CN118322172A - Linear-driven parallel robot mechanism with multiple operation modes - Google Patents

Abstract

The invention discloses a linear-drive multi-operation-mode parallel mechanism. The mechanism consists of a static platform, three identical branched chains and a central universal shaft branched chain, wherein the three branched chains are uniformly distributed along the circumferential direction of the static platform at intervals of 120 degrees. The circumferential branched chain comprises a rotating fork, an electric push rod, a driven arm and a tail end hinging rod. The rotary fork is rotationally connected with the static platform, one end of the electric push rod is fixedly connected with the rotary fork, the other end of the electric push rod is rotationally connected with the upper end of the driven arm, the lower end of the driven arm is rotationally connected with one end of the tail end hinging rod, and the three tail end hinging rods are layered and hinged at one point and are rotationally connected with the tail end actuator along the vertical direction. The upper end of the central branched chain is fixedly connected with the output shaft of the motor, the lower end of the central branched chain is fixedly connected with the end effector, and the end effector is driven to realize full circle rotation through motor rotation.

Description

Linear-driven parallel robot mechanism with multiple operation modes

Technical Field

The present invention relates to parallel robot mechanisms, and more particularly to a parallel robot mechanism with multiple operation modes driven by a linear motion.

Background

The parallel robot is one of important branches of robots, and is widely applied to the fields of biomedical science, aerospace, electronic packaging and the like due to the advantages of no error accumulation, high precision, high bearing capacity, high speed and the like.

At present, most of the proposed parallel mechanisms can only realize one operation mode, namely, only realize three-dimensional translational motion or three-dimensional translational motion plus one-dimensional rotation, and cannot unify the two operation modes into one robot. The mechanisms disclosed in chinese patents such as publication nos. CN 115446823a and CN 114378793a can only implement one mode of operation. And most of the parallel mechanisms have complex structures, so that the application of the parallel mechanisms is limited.

Disclosure of Invention

The parallel robot mechanism provided by the invention has the advantages of strong flexibility, easiness in control, simple structure and capability of realizing higher-speed multi-operation modes.

The mechanism comprises a static platform, and three circumferential branched chains are uniformly distributed along the circumferential direction of the static platform. A central universal shaft branched chain is connected with the middle of the static platform; the central universal shaft branched chain comprises a first driving device fixed at the center of the static platform and a brake fixed on the fixed platform, the rotation output end of the first driving device arranged along the vertical direction is fixedly connected with the upper end of the upper universal joint, the upper end of the fixed end of one telescopic rod is connected with the lower end of the upper universal joint, the lower end of the movable end of the telescopic rod is fixedly connected with the upper end of the lower universal joint, the movable end of the telescopic rod can move along the axial direction of the fixed end of the telescopic rod, the lower end of the lower universal joint is fixedly connected with the end effector sleeve, and the end effector sleeve is coaxially fixed with the end effector;

Each circumferential branched chain comprises a rotating fork, the rotating fork is rotationally connected with the static platform through a first rotating pair, the upper end of the electric push rod is fixedly connected with the rotating fork, the lower end of the electric push rod is rotationally connected with the upper end of the driven arm through a second rotating pair, and the lower end of the driven arm is rotationally connected with one end of the tail end hinging rod through a third rotating pair;

The lower ends of the tail end hinging rods of the three circumferential branched chains are sequentially and rotatably connected with the sleeve up and down through a fourth revolute pair, and among the three tail end hinging rods, the tail end hinging rod positioned at the upper part and the tail end hinging rod positioned at the lower part adopt a bending design so that the rotation axes of the driven arm connected with each circumferential branched chain and each third revolute pair of the tail end hinging rod are always on the same horizontal plane; the first revolute pair axis is parallel to the fourth revolute pair axis and is always perpendicular to the static platform, and the second revolute pair axis and the third revolute pair axis are always parallel to the static platform and are orthogonal to the first revolute pair axis and the fourth revolute pair axis.

The invention has the advantages that: the mechanism can realize two operation modes, so that the mechanism can be suitable for various working conditions and different working environments. The motion mode of the parallel mechanism is not unified any more.

Drawings

FIG. 1 is a schematic three-dimensional representation of an embodiment of a linear-drive multi-mode parallel robot mechanism according to the present invention;

FIG. 2 is a schematic view of the end hinge structure of the structure shown in FIG. 1;

FIG. 3 is a schematic illustration of the structure of the center gimbal link in the structure shown in FIG. 1;

Detailed Description

The following describes specific embodiments of the present invention in detail with reference to the drawings.

The invention relates to a parallel robot mechanism with multiple linear driving operation modes, which is shown in the attached drawing, and comprises a static platform 1, wherein three circumferential branched chains are uniformly distributed along the circumferential direction of the static platform, and a central universal shaft branched chain is connected in the middle of the static platform;

The central universal shaft branched chain comprises a first driving device 6 fixed at the center of the static platform 1 and a brake 12 fixed on the static platform, wherein the rotation output end of the first driving device 6 arranged along the vertical direction is fixedly connected with the upper end of an upper universal joint 13, the upper end of a fixed end 7 of a telescopic rod is connected with the lower end of the upper universal joint 13, the lower end of a movable end 8 of the telescopic rod is fixedly connected with the upper end of a lower universal joint 9, the movable end of the telescopic rod can move along the axial direction of the fixed end of the telescopic rod, the lower end of the lower universal joint 9 is fixedly connected with an end effector sleeve 11, and an end effector 10 is coaxially fixed on the end effector sleeve 11;

Each circumferential branched chain comprises a rotating fork 2, and the rotating fork 2 is rotationally connected with the static platform 1 through a first rotating pair; the upper end of the electric push rod 3 is fixedly connected with the rotating fork 2, the lower end of the electric push rod 3 is rotationally connected with one end of the driven arm 4 through a second rotating pair, and the lower end of the driven arm 4 is rotationally connected with one end of the tail end hinging rod 5-1 (5-2, 5-3) through a third rotating pair; one end of each of the three tail end hinging rods 5-1 (5-2 and 5-3) of the circumferential branched chain is sleeved on the tail end actuator sleeve 11, and the three tail end hinging rods are sequentially connected with the tail end actuator sleeve in a rotating manner up and down;

The lower ends of the tail end hinging rods 5-1 (5-2 and 5-3) of the three circumferential branched chains are sequentially connected with the sleeve 11 in a rotating way through a fourth revolute pair, and among the three tail end hinging rods, the tail end hinging rod 5-2 positioned at the upper part and the tail end hinging rod 5-1 positioned at the lower part adopt a bending design so that the rotation axes of the driven arm 4 connected with each circumferential branched chain and each third revolute pair of the tail end hinging rod are always on the same horizontal plane; the first revolute pair axis is parallel to the fourth revolute pair axis and is always perpendicular to the static platform, and the second revolute pair axis and the third revolute pair axis are always parallel to the static platform and are orthogonal to the first revolute pair axis and the fourth revolute pair axis.

The central cardan shaft branched chain drives the tail end rotating shaft to rotate under the drive of the first driving device 6, so that the tail end actuator 10 can realize the whole circle rotation in the vertical direction. The first driving device 6 may be a motor.

The parallel mechanism can realize two motion modes of three-degree-of-freedom translation and three-translation, one-rotation and four-degree-of-freedom, when the three-translation and one-rotation mode is needed, the first driving device 6 works normally, the brake 12 is powered to release the band-type brake, and the end effector 10 can realize full-circle rotation and three-dimensional translation; when the three-translation mode is needed, the brake 12 loses electricity and the band-type brake holds the brake disc tightly, so that the end effector 10 does not rotate any more. The parallel mechanism has various motion modes and can greatly improve the working efficiency.

Claims (1)

1. A parallel robot mechanism with multiple linear driving operation modes comprises a static platform, three branched chains with the same structure and a central universal shaft branched chain. The three circumferential branched chains are uniformly distributed around the circumference of the static platform and are 120 degrees apart; the method is characterized in that:

Each circumferential branched chain comprises a rotating fork, and the rotating fork is rotationally connected with the static platform through a first rotating pair; the upper end of the electric push rod is fixedly connected with the rotating fork, the lower end of the electric push rod is rotationally connected with one end of the driven arm through the second rotating pair, and the lower end of the driven arm is rotationally connected with one end of the tail end hinging rod through the third rotating pair.

The central universal shaft branched chain comprises a first driving device fixed at the center of the fixed platform and a brake fixed on the fixed platform, the rotation output end of the first driving device arranged along the vertical direction is fixedly connected with the upper end of the upper universal joint, the upper end of the fixed end of one telescopic rod is connected with the lower end of the upper universal joint, the lower end of the movable end of the telescopic rod is fixedly connected with the upper end of the lower universal joint, the movable end of the telescopic rod can move along the axial direction of the fixed end of the telescopic rod, the lower end of the lower universal joint is fixedly connected with the end effector sleeve, and the end effector sleeve is coaxially fixed with the end effector;

The lower ends of the tail end hinging rods of the three circumferential branched chains are sequentially and rotatably connected with the sleeve up and down through a fourth revolute pair, and among the three tail end hinging rods, the tail end hinging rod positioned at the upper part and the tail end hinging rod positioned at the lower part adopt a bending design so that the rotation axes of the driven arm connected with each circumferential branched chain and each third revolute pair of the tail end hinging rod are always on the same horizontal plane; the first revolute pair axis is parallel to the fourth revolute pair axis and is always perpendicular to the static platform, and the second revolute pair axis and the third revolute pair axis are always parallel to the static platform and are orthogonal to the first revolute pair axis and the fourth revolute pair axis.