CN113459069A - Three-degree-of-freedom parallel mechanism capable of reconstructing degree-of-freedom form - Google Patents
Three-degree-of-freedom parallel mechanism capable of reconstructing degree-of-freedom form Download PDFInfo
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- CN113459069A CN113459069A CN202110667292.4A CN202110667292A CN113459069A CN 113459069 A CN113459069 A CN 113459069A CN 202110667292 A CN202110667292 A CN 202110667292A CN 113459069 A CN113459069 A CN 113459069A
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- 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
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Abstract
The invention discloses a three-degree-of-freedom parallel mechanism with a reconfigurable degree-of-freedom form, which comprises a fixed platform, a movable platform and three branched chains uniformly distributed around the axis of the fixed platform, wherein each branched chain comprises a linear slide rail, a slide block, a torsion mechanism, a rotating block, a connecting rod and two hook hinges, the upper end of the linear slide rail is vertically connected with the fixed platform, the slide block is connected with the linear slide rail in a sliding manner and is connected with the rotating block through the torsion mechanism, so that the rotating block can move up and down along with the slide block and rotate around a horizontal axis, one end of the connecting rod is connected with the rotating block through a first hook hinge, and the other end of the connecting rod is connected with the movable platform through a second hook hinge. The parallel mechanism can work in a three-degree-of-freedom moving mode or a three-degree-of-freedom rotating mode by changing the posture of the Hooke joint, and the movable platform can complete different space motions under the condition of not replacing the mechanism, so that the equipment investment is effectively reduced, and the working efficiency is improved.
Description
Technical Field
The invention relates to a three-degree-of-freedom parallel mechanism capable of reconstructing a degree-of-freedom form, and belongs to the technical field of parallel robots.
Background
Compared with a series mechanism, the parallel mechanism has the advantages of easy inverse solution, good controllability, high precision, stable work and the like. The three-degree-of-freedom parallel mechanism has a great deal of application in the industrial field, can finish the work of quick grabbing, special matching, sorting and the like, and mainly comprises a Delta mechanism, Cross-IV and the like in the current industrially applied mechanism. However, these mechanisms can only complete the movement with a specific degree of freedom, such as three-degree-of-freedom movement or two-rotation one-movement, and when the movement with a specific degree of freedom cannot meet the use requirement, the work task can only be completed by a method of replacing the mechanism, which not only increases the equipment investment, but also affects the work efficiency. Therefore, it is necessary to find a parallel mechanism capable of rapidly switching the form of the degree of freedom.
Disclosure of Invention
The invention aims to provide a three-degree-of-freedom parallel mechanism capable of reconstructing a degree-of-freedom form so as to reduce equipment investment and improve working efficiency aiming at the defects of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a three-degree-of-freedom parallel mechanism capable of reconstructing a degree-of-freedom form comprises a fixed platform, a movable platform and three branched chains uniformly distributed around the axis of the fixed platform, wherein each branched chain comprises a linear slide rail, a slide block, a torsion mechanism, a rotating block, a connecting rod and two hook hinges, the upper end of each linear slide rail is vertically connected with the fixed platform, the slide block is connected with the linear slide rails in a sliding mode and is connected with the rotating block through the torsion mechanism, so that the rotating block can move up and down along with the slide block and rotate around a horizontal axis, one end of the connecting rod is connected with the rotating block through the first hook hinge, and the other end of the connecting rod is connected with the movable platform through the second hook hinge.
The three-degree-of-freedom parallel mechanism with the reconfigurable degree-of-freedom form comprises a torsion motor, a motor base, a coupler, a bearing and a rotating shaft, wherein the rotating shaft is rotatably connected with a sliding block through the bearing, a vertical bisecting plane of the rotating shaft passes through the axis of a fixed platform, a rotating block is fixed in the middle of the rotating shaft, the torsion motor is fixed on the sliding block through the motor base, and an output shaft of the torsion motor is connected with the rotating shaft through the coupler.
In the three-degree-of-freedom parallel mechanism with the reconfigurable degree-of-freedom form, each hooke joint comprises a cross shaft and two semicircular rings, the cross shaft comprises an A shaft and a B shaft which are perpendicular to each other, and two ends of the cross shaft and the B shaft are respectively in rotating connection with two ends of the two semicircular rings; the shaft A of the first hook joint is connected with the rotating block through a semicircular ring, so that the shaft A can rotate to the axis which is parallel to the linear slide rail or the fixed platform along with the rotating block and points to the fixed platform, and the shaft B of the first hook joint is connected with the connecting rod through a semicircular ring; the shaft A of the second hook joint is connected with the connecting rod through a semicircular ring, and the shaft B is connected with the movable platform through a semicircular ring; an A axis of the second hook joint is parallel to a B axis of the first hook joint and is vertical to the connecting rod, and the B axis of the second hook joint is parallel to the movable platform.
According to the three-degree-of-freedom parallel mechanism with the reconfigurable degree-of-freedom form, the sliding block is provided with a driving device which enables the sliding block to slide along the linear sliding rail, and the driving device is a motor driving device, a hydraulic driving device or a pneumatic driving device.
In the three-degree-of-freedom parallel mechanism with the reconfigurable degree-of-freedom form, the torsion motor is a stepping motor.
The invention changes the gesture of the Hooke's joint by using the torsion mechanism, realizes the reconstruction of the form of the degree of freedom by changing the gesture of the Hooke's joint, ensures that the parallel mechanism can work in a three-degree-of-freedom moving mode and a three-degree-of-freedom rotating mode, and ensures that the movable platform completes different space motions under the condition of not changing the mechanism, thereby effectively reducing the equipment investment and improving the working efficiency.
In addition, the invention also has the advantages of large working space, flexible movement, simple control and the like.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of three-degree-of-freedom motion states according to the present invention;
FIG. 2 is a schematic diagram of a three-degree-of-freedom rotation state according to the present invention;
FIG. 3 is a schematic diagram of three degrees of freedom movement of a branched chain;
FIG. 4 is a schematic diagram of three degrees of freedom rotation of a branched chain;
FIG. 5 is a schematic structural view of a hook joint;
fig. 6 is a schematic structural view of the conversion mechanism.
The reference numbers in the figures are: 1. the device comprises a fixed platform, 2, a linear sliding rail, 3, a branched chain, 4, a movable platform, 5, a sliding block, 6, a first hook joint, 7, a connecting rod, 8, a second hook joint, 9, a torsion motor, 10, a motor base, 11, a coupler, 12, a bearing, 13, a rotating block, 14, a rotating shaft, 15, a semicircular ring, 16 and a cross shaft.
Detailed Description
The invention provides a three-degree-of-freedom parallel mechanism capable of reconstructing a degree-of-freedom form, which can be switched into a three-degree-of-freedom movement form or a three-degree-of-freedom rotation form according to different requirements of a user, and is a mechanism with less degrees of freedom, so that the redundancy of the degrees of freedom is avoided. The proposal of the mechanism increases the selection of the parallel mechanism in the industry.
As shown in fig. 1 and 2, the present invention is mainly composed of three parts, namely a fixed platform 1, a movable platform 4 and three branched chains 3 connecting the fixed platform 1 and the movable platform 4. Three branched chains are arranged between the movable platform 4 and the fixed platform 1 at 120 degrees, all the branched chains are completely the same and comprise a linear slide rail 2, a slide block 5 arranged on the linear slide rail 2, a torsion motor 9, a motor base 10, a coupler 11, a bearing 12, a rotating shaft 14, a rotating block 13, a first hook hinge 6, a connecting rod 7 and a second hook hinge 8 arranged on the movable platform 4, and the branched chains are the same and can reduce the processing cost.
During installation, three linear sliding rails 2 which are parallel to each other are uniformly distributed around the vertical axis of the fixed platform 1 (namely, the three linear sliding rails mutually form an angle of 120 degrees), the upper ends of the three linear sliding rails are vertically fixed on the lower surface of the fixed platform 1, a sliding block 5 (namely, a sliding pair) on each branched chain is installed on the linear sliding rails 2, and the sliding block 5 can only slide up and down along the linear sliding rails 2 to limit the degree of freedom of the sliding block 5 on other axes. The rotating block 13 is fixed on the rotating shaft 14, the rotating shaft 14 is rotatably connected with the sliding block 5 through the bearing 12, the torsion motor 9 is fixed on the sliding block 5 through the motor base 10, an output shaft of the torsion motor 9 is connected with the rotating shaft 14 through the coupler 11, one end of the connecting rod 7 is connected with the rotating block 13 through the first hook hinge 6, and the other end of the connecting rod is connected with the movable platform 4 through the second hook hinge 8.
The first Hooke joint 6 and the second Hooke joint 8 are identical in structure and comprise a cross shaft 16 and two semicircular rings 15, two ends of each semicircular ring 15 are respectively connected with two ends of an A shaft and a B shaft of the cross shaft in a rotating mode, and the two semicircular rings 15 are used for being connected with other components.
The specific connection mode of the first hook joint 6 and the second hook joint 8 is as follows: the shaft A of the first Hooke hinge 6 is connected with the rotating block 13 through a semicircular ring 15, the shaft B is connected with the connecting rod 7 through a semicircular ring 15, the shaft A of the second Hooke hinge 8 is connected with the connecting rod 7 through a semicircular ring 15, and the shaft B is connected with the movable platform 4 through a semicircular ring 15; the A axis of the second Hooke joint 8 is parallel to the B axis of the first Hooke joint 6, and the B axis of the second Hooke joint 8 is parallel to the movable platform 4.
The rotating block 13 rotates around the rotating shaft 14 under the driving of the torsion motor 9 and drives the shaft A of the first hooke joint 6 to synchronously rotate, so that the reconstruction of the form of the degree of freedom is realized.
As shown in fig. 1, a branched chain coordinate system a-xyz is established, the origin of the coordinate system is at the rotation center of the first hooke joint 6 (i.e. the center point of the cross axle), the z-axis is specified to be parallel to the linear slide 2 and point upward, and the x-axis is specified to be parallel to the fixed platform and point to the vertical axis of the fixed platform. When the A axis of the first Hooke's hinge 6 is parallel to the specified x axis, the mechanism is in a three-degree-of-freedom movement form; when the sliding blocks on the linear sliding rail are arranged at the same height, and the axis A of the first hook joint is rotated to be parallel to the linear sliding rail 2, the mechanism is in a three-degree-of-freedom rotation mode (the movable platform 4 rotates around the axis x and the axis y and moves along the axis z).
The driving device of the parallel mechanism is arranged on the sliding block 5 and can be driven by a motor or can be driven by hydraulic pressure and pneumatic pressure. The hook joint is driven to move by the up-and-down movement of the sliding block, and meanwhile, the hook joint is rotated, so that the pose of the connecting rod is changed, the pose of the hook joint connected to the movable platform is changed, and finally the movable platform of the parallel mechanism is driven to complete the required action.
During initial installation, the mechanism is in a three-degree-of-freedom movement form, the axis A of the first hook joint 6 of each branched chain is parallel to the specified axis x of the branched chain, namely, the axis A is parallel to the fixed platform 1 and points to the vertical axis of the fixed platform, the axis A of the second hook joint 8 is parallel to the axis B of the first hook joint 6, and the axis B of the second hook joint 8 is parallel to the axis A of the first hook joint 6 and is parallel to the movable platform 4. When the mechanism is converted into a three-degree-of-freedom rotation form, three sliding blocks are required to be arranged at the same height, the A axis of the first Hooke hinge 6 of each branched chain is rotated to be parallel to the z axis, and at the moment, the movable platform 4 of the mechanism has the freedom degree of rotation around the x axis and the y axis and movement along the z axis.
Two different freeform forms are defined below by the helical method. When the mechanism is in a three-degree-of-freedom movement form, analyzing a single branched chain helical system, wherein the formula is as follows:
$ 1 =(0 0 0；0 0 1)
$ 2 =(1 0 0；0 0 0)
$ 3 =(0 1 0；0 0 0)
$ 4 =(0 0 0；d 4 0 f 4 ) (1)
$ 5 =(1 0 0；0 e 5 f 5 )
$ 6 =(0 1 0；d 6 0 f 6 )
the reverse helix is derived from the helix:
$ 1 r =(0 0 0；0 0 1) (2)
equation (2) shows that when the a axis of the first hooke joint 6 of each branch is parallel to the B axis of the second hooke joint 8 (as shown in fig. 3), each branch exerts a constraint couple on the moving platform. Three force couples exerted by the three branched chains are not parallel to each other and are linearly independent of each other, and the three rotations of the movable platform are limited by the 3 force couples, so that the movable platform only has three-degree-of-freedom movement.
$ 1 =(0 0 0;0 0 1)
$ 2 =(0 0 1;0 0 0)
$ 3 =(0 1 0;0 0 0)
$ 4 =(0 0 0;d 4 0 f4) (3)
$ 5 =(0 1 0;0 0 0)
$ 6 =(1 0 0;0 e 6 0)
The reverse helix is derived from the helix:
$ 1 r =(0 1 0;0 0 0) (4)
formula (4) shows that when the axis a of the first hooke joint 6 of each branched chain is parallel to the linear slide rail 2 (as shown in fig. 4), the constraining forces exerted by the three branched chains on the movable platform are staggered, and the three forces are in the same plane, so that the movement of two degrees of freedom and the rotation of one degree of freedom are limited, and the movable platform only has three degrees of freedom rotation.
The invention realizes the quick switching of the degree of freedom of the mechanism by changing the axis direction of the Hooke hinge. Meanwhile, the mechanism has the advantages of a parallel mechanism, namely, the advantages of simplicity in inverse solution, good controllability, high precision, stability in working and the like.
The parallel mechanism is explained in detail in the attached drawings, and aims to provide a variable freedom-degree form three-freedom-degree parallel mechanism for practical production. However, the present invention is not limited to the above-described embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (5)
1. The three-degree-of-freedom parallel mechanism is characterized by comprising a fixed platform (1), a movable platform (4) and three branched chains (3) uniformly distributed around the axis of the fixed platform (1), wherein each branched chain (3) comprises a linear slide rail (2), a sliding block (5), a torsion mechanism, a rotating block (13), a connecting rod (7) and two hook hinges, the upper end of each linear slide rail (2) is vertically connected with the fixed platform (1), the sliding block (5) is in sliding connection with the linear slide rails (2) and is connected with the rotating block (13) through the torsion mechanism, so that the rotating block (13) can move up and down along with the sliding block (5) and rotate around a horizontal axis, one end of the connecting rod (7) is connected with the rotating block (13) through a first hook hinge (6), and the other end of the connecting rod is connected with the movable platform (4) through a second hook hinge (8).
2. The three-degree-of-freedom parallel mechanism with a reconfigurable degree-of-freedom form according to claim 1 is characterized in that the torsion mechanism comprises a torsion motor (9), a motor base (10), a coupler (11), a bearing (12) and a rotating shaft (14), the rotating shaft (14) is rotatably connected with the sliding block (5) through the bearing (12), a perpendicular bisector of the rotating shaft (14) passes through an axis of the fixed platform (1), a rotating block (13) is fixed in the middle of the rotating shaft (14), the torsion motor (9) is fixed on the sliding block (5) through the motor base (10), and an output shaft of the torsion motor (9) is connected with the rotating shaft (14) through the coupler (11).
3. A reconfigurable three-degree-of-freedom parallel mechanism according to claim 1 or 2, wherein each hooke joint comprises a cross shaft (16) and two semicircular rings (15), the cross shaft (16) comprises an axis a and an axis B which are perpendicular to each other, and two ends of the axis a and the axis B are rotatably connected with two ends of the two semicircular rings (15), respectively; the shaft A of the first hook joint (6) is connected with the rotating block (13) through a semicircular ring (15), so that the shaft A can rotate along with the rotating block (13) to be parallel to the linear slide rail (2) or parallel to the fixed platform (1) and point to the axis of the fixed platform (1), and the shaft B of the first hook joint (6) is connected with the connecting rod (7) through the semicircular ring (15); the shaft A of the second Hooke joint (8) is connected with the connecting rod (7) through a semicircular ring (15), and the shaft B is connected with the movable platform (4) through a semicircular ring (15); an axis A of the second Hooke joint (8) is parallel to an axis B of the first Hooke joint (6) and is vertical to the connecting rod (7), and an axis B of the second Hooke joint (8) is parallel to the movable platform (4).
4. A reconfigurable three degree-of-freedom parallel mechanism according to claim 3, wherein the slider (5) is provided with a drive means for sliding along the linear slide (2), the drive means being a motor drive means, a hydraulic drive means or a pneumatic drive means.
5. A reconfigurable three degree-of-freedom parallel mechanism according to claim 4, wherein the torsion motor (9) is a stepper motor.
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| CN202110667292.4A CN113459069B (en) | 2021-06-16 | 2021-06-16 | Three-degree-of-freedom parallel mechanism capable of reconstructing degree-of-freedom form |
| CN202210847588.9A CN115366073A (en) | 2021-06-16 | 2021-06-16 | Three-degree-of-freedom parallel mechanism capable of reconstructing degree-of-freedom form |
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| CN114918908A (en) * | 2022-06-28 | 2022-08-19 | 上海新纪元机器人有限公司 | Decoupling parallel mechanism, setting method, control method and mechanical equipment |
| CN115351768A (en) * | 2022-07-20 | 2022-11-18 | 福州大学 | Branched chain assembly, six-degree-of-freedom parallel mechanism and industrial robot |
| CN115635484A (en) * | 2022-10-28 | 2023-01-24 | 电子科技大学 | Method for controlling singular pose of robot |
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| CN115366073A (en) | 2022-11-22 |
| CN113459069B (en) | 2022-11-08 |
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