CN113681547A - Two-rotation one-movement parallel mechanism - Google Patents
Two-rotation one-movement parallel mechanism Download PDFInfo
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- CN113681547A CN113681547A CN202111138034.3A CN202111138034A CN113681547A CN 113681547 A CN113681547 A CN 113681547A CN 202111138034 A CN202111138034 A CN 202111138034A CN 113681547 A CN113681547 A CN 113681547A
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- branched chain
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- 238000009434 installation Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
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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-rotation one-movement parallel mechanism which comprises a fixed platform, a movable platform, a first branched chain, a second branched chain and a third branched chain, wherein the first branched chain, the second branched chain and the third branched chain are used for connecting the fixed platform and the movable platform; the joints of the fixed platform and the three branched chains are arranged in an isosceles triangle; the joints of the movable platform and the three branched chains are arranged in an isosceles triangle. The two-rotation one-shift parallel mechanism realizes the connection of the fixed platform and the movable platform through the first branched chain, the second branched chain and the third branched chain, has higher rigidity and better motion control performance, and can meet the processing requirements of a machine tool under working conditions of large load, high speed and the like; the first driving pair, the second driving pair and the third driving pair can realize a working mode of two-rotation one-movement, the working space of the mechanism is increased through the installation of the first ball pair and the second ball pair, the singular configuration of the mechanism is eliminated, and the mechanism can be applied to occasions such as machine tool machining, grabbing and the like.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a two-rotation one-movement parallel mechanism.
Background
The parallel mechanism is a closed loop system formed by connecting the fixed platform and the movable platform through at least two relatively independent branched chains, compared with a series mechanism, the parallel mechanism has the advantages of good rigidity, large load, high precision and the like, is widely applied to the fields of space simulators, machine tool machining, medical health and the like, and the parallel mechanism with less degrees of freedom is more widely applied due to the characteristics of simple structure and the like.
In the mechanism with less freedom degree parallel connection, the motion axis of the adopted standard-form kinematic pair is fixed, so that the singular configuration is not easy to avoid.
Disclosure of Invention
Based on the defects of the prior art, the technical problem solved by the invention is to provide a two-rotation one-shift parallel mechanism, which eliminates the singular configuration, improves the operability of the parallel mechanism and increases the working space.
In order to solve the technical problems, the invention is realized by the following technical scheme: the invention provides a two-rotation one-movement parallel mechanism which comprises a fixed platform, a movable platform, a first branched chain, a second branched chain and a third branched chain, wherein the first branched chain, the second branched chain and the third branched chain are used for connecting the fixed platform and the movable platform; the joints of the fixed platform and the three branched chains are arranged in an isosceles triangle; the joints of the movable platform and the three branched chains are arranged in an isosceles triangle; the first support chain comprises a first connecting rod and a first driving sliding block, wherein the first driving sliding block is connected to the fixed platform through a first revolute pair, connected with the first driving sliding block and the first connecting rod through a first revolute pair, and connected with the first connecting rod and the movable platform through a first hook hinge; the second branched chain comprises a second connecting rod and a second driving sliding block, wherein the second driving sliding block is connected to the fixed platform through a first ball pair, connected with the second driving sliding block and the second connecting rod through a second moving pair, and connected with the second connecting rod and the moving platform through a second rotating pair; the third branched chain comprises a third connecting rod and a third driving sliding block, wherein the third driving sliding block is connected to the fixed platform through a second spherical pair, connected with the third driving sliding block and the third connecting rod through a third moving pair, and connected with the third connecting rod and the moving platform through a second hook hinge.
Further, the first moving pair comprises a first ball screw in threaded connection with the first driving slider; the second sliding pair comprises a second ball screw in threaded connection with the second driving slider; the third moving pair comprises a third ball screw in threaded connection with the third driving slider.
Optionally, the first driving slider, the second driving slider and the third driving slider are respectively slidably mounted on the convex grooves of the first connecting rod, the second connecting rod and the third connecting rod through the concave grooves thereon.
Optionally, an axis of the first rotating pair is parallel to the fixed platform, and an axis of the first rotating pair is parallel to a first axis of the first hooke joint; the second axis of the first hook joint, the axis of the second revolute pair and the second axis of the second hook joint are parallel to each other; the motion direction of the first moving pair is parallel to the axis of the first connecting rod; the motion direction of the second moving pair is parallel to the axis of the second connecting rod, and the motion direction of the third moving pair is parallel to the axis of the third connecting rod.
Further, the first driving slide block is provided with a cylindrical through hole for mounting the first rotating pair and a threaded through hole for mounting the first moving pair; an outer spherical surface used for mounting the first ball pair is arranged at the joint of the second branched chain and the fixed platform; the second driving sliding block is provided with an inner spherical surface for mounting the first ball pair and a threaded through hole for mounting the second moving pair; the third driving sliding block is provided with an inner spherical surface for mounting the second ball pair and a threaded through hole for mounting the third moving pair.
Furthermore, the fixed platform and the movable platform are both of plate-shaped structures, and the fixed platform is always positioned above the movable platform.
The three-degree-of-freedom parallel mechanism has higher rigidity and better motion control performance, and can meet the processing requirements of a machine tool under working conditions of large load, high speed and the like. The first driving pair, the second driving pair and the third driving pair can realize a working mode of two-rotation one-movement, the working space of the mechanism is increased through the installation of the first ball pair and the second ball pair, the singular configuration of the mechanism is eliminated, and the mechanism can be applied to occasions such as machine tool machining, grabbing and the like.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following detailed description is given in conjunction with the preferred embodiments, together with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
FIG. 1 is a schematic structural diagram of a two-turn one-shift parallel mechanism of the present invention;
FIG. 2 is a schematic view of the mounting position of the fixed platform of the two-turn one-shift parallel mechanism of the present invention;
FIG. 3 is a schematic view of a first branch of a two-transfer-one-transfer parallel mechanism of the present invention;
FIG. 4 is a schematic diagram of a second branch of the two-transfer-one-transfer parallel mechanism of the present invention;
FIG. 5 is a schematic view of a third branch of the two-transfer-one-transfer parallel mechanism of the present invention;
in the figure, 1 is a fixed platform, 2 is a movable platform, 3 is a first Hooke's joint, 4 is a first connecting rod, 5 is a first driving slide block, 6 is a second revolute pair, 7 is a second connecting rod, 8 is a second driving slide block, 9 is a second Hooke's joint, 10 is a third connecting rod, 11 is a third driving slide block, 12 is a first connecting rod convex groove, 13 is a first revolute pair, 14 is a first ball screw, 15 is a first slide block groove, 16 is a second connecting rod convex groove, 17 is a second ball screw, 18 is a second slide block groove, 19 is a first ball pair, 20 is a third connecting rod convex groove, 21 is a third ball screw, 22 is a third slide block groove, and 23 is a second ball pair.
Detailed Description
Other aspects, features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which form a part of this specification, and which illustrate, by way of example, the principles of the invention. In the referenced drawings, the same or similar components in different drawings are denoted by the same reference numerals.
The invention relates to a parallel mechanism with two rotation and one movement modes, which is described in the following by combining figures 1 to 5:
the two-rotation one-movement parallel mechanism comprises a movable platform 2 and a fixed platform 1 which are parallel to each other, and three branched chains connected between the movable platform and the fixed platform, wherein the three branched chains are respectively a first branched chain 3, 4, 5, 12 and 13, a second branched chain 6, 7, 8, 16 and 19, and a third branched chain 9, 10, 11, 20, 21 and 23.
As shown in fig. 2, the fixed platform 1 is arranged horizontally, and in an initial state, the fixed platform 1 is parallel to the movable platform 2, and the movable platform 2 is arranged below the fixed platform 1.
The fixed platform 1 is provided with a joint connected with the three branched chains, and the joint is arranged on the fixed platform 1 in an isosceles triangle shape. The joints of the movable platform 2 and the three branched chains are arranged in an isosceles triangle.
The first supporting chain comprises a first connecting rod 4 and a first driving sliding block 5, the first driving sliding block 5 is connected with the fixed platform 1 through a first revolute pair 13, the first connecting rod 4 is connected with the first driving sliding block 5 through a first revolute pair, and the bottom of the first connecting rod 4 is connected with the movable platform 2 through a first hooke hinge 3. The axis of the first rotating pair 13 is parallel to the first axis of the first hooke joint 3 and the fixed platform 1, and the moving direction of the first moving pair is parallel to the axis of the first connecting rod 4.
The second branched chain comprises a second connecting rod 7 and a second driving sliding block 8, the second driving sliding block 8 is connected with the fixed platform 1 through a first ball pair 19, the second connecting rod 7 is connected with the second driving sliding block 8 through a second moving pair, the bottom of the second connecting rod 7 is connected with the moving platform 2 through a second rotating pair 6, and the axis of the second rotating pair 6 is perpendicular to the axis of the second connecting rod 7.
The third branched chain comprises a third connecting rod 10 and a third driving sliding block 11, the third driving sliding block 11 is connected with the fixed platform 1 through a second spherical pair 23, the third connecting rod 10 is connected with the third driving sliding block 11 through a third moving pair, and the bottom of the third connecting rod 10 is connected with the moving platform 2 through a second hook hinge 9. The first axis of the second hooke's joint 9 is perpendicular to the axis of the third link 10. The second axis of the first hook joint 3, the axis of the second revolute pair and the second axis of the second hook joint 9 are parallel to each other. The moving direction of the first moving pair is parallel to the axis of the first connecting rod 4, the moving direction of the second moving pair is parallel to the axis of the second connecting rod 7, and the moving direction of the third moving pair is parallel to the axis of the third connecting rod 10.
The first driving slider 5 has a cylindrical through hole for mounting the first revolute pair 13 and a threaded through hole for mounting the first revolute pair. The joint of the second branched chain and the fixed platform 1 is provided with an outer spherical surface for installing the first ball pair 19, and the second driving sliding block 8 is provided with an inner spherical surface for installing the first ball pair 19 and a threaded through hole for installing the second sliding pair. The joint of the third branched chain and the fixed platform 1 is provided with an outer spherical surface for mounting the second ball pair 23, and the third driving sliding block 11 is provided with an inner spherical surface for mounting the second ball pair 23 and a threaded through hole for mounting the third moving pair.
In the invention, the first moving pair, the second moving pair and the third moving pair are used as driving kinematic pairs, and the driving mechanism adopts a ball screw system. The first sliding pair comprises a first ball screw 14 in threaded connection with the first driving slider 5; the second sliding pair comprises a second ball screw 17 in threaded connection with the second driving slider 8; the third moving pair includes a third ball screw 21 screwed to the third driving slider 11.
The first driving slide block 5, the second driving slide block 8 and the third driving slide block 11 are respectively and slidably arranged on the convex grooves of the first connecting rod 4, the second connecting rod 7 and the third connecting rod 10 through the concave grooves on the first driving slide block, the second driving slide block and the third driving slide block. First drive slider 5 is last to be equipped with first slider recess 15, is equipped with first connecting rod tongue 12 on the first connecting rod 4, and first drive slider 5 realizes sliding on first connecting rod 4 through the cooperation of first slider recess 15 and first connecting rod tongue 12. The second driving sliding block 8 is provided with a second sliding block groove 18, the second connecting rod 7 is provided with a second connecting rod convex groove 16, and the second driving sliding block 8 slides on the second connecting rod 7 through the matching of the second sliding block groove 18 and the second connecting rod convex groove 16. The third driving slider 11 is provided with a third slider groove 22, the third connecting rod 10 is provided with a third connecting rod convex groove 20, and the third driving slider 11 slides on the third connecting rod 10 through the third slider groove 22 and the third connecting rod convex groove 20.
Through the driving of the ball screws with the three branched chains, the parallel mechanism can have two-rotation one-shift movement, namely, the movement along the vertical direction (Z axis), the rotation around the front and back direction (X axis) and the rotation around the left and right direction (Y axis), and through the geometrical configuration, the singular configuration in the working space is eliminated, so that the parallel mechanism can be used for the fields of grabbing objects, parallel machine tools and the like.
While the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (6)
1. A two-rotation one-movement parallel mechanism is characterized by comprising a fixed platform (1), a movable platform (2), and a first branched chain, a second branched chain and a third branched chain which are used for connecting the fixed platform (1) and the movable platform (2);
the joints of the fixed platform (1) and the three branched chains are arranged in an isosceles triangle; the joints of the movable platform (2) and the three branched chains are arranged in an isosceles triangle;
the first supporting chain comprises a first connecting rod (4) and a first driving sliding block (5), wherein the first driving sliding block (5) is connected to the fixed platform (1) through a first revolute pair (13), connected with the first driving sliding block (5) and the first connecting rod (4) through a first revolute pair (13), and connected with the first connecting rod (4) and the movable platform (2) through a first hook hinge (3);
the second branched chain comprises a second connecting rod (7) and a second driving sliding block (8), wherein the second driving sliding block (8) is connected to the fixed platform (1) through a first ball pair (19), connected with the second driving sliding block (8) and the second connecting rod (7) through a second moving pair, and connected with the second connecting rod (7) and the movable platform (2) through a second rotating pair (6);
the third branched chain comprises a third connecting rod (10) and a third driving sliding block (11), wherein the third driving sliding block (11) is connected to the fixed platform (1) through a second spherical pair (23), connected with the third driving sliding block (11) and the third connecting rod (10) through a third moving pair, and connected with the third connecting rod (10) and the movable platform (2) through a second hook hinge (9).
2. Two-turn one-shift parallel mechanism according to claim 1, wherein the first shifting pair comprises a first ball screw (14) in threaded connection with the first driving slider (5); the second moving pair comprises a second ball screw (17) in threaded connection with the second driving slide block (8); the third moving pair comprises a third ball screw (21) which is in threaded connection with the third driving slide block (11).
3. The two-rotation one-movement parallel mechanism according to claim 1 or 2, wherein the first driving slide block (5), the second driving slide block (8) and the third driving slide block (11) are respectively slidably mounted on the convex grooves of the first connecting rod (4), the second connecting rod (7) and the third connecting rod (10) through the concave grooves thereof.
4. A two-turn one-shift parallel mechanism according to claim 1, wherein the axis of the first revolute pair (13) is parallel to the fixed platform (1), and the axis of the first revolute pair (13) is parallel to the first axis of the first hooke's joint; the second axis of the first hook joint, the axis of the second revolute pair and the second axis of the second hook joint are parallel to each other; the motion direction of the first moving pair is parallel to the axis of the first connecting rod (4); the motion direction of the second moving pair is parallel to the axis of the second connecting rod (7), and the motion direction of the third moving pair is parallel to the axis of the third connecting rod (10).
5. Two-turn one-shift parallel mechanism according to claim 1, characterized in that said first driving slider (5) has a cylindrical through hole for mounting said first revolute pair (13) and a threaded through hole for mounting the first revolute pair;
an outer spherical surface used for mounting a first spherical pair (19) is arranged at the joint of the second branched chain and the fixed platform (1); the second driving slide block (8) is provided with an inner spherical surface for mounting the first ball pair (19) and a threaded through hole for mounting the second moving pair;
the joint of the third branched chain and the fixed platform (1) is provided with an outer spherical surface for mounting the second ball pair (23), and the third driving sliding block (11) is provided with an inner spherical surface for mounting the second ball pair (23) and a threaded through hole for mounting the third moving pair.
6. The two-rotation one-movement parallel mechanism as claimed in claim 1, wherein the fixed platform (1) and the movable platform (2) are both plate-shaped structures, and the fixed platform (1) is always positioned above the movable platform (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111138034.3A CN113681547A (en) | 2021-09-27 | 2021-09-27 | Two-rotation one-movement parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111138034.3A CN113681547A (en) | 2021-09-27 | 2021-09-27 | Two-rotation one-movement parallel mechanism |
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| CN113681547A true CN113681547A (en) | 2021-11-23 |
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| CN202111138034.3A Pending CN113681547A (en) | 2021-09-27 | 2021-09-27 | Two-rotation one-movement parallel mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116275762A (en) * | 2023-05-19 | 2023-06-23 | 常州碳科智能装备有限公司 | Welding robot based on parallel mechanism |
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2021
- 2021-09-27 CN CN202111138034.3A patent/CN113681547A/en active Pending
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116275762A (en) * | 2023-05-19 | 2023-06-23 | 常州碳科智能装备有限公司 | Welding robot based on parallel mechanism |
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