CN103223667B - Parallel mechanism containing prr open-loop subchain and prrrp closed-loop subchain - Google Patents

Abstract

A parallel mechanism comprising a prr open-loop sub-chain and a prrrp closed-loop sub-chain, including an open-loop sub-chain, a five-bar mechanism closed-loop sub-chain and an actuator sub-chain. The open-loop sub-chain can control the movement of the first Hooke hinge, the closed-loop sub-chain of the five-bar mechanism can control the movement of the second Hooke hinge, and the movement of the first Hooke hinge and the second Hooke hinge can realize the spatial movement of the moving platform. The present invention controls the movement of two Hooke hinges in space through an open-loop sub-chain and a closed-loop sub-chain, thereby realizing the movement of the moving platform in space. good.

Description

A parallel mechanism with prr open-loop sub-chain and prrrp closed-loop sub-chain

technical field

The invention relates to the field of robots, in particular to a parallel mechanism including a prr motion pair open-loop sub-chain and a prrrp motion pair closed-loop sub-chain.

Background technique

Compared with the traditional serial mechanism, the parallel mechanism has the following characteristics: no cumulative error and high precision; the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response; Compact structure, high rigidity, large bearing capacity. Since the parallel mechanism itself is relatively complex, if the branch contains closed loops, the mechanism will be more complicated. Therefore, generally speaking, the symmetrical parallel mechanism with branches without closed loops will have the most typical properties. However, if the closed-loop application Properly, the performance of the parallel mechanism will be more excellent, such as the famous delta mechanism. In addition, in the existing parallel mechanism, the branch chain is limited by the connection method. Generally, there is only one active rod connected to the drive fixed on the frame. The chain may adopt the method of connecting multiple active rods in series on the branch chain, but the structure of the parallel mechanism with multiple branch chains is complex and difficult to control. Multiple active rods connected in series on the branch chain will affect the kinematic performance of the parallel mechanism.

Contents of the invention

The purpose of the present invention is to provide a parallel mechanism with closed-loop sub-chains, which solves the disadvantage of complex structure and difficult control of the parallel mechanism with multiple branch chains.

The present invention achieves the above-mentioned object through the following technical solutions: a parallel mechanism containing a prr open-loop sub-chain and a prrrp closed-loop sub-chain, including an open-loop sub-chain, a five-bar mechanism closed-loop sub-chain and an actuator sub-chain.

The open-loop sub-chain is connected by the first connecting rod, the first slider and the first column, the first column is connected with the frame through the first rotating pair, and the first slider is connected to the first frame through the first moving pair. On the column, one end of the first connecting rod is connected with the first slider through the second rotating pair,

The closed-loop sub-chain of the five-bar mechanism is formed by connecting the second slider, the second connecting rod, the third connecting rod, the third slider and the second column, the second column is connected with the frame through the third rotating pair, and the second The second slider is connected to the second column through the second moving pair, the second slider is connected to the second connecting rod through the fourth rotating pair, the other end of the second connecting rod is connected to the third connecting rod through the fifth rotating pair, and the second connecting rod is connected to the third connecting rod through the fifth rotating pair. The other end of the three-link is connected to the third slider through the sixth rotating pair, and the other end of the third slider is connected to the second column through the third moving pair.

The sub-chain of the actuator is connected by the first Hooke hinge, the second Hooke hinge and the moving platform, the first Hooke hinge is connected with the first connecting rod through the seventh rotating pair, and the first Hooke hinge is connected through the second The eighth revolving pair is connected with the moving platform, the second Hooke hinge is connected with the third connecting rod through the fifth revolving pair, the second Hooke hinge is connected with the moving platform through the eleventh revolving pair, the first Hooke hinge, the second Huoke hinge The movement of the gram hinges in their respective movement spaces can realize the movement of the moving platform in space.

The outstanding advantages of the present invention are:

1. Control the movement of the mechanism through the closed-loop sub-chain and the open-loop sub-chain;

2. The connection structure is simple, the rods are made of light rods, the movement inertia of the mechanism is small, and the dynamic performance is good;

3. By installing various end effectors for different purposes on the moving platform, this mechanism can be applied to grasping, handling, palletizing, assembling, cutting and other work.

Description of drawings

Fig. 1 is a schematic diagram of the first structure of a parallel mechanism comprising a prr open-loop sub-chain and a prrrp closed-loop sub-chain according to the present invention.

Fig. 2 is a second structural schematic diagram of a parallel mechanism comprising a prr open-loop sub-chain and a prrrp closed-loop sub-chain according to the present invention.

Fig. 3 is a third structural schematic diagram of a parallel mechanism comprising a prr open-loop sub-chain and a prrrp closed-loop sub-chain according to the present invention.

Fig. 4 is a schematic diagram of the fourth structure of a parallel mechanism comprising a prr open-loop sub-chain and a prrrp closed-loop sub-chain according to the present invention.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, a parallel mechanism with prr open-loop sub-chain and prrrp closed-loop sub-chain includes open-loop sub-chain, five-bar mechanism closed-loop sub-chain and actuator sub-chain.

The open-loop sub-chain is formed by connecting the first connecting rod 7, the first slider 5 and the first column 3, the first column 3 is connected with the frame 1 through the first rotating pair 2, and the first slider 5 is connected through the first A moving pair 4 is connected to the first column 3, and one end of the first connecting rod 7 is connected to the first slider 5 through the second rotating pair 6,

The closed-loop sub-chain of the five-bar mechanism is formed by connecting the second slider 14, the second connecting rod 16, the third connecting rod 18, the third slider 20 and the second column 12, and the second column 12 passes through the third rotating pair 11 is connected to the frame 1, one end of the second slider 14 is connected to the second column 12 through the second moving pair 13, the other end of the second slider 14 is connected to the second connecting rod 16 through the fourth rotating pair 15, and the second The other end of the connecting rod 16 is connected with the third connecting rod 18 through the fifth rotating pair 17, the other end of the third connecting rod 18 is connected with the third slider 20 through the sixth rotating pair 19, and the other end of the third sliding block 20 is connected through the third The mobile pair 21 is connected with the second column 12,

The sub-chain of the actuator is connected by the first Hooke hinge 9, the second Hooke hinge 22, and the moving platform 24. The first Hooke hinge is connected with the first connecting rod 7 through the seventh revolving pair 8, and the first The Hooke hinge 9 is connected with the moving platform 24 through the eighth revolving pair 10, the second Hooke hinge 22 is connected with the third connecting rod 18 through the fifth revolving pair 17, and the second Hooke hinge 22 is connected with the moving platform through the ninth revolving pair 23. The platforms 24 are connected, and the movement of the first Hooke hinge 9 and the second Hooke hinge 22 in their respective movement spaces can realize the movement of the moving platform in space.

Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the movement of the first Hooke hinge 9 and the second Hooke hinge 22 in their respective movement spaces can realize the movement of the moving platform 24 in space.

Claims (1)

1. A parallel mechanism containing prr open-loop sub-chain and prrrp closed-loop sub-chain, including open-loop sub-chain, five-bar mechanism closed-loop sub-chain and actuator sub-chain, its structure and connection mode are: The open-loop sub-chain is connected by the first connecting rod, the first slider and the first column, the first column is connected with the frame through the first rotating pair, and the first slider is connected to the first frame through the first moving pair. On the column, one end of the first connecting rod is connected with the first slider through the second rotating pair, The closed-loop sub-chain of the five-bar mechanism is formed by connecting the second slider, the second connecting rod, the third connecting rod, the third slider and the second column, the second column is connected with the frame through the third rotating pair, and the second The second slider is connected to the second column through the second moving pair, the second slider is connected to the second connecting rod through the fourth rotating pair, the other end of the second connecting rod is connected to the third connecting rod through the fifth rotating pair, and the second connecting rod is connected to the third connecting rod through the fifth rotating pair. The other end of the three-link is connected to the third slider through the sixth rotating pair, and the other end of the third slider is connected to the second column through the third moving pair. The sub-chain of the actuator is connected by the first Hooke hinge, the second Hooke hinge and the moving platform, the first Hooke hinge is connected with the first connecting rod through the seventh revolving pair, the first Hooke hinge is connected through the eighth The revolving pair is connected with the moving platform, the second Hooke hinge is connected with the third connecting rod through the fifth revolving pair, and the second Hooke hinge is connected with the moving platform through the ninth revolving pair.