CN114102561A - Parallel robot device with cylindrical surface translation and one-dimensional rotation - Google Patents
Parallel robot device with cylindrical surface translation and one-dimensional rotation Download PDFInfo
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- CN114102561A CN114102561A CN202111423164.1A CN202111423164A CN114102561A CN 114102561 A CN114102561 A CN 114102561A CN 202111423164 A CN202111423164 A CN 202111423164A CN 114102561 A CN114102561 A CN 114102561A
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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
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
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Abstract
The invention provides a parallel robot device with cylindrical surface translation and one-dimensional rotation, which comprises a static platform, a dynamic platform, a first branched chain, a second branched chain and a third branched chain, wherein the first branched chain consists of a revolute pair and a cylindrical pair; the second branched chain consists of a moving pair and three revolute pairs, the moving pair is connected to the static platform, and a guide rail of the moving pair is parallel to the axes of the three revolute pairs; the third branched chain consists of three rotating mechanisms and a parallelogram mechanism, and the axes of the three rotating pairs are parallel to each other; the axes of the driving pairs of the first branch chain, the second branch chain and the third branch chain are parallel to each other, the rotating pairs of the second branch chain and the third branch chain which are connected on the movable platform are parallel to each other, and the axes of the rotating pairs of the first branch chain and the third branch chain which are connected on the movable platform are collinear. The device has the advantages of simple structure, convenient control, wide application range and the like.
Description
Technical Field
The invention relates to the technical field of parallel robots, in particular to a parallel robot device with cylindrical surface translation and one-dimensional rotation.
Background
The device with the functions of cylindrical surface translation and one-dimensional rotation output is required in many industrial occasions, the parallel mechanism of the cylindrical surface translation and the one-dimensional rotation has the characteristics of simple structure, strong practicability and the like, is mainly applied to the aspects of machine joints, rehabilitation training machines, camera positioning systems and the like, and the mechanism research and engineering design of the three-degree-of-freedom parallel mechanism exist at present, and a two-translation and one-rotation parallel robot is invented in a patent 201610072912.9 applied by the 2016 Ziweiwu Wei; patent 201811330200.8 applied by Liyan in 2018 discloses a two-translation and one-rotation parallel mechanism; patent 201910504575.X of 2019 Shenhuiping application discloses a two-translation and one-rotation parallel mechanism with zero coupling degree and analytic expression; the two-dimensional translation related to the mechanisms of the invention patents is two-dimensional movement in a plane, and the two-dimensional movement of a cylindrical surface is not related. Therefore, there is a need for a parallel mechanism that is simple in structure but capable of producing both cylindrical surface translation and one-dimensional rotational output.
Disclosure of Invention
The invention aims to solve the problems and provides a parallel robot device with cylindrical surface translation and one-dimensional rotation.
In order to achieve the above purpose, the invention provides the following technical scheme:
a parallel robot device with cylindrical surface translation and one-dimensional rotation comprises a static platform, a movable platform, a first branched chain, a second branched chain and a third branched chain;
the first supporting chain comprises a first rotating pair, a first cylindrical pair and a first connecting rod, the first rotating pair is connected with the static platform, the first cylindrical pair is connected with the rotating platform, and the first rotating pair is connected with the first cylindrical pair through the first connecting rod;
the second branched chain is formed by sequentially connecting a first sliding pair, a second connecting rod, a second rotating pair, a third connecting rod, a third rotating pair, a fourth connecting rod and a fourth rotating pair in series, the first sliding pair is connected with the static platform, and the fourth rotating pair is connected with the dynamic platform;
the third branched chain comprises a fifth rotating pair, a fifth connecting rod, a sixth rotating pair, a first parallelogram connecting rod mechanism and a seventh rotating pair, the first parallelogram connecting rod mechanism consists of four rotating pairs and connecting rods for connecting the rotating pairs, the sixth rotating pair and the seventh rotating pair are respectively connected with the sixth connecting rod and the seventh connecting rod of the first parallelogram connecting rod mechanism, the fifth rotating pair is connected with the sixth rotating pair through the fifth connecting rod, and the first parallelogram connecting rod mechanism is connected with the movable platform through the seventh rotating pair.
In the technical scheme, the axes of the first rotating pair and the first cylindrical pair are parallel to each other.
The straight line where the first sliding pair guide rail is located is parallel to the axes of the second rotating pair, the third rotating pair and the fourth rotating pair.
The straight line where the sixth connecting rod and the seventh connecting rod are located is parallel to the axis of the fifth revolute pair, and the axes of the fifth revolute pair, the sixth revolute pair and the seventh revolute pair are parallel to each other.
The first cylindrical pair and the fourth rotating pair are collinear, and the axes of the fifth rotating pair, the first cylindrical pair and the fourth rotating pair are parallel to each other.
In the above technical solution, the first cylinder pair may be replaced by a combination of a revolute pair and a revolute pair.
The combination of the first moving pair and the second rotating pair can be replaced by a cylindrical pair.
The first parallelogram linkage mechanism can be replaced by a moving pair, and the combination of the fifth rotating pair and the first parallelogram linkage mechanism can be replaced by a cylindrical pair.
The invention has the advantages of
The parallel robot device has a simple structure, can realize the translation and one-dimensional rotation of the cylindrical surface of the movable platform at the same time, is convenient to control, and has a wide application range.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a parallel robot device with cylindrical surface translation and one-dimensional rotation according to the present invention.
The reference numerals in the figures illustrate: 0. a static platform; 1. a first branch chain; 2. a second branch chain; 3. a third branch chain; 4. a movable platform; 11. a first rotating pair; 12. a first cylindrical pair; 13. a first link; 21. a first sliding pair; 22. a second link; 23. a second revolute pair; 24. a third link; 25. a third revolute pair; 26. a fourth link; 27. a fourth revolute pair; 31. a fifth revolute pair; 32. a fifth link; 33. a sixth revolute pair; 34. a seventh revolute pair; 35. a sixth link; 36. and a seventh link.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
Example (b): see fig. 1.
As shown in fig. 1, a parallel robot device with cylindrical surface translation and one-dimensional rotation comprises a static platform 0, a movable platform 4, a first branched chain 1, a second branched chain 2 and a third branched chain 3;
the first branched chain 1 comprises a first rotating pair 11, a first cylindrical pair 12 and a first connecting rod 13, the first rotating pair 11 is connected with the static platform 0, the first cylindrical pair 12 is connected with the movable platform 4, and the first rotating pair 11 is connected with the first cylindrical pair 12 through the first connecting rod 13;
the second branched chain 2 is formed by sequentially connecting a first moving pair 21, a second connecting rod 22, a second rotating pair 23, a third connecting rod 24, a third rotating pair 25, a fourth connecting rod 26 and a fourth rotating pair 27 in series, the first moving pair 21 is connected with the static platform 0, and the fourth rotating pair 27 is connected with the movable platform 4;
the third branched chain 3 comprises a fifth revolute pair 31, a fifth connecting rod 32, a sixth revolute pair 33, a first parallelogram link mechanism and a seventh revolute pair 34, the first parallelogram link mechanism consists of four revolute pairs and connecting rods for connecting the revolute pairs, the sixth revolute pair 33 and the seventh revolute pair 34 are respectively connected with the sixth connecting rod 35 and the seventh connecting rod 36 of the first parallelogram link mechanism, the fifth revolute pair 31 is connected with the sixth revolute pair 33 through the fifth connecting rod 32, and the first parallelogram link mechanism is connected with the movable platform 4 through the seventh revolute pair 34.
It should be noted that, in order to facilitate the assembly and control of the device, in the present embodiment, at the initial assembly time, the parallel robot device should ensure that:
the axes of the first rotating pair 11 and the first cylindrical pair 12 are parallel to each other.
And the straight line where the guide rail of the first sliding pair 21 is located is parallel to the axes of the second rotating pair 23, the third rotating pair 25 and the fourth rotating pair 27.
Third, the line of the sixth link 35 and the seventh link 36 is parallel to the axis of the fifth revolute pair 31, and the axes of the fifth revolute pair 31, the sixth revolute pair 33 and the seventh revolute pair 34 are parallel to each other.
Further, the first cylinder pair 12 and the fourth rotation pair 27 are collinear, and the axis of the fifth rotation pair 31 and the axes of the first cylinder pair 12 and the fourth rotation pair 27 are parallel to each other.
Further, the first cylinder pair 12 may be replaced by a combination of a rotation pair and a movement pair.
Further, the combination of the first moving pair 21 and the second rotating pair 23 may be replaced by a single cylindrical pair.
Further, the first parallelogram linkage may be replaced by a sliding pair, and the combination of the fifth revolute pair 31 and the first parallelogram linkage may be replaced by a cylindrical pair.
In the present embodiment, when the first revolute pair 11, the first moving pair 21 and the second revolute pair 31 are used as driving pairs, the moving platform 4 can move along the cylindrical surface on the plane perpendicular to the plane of the first revolute pair 11 and rotate around the axis of the first cylindrical pair 12 and the fourth revolute pair 27.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A parallel robot device with cylindrical surface translation and one-dimensional rotation comprises a static platform (0), a movable platform (4), a first branched chain (1), a second branched chain (2) and a third branched chain (3),
the first branched chain (1) comprises a first rotating pair (11), a first cylindrical pair (12) and a first connecting rod (13), the first rotating pair (11) is connected with the static platform (0), the first cylindrical pair (12) is connected with the movable platform (4), and the first rotating pair (11) is connected with the first cylindrical pair (12) through the first connecting rod (13);
the second branched chain (2) is formed by sequentially connecting a first moving pair (21), a second connecting rod (22), a second rotating pair (23), a third connecting rod (24), a third rotating pair (25), a fourth connecting rod (26) and a fourth rotating pair (27) in series, the first moving pair (21) is connected with the static platform (0), and the fourth rotating pair (27) is connected with the movable platform (4);
the third branched chain (3) comprises a fifth revolute pair (31), a fifth connecting rod (32), a sixth revolute pair (33), a first parallelogram connecting rod mechanism and a seventh revolute pair (34), the first parallelogram connecting rod mechanism comprises four revolute pairs and connecting rods for connecting the revolute pairs, the sixth revolute pair (33) and the seventh revolute pair (34) are respectively connected with the sixth connecting rod (35) and the seventh connecting rod (36) of the first parallelogram connecting rod mechanism, the fifth revolute pair (31) is connected with the sixth revolute pair (33) through the fifth connecting rod (32), and the first parallelogram connecting rod mechanism is connected with the movable platform (4) through the seventh revolute pair (34).
2. Parallel robotic device with cylindrical translation and one-dimensional rotation according to claim 1, characterized in that the axes of said first revolute pair (11) and of said first cylindrical pair (12) are parallel to each other.
3. The parallel robot device with the cylindrical surface translation and the one-dimensional rotation functions as claimed in claim 1, characterized in that the straight line of the guide rails of the first revolute pair (21) is parallel to the axes of the second revolute pair (23), the third revolute pair (25) and the fourth revolute pair (27).
4. The parallel robot device with cylindrical surface translation and one-dimensional rotation of claim 1, characterized in that the straight line of the sixth connecting rod (35) and the seventh connecting rod (36) is parallel to the axis of the fifth revolute pair (31), and the axes of the fifth revolute pair (31), the sixth revolute pair (33) and the seventh revolute pair (34) are parallel to each other.
5. A parallel robotic device with cylindrical surface translation and one-dimensional rotation according to claim 1, characterized in that said first cylindrical pair (12) and said fourth rotational pair (27) are collinear, and said fifth rotational pair (31) and said first and fourth cylindrical pairs (12, 27) have their axes parallel to each other.
6. Parallel robotic device with cylindrical surface translation and one-dimensional rotation according to claim 1, characterized in that said first cylindrical pair (12) can be replaced by a rotating pair and a moving pair combination.
7. Parallel robotic device with cylindrical translation and one-dimensional rotation according to claim 1, characterized in that the combination of said first moving pair (21) and second rotating pair (23) can be replaced by a single cylindrical pair.
8. A parallel robotic device with cylindrical surface translation and one-dimensional rotation according to claim 1, characterized in that the first parallelogram linkage can be replaced by a moving pair, and the combination of the fifth revolute pair (31) and the first parallelogram linkage can be replaced by a cylindrical pair.
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| US20180126545A1 (en) * | 2015-05-26 | 2018-05-10 | Fangyuan HAN | Multi-motion-platform parallel robot construction method and parallel robots for same |
| CN110142745A (en) * | 2019-06-11 | 2019-08-20 | 常州大学 | A kind of zero degree of coupling has two translations, the one rotation shunting means of analytic expression position forecast |
| CN110682274A (en) * | 2019-10-15 | 2020-01-14 | 北京交通大学 | Five-degree-of-freedom redundant drive parallel mechanism with large rotation angle |
-
2021
- 2021-11-26 CN CN202111423164.1A patent/CN114102561B/en active Active
Patent Citations (6)
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| CN104400780A (en) * | 2014-11-26 | 2015-03-11 | 河北工业大学 | Parallel mechanism with three branching chains and six degrees of freedom |
| US20180126545A1 (en) * | 2015-05-26 | 2018-05-10 | Fangyuan HAN | Multi-motion-platform parallel robot construction method and parallel robots for same |
| CN105598953A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Two-rotation and one-movement three-degree-of-freedom parallel mechanism |
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