CN105643594A - 1T&(1T1R)&1T1R five-degree-of-freedom decoupling parallel-series connection mechanism - Google Patents

Abstract

The invention belongs to the field of robots, in particular to a space decoupling hybrid mechanism. It mainly includes a two-branch parallel mechanism (1T1R), a fixed guide rail 1T connected to the lower end of the parallel mechanism and three series branches 1T1R connected to its upper end. The two-branch parallel mechanism consists of a bottom platform, a moving platform, and two branches connecting the moving platform and the bottom platform; the fixed guide rail is connected to the bottom platform through a moving pair; the first branch is composed of a moving pair and a rotating pair; the second branch is composed of a The parallelogram hinge is composed of three rotating pairs; the series connection branch three of the moving platform is composed of a moving pair and a rotating pair. The invention realizes three-shift and two-turn functions, has simple structure, large operating space, decoupled motion, and is easy to control.

Description

A 1T&(1T1R)&1T1R five-degree-of-freedom decoupling hybrid mechanism

Technical field

The invention belongs to the field of robots, in particular to a space decoupling hybrid mechanism.

Background technique

At the same time, the hybrid robot has the advantages of large working space and easy control of the serial robot, and the parallel robot has the advantages of stable structure, high rigidity, less error accumulation, good dynamic performance, and easy kinematic inverse solution. , Parallel configuration disadvantages, more practical in modern manufacturing.

Since the hybrid robot includes a parallel structure, the parallel mechanism has the problem of strong kinematic coupling. Due to the coupling of hybrid robots, there are many problems in mechanism design, calculation analysis and motion control. Therefore, in order to simplify the control process of hybrid robots, improving the decoupling of hybrid mechanisms has become a hot issue in the field of mechanism research.

In the research of the five-degree-of-freedom hybrid robot, the Chinese patent document CN103433168A proposes a five-degree-of-freedom hybrid spraying robot whose serial motion unit has three rotation degrees of freedom and one movement degree of freedom, and the parallel spraying operation unit has two moving degrees of freedom. It has the characteristics of easy manufacture, convenient control, and easy realization of modularization. The 5-degree-of-freedom hybrid heavy-duty hybrid forging manipulator invented by Gao Feng of Shanghai Jiaotong University, etc. Some progress has been made in the research on the decoupling of five-degree-of-freedom hybrid mechanisms. For example, Chinese patent document CN102120205A proposes a five-axis hybrid robot for single spray gun spraying. Institutional composition. Not only is the programming easy, but the manufacturing and control precision is also easy to improve. Although the mechanism of the above-mentioned invention mechanism can realize three-shift and two-rotation movements, such mechanisms are very rare, and the decoupling of most mechanisms has not been well resolved.

Contents of the invention

The object of the present invention is to provide a three-shift, two-rotation, five-degree-of-freedom hybrid mechanism with simple structure, easy control, and motion decoupling. It mainly consists of a two-branch parallel mechanism (1T1R), a fixed guide rail 1T connected to the lower end of the parallel mechanism, and three 1T1R connected in series at the upper end to form a 1T&(1T1R)&1T1R five-degree-of-freedom decoupling hybrid mechanism. The two-branch parallel mechanism consists of a bottom platform, a moving platform, and two branches connecting the moving platform and the bottom platform; the fixed guide rail is connected to the bottom platform through a moving pair, and its moving center line is parallel to the bottom plane.

Branch 1 is composed of a moving pair and a rotating pair. One end of the first connecting rod is connected to the bottom platform through the moving pair and the direction is perpendicular to the bottom plane. The other end of the connecting rod is connected to the moving platform through the rotating pair; It consists of a parallelogram hinge and three rotating pairs. One end of the first connecting rod is connected to the bottom platform through the rotating pair and the direction is parallel to the bottom plane. The other end of the first connecting rod is connected to the parallelogram hinge. The parallelogram hinge The other end is connected to the second connecting rod through a rotating pair, and the other end of the connecting rod is connected to the moving platform through a rotating pair; It is connected with the moving platform, and the other end of the first connecting rod is connected with the end of the mechanism through a rotating pair, and its rotation axis is perpendicular to the moving platform.

The fixed guide rail is connected with the bottom platform through the moving pair, and its moving center line is parallel to the bottom plane. The center line of the moving pair in branch one is perpendicular to the bottom plane, and the axis of the rotating pair is parallel to the bottom plane and perpendicular to the center line of the moving pair; the first rotating pair in branch two is parallel to the center line of the moving pair in branch one, and the axis of the rotating pair in the parallelogram hinge Perpendicular to the first axis and parallel to the bottom plane, the hinge's subsequent two parallel rotating pairs are parallel to the axis of the rotating pair in the hinge; the center line of the moving pair in the third branch is parallel to the moving platform, and the rotating pair's axis is perpendicular to the moving platform.

Compared with the prior art, the present invention has the following advantages:

1. The structure is simple and stable, the kinematic pairs are all low, the assembly is simple, and the manufacturing cost can be reduced;

2. Realize the decoupling of three degrees of freedom of movement and two degrees of freedom of rotation in space.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of the present invention.

Figure 2 is a schematic diagram of the overall structure.

detailed description

In the schematic diagram of a three-shift two-rotation five-degree-of-freedom decoupling space hybrid mechanism shown in Figure 2, the fixed guide rails 1 and 8 are connected to the bottom platform 3 through the moving pairs 2 and 9, and the first link 5 in the branch one One end is connected with the bottom platform 3 through the moving pair 4, and the other end of the first connecting rod is connected with the moving platform 7 through the rotating pair 6. One end of the first connecting rod 11 of the second branch chain is connected with the bottom platform through the rotating pair 10, the other end of the first connecting rod is connected with the parallelogram hinge 12, and the other end of the parallelogram hinge is connected with the second connecting rod 15 through the rotating pair 14 connect. The other end of the connecting rod 15 is connected with the moving platform through a rotating pair 16 . The branch three connected in series with the moving platform is connected with the moving platform through the first connecting rod 18 in the branch chain through the moving pair 17 , and the end 20 of the mechanism is connected with the other end of the connecting rod 18 through the rotating pair 19 .

The center lines of the moving pairs 2 and 9 are parallel to the bottom plane. The center line of the mobile pair 4 in branch one is perpendicular to the bottom plane. The axis of the rotating pair 6 is parallel to the bottom plane and perpendicular to the centerline of the moving pair 2; the centerline of the rotating pair 9 in branch two is parallel to the bottom plane and parallel to the centerlines of the moving pairs 2 and 9 and perpendicular to the axis of the rotating pair 6. The axis of the rotary pair in the parallelogram hinge 12 is parallel to the axis of the rotary pair 6 . The axes of the rotating pairs 15 and 16 are parallel to each other and the axis of the rotating pair 6 is perpendicular to the axis of the rotating pair 10; The centerlines of the axes of the moving pair 2 and 9; the axis of the rotating pair 19 is perpendicular to the moving platform and parallel to the centerline of the moving pair 4.

Claims (1)

1. A 1T&(1T1R)&1T1R five-degree-of-freedom decoupling hybrid mechanism, which mainly includes a two-branch parallel mechanism, a fixed guide rail connected to the lower end of the parallel mechanism, and a series branch connected to its upper end. The two-branch parallel mechanism consists of a bottom platform, a moving platform, and two branches connecting the moving platform and the bottom platform. It is characterized in that the fixed guide rail is connected with the bottom platform through a moving pair, and its moving center line is parallel to the bottom plane. Branch 1 is composed of a moving pair and a rotating pair. One end of the first connecting rod is connected to the bottom platform through the moving pair and the direction is perpendicular to the bottom plane. The other end of the connecting rod is connected to the moving platform through the rotating pair; It consists of a parallelogram hinge and three rotating pairs. One end of the first connecting rod is connected to the bottom platform through the rotating pair and the direction is parallel to the bottom plane. The other end of the first connecting rod is connected to the parallelogram hinge. The parallelogram hinge The other end is connected to the second connecting rod through a rotating pair, and the other end of the connecting rod is connected to the moving platform through a rotating pair; It is connected with the moving platform, and the other end of the first connecting rod is connected with the end of the mechanism through a rotating pair, and its rotation axis is perpendicular to the moving platform.