing orthogonal double-linear driving branched chain |
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| CN113799104A (en) * | 2021-11-09 | 2021-12-17 | 中国民航大学 | Four-degree-of-freedom parallel mechanism with symmetrical branched chains |
| CN115056204A (en) * | 2022-07-15 | 2022-09-16 | 中国民航大学 | Five-degree-of-freedom parallel mechanism containing orthogonal three-straight-line composite driving branched chain |
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