CN112476414A - High-rigidity plane two-degree-of-freedom parallel mechanism - Google Patents
High-rigidity plane two-degree-of-freedom parallel mechanism Download PDFInfo
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- CN112476414A CN112476414A CN202011319370.3A CN202011319370A CN112476414A CN 112476414 A CN112476414 A CN 112476414A CN 202011319370 A CN202011319370 A CN 202011319370A CN 112476414 A CN112476414 A CN 112476414A
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- transmission structure
- bevel gear
- fixed frame
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- branched chain
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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Abstract
The invention discloses a high-rigidity plane two-degree-of-freedom parallel mechanism, which comprises a middle branched chain and two telescopic branched chain groups, wherein the middle branched chain is arranged between a fixed frame and a movable platform; the middle branched chain consists of a guide block and a guide rod which are connected through a moving pair, the guide block is connected with the fixed frame through a rotating pair, and the guide rod is fixedly connected with the movable platform; each telescopic branch chain group consists of two identical single telescopic branch chains and a driving device; the single telescopic branched chain is a screw nut transmission structure; the driving device comprises a driving motor and a transmission mechanism; the nut is fixedly connected with the output end of the transmission mechanism and is connected with the fixed frame; the screw rod is connected with the movable platform; the driving motor changes the length of the telescopic branched chain group through the transmission mechanism, and the movable platform realizes the movement with one translational degree of freedom and one rotational degree of freedom. The telescopic branched chain is only loaded in tension and compression, the structure is simple and compact, the rigidity in the mechanism plane and the rigidity perpendicular to the mechanism plane are effectively increased, and the total mass of the mechanism is reduced.
Description
Technical Field
The invention relates to a robot, in particular to a high-rigidity plane two-degree-of-freedom parallel mechanism.
Background
The existing plane mechanism is simple in structure, good rigidity characteristic in the plane of the mechanism can be guaranteed by means of the high rigidity characteristic of the parallel mechanism, but the rigidity characteristic perpendicular to the plane of the mechanism is poor.
Disclosure of Invention
The invention provides a high-rigidity plane two-degree-of-freedom parallel mechanism for solving the technical problems in the prior art.
In order to solve the technical problem, the two-degree-of-freedom parallel mechanism with the high-rigidity plane comprises a fixed frame and a movable platform, wherein a middle branched chain and two telescopic branched chain groups with the same structure are arranged between the fixed frame and the movable platform; the middle branched chain consists of a guide block and a guide rod, the guide block is connected with the fixed frame through a revolute pair and is connected with one end of the guide rod through a revolute pair, and the other end of the guide rod is fixedly connected with the movable platform; each telescopic branch chain group consists of two identical single telescopic branch chains and a driving device; the single telescopic branched chain is a screw nut transmission structure; the driving device comprises a driving motor and a transmission mechanism; the nut of the single telescopic branched chain is fixedly connected with the output end of the transmission mechanism and is connected with the fixed frame through a revolute pair or a Hooke hinge; the lead screws of the two single telescopic branched chains are also connected with the movable platform through hooke hinges or ball pin pairs; in each telescopic branch chain group, the power of the driving motor is transmitted to the nut in the single telescopic branch chain through the transmission mechanism, the lead screw in the single telescopic branch chain moves relative to the nut, and the length of the telescopic branch chain group is changed, so that the movable platform can move in a translational-rotational degree of freedom.
Further, in the present invention, the structure of the transmission mechanism has the following two cases:
the driving mechanism comprises a belt transmission structure and two bevel gear transmission structures, the belt transmission structure comprises a driving wheel and a driven wheel, each bevel gear transmission structure comprises a driving bevel gear and a driven bevel gear, the driving motor is connected with the driving wheel of the belt transmission structure, and the driving wheel and the driven wheel of the belt transmission structure are respectively connected with the driving bevel gears of the two bevel gear transmission structures; the nuts of the two single telescopic branched chains are respectively fixedly connected with the driven bevel gears of the two bevel gear transmission structures.
For the high-rigidity plane two-degree-of-freedom parallel mechanism with the first form, two-stage belt transmission structures are respectively arranged between a driving wheel of the belt transmission structure and a driving bevel gear of one bevel gear transmission structure and between a driven wheel of the belt transmission structure and a driving bevel gear of the other bevel gear transmission structure.
In a second form, the transmission mechanism is a belt transmission structure, and the driving motor and the belt transmission structure are both arranged on the fixed frame; the driving motor is connected with a driving wheel with a transmission structure, and the driving wheel and the driven wheel with the transmission structure are respectively connected with the nuts of the two single telescopic branched chains through Hooke hinges or a rzeppa universal joint.
Aiming at the high-rigidity plane two-degree-of-freedom parallel mechanism with the second form, in each telescopic branch chain group, an unloading ring is connected between a lead screw and the fixed frame, one end of each unloading ring is connected with the lead screw through a moving pair, the other end of each unloading ring is connected with the fixed frame through a Hooke hinge, and the rotation center of the Hooke hinge is coincided with the rotation center of the Hooke hinge arranged between the nut and the fixed frame.
Compared with the prior art, the invention has the beneficial effects that:
the telescopic branched chain only carries tension and compression load, has simple and compact structure, effectively increases the rigidity in the mechanism plane and the rigidity vertical to the mechanism plane, and simultaneously lightens the total mass of the mechanism.
Drawings
FIG. 1 is a schematic diagram of an overall structure of a high-rigidity planar two-degree-of-freedom parallel mechanism according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a retractable branch chain set in the first embodiment shown in FIG. 1;
FIG. 3 is a schematic structural diagram of a retractable branched chain set according to a second embodiment;
FIG. 4 is a schematic diagram of the overall structure of a third embodiment of the present invention;
fig. 5 is a schematic overall structure diagram of a fourth embodiment of the present invention.
In the figure: the device comprises a fixed frame, a movable platform, a guide block, a guide rod, a telescopic branch chain group, a guide rod, a nut, a driven bevel gear, a drive bevel gear, a belt transmission structure, a drive motor, a secondary belt transmission.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, which are not intended to limit the invention in any way.
In order to solve the technical problems in the prior art, the general structure of the high-rigidity planar two-degree-of-freedom parallel mechanism provided by the invention is shown in fig. 1 and 2, and comprises a fixed frame 1 and a movable platform 2, wherein a middle branched chain and two telescopic branched chain groups 5a and 5b with the same structure are arranged between the fixed frame 1 and the movable platform 2; the middle branched chain is composed of a guide block 3 and a guide rod 4, the guide block 3 is connected with the fixed frame 1 through a revolute pair and is connected with one end of the guide rod 4 through a revolute pair, and the other end of the guide rod 4 is fixedly connected with the movable platform 2; each telescopic branch chain group consists of two identical single telescopic branch chains and a driving device; the single telescopic branch chain is a screw-nut transmission structure, and as shown in fig. 2, the two single telescopic branch chains are respectively a screw 6a, a nut 7a and a screw 6b matched with the screw 6a, and a nut 7b matched with the screw 6 b. The driving device comprises a driving motor 11 and a transmission mechanism; the nut of the single telescopic branched chain is fixedly connected with the output end of the transmission mechanism and is connected with the fixed frame 1 through a revolute pair or a Hooke hinge; the lead screws 6a and 6b of the two single telescopic branched chains are also connected with the movable platform 2 through a Hooke hinge or a ball pin pair; in the invention, in each telescopic branch chain group, the power of the driving motor 11 is transmitted to the nut 7a (or 7b) in a single telescopic branch chain through the transmission mechanism, the lead screw 6a (or 6b) in the single telescopic branch chain moves relative to the nut, and the length of the telescopic branch chain group is changed, so that the movable platform 2 finally realizes the movement with one translational degree of freedom and one rotational degree of freedom.
The first embodiment is as follows:
as shown in fig. 1 and 2, the transmission mechanism includes a belt transmission structure 10 and two bevel gear transmission structures, the belt transmission structure 10 includes a driving wheel and a driven wheel, each bevel gear transmission structure includes a driving bevel gear and a driven bevel gear, as shown in fig. 2, the two bevel gear transmission structures are respectively composed of a driving bevel gear 9a and a driven bevel gear 8a, and a driving bevel gear 9b and a driven bevel gear 8b, the driving motor 11 is connected with the driving wheel of the belt transmission structure 10, and the driving wheel and the driven wheel of the belt transmission structure 10 are respectively connected with the driving bevel gears 9a and 9b of the two bevel gear transmission structures; two single telescopic branched chain nuts 7a and 7b are respectively fixedly connected with driven bevel gears 8a and 8b of two bevel gear transmission structures.
Example two:
a two-stage belt transmission structure is added on the basis of the structure of the first embodiment shown in fig. 1 and 2, and as shown in fig. 3, a two-stage belt transmission structure 12a is arranged between a driving wheel of the belt transmission structure 10 and a driving bevel gear 9a of a bevel gear transmission structure; the driving wheel of the secondary belt transmission structure 12a is connected with the belt-driven driving wheel, and the driven wheel of the secondary belt transmission structure 12a is connected with the driving bevel gear 9 a; similarly, another secondary belt transmission structure 12b is arranged between the driven wheel of the belt transmission structure and the driving bevel gear 9b of another bevel gear transmission structure; the driving wheel of the secondary belt transmission structure 12b is connected with the driven wheel of the belt transmission structure 10, and the driven wheel of the secondary belt transmission structure 12b is connected with the other driving bevel gear 9 b. By adding the secondary belt transmission structures 12a and 12b, the sizes of the two drive bevel gears 9a and 9b and the two driven bevel gears 10a and 10b can be effectively reduced, and a compact structural design is achieved.
Example three:
the driving motor 11 and the transmission mechanism in the first embodiment shown in fig. 1 and fig. 2 are both mounted on the fixing frame 1. As shown in fig. 4, the transmission mechanism is a belt transmission structure 10, the driving motor 11 is connected with a driving wheel of the belt transmission structure 10, and the driving wheel and the driven wheel of the belt transmission structure 10 are respectively connected with the nuts of the two single telescopic branched chains through hooke hinges or ball-cage universal joints.
Example four:
on the basis of the third embodiment shown in fig. 4, an unloading ring is added, as shown in fig. 4 and 5, in each telescopic branch chain group, unloading rings 13a and 13b are connected between a lead screw and the fixed frame 1, the connection relationship between the two unloading rings 13a and 13b and corresponding parts is the same, taking the unloading ring 13a as an example, one end of the unloading ring 13a is connected with the lead screw 6a through a moving pair, the other end of the unloading ring 13a is connected with the fixed frame 1 through a hooke hinge, and the rotation center of the hooke hinge coincides with the rotation center of the hooke hinge arranged between the nut 7a and the fixed frame 1. The additional unloading rings 13a and 13b are provided to transfer part of the load of the lead screws 6a and 6b to the fixed frame 1, and reduce the load of the Hooke hinge between the nuts 7a and 7b and the fixed frame 1.
In the present invention, no matter any specific structure of the first to fourth embodiments, the driving motor 11 is powered by a transmission mechanism (including a belt transmission structure 10, a bevel gear transmission structure or a correspondingly added secondary belt transmission structure) to transmit power to the nuts 7a and 7b, so that the lead screws 6a and 6b move relative to the nuts 7a and 7b, respectively, and further the length of the retractable branch chain sets 5a and 5b is changed, and finally the movable platform 2 realizes a translational-rotational freedom motion.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (5)
1. A high-rigidity plane two-degree-of-freedom parallel mechanism comprises a fixed frame (1) and a movable platform (2), and is characterized in that a middle branched chain and two telescopic branched chain groups with the same structure are arranged between the fixed frame (1) and the movable platform (2);
the middle branched chain is composed of a guide block (3) and a guide rod (4), the guide block (3) is connected with the fixed frame (1) through a revolute pair and is connected with one end of the guide rod (4) through a revolute pair, and the other end of the guide rod (4) is fixedly connected with the movable platform (2);
each telescopic branch chain group consists of two identical single telescopic branch chains and a driving device; the single telescopic branched chain is a screw nut transmission structure;
the driving device comprises a driving motor (11) and a transmission mechanism;
the nut of the single telescopic branched chain is fixedly connected with the output end of the transmission mechanism and is connected with the fixed frame (1) through a revolute pair or a hooke hinge; the lead screws of the two single telescopic branched chains are also connected with the movable platform (2) through a Hooke hinge or a ball pin pair;
in each telescopic branch chain group, the power of the driving motor (11) is transmitted to the nut in the single telescopic branch chain through the transmission mechanism, the lead screw in the single telescopic branch chain moves relative to the nut, and the length of the telescopic branch chain group is changed, so that the movable platform (2) finally moves in a translational motion and a rotational degree of freedom.
2. The high-rigidity planar two-degree-of-freedom parallel mechanism is characterized in that the transmission mechanism comprises a belt transmission structure (10) and two bevel gear transmission structures, the belt transmission structure comprises a driving wheel and a driven wheel, each bevel gear transmission structure comprises a driving bevel gear and a driven bevel gear, the driving motor (11) is connected with the driving wheel of the belt transmission structure (10), and the driving wheel and the driven wheel of the belt transmission structure are respectively connected with the driving bevel gears of the two bevel gear transmission structures; the nuts of the two single telescopic branched chains are respectively fixedly connected with the driven bevel gears of the two bevel gear transmission structures.
3. The high-rigidity planar two-degree-of-freedom parallel mechanism according to claim 2, characterized in that: two-stage belt transmission structures are respectively arranged between the driving wheel of the belt transmission structure and the driving bevel gear of one bevel gear transmission structure, and between the driven wheel of the belt transmission structure and the driving bevel gear of the other bevel gear transmission structure.
4. The high-rigidity planar two-degree-of-freedom parallel mechanism is characterized in that the transmission mechanism is a belt transmission structure, and the driving motor (11) and the belt transmission structure are both arranged on the fixed frame (1); the driving wheel and the driven wheel of the belt transmission structure (10) are respectively connected with the nuts of the two single telescopic branched chains through Hooke hinges or a rzeppa universal joint.
5. The high-rigidity planar two-degree-of-freedom parallel mechanism as claimed in claim 4 is characterized in that in each telescopic branch chain group, an unloading ring is connected between a lead screw and the fixed frame (1), one end of the unloading ring is connected with the lead screw through a moving pair, the other end of the unloading ring is connected with the fixed frame (1) through a Hooke hinge, and the rotation center of the Hooke hinge coincides with the rotation center of the Hooke hinge arranged between the nut and the fixed frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011319370.3A CN112476414A (en) | 2020-11-23 | 2020-11-23 | High-rigidity plane two-degree-of-freedom parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011319370.3A CN112476414A (en) | 2020-11-23 | 2020-11-23 | High-rigidity plane two-degree-of-freedom parallel mechanism |
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| CN112476414A true CN112476414A (en) | 2021-03-12 |
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| CN202011319370.3A Pending CN112476414A (en) | 2020-11-23 | 2020-11-23 | High-rigidity plane two-degree-of-freedom parallel mechanism |
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Citations (9)
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| US20040126198A1 (en) * | 2002-12-27 | 2004-07-01 | Jeng-Shyong Chen | Multi-axis cartesian guided parallel kinematic machine |
| CN101246065A (en) * | 2008-03-22 | 2008-08-20 | 燕山大学 | Elastic hinge parallel 6-UPUR six-dimension force-measuring platform |
| CN101497193A (en) * | 2008-02-03 | 2009-08-05 | 中国科学院沈阳自动化研究所 | Laser processing robot mechanism |
| TW201127576A (en) * | 2010-02-09 | 2011-08-16 | Hon Hai Prec Ind Co Ltd | Parallel robot |
| CN102172912A (en) * | 2011-02-23 | 2011-09-07 | 常州大学 | Two-degree-of-freedom parallel manipulator |
| CN102248533A (en) * | 2011-06-15 | 2011-11-23 | 天津职业技术师范大学 | Two-degree-of-freedom spatial parallel mechanism for realizing one-dimensional rotation and one-dimensional movement |
| CN105818137A (en) * | 2016-05-24 | 2016-08-03 | 天津大学 | Parallel mechanism with three-dimensional translational motion |
| CN106363610A (en) * | 2016-11-24 | 2017-02-01 | 天津大学 | Novel three-freedom-degree translational motion parallel mechanism |
| CN110076444A (en) * | 2019-04-30 | 2019-08-02 | 天津大学 | A kind of two-freedom parallel connection head for Friction Stir Welding |
-
2020
- 2020-11-23 CN CN202011319370.3A patent/CN112476414A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040126198A1 (en) * | 2002-12-27 | 2004-07-01 | Jeng-Shyong Chen | Multi-axis cartesian guided parallel kinematic machine |
| CN101497193A (en) * | 2008-02-03 | 2009-08-05 | 中国科学院沈阳自动化研究所 | Laser processing robot mechanism |
| CN101246065A (en) * | 2008-03-22 | 2008-08-20 | 燕山大学 | Elastic hinge parallel 6-UPUR six-dimension force-measuring platform |
| TW201127576A (en) * | 2010-02-09 | 2011-08-16 | Hon Hai Prec Ind Co Ltd | Parallel robot |
| CN102172912A (en) * | 2011-02-23 | 2011-09-07 | 常州大学 | Two-degree-of-freedom parallel manipulator |
| CN102248533A (en) * | 2011-06-15 | 2011-11-23 | 天津职业技术师范大学 | Two-degree-of-freedom spatial parallel mechanism for realizing one-dimensional rotation and one-dimensional movement |
| CN105818137A (en) * | 2016-05-24 | 2016-08-03 | 天津大学 | Parallel mechanism with three-dimensional translational motion |
| CN106363610A (en) * | 2016-11-24 | 2017-02-01 | 天津大学 | Novel three-freedom-degree translational motion parallel mechanism |
| CN110076444A (en) * | 2019-04-30 | 2019-08-02 | 天津大学 | A kind of two-freedom parallel connection head for Friction Stir Welding |
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