CN112428256B - Two-degree-of-freedom partial decoupling parallel mechanism comprising right constraint branched chains - Google Patents
Two-degree-of-freedom partial decoupling parallel mechanism comprising right constraint branched chains Download PDFInfo
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- CN112428256B CN112428256B CN202011274296.8A CN202011274296A CN112428256B CN 112428256 B CN112428256 B CN 112428256B CN 202011274296 A CN202011274296 A CN 202011274296A CN 112428256 B CN112428256 B CN 112428256B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 46
- 230000036961 partial effect Effects 0.000 title abstract description 14
- 230000003068 static effect Effects 0.000 claims abstract description 25
- 230000000712 assembly Effects 0.000 claims abstract description 12
- 238000000429 assembly Methods 0.000 claims abstract description 12
- 238000003801 milling Methods 0.000 claims description 27
- 210000005069 ears Anatomy 0.000 claims description 3
- 230000000670 limiting effect Effects 0.000 description 4
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 3
- 235000017491 Bambusa tulda Nutrition 0.000 description 3
- 241001330002 Bambuseae Species 0.000 description 3
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 3
- 239000011425 bamboo Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
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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
The invention discloses a two-degree-of-freedom partial decoupling parallel mechanism comprising right constraint branched chains, which comprises a static platform assembly, a movable platform assembly and three branched chain assemblies, wherein the three branched chain assemblies are a first branched chain assembly, a second branched chain assembly and a third branched chain assembly respectively, and the static platform assembly and the movable platform assembly are connected through the three branched chain assemblies; the movable platform assembly has two rotational degrees of freedom in space, wherein one degree of freedom is decoupled, two driving units are not needed to control the movable platform assembly together, and the movable platform assembly has the advantages of compact structure, high rigidity, good isotropy and easy control, can be applied to the fields of robot joint structures, parallel processing machine tools and the like, and has good market prospect; the third branched chain assembly just constrains the branched chain, determines the overall motion freedom degree of the total platform assembly, is two rotation freedom degrees in space, is equivalent to a cross in a traditional Hooke hinge, and the chain is connected with a base intermediate piece, so that the bearing capacity of the mechanism is increased.
Description
Technical Field
The invention relates to the field of parallel connection mechanisms, in particular to a two-degree-of-freedom partial decoupling parallel connection mechanism comprising right constraint branched chains.
Background
The parallel mechanism is proposed for the first time in 1938 and is mainly characterized in that an output platform is connected with a fixed platform through two or more motion branched chains to form a space multi-degree-of-freedom multi-ring closed chain structure. The parallel mechanism has the advantages of strong bearing capacity, high rigidity, high precision and the like, and is widely applied to the fields of robot structures, numerical control machine tools, multidimensional sensors, motion simulation equipment and the like.
The parallel mechanism has more than two degrees of freedom, the motion of the output platform to each degree of freedom is synthesized by the motion of all the driving units, and the motion of each driving unit and the overall motion (namely input and output) of the parallel mechanism are nonlinear, so that the parallel mechanism motion model is difficult to build, and the motion control is complex. The motion decoupling of the parallel mechanism is a hotspot of the study of mechanics, can realize that the motion of the output platform in a certain degree of freedom does not need the matched motion of each driving unit, and has the advantages of simple motion modeling, high motion precision and easy control.
At present, the research on a space two-degree-of-freedom rotary decoupling parallel mechanism is less, and the existing two-degree-of-freedom rotary decoupling parallel mechanism is a two-rotation complete decoupling parallel mechanism as proposed by patent 103624559A and a two-degree-of-freedom rotary decoupling parallel mechanism as proposed by patent 103286778A both adopt rotating pairs as driving joints, and three branched chains are widely distributed, so that the defects that the mechanism volume is far larger than the working space of a movable platform, the structure is not compact and the load capacity is weak exist.
Disclosure of Invention
The invention aims to solve the problems that the mechanism volume is larger than the working space of a movable platform, the structure is not compact and the load capacity is weak due to the fact that three branched chains of the existing parallel mechanism are widely distributed, and provides a two-degree-of-freedom partial decoupling parallel mechanism which comprises right constraint branched chains, which is compact in structure, high in precision and high in rigidity, and can realize partial decoupling of a rotating part of the platform.
The invention realizes the above purpose through the following technical scheme: the two-degree-of-freedom partial decoupling parallel mechanism comprises a static platform assembly, a movable platform assembly and three branched chain assemblies, wherein the three branched chain assemblies are a first branched chain assembly, a second branched chain assembly and a third branched chain assembly respectively, and the static platform assembly and the movable platform assembly are connected through the three branched chain assemblies;
the static platform assembly comprises a base fixing plate, two push rod barrels, a base middle piece and a first stepped shaft, wherein the two push rod barrels are vertically fixed on one side of the base fixing plate, the axial leads of the two push rod barrels are perpendicular to the base fixing plate, a unthreaded hole is formed in the middle of the base fixing plate, a vertically arranged positioning rod is arranged at the top of the base middle piece, the positioning rod on the base middle piece penetrates through the unthreaded hole penetrating through the base fixing plate, and the base middle piece is fixed on the base fixing plate through an inner hexagon bolt; the base middle piece is of an inverted U shape as a whole, the ears on the two sides of the base middle piece are provided with positioning holes, the two first stepped shafts respectively penetrate through the two positioning holes on the base middle piece and are fixed on the base middle piece, and the axial leads of the two first stepped shafts are parallel to the upper surface of the base fixing plate;
the movable platform assembly comprises a fifth connecting piece, a second stepped shaft, vertical plates, a base plate and a joint bearing, wherein the joint bearing is embedded in the middle of the base plate, the vertical plates which are vertically arranged are respectively arranged on the left side and the right side of the base plate, the two vertical plates are arranged in parallel and symmetrically arranged on the two sides of the joint bearing, the two second stepped shafts are respectively fixed at the upper ends of the two vertical plates, one side, far away from the other second stepped shaft, of one second stepped shaft is fixedly provided with the fifth connecting piece, the fifth connecting piece is in a shaft shape, the axial leads of the fifth connecting piece and the two second stepped shafts are on the same straight line, and the axial leads of the fifth connecting piece and the two second stepped shafts are perpendicular to the vertical plates;
the first branched chain assembly comprises a first push rod and a first connecting piece, the upper end of the first push rod is arranged in a push rod barrel of the static platform assembly, and the lower end of the first push rod is provided with a shaft sleeve; one end of the first connecting piece is provided with a first connecting stepped shaft, the other end of the first connecting piece is provided with a first connecting sleeve, a shaft sleeve at the lower end of the first push rod is connected with the first connecting stepped shaft at one end of the first connecting piece through a bearing, and a fifth connecting piece of the movable platform assembly is sleeved in the first connecting sleeve at the other end of the first connecting piece;
the second branched chain assembly comprises a second push rod, a second connecting piece, a third connecting piece and a fourth connecting piece, the upper end of the second push rod is arranged in the other push rod barrel of the static platform assembly, and the lower end of the second push rod is provided with a shaft sleeve; one end of the second connecting piece is provided with a second connecting stepped shaft, the other end of the second connecting piece is provided with a second connecting sleeve, a shaft sleeve at the lower end of the second push rod is connected with the second connecting stepped shaft at one end of the second connecting piece through a bearing, and the third connecting piece is sleeved in the second connecting sleeve at the other end of the second connecting piece; one end of the third connecting piece is fixedly connected with the end part of one side edge of the L-shaped fourth connecting piece, and the end part of the other side edge of the fourth connecting piece is fixedly connected with the joint bearing of the movable platform assembly;
the third branched chain assembly comprises square ring pieces, round bearing seats and round matching bearings, the cross sections of the square ring pieces are square, the middle parts of the four side surfaces of the square ring pieces are respectively fixed with one round bearing seat, and each round bearing seat is internally provided with one round matching bearing; the two first stepped shafts of the static platform assembly are connected with two circular matched bearings which are oppositely arranged in a matched manner; two second step shafts of the movable platform assembly are in fit connection with two other opposite circular fit bearings.
Furthermore, the whole base fixed plate is protruding, and it has a milling flutes to open on the base fixed plate one side surface that is close to push rod section of thick bamboo, and two push rod section of thick bamboo pass through the milling flutes and fix a position in order to guarantee the parallel of two push rod section of thick bamboo on the base fixed plate.
Further, the push rod barrel comprises a push rod barrel wall and a push rod barrel fixing plate, the push rod barrel wall is fixed on the push rod barrel fixing plate, the thickness of the push rod barrel fixing plate is equal to the width of a milling groove formed in the base fixing plate, the push rod barrel fixing plate is inserted into the milling groove to position the push rod barrel fixing plate, and the push rod barrel fixing plate is fixed in the milling groove of the base fixing plate through an inner hexagon screw.
Further, the end part of the first stepped shaft is provided with a flange plate for fixing, and the flange plate of the first stepped shaft is fixedly connected with the lug part of the side edge of the base intermediate piece through an inner hexagon bolt.
Further, the first push rod and the second push rod respectively form a push rod mechanism with two push rod barrels of the static platform assembly, and the movement of the movable platform assembly is driven when the push rod mechanism moves.
Further, the fourth connecting piece and the joint bearing are connected to form a revolute pair.
Furthermore, the U-shaped bottom of the base intermediate piece is thicker, and a through hole is formed in the bottom of the base intermediate piece so as to reduce the weight of the base intermediate piece.
Further, a milling groove and two milling grooves are respectively formed in the left side and the right side of the upper surface of the base plate, the two milling grooves are arranged in parallel, the lower ends of the two vertical plates are embedded in the two milling grooves, and the two vertical plates are fixedly connected with the base plate through inner hexagon bolts. Two milling flutes on the backing plate are used for positioning the two vertical plates, so that the parallelism of the two vertical plates is ensured.
Further, the axes of the first stepped shaft, the second stepped shaft, the fourth connecting piece and the joint shaft are always compared with one point.
In the two-degree-of-freedom partial decoupling parallel mechanism comprising the right constraint branched chain, the third branched chain is the right constraint branched chain, so that the whole motion degree of the total platform assembly is limited, and the motion degree is two rotation degrees; the first push rod in the first branched chain assembly reciprocates up and down, so that the movable platform assembly always rotates around the axis of the first stepped shaft without affecting the movement of the second push rod in the second branched chain assembly; the second push rod in the second branched chain assembly reciprocates up and down, and the movable platform assembly can always rotate around the axis of the second stepped shaft due to the limiting effect of the first branched chain assembly; such a mechanism is not only compact but also enables the mobile platform assembly 3 to have two degrees of rotational freedom of partial decoupling.
The invention has the beneficial effects that:
1. the movable platform assembly has two rotational degrees of freedom in space, wherein one degree of freedom is decoupled, two driving units are not needed to control the movable platform assembly together, and the movable platform assembly has the advantages of compact structure, high rigidity, good isotropy and easy control, can be applied to the fields of robot joint structures, parallel processing machine tools and the like, and has good market prospect.
2. The third branched chain assembly of the invention just constrains the branched chain, determines the motion freedom degree of the whole total platform assembly, is two rotation freedom degrees in space, is equivalent to a cross in the traditional Hooke hinge, and the chain is connected with the base intermediate piece, thereby enhancing the bearing capacity of the mechanism.
3. The two push rod mechanisms serving as the driving units are fixed on the static platform assembly, namely on the frame, so that the motion inertia of the branched chains of each mechanism is reduced while the motion function of the movable platform is realized, and the movable pair is used as a driving joint, so that the loading capacity of the mechanism is increased.
4. According to the invention, the first push rod in the first branched chain assembly reciprocates up and down, and the movable platform assembly always rotates around the axis of the first stepped shaft and is irrelevant to the movement of the second push rod in the second branched chain assembly due to the limiting effect of the third branched chain assembly, so that the partial decoupling of the mechanism is realized, and the forward and reverse kinematics decoupling is simpler.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a two degree-of-freedom partially decoupled parallel mechanism incorporating just constrained branches according to the present invention.
FIG. 2 is a schematic structural view of the stationary platform assembly of the present invention.
FIG. 3 is a schematic illustration of the structure of the first branched assembly of the present invention.
FIG. 4 is a schematic illustration of the structure of the second branched assembly of the present invention.
FIG. 5 is a schematic illustration of the structure of the third arm assembly of the present invention.
FIG. 6 is a schematic diagram of a movable platform assembly according to the present invention.
In the figure, the 1-static platform assembly, the 2-second branched chain assembly, the 3-dynamic platform assembly, the 4-first branched chain assembly, the 5-third branched chain assembly, the 11-base fixing plate, the 12-push rod barrel, the 13-base middle piece, the 14-first stepped shaft, the 21-second push rod, the 22-second connecting piece, the 23-third connecting piece, the 24-fourth connecting piece, the 31-fifth connecting piece, the 32-second stepped shaft, the 33-vertical plate, the 34-base plate, the 35-joint bearing, the 41-first push rod, the 42-first connecting piece, the 51-square ring piece, the 52-round bearing seat and the 53-round matching bearing.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1 to 6, the two-degree-of-freedom partial decoupling parallel mechanism with the right constraint branched chain comprises a static platform assembly 1, a movable platform assembly 3 and three branched chain assemblies, wherein the three branched chain assemblies are a first branched chain assembly 4, a second branched chain assembly 2 and a third branched chain assembly 5 respectively, and the static platform assembly 1 and the movable platform assembly 3 are connected through the three branched chain assemblies. The fixed part of the static platform assembly 1 as the whole mechanism is connected to the frame, and the movable platform assembly 3 as the movable part of the whole mechanism can be connected with specific moving parts.
The static platform assembly 1 comprises a base fixing plate 11, push rod barrels 12, a base middle piece 13 and a first stepped shaft 14, wherein two push rod barrels 12 are arranged, the two push rod barrels 12 are vertically fixed on one side of the base fixing plate 11, the axial lead of the two push rod barrels 12 is perpendicular to the base fixing plate 11, a unthreaded hole is formed in the middle of the base fixing plate 11, a vertically arranged positioning rod is arranged at the top of the base middle piece 13, the positioning rod on the base middle piece 13 penetrates through the unthreaded hole penetrating through the base fixing plate 11, and the base middle piece 13 is fixed on the base fixing plate 11 through an inner hexagon bolt; the base middle piece 13 is of an inverted U shape as a whole, the ears on two side edges of the base middle piece 13 are provided with positioning holes, two first stepped shafts 14 respectively penetrate through the two positioning holes on the base middle piece 13, the two first stepped shafts 14 are fixed on the base middle piece 13, and the axial leads of the two first stepped shafts 14 are parallel to the upper surface of the base fixing plate 11.
The U-shaped bottom of the base intermediate piece 13 is thicker, and a through hole is formed in the bottom of the base intermediate piece 13 to reduce the weight of the base intermediate piece 13. The base intermediate piece 13 and the locating rod at the top of the base intermediate piece are directly integrally formed, the locating rod is in an optical axis shape, and the locating rod is directly inserted into a light hole formed in the middle of the base fixing plate 11 and fixedly connected through an inner hexagon bolt.
The base fixing plate 11 is integrally convex, a milling groove is formed in the surface of one side, close to the push rod barrels 12, of the base fixing plate 11, the milling groove is formed in one side of the long side of the base fixing plate 11 and is parallel to the long side, and the two push rod barrels 12 are positioned on the base fixing plate 11 through the milling groove so as to ensure the parallelism of the two push rod barrels 12. The push rod barrel 12 comprises a push rod barrel wall and a push rod barrel fixing plate, the push rod barrel wall is fixed on the push rod barrel fixing plate, the thickness of the push rod barrel fixing plate is equal to the width of a milling groove formed in the base fixing plate 11, the push rod barrel fixing plate is inserted into the milling groove to position the push rod barrel fixing plate, and the push rod barrel fixing plate is fixed in the milling groove of the base fixing plate 11 through an inner hexagon screw.
The end part of the first stepped shaft 14 is provided with a flange plate for fixing, and the flange plate of the first stepped shaft 14 is fixedly connected with the lug part of the side edge of the base intermediate piece 13 through an inner hexagon bolt. The first stepped shaft 14 is used to connect the third branch assembly 3.
The movable platform assembly 3 comprises a fifth connecting piece 31, a second stepped shaft 32, a vertical plate 33, a base plate 34 and a joint bearing 35, wherein the joint bearing 35 is embedded in the middle of the base plate 34, the vertical plate 33 which is vertically arranged is arranged on the left side and the right side of the base plate 34 respectively, the two vertical plates 33 are arranged in parallel and symmetrically arranged on the two sides of the joint bearing 35, the two second stepped shafts 32 are respectively fixed at the upper ends of the two vertical plates 33, one side, far away from the other second stepped shaft 32, of one second stepped shaft 32 is fixedly provided with the fifth connecting piece 31, the fifth connecting piece 31 is in a shaft shape, the axial leads of the fifth connecting piece 31 and the two second stepped shafts 32 are on the same straight line, and the axial leads of the fifth connecting piece 31 and the two second stepped shafts 32 are perpendicular to the vertical plates 33.
The left and right sides of backing plate 34 upper surface has seted up a milling flutes respectively and two milling flutes parallel arrangement, and the lower extreme of two risers 33 is embedded in two milling flutes, and two risers 33 pass through hexagon socket head cap screw fixed connection with backing plate 34.
The first branched chain assembly 4 comprises a first push rod 41 and a first connecting piece 42, wherein the upper end of the first push rod 41 is arranged in one push rod barrel 12 of the static platform assembly 1, and the lower end of the first push rod 41 is provided with a shaft sleeve; one end of the first connecting piece 42 is provided with a first connecting stepped shaft, the other end of the first connecting piece 42 is provided with a first connecting sleeve, a shaft sleeve at the lower end of the first push rod 41 is connected with the first connecting stepped shaft at one end of the first connecting piece 42 through a bearing, and the fifth connecting piece 31 of the movable platform assembly 3 is sleeved in the first connecting sleeve at the other end of the first connecting piece 42.
The first push rod 41 and the second push rod 21 respectively form a push rod mechanism with the two push rod barrels 12 of the static platform assembly 1, and the movement of the movable platform assembly 3 is driven when the push rod mechanism moves.
The second branched chain assembly 2 comprises a second push rod 21, a second connecting piece 22, a third connecting piece 23 and a fourth connecting piece 24, wherein the upper end of the second push rod 21 is arranged in the other push rod barrel 12 of the static platform assembly 1, and the lower end of the second push rod 21 is provided with a shaft sleeve; one end of the second connecting piece 22 is provided with a second connecting stepped shaft, the other end of the second connecting piece 22 is provided with a second connecting sleeve, a shaft sleeve at the lower end of the second push rod 21 is connected with the second connecting stepped shaft at one end of the second connecting piece 22 through a bearing, and the third connecting piece 23 is sleeved in the second connecting sleeve at the other end of the second connecting piece 22; one end of the third connecting piece 23 is fixedly connected to the end part of one side edge of the L-shaped fourth connecting piece 24, and the end part of the other side edge of the fourth connecting piece 24 is fixedly connected with the knuckle bearing 35 of the movable platform assembly 3.
The third branched chain assembly 5 comprises a square ring piece 51, a round bearing seat 52 and round matching bearings 53, the cross section of the square ring piece 51 is square, the middle parts of four side surfaces of the square ring piece 51 are respectively fixed with the round bearing seat 52, and each round bearing seat 52 is internally provided with one round matching bearing 53; the two first stepped shafts 14 of the static platform assembly 1 are in fit connection with two of the two opposite circular fit bearings 53; the two second stepped shafts 32 of the movable platform assembly 3 are in fit connection with the other two opposite circular fit bearings 53.
The axes of the first stepped shaft 14, the second stepped shaft 32, the fourth connecting piece 24 and the joint shaft are always compared to one point.
When the first push rod 41 moves, the first connecting piece 42 and the lower end of the first push rod 41 keep the same speed to move downwards, so that the movable platform assembly 3 and the third movable branched chain 5 are driven to rotate around the axis of the first stepped shaft 14; when the second push rod 21 moves, the second connecting piece 22 and the third connecting piece 23 are driven to move downwards integrally, and then the movable platform assembly 3 connected with the third movement branched chain 5 is driven to rotate around the axis of the second stepped shaft 32.
In the two-degree-of-freedom partial decoupling parallel mechanism comprising the right constraint branched chain, the third branched chain assembly 5 is the right constraint branched chain, so that the whole motion degree of freedom of the movable platform assembly 3 is limited, and the motion degree of freedom is two rotation degrees of freedom; the first push rod 41 in the first branched chain assembly 4 reciprocates up and down, so that the movable platform assembly 3 can always rotate around the axis of the first stepped shaft 14 without affecting the movement of the second push rod 21 in the second branched chain assembly 2; the second push rod 21 in the second branched chain assembly 2 reciprocates up and down, and the movable platform assembly 3 can always rotate around the axis of the second stepped shaft 32 due to the limiting effect of the first branched chain assembly 4; such a mechanism is not only compact but also enables the mobile platform assembly 3 to have two degrees of rotational freedom of partial decoupling.
The two-degree-of-freedom partial decoupling parallel mechanism comprising the right constraint branched chain has the advantages of compact structure, strong driving capability and higher flexibility, and can be applied to the fields of robot joint structures, motion simulation equipment, numerical control machine tools, medical equipment and the like.
The above embodiments are only preferred embodiments of the present invention, and are not limiting to the technical solutions of the present invention, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present invention.
Claims (5)
1. A two degree of freedom partially decoupled parallel mechanism comprising precisely constrained branches, characterized by: the device comprises a static platform assembly (1), a movable platform assembly (3) and three branched chain assemblies, wherein the three branched chain assemblies are a first branched chain assembly (4), a second branched chain assembly (2) and a third branched chain assembly (5) respectively, and the static platform assembly (1) and the movable platform assembly (3) are connected through the three branched chain assemblies;
the static platform assembly (1) comprises a base fixing plate (11), push rod barrels (12), base middle pieces (13) and a first stepped shaft (14), wherein the push rod barrels (12) are arranged in two, the two push rod barrels (12) are vertically fixed on one side of the base fixing plate (11), the axial lead of the two push rod barrels (12) is perpendicular to the base fixing plate (11), a unthreaded hole is formed in the middle of the base fixing plate (11), positioning rods which are vertically arranged are arranged at the tops of the base middle pieces (13), the positioning rods on the base middle pieces (13) penetrate through the unthreaded holes in the base fixing plate (11), and the base middle pieces (13) are fixed on the base fixing plate (11) through inner hexagon bolts; the base middle piece (13) is of an inverted U shape as a whole, the ears on the two sides of the base middle piece (13) are provided with positioning holes, two first stepped shafts (14) respectively penetrate through the two positioning holes on the base middle piece (13) and are fixed on the base middle piece (13), and the axial leads of the two first stepped shafts (14) are parallel to the upper surface of the base fixing plate (11);
the movable platform assembly (3) comprises a fifth connecting piece (31), a second step shaft (32), a vertical plate (33), a base plate (34) and a joint bearing (35), wherein the joint bearing (35) is embedded in the middle of the base plate (34), the vertical plate (33) which is vertically arranged is respectively arranged at the left side and the right side of the base plate (34), the two vertical plates (33) are arranged in parallel and symmetrically arranged at the two sides of the joint bearing (35), the two second step shafts (32) are respectively fixed at the upper ends of the two vertical plates (33), one side, far away from the other second step shaft (32), of one second step shaft (32) is fixedly provided with the fifth connecting piece (31), the fifth connecting piece (31) is in a shaft shape, the shafts of the fifth connecting piece (31) and the two second step shafts (32) are arranged on the same straight line, and the shaft axes of the fifth connecting piece (31) and the two second step shafts (32) are perpendicular to the vertical plate (33);
the first branched chain assembly (4) comprises a first push rod (41) and a first connecting piece (42), the upper end of the first push rod (41) is arranged in one push rod barrel (12) of the static platform assembly (1), and the lower end of the first push rod (41) is provided with a shaft sleeve; one end of the first connecting piece (42) is provided with a first connecting stepped shaft, the other end of the first connecting piece (42) is provided with a first connecting sleeve, a shaft sleeve at the lower end of the first push rod (41) is connected with the first connecting stepped shaft at one end of the first connecting piece (42) through a bearing, and a fifth connecting piece (31) of the movable platform assembly (3) is sleeved in the first connecting sleeve at the other end of the first connecting piece (42);
the second branched chain assembly (2) comprises a second push rod (21), a second connecting piece (22), a third connecting piece (23) and a fourth connecting piece (24), the upper end of the second push rod (21) is arranged in the other push rod barrel (12) of the static platform assembly (1), and the lower end of the second push rod (21) is provided with a shaft sleeve; one end of the second connecting piece (22) is provided with a second connecting stepped shaft, the other end of the second connecting piece (22) is provided with a second connecting sleeve, a shaft sleeve at the lower end of the second push rod (21) is connected with the second connecting stepped shaft at one end of the second connecting piece (22) through a bearing, and the third connecting piece (23) is sleeved in the second connecting sleeve at the other end of the second connecting piece (22); one end of the third connecting piece (23) is fixedly connected with the end part of one side edge of the L-shaped fourth connecting piece (24), and the end part of the other side edge of the fourth connecting piece (24) is fixedly connected with the joint bearing (35) of the movable platform assembly (3);
the third branched chain assembly (5) comprises square ring pieces (51), round bearing seats (52) and round matching bearings (53), the cross section of each square ring piece (51) is square, the middle parts of four side faces of each square ring piece (51) are respectively fixed with one round bearing seat (52), and each round bearing seat (52) is internally provided with one round matching bearing (53); two first stepped shafts (14) of the static platform assembly (1) are in fit connection with two of the opposite circular fit bearings (53); two second step shafts (32) of the movable platform assembly (3) are in fit connection with two other opposite circular fit bearings (53);
the push rod barrel (12) comprises a push rod barrel wall and a push rod barrel fixing plate, the push rod barrel wall is fixed on the push rod barrel fixing plate, the thickness of the push rod barrel fixing plate is equal to the width of a milling groove formed in the base fixing plate (11), the push rod barrel fixing plate is inserted into the milling groove to position the push rod barrel fixing plate, and the push rod barrel fixing plate is fixed in the milling groove of the base fixing plate (11) through an inner hexagon screw;
the first push rod (41) and the second push rod (21) respectively form a push rod mechanism with two push rod barrels (12) of the static platform assembly (1), and the movement of the movable platform assembly (3) is driven when the push rod mechanism moves.
2. A two degree of freedom partially decoupled parallel mechanism incorporating precisely constrained branches as set forth in claim 1 wherein: the base fixing plate (11) is integrally convex, a milling groove is formed in the surface of one side, close to the push rod barrels (12), of the base fixing plate (11), and the two push rod barrels (12) are positioned on the base fixing plate (11) through the milling groove so as to ensure the parallelism of the two push rod barrels (12).
3. A two degree of freedom partially decoupled parallel mechanism incorporating precisely constrained branches as set forth in claim 1 wherein: the end part of the first stepped shaft (14) is provided with a flange plate for fixing, and the flange plate of the first stepped shaft (14) is fixedly connected with the lug part of the side edge of the base intermediate piece (13) through an inner hexagon bolt.
4. A two degree of freedom partially decoupled parallel mechanism incorporating precisely constrained branches as set forth in claim 1 wherein: the left side and the right side of the upper surface of the backing plate (34) are respectively provided with one milling groove and two milling grooves which are arranged in parallel, the lower ends of the two vertical plates (33) are embedded in the two milling grooves, and the two vertical plates (33) are fixedly connected with the backing plate (34) through inner hexagon bolts.
5. A two degree of freedom partially decoupled parallel mechanism incorporating precisely constrained branches as set forth in claim 1 wherein: the axial lines of the first stepped shaft (14), the second stepped shaft (32), the fourth connecting piece (24) and the joint shaft are always intersected at one point.
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| CN202011274296.8A CN112428256B (en) | 2020-11-15 | 2020-11-15 | Two-degree-of-freedom partial decoupling parallel mechanism comprising right constraint branched chains |
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| CN202011274296.8A CN112428256B (en) | 2020-11-15 | 2020-11-15 | Two-degree-of-freedom partial decoupling parallel mechanism comprising right constraint branched chains |
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| CN112428256B true CN112428256B (en) | 2023-11-14 |
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| CN113319821A (en) * | 2021-05-11 | 2021-08-31 | 北京若贝特智能机器人科技有限公司 | Delta parallel robot |
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| US7172385B2 (en) * | 2002-07-09 | 2007-02-06 | Amir Khajepour | Light weight parallel manipulators using active/passive cables |
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| CN108608063A (en) * | 2018-04-02 | 2018-10-02 | 中国矿业大学 | A kind of five axis optical fabrication equipment in parallel |
| CN108555889A (en) * | 2018-06-25 | 2018-09-21 | 福州大学 | The space five-freedom series-parallel connection process unit and its application method of redundant bondage |
| CN108656092A (en) * | 2018-08-07 | 2018-10-16 | 燕山大学 | The series-parallel robot of a mobile parallel connection mechanism is rotated based on four branches two |
| CN213562586U (en) * | 2020-11-15 | 2021-06-29 | 浙江工业大学 | Decoupling parallel mechanism driven by sliding pair |
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