CN209755195U - Four-freedom-degree parallel mechanism with three-movement-one-rotation motion modes - Google Patents
Four-freedom-degree parallel mechanism with three-movement-one-rotation motion modes Download PDFInfo
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- CN209755195U CN209755195U CN201822075118.7U CN201822075118U CN209755195U CN 209755195 U CN209755195 U CN 209755195U CN 201822075118 U CN201822075118 U CN 201822075118U CN 209755195 U CN209755195 U CN 209755195U
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Abstract
The utility model discloses a four degree of freedom parallel mechanism with three kinds of three remove a rotational motion modes, including deciding the platform and moving the platform, move the platform and be connected with first connecting rod through first revolute pair R 1, decide the platform and be connected with first connecting rod through first branch chain and third branch chain, decide the platform and be connected with moving the platform through second branch chain and fourth branch chain, the utility model discloses have three kinds of three remove a rotational motion mode's four degree of freedom parallel mechanism, will move the platform and decide the platform and connect through setting up four branch chains, the utility model discloses a parallel mechanism's whole easily makes, and control is simple, and the flexibility is good, especially can be applicable to the car bumper and spray paint, and this mechanism can adapt to different shapes bumper when the spraying, and then improves production efficiency, the utility model discloses a parallel mechanism still can be applied to motion simulator, coordinate measuring machine.
Description
Technical Field
The utility model belongs to the technical field of the robot, a four degree of freedom parallel mechanism with three kinds of 3T1R motion pattern is related to.
Background
The parallel robot mechanism is in a space multi-degree-of-freedom multi-ring closed chain form. Since the eighties of the last century, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small accumulated error, good dynamic characteristic, compact structure and the like, and is widely applied to the industrial fields of virtual axis machine tools, micro-motion operation tables, motion simulators, multi-dimensional force sensors and the like. The parallel mechanism has 2, 3, 4, 5 or 6 degrees of freedom, at present, the parallel mechanism with 6 degrees of freedom is researched more comprehensively and deeply, but the reduction of the degrees of freedom of the parallel mechanism enables the mechanism structure to be simpler, and the manufacturing and control cost to be relatively lower, so that the parallel robot with less degrees of freedom has unique advantages under the condition of meeting the expected working requirement.
The parallel mechanism with multiple motion modes has the characteristic of motion bifurcation under the singular configuration of the mechanism, and can realize multiple motion modes through fewer driving pairs and branched chains, thereby being suitable for different work requirements. And the movement mode of the mechanism is changed without reassembling the mechanism, and the movement mode is high in changing speed and simple and convenient in process. For example, under a certain light load working condition, the robot end effector is required to realize actions such as positioning and grabbing at high speed and high acceleration, and at the moment, the parallel robot can better exert the advantages of the robot end effector.
Currently, in the existing parallel mechanism of 3T1R motion mode, the rotation axis can be switched in two directions, or the rotation axis can be continuously changed in space. However, there is currently no 3T1R parallel mechanism that is switchable between two fixed axes and has a continuously spatially varying axis of rotation.
The utility model discloses a parallel mechanism, wherein under two kinds of three remove a motion mode of rotating (3T1R), the axis of rotational degree of freedom is fixed, under another three remove a pivoted motion mode, the axis of rotational degree of freedom is changed. The novel parallel mechanism has a certain application prospect in the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a four degree of freedom parallel mechanism with three kinds of 3T1R motion patterns has multiple motion patterns, can realize the demand that a parallel robot is multi-purpose.
The technical scheme adopted by the utility model is that the four-degree-of-freedom parallel mechanism with three moving and one rotating motion modes comprises a fixed platform and a movable platform, wherein the movable platform is connected with a first connecting rod through a first revolute pair R 1;
The fixed platform is connected with the first connecting rod through the first branched chain and the third branched chain;
The fixed platform is connected with the movable platform through a second branched chain and a fourth branched chain.
The utility model discloses a characteristics still lie in:
The first connecting rod is arranged in parallel with the movable platform.
The first branched chain and the third branched chain respectively comprise first sliding rods fixedly connected with the fixed platform, each first sliding rod is connected with a second connecting rod, each second connecting rod can slide along the corresponding first sliding rod, each second connecting rod is connected with a third connecting rod, each third connecting rod can slide along the corresponding second connecting rod, each third connecting rod is sleeved with a fourth connecting rod, each fourth connecting rod can slide along the third connecting rod, each fourth connecting rod is connected with a second revolute pair R 2, each second revolute pair R 2 is fixedly connected with a fifth connecting rod, each fifth connecting rod is fixedly connected with a third revolute pair R 3, each third revolute pair R 3 is connected with the first connecting rod, the second connecting rod on the first branched chain is connected with a driving motor, and the fourth connecting rod of the third branched chain is connected with a driving motor.
The first sliding rod, the second connecting rod and the third connecting rod are mutually vertical, the axis of the third revolute pair R 3 is parallel to the first sliding rod, and the included angle between the axis of the second revolute pair R 2 and the axis of the third revolute pair R 3 is 120 degrees.
the first sliding rod on the first branched chain is arranged in parallel with the first sliding rod on the third branched chain.
Each second connecting rod and each third connecting rod are sleeved with the corresponding first sliding rod, the loop bar of each third connecting rod is sleeved with the corresponding sliding rod of each second connecting rod, each fourth connecting rod comprises a connecting rod and a hollow loop bar which are connected in a T shape, the loop bar of each fourth connecting rod is sleeved with the corresponding third connecting rod, and the connecting rod of each fourth connecting rod is connected with the corresponding third revolute pair R 2.
the second branched chain and the fourth branched chain respectively comprise a second sliding rod fixedly connected with the fixed platform, each second sliding rod is connected with a sixth connecting rod, each sixth connecting rod can slide along the second sliding rod, each sixth connecting rod is connected with a seventh connecting rod, each seventh connecting rod can slide along the sixth connecting rod, each seventh connecting rod is connected with an eighth connecting rod, each eighth connecting rod comprises a hollow sleeve and a fourth revolute pair R 4 fixedly connected with each other, the sleeve of each eighth connecting rod is sleeved with the corresponding seventh connecting rod, each eighth connecting rod can slide along the corresponding seventh connecting rod, a fourth revolute pair R 4 of each eighth connecting rod is connected with a fifth revolute pair R 5, each fifth revolute pair R 5 and the corresponding fourth revolute pair R 4 form a universal hinge, each fifth revolute pair R 5 is fixedly connected with the movable platform, a sixth connecting rod and a fourth revolute pair R 4 of the second branched chain are connected with a movable driving motor, and a fourth revolute pair R 4 of the fourth branched chain is connected with a movable driving motor.
the second sliding rod, the sixth connecting rod and the seventh connecting rod are mutually vertical.
The second slide bar of the second branched chain is arranged in parallel with the second slide bar of the fourth branched chain, and the axis of each fourth revolute pair R 4 is parallel to the corresponding second slide bar.
the first branched chain and the third branched chain are arranged oppositely, and the second branched chain and the fourth branched chain are arranged oppositely.
The beneficial effects of the utility model are that
The utility model discloses four degree of freedom parallel mechanism with three kinds of 3T1R motion pattern, wherein under two kinds of three removal one rotation (3T1R) motion pattern, the axis of rotational freedom is fixed, and under the other three removal one pivoted motion pattern, the axis of rotational freedom is the change, thereby makes the utility model discloses a four degree of freedom parallel mechanism has multiple motion pattern, can be applicable to fields such as motion emulation, machine assembly, letter sorting snatch, parallel machine tool, satisfy a multi-purpose demand of parallel robot.
Drawings
Fig. 1 is a schematic structural diagram of a 3T2R four-degree-of-freedom parallel mechanism with three moving-rotating motion modes according to the present invention;
Fig. 2 is a schematic diagram of the four-degree-of-freedom parallel mechanism with three moving-rotating motion modes according to the present invention in a position of a rotating axis variable mode;
FIG. 3 is a schematic diagram of the four-degree-of-freedom parallel mechanism of the present invention with three moving-one rotating motion modes, wherein the rotating axis of the four-degree-of-freedom parallel mechanism is fixed and the motion mode is along the Y axis;
Fig. 4 is a schematic diagram of the four-degree-of-freedom parallel mechanism with three moving-rotating motion modes according to the present invention, which has an instantaneous degree of freedom of 3T 2R;
Fig. 5 is a schematic diagram of the four-degree-of-freedom parallel mechanism with three moving-rotating motion modes of the present invention, wherein the rotating axis is fixed and the motion mode is along the X-axis.
In the figure, 1 is a fixed platform, 2 is a movable platform, 3 is a first revolute pair R 1, 4 is a first connecting rod, 5 is a first sliding rod, 6 is a second connecting rod, 7 is a third connecting rod, 8 is a fourth connecting rod, 9 is a second revolute pair R 2, 10 is a fifth connecting rod, 11 is a third revolute pair R 3, 12 is a second sliding rod, 13 is a sixth connecting rod, 14 is a seventh connecting rod, 15 is a fourth revolute pair R 4, 16 is a fifth revolute pair R 5, 17 is an eighth connecting rod.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
A four-degree-of-freedom parallel mechanism with three modes of three-movement and one-rotation motion comprises a movable platform 2 in a rod shape, a first connecting rod 4 is connected to the movable platform 2 in parallel through a first rotating pair R 1, a fixed platform 1 is further included, the fixed platform 1 is connected with the first connecting rod 4 through a first branched chain and a third branched chain, the first branched chain and the third branched chain respectively comprise a first sliding rod 5 fixedly connected with the fixed platform 1, a second connecting rod 6 in a T shape is connected to each first sliding rod 5, each second connecting rod 6 comprises a connecting rod and a hollow sleeve rod, each sleeve rod of the second connecting rod 6 is sleeved with the corresponding first sliding rod 5, each second connecting rod 6 can slide along the corresponding first sliding rod 5 to form a first moving pair P 11, a third connecting rod 7 in a T shape is connected to each second connecting rod 6, each third connecting rod 7 comprises a connecting rod and a hollow sleeve rod, each third connecting rod 7 is sleeved with the corresponding connecting rod 7, the corresponding third connecting rod 7 is connected with a corresponding connecting rod 358, a third connecting rod 367 is connected with a third connecting rod 11, a third connecting rod 367, a third connecting rod 11 is connected with a third connecting rod 11, a third connecting rod 368 is connected with a third connecting rod 11, a fourth connecting rod 11 is connected with a fourth connecting rod 11, a third connecting rod 11 is connected with a third connecting rod 11, a fourth connecting rod 11 and a fourth connecting rod 11, a fourth connecting rod 11 is connected with a third connecting rod 11, a fourth connecting rod 11, a third connecting rod 11 is connected with a fourth connecting rod 11, a third connecting rod 11 and a third connecting rod 11, a fourth connecting rod 11, a third connecting rod 11, a fourth connecting rod 11, a third connecting rod 11 is connected with a fourth connecting rod 11, a third connecting rod 11 and a fourth connecting rod 11, a third connecting rod 9 and a fourth.
The fixed platform 1 is connected with the movable platform 2 through a second branched chain and a fourth branched chain, the second branched chain and the fourth branched chain respectively comprise a second slide bar 12 fixedly connected with the fixed platform 1, each second slide bar 12 is connected with a sixth connecting rod 13, each sixth connecting rod 13 comprises a connecting rod and a hollow sleeve, each sleeve of the sixth connecting rod 13 is sleeved with the corresponding second slide bar 12, so that each sixth connecting rod 13 can slide along the corresponding second slide bar 12 to form a fourth movable pair P 21, each sixth connecting rod 13 is connected with a seventh connecting rod 14, each seventh connecting rod 14 comprises a connecting rod and a hollow sleeve, each sleeve of the seventh connecting rod 14 is sleeved with the corresponding connecting rod of the sixth connecting rod 13, so that each seventh connecting rod 14 can slide along the corresponding sixth connecting rod 13 to form a fifth movable pair P 22, the second slide bar 12, the sixth connecting rod 13 and the seventh connecting rod 14 are perpendicular to each other, each seventh connecting rod 14 is connected with an eighth connecting rod 17, each eighth connecting rod 17 comprises a rotating sleeve and a fifth movable pair R3547, each connecting rod 3617 is connected with a fourth branched chain 7, a fifth branched chain 3617 is connected with a fourth branched chain, a fourth branched chain 7, a fifth branched chain 28, a fifth branched chain 3617 is connected with a fifth branched chain, a fifth branched chain 12, a fifth branched chain 3617, a fifth chain 12 is connected with a fifth chain 12, a fifth chain 28, a fifth chain 12 is connected with a fifth chain 12, a fifth chain 28, a fifth chain 12, a fifth chain 28, a fifth chain 9 is connected with a fifth chain 9, a fifth chain 28, a fifth chain 12, a fifth chain 9 is connected with a fifth chain 17, a fifth chain 12.
The two first slide bars 5 and the two second slide bars 12 are both arranged vertically, and the two third connecting rods 7 and the two seventh connecting rods 14 are both arranged in parallel.
the four-degree-of-freedom parallel mechanism with three-movement one-rotation motion modes of the utility model establishes a coordinate system under the mechanism configuration of figure 1, takes the axial direction of a first slide bar 5 as a Y axis, the axial direction of a second slide bar 12 as an X axis, and the axial direction of a third connecting rod 7 as a Z axis, under the mechanism configuration shown in figure 1, the second connecting rod 6 can move along the Y axis direction, the third connecting rod 7 can move along the X axis direction, the fourth connecting rod 8 can move along the Z axis direction, the rotating shaft axis of the second rotating pair R 2 is parallel to an XOY plane, the sixth connecting rod 13 can move along the X axis, the seventh connecting rod 14 can move along the Y axis direction, the eighth connecting rod 17 can move along the Z axis direction, the axial direction of the fourth rotating pair R 4 15 is along the X axis direction, the axial direction of the fifth rotating pair R 5 16 is along the Y axis direction, under the mechanism configuration, the four-degree-of freedom parallel mechanism with three-movement one-movement motion modes has 3-movement mode, but the four-degree-of freedom parallel mechanism has two degrees-movement modes, and the three-degree-of freedom parallel mechanism has the XOY mechanism.
In the mechanism configuration of fig. 1, the first sliding pair P 11 of the first branch, the fourth sliding pair P 21 of the second branch and the third sliding pair P 13 of the third branch are locked, the sixth sliding pair P 23 of the second branch is controlled to move upwards, the sixth sliding pair P 23 of the fourth branch moves downwards, the end of the second branch moves upwards, so that the movable platform 2 rotates around the x-axis, the mechanism moves to the mechanism configuration shown in fig. 2, and in the mechanism configuration shown in fig. 2, the four-degree-of-freedom parallel mechanism of the present invention has a 3T1R movement mode, in which the axis of rotation of the movable platform 2 is varied, similar to the instantaneous axis of rotation of the connecting rod of the spherical 4R mechanism, and rotates around the rotation center, and the rotation axis varies constantly, and in this configuration, the movement of the first sliding pair P 11 of the first branch, the fourth sliding pair P 21 of the second branch, the third sliding pair P 13 of the third branch, the third branch P 13 of the third branch can be controlled to realize the movement mode of the fourth branch P 23.
In the mechanism configuration of fig. 1, the first moving pair P 11 of the first branch, the sixth moving pair P 23 of the second branch, the third moving pair P 13 of the third branch and the sixth moving pair P 23 of the fourth branch are locked, and the fourth moving pair P 21 of the second branch is controlled to move rightwards, so that the moving platform 2 rotates around the axis parallel to the Y axis, at this time, the four-degree-of-freedom parallel mechanism of the present invention enters the mechanism configuration as shown in fig. 3, at this time, the four-degree-of-freedom parallel mechanism of the present invention has the motion mode 3T1R, the axis of the rotation shaft of the motion mode 3T1R is fixed, and the axis is parallel to the Y axis.
In the configuration of the mechanism shown in fig. 3, the first kinematic pair P 11 of the first branch is locked, the fourth kinematic pair P 21 of the second branch is controlled to move to the right, the third kinematic pair P 13 of the third branch and the sixth kinematic pair P 23 of the fourth branch move simultaneously downwards, so that the mobile platform 2 rotates around an axis parallel to the Y axis, the mechanism enters the configuration of the mechanism shown in fig. 4, in which the four-degree-of-freedom parallel mechanism of the present invention has a 3T2 instantaneous degree of freedom, the first kinematic pair P 11 of the first branch, the fourth kinematic pair P 21 of the second branch and the third kinematic pair P 13 of the third branch are locked, the sixth kinematic pair P 23 of the second branch is controlled to move upwards, the sixth kinematic pair P 23 of the fourth branch is controlled to move downwards, so that the mobile platform 2 rotates around an axis parallel to the X axis, the mechanism is in the configuration shown in fig. 5, when the mechanism has the kinematic mode 3T1, the kinematic mode of the third kinematic pair P3884 of the fourth branch is controlled to move downwards, the kinematic mode of the third kinematic pair P3884, the kinematic mode of the third branch is not changed.
The utility model discloses four degree of freedom parallel mechanism with three kinds of three remove a rotational motion mode will move platform 2 and decide platform 1 to link up through setting up first branch chain, second branch chain, third branch chain and fourth branch chain, the utility model discloses a parallel mechanism's whole easily makes, and control is simple, and the flexibility is good, especially can be applicable to automobile bumper and spray paint, and this mechanism can adapt to different shape bumpers when the spraying, and then improves production efficiency, the utility model discloses a parallel mechanism still can be applied to motion simulator, coordinate measuring machine.
Claims (10)
1. the four-degree-of-freedom parallel mechanism with three moving modes and one rotating mode is characterized by comprising a fixed platform (1) and a movable platform (2), wherein the movable platform (2) is connected with a first connecting rod (4) through a first revolute pair R 1 (3);
The fixed platform (1) is connected with the first connecting rod (4) through a first branched chain and a third branched chain;
The fixed platform (1) is connected with the movable platform (2) through a second branched chain and a fourth branched chain.
2. The four-degree-of-freedom parallel mechanism with three movement-rotation modes according to claim 1, wherein the first connecting rod (4) is arranged in parallel with the movable platform (2).
3. The four-degree-of-freedom parallel mechanism with three-movement-one-rotation motion modes is characterized in that the first branch chain and the third branch chain respectively comprise first slide bars (5) fixedly connected with a fixed platform (1), each first slide bar (5) is connected with a second connecting bar (6), each second connecting bar (6) can slide along the corresponding first slide bar (5), each second connecting bar (6) is connected with a third connecting bar (7), each third connecting bar (7) can slide along the corresponding second connecting bar (6), each third connecting bar (7) is sleeved with a fourth connecting bar (8), each fourth connecting bar (8) can slide along the third connecting bar (7), each fourth connecting bar (8) is connected with a second rotation pair R 2 (9), each second rotation pair R 2 (9) is fixedly connected with a fifth connecting bar (10), each fifth connecting bar (10) is fixedly connected with a third rotation pair R638), each third rotation pair R366 is connected with a third rotation pair R638, and each third rotation pair R366 is connected with a third connection chain (11) and a third connection motor (368) and a third connection chain (3) is connected with a third connection branch chain (3).
4. The four-degree-of-freedom parallel mechanism with three moving-one rotating motion modes is characterized in that the first sliding rod (5), the second connecting rod (6) and the third connecting rod (7) are perpendicular to each other, the axis of the third revolute pair R 3 (11) is parallel to the first sliding rod (5), and the axis of the second revolute pair R 2 (9) and the axis of the third revolute pair R 3 (11) form an included angle of 120 degrees.
5. A four degree-of-freedom parallel mechanism with three modes of three movements-one rotation motion according to claim 3, characterised in that the first slide bar (5) on the first branch chain is arranged in parallel with the first slide bar (5) on the third branch chain.
6. The four-degree-of-freedom parallel mechanism with three modes of movement-rotation according to claim 3, wherein each second connecting rod (6) and each third connecting rod (7) are sleeved with a sleeve rod and a sliding rod which are connected in a T shape, the sleeve rod of each second connecting rod (6) and each third connecting rod (7) is arranged in a hollow mode, the sleeve rod of each second connecting rod (6) is sleeved with the corresponding first sliding rod (5), the sleeve rod of each third connecting rod (7) is sleeved with the corresponding sliding rod of the second connecting rod (6), each fourth connecting rod (8) comprises a connecting rod and a hollow sleeve rod which are connected in a T shape, the sleeve rod of each fourth connecting rod (8) is sleeved with the corresponding third connecting rod (7), and the connecting rod of each fourth connecting rod (8) is connected with the corresponding third revolute pair R 2 (11).
7. the four-degree-of-freedom parallel mechanism with three modes of movement-one-rotation motion according to claim 1 is characterized in that the second and fourth branches each comprise a second slide bar (12) fixedly connected with a fixed platform (1), a sixth connecting rod (13) is connected to each second slide bar (12), each sixth connecting rod (13) can slide along the second slide bar (12), a seventh connecting rod (14) is connected to each sixth connecting rod (13), each seventh connecting rod (14) can slide along the sixth connecting rod (13), an eighth connecting rod (17) is connected to each seventh connecting rod (14), each eighth connecting rod (17) comprises a hollow sleeve fixedly connected with each other and a fourth rotation pair R 4 (15), the sleeve of each eighth connecting rod (17) is sleeved with the corresponding seventh connecting rod (14), each eighth connecting rod (17) can slide along the corresponding seventh connecting rod (14), a fourth rotation pair R56 of each eighth connecting rod (17) is connected with a corresponding fifth rotation pair driving motor 4 R16, a fifth rotation pair R16 is connected to each fourth rotation pair (16R 16) and a fourth rotation pair R16 is connected to the fourth rotation pair of the fifth rotation pair (16) and a universal joint.
8. The four-degree-of-freedom parallel mechanism with three modes of three movements one rotation according to claim 7, characterized in that the second slide bar (12), the sixth link (13) and the seventh link (14) are mutually perpendicular.
9. The four-degree-of-freedom parallel mechanism with three modes of movement, three and one, of rotation according to claim 7, characterised in that the second slide bar (12) of the second branch is arranged parallel to the second slide bar (12) of the fourth branch, the axis of each of said fourth revolute pairs R 4 (15) being parallel to the corresponding second slide bar (12).
10. The four degree-of-freedom parallel mechanism with three modes of motion, three movements and one rotation, as claimed in claim 1, wherein the first branch is disposed opposite to the third branch, and the second branch is disposed opposite to the fourth branch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822075118.7U CN209755195U (en) | 2018-12-11 | 2018-12-11 | Four-freedom-degree parallel mechanism with three-movement-one-rotation motion modes |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822075118.7U CN209755195U (en) | 2018-12-11 | 2018-12-11 | Four-freedom-degree parallel mechanism with three-movement-one-rotation motion modes |
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| CN209755195U true CN209755195U (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822075118.7U Expired - Fee Related CN209755195U (en) | 2018-12-11 | 2018-12-11 | Four-freedom-degree parallel mechanism with three-movement-one-rotation motion modes |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559421A (en) * | 2022-04-24 | 2022-05-31 | 西安德普赛科计量设备有限责任公司 | Completely-decoupled cylindrical coordinate 3-movement parallel mechanism |
-
2018
- 2018-12-11 CN CN201822075118.7U patent/CN209755195U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559421A (en) * | 2022-04-24 | 2022-05-31 | 西安德普赛科计量设备有限责任公司 | Completely-decoupled cylindrical coordinate 3-movement parallel mechanism |
| CN114559421B (en) * | 2022-04-24 | 2022-07-29 | 西安德普赛科计量设备有限责任公司 | Completely-decoupled cylindrical coordinate 3-movement parallel mechanism |
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