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CN110000757B - Parallel mechanism with two-movement one-rotation and two-movement one-spiral motion modes - Google Patents

Parallel mechanism with two-movement one-rotation and two-movement one-spiral motion modes Download PDF

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CN110000757B
CN110000757B CN201910257083.5A CN201910257083A CN110000757B CN 110000757 B CN110000757 B CN 110000757B CN 201910257083 A CN201910257083 A CN 201910257083A CN 110000757 B CN110000757 B CN 110000757B
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CN110000757A (en
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刘伟
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Xi'an Depsecco Measuring Equipment Co ltd
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Xian Polytechnic University
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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
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains

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Abstract

本发明公开的具有两移动一转动和两移动一螺旋运动模式的并联机构，包括有动平台10和定平台11，动平台10分别通过第一支链、第二支链、第三支链与定平台11连接。本发明的三自由度并联机构，解决了现有并联机构结构单一，不能满足复杂境况下工作需求的问题。

Figure 201910257083

The parallel mechanism with two-movement-one-rotation and two-movement-one-spiral motion modes disclosed in the present invention includes a moving platform 10 and a fixed platform 11, and the moving platform 10 is connected to the The fixed platform 11 is connected. The three-degree-of-freedom parallel mechanism of the invention solves the problem that the existing parallel mechanism has a single structure and cannot meet the working requirements under complex conditions.

Figure 201910257083

Description

Parallel mechanism with two-movement one-rotation and two-movement one-spiral motion modes
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a parallel mechanism with two-movement one-rotation and two-movement one-spiral motion modes.
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. At present, a parallel mechanism with three degrees of freedom is rare, which has two movements and one rotation (2T1R) and two movements and one screw motion (2T1H), and the axis of the screw pair is not perpendicular to the moving plane. The novel parallel mechanism can adapt to various different motion modes, adapts to work under various circumstances, and has certain application prospect in the fields of motion simulation, machine assembly, sorting and grabbing, drilling operation and the like.
Disclosure of Invention
The invention aims to provide a parallel mechanism with two-movement one-rotation and two-movement one-spiral motion modes, which solves the problems that the existing parallel mechanism has a single structure and cannot meet the working requirements under complex situations.
The technical scheme adopted by the invention is that the parallel mechanism with two moving-rotating and two moving-spiral motion modes comprises a movable platform 10 and a fixed platform 11, wherein the movable platform 10 is connected with the fixed platform 11 through a first branched chain, a second branched chain and a third branched chain respectively.
The present invention is also characterized in that,
the first branch chain comprises a moving pair P connected in sequence11A first connecting rod 1 and a sliding pair P12A second connecting rod 2 and a revolute pair R13A third connecting rod 3 and a screw pair H14Of moving pair P11Is also connected with the fixed platform 11 and is provided with a screw pair H14And is also connected to the moving platform 10.
Sliding pair P11Is connected with a hydraulic driving motor.
The second branched chain comprises a moving pair P which is connected in sequence21A fourth connecting rod 4 and a sliding pair P22A fifth connecting rod 5 and a sliding pair P23A sixth connecting rod 6 and a revolute pair R24A seventh connecting rod 7 and a revolute pair R25Of moving pair P21And is also connected with a fixed platform 11 and a revolute pair R25And is also connected to the moving platform 10.
Sliding pair P21Is connected with a hydraulic driving motor.
Sliding pair P22Is connected with a hydraulic driving motor.
The third branched chain comprises ball pairs S connected in sequence31Eighth connecting rod 8 and sliding pair P32Ninth connecting rod 9 and ball pair S33Ball pair S31And also connected with the fixed platform 11, a ball pair S33And is also connected to the moving platform 10.
Sliding pair P32Is connected with a hydraulic driving motor.
The parallel mechanism has the beneficial effects of solving the problems that the existing parallel mechanism has a single structure and cannot meet the working requirements under complex circumstances. The parallel mechanism of the invention realizes different motion modes by controlling the sliding pairs and the auxiliary sliding pairs in the first, second and third branched chains through the arrangement of the three branched chains under certain conditions, namely the parallel mechanism comprises two-movement one-rotation (2T1R) and two-movement one-screw motion (2T1H) and can be applied to the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools, drilling operation and the like.
Drawings
FIG. 1 is a schematic view of the initial configuration of the parallel mechanism of the present invention having two shift-one rotation and two shift-one helical motion modes;
FIG. 2 is a schematic diagram of the motion pattern of the parallel mechanism 2T1R of the present invention having two shift-one rotation and two shift-one screw motion patterns;
fig. 3 is a schematic diagram of the motion pattern of the parallel mechanism 2T1H with two-shift-one-rotation and two-shift-one-screw motion patterns according to the present invention.
In the figure, 1, a first connecting rod, 2, a second connecting rod, 3, a third connecting rod, 4, a fourth connecting rod, 5, a fifth connecting rod, 6, a sixth connecting rod, 7, a seventh connecting rod, 8, an eighth connecting rod, 9, a ninth connecting rod, 10, a movable platform and 11, a fixed platform.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention has a parallel mechanism with two moving-one rotating modes and two moving-one spiral motion modes, as shown in figure 1, the parallel mechanism comprises a movable platform 10 and a fixed platform 11, wherein the movable platform 10 is respectively connected with the fixed platform 11 through a first branched chain, a second branched chain and a third branched chain; a is defined as the joint of the movable platform 10 and the first branch chain1The joint of the movable platform 10 and the second branch chain is defined as A2The joint of the movable platform 10 and the third branch chain is defined as A3. Defining the joint of the fixed platform 11 and the first branch chain as B1Defining the joint of the platform 11 and the second branch chain as B2Defining the joint of the platform 11 and the third branch chain as B3. The moving platform 10 is A1、A2、A3The plane is located; the fixed platform 11 is B1、B2、B3The plane is located.
The first branch chain comprises a moving pair P connected in sequence11A first connecting rod 1 and a sliding pair P12A second connecting rod 2 and a revolute pair R13A third connecting rod 3 and a screw pair H14Of moving pair P11Is also connected with the fixed platform 11 and is provided with a screw pair H14Is also connected with the movable platform 10;
the second branched chain comprises a moving pair P which is connected in sequence21A fourth connecting rod 4 and a sliding pair P22A fifth connecting rod 5 and a sliding pair P23A sixth connecting rod 6 and a revolute pair R24A seventh connecting rod 7 and a revolute pair R25Of moving pair P21And is also connected with a fixed platform 11 and a revolute pair R25Is also connected with the movable platform 10;
the third branched chain comprises ball pairs S connected in sequence31Eighth connecting rod 8 and sliding pair P32Ninth connecting rod 9 and ball pair S33Ball pair S31And also connected with the fixed platform 11, a ball pair S33And is also connected to the moving platform 10.
Sliding pair P11Is connected with a hydraulic driving motor.
Sliding pair P21Is connected with a hydraulic driving motor.
Sliding pair P22Is connected with an auxiliary hydraulic drive motor which works when the mechanism movement mode is changed, and a sliding pair P22To assist the sliding pair.
Sliding pair P32Is connected with a hydraulic driving motor.
The parallel mechanism of the invention has 4 instantaneous degrees of freedom and a sliding pair P in the configuration shown in figure 111And a sliding pair P22Is parallel to the moving direction of the moving pair P12And a sliding pair P21Are parallel to the moving direction of the rotating pair R13Axis of (2) and sliding pair P11And a sliding pair P12Is perpendicular to the moving direction of the screw pair H14The axial direction of (A) is a general spatial direction, and the sliding pair P23Axis of (2) and sliding pair P21And a sliding pair P22Is perpendicular to the moving direction of the rotating pair R24The rotation axis and the screw pair H14The spiral axes of the two parallel rotating pairs R25The axis of rotation and the revolute pair R13The axes of the revolute pairs are parallel, and the revolute pair R25Axial direction of (A) and the sliding pair P23Are parallel to each other.
The parallel mechanism of the present invention has 4 instantaneous degrees of freedom, sliding pair P, in the configuration of the mechanism shown in FIG. 111And a sliding pair P21And a sliding pair P22And a sliding pair P32Are all connected with hydraulic drive motors and can control and drive the sliding pair P11And a sliding pair P21And a sliding pair P22And a sliding pair P32Causing the mechanism to move to the configuration of the mechanism shown in figure 2.
In this configuration, the screw pair H14Axis and revolute pair R24Not parallel, in this configuration, the mechanism has a 2T1R motion pattern. Controlling the driving of the sliding pair P11And a sliding pair P21And a sliding pair P32The control of the mechanism in the 2T1R motion mode is realized.
The parallel mechanism of the present invention has 4 instantaneous degrees of freedom in the configuration of the mechanism shown in FIG. 1, and controls and drives the sliding pair P11And a sliding pair P21And a sliding pair P22And a sliding pair P32Causing the mechanism to move to the configuration of the mechanism shown in figure 3.
In this configuration, the screw pair H14Axis and revolute pair R24Parallel, revolute pair R13Axis and revolute pair R25In this configuration, the mechanism has a 2T1H motion pattern. Controlling the driving of the sliding pair P11And a sliding pair P21And a sliding pair P32The control of the mechanism in the 2T1H motion mode is realized.
The parallel mechanism can realize different motion modes by controlling 3 sliding pairs and 1 auxiliary sliding pair under a certain condition through the arrangement of three branched chains, namely comprises two-movement one-rotation (2T1R) and two-movement one-screw motion (2T1H), and can be applied to the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools, drilling operation and the like.

Claims (1)

1.具有两移动一转动和两移动一螺旋运动模式的并联机构，其特征在于，包括有动平台(10)和定平台(11)，所述动平台(10)分别通过第一支链、第二支链、第三支链与定平台(11)连接；1. the parallel mechanism with two movement-rotation and two-movement-spiral motion patterns is characterized in that, comprises a moving platform (10) and a fixed platform (11), and the moving platform (10) passes through the first branch chain, The second branch chain and the third branch chain are connected to the fixed platform (11); 所述第一支链包括有依次连接的移动副P11、第一连杆(1)、移动副P12、第二连杆(2)、转动副R13、第三连杆(3)及螺旋副H14，所述移动副P11还与定平台(11)连接，所述螺旋副H14还与动平台(10)连接；The first branch chain includes a moving pair P 11 , a first connecting rod (1), a moving pair P 12 , a second connecting rod (2), a rotating pair R 13 , a third connecting rod (3) and The screw pair H 14 , the moving pair P 11 is also connected with the fixed platform (11), and the screw pair H 14 is also connected with the moving platform (10); 所述移动副P11上连接有液压驱动电机；A hydraulic drive motor is connected to the moving pair P11 ; 所述第二支链包括有依次连接的移动副P21、第四连杆(4)、移动副P22、第五连杆(5)、移动副P23、第六连杆(6)、转动副R24、第七连杆(7)及转动副R25，所述移动副P21还与定平台(11)连接，所述转动副R25还与动平台(10)连接；The second branch chain includes a moving pair P 21 , a fourth link (4), a moving pair P 22 , a fifth link (5), a moving pair P 23 , a sixth link (6), The rotating pair R 24 , the seventh connecting rod (7) and the rotating pair R 25 , the moving pair P 21 is also connected with the fixed platform (11), and the rotating pair R 25 is also connected with the moving platform (10); 所述移动副P21上连接有液压驱动电机；A hydraulic drive motor is connected to the moving pair P 21 ; 所述移动副P22上连接有液压驱动电机；A hydraulic drive motor is connected to the moving pair P 22 ; 所述第三支链包括有依次连接的球副S31、第八连杆(8)、移动副P32、第九连杆(9)及球副S33，所述球副S31还与定平台(11)连接，所述球副S33还与动平台(10)连接；The third branch chain includes a ball pair S 31 , an eighth connecting rod (8), a moving pair P 32 , a ninth connecting rod (9) and a ball pair S 33 which are connected in sequence, and the ball pair S 31 is also connected with the ball pair S 31 . The fixed platform (11) is connected, and the ball pair S 33 is also connected with the moving platform (10); 所述移动副P32上连接有液压驱动电机；A hydraulic drive motor is connected to the moving pair P 32 ; 在第一种机构位形下，并联机构具有4个瞬时自由度，移动副P11与移动副P22的移动方向平行，移动副P12与移动副P21的移动方向平行，转动副R13的轴线与移动副P11、移动副P12的移动方向垂直，螺旋副H14的轴线方向为空间一般方向，移动副P23的轴线与移动副P21、移动副P22的移动方向垂直，转动副R24的转动轴线与螺旋副H14的螺旋轴线平行，转动副R25的转动轴线与转动副R13的转动副轴线平行，转动副R25的轴线方向与移动副P23的移动方向平行；In the first mechanism configuration, the parallel mechanism has 4 instantaneous degrees of freedom, the moving pair P 11 is parallel to the moving direction of the moving pair P 22 , the moving pair P 12 is parallel to the moving direction of the moving pair P 21 , and the rotating pair R 13 Its axis is perpendicular to the moving directions of the moving pair P 11 and P 12 , the axis direction of the screw pair H 14 is the general direction of space, and the axis of the moving pair P 23 is perpendicular to the moving directions of the moving pair P 21 and the moving pair P 22 , The rotation axis of the rotating pair R 24 is parallel to the helical axis of the screw pair H 14 , the rotating axis of the rotating pair R 25 is parallel to the rotating pair axis of the rotating pair R 13 , and the axis direction of the rotating pair R 25 is parallel to the moving direction of the moving pair P 23 parallel; 在第一种机构位形下，该并联机构具有4个瞬时自由度，移动副P11、移动副P21、移动副P22及移动副P32上均连接有液压驱动电机，能够控制驱动移动副P11、移动副P21、移动副P22、移动副P32，使得机构运动到第二种机构位形；Under the first mechanism configuration, the parallel mechanism has 4 instantaneous degrees of freedom, and the moving pair P 11 , the moving pair P 21 , the moving pair P 22 and the moving pair P 32 are all connected with hydraulic drive motors, which can control the driving movement pair P 11 , moving pair P 21 , moving pair P 22 , moving pair P 32 , so that the mechanism moves to the second mechanism configuration; 在第二种机构位形下，螺旋副H14的轴线和转动副R24不平行，此位形下，机构具有2T1R运动模式；控制驱动移动副P11、移动副P21、移动副P32实现机构在2T1R运动模式下机构的控制；In the second mechanism configuration, the axis of the screw pair H 14 and the rotation pair R 24 are not parallel. Under this configuration, the mechanism has a 2T1R motion mode; control and drive the moving pair P 11 , the moving pair P 21 , and the moving pair P 32 Realize the control of the mechanism in the 2T1R motion mode; 在第一种机构位形下，该并联机构具有4个瞬时自由度，控制驱动移动副P11、移动副P21、移动副P22、移动副P32，使得机构运动到第三种机构位形；Under the first mechanism configuration, the parallel mechanism has 4 instantaneous degrees of freedom, and controls and drives the moving pair P 11 , the moving pair P 21 , the moving pair P 22 , and the moving pair P 32 , so that the mechanism moves to the third mechanism position shape; 在第三种机构位形下，螺旋副H14的轴线和转动副R24平行，转动副R13的轴线与转动副R25的轴线方向不平行，此位形下，机构具有2T1H运动模式；控制驱动移动副P11、移动副P21、移动副P32实现机构在2T1H运动模式下机构的控制。Under the third mechanism configuration, the axis of the screw pair H 14 is parallel to the rotating pair R 24 , and the axis of the rotating pair R 13 is not parallel to the axis direction of the rotating pair R 25. Under this configuration, the mechanism has a 2T1H motion mode; Controlling and driving the moving pair P 11 , the moving pair P 21 , and the moving pair P 32 realizes the control of the mechanism in the 2T1H motion mode.
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CN110000755B (en) * 2019-04-01 2021-09-14 西安工程大学 Parallel mechanism with two-movement-one-screw and two-movement-one-rotation motion modes
CN115091432B (en) * 2022-06-02 2025-03-25 西安德普赛科计量设备有限责任公司 A three-degree-of-freedom parallel mechanism with two-movement and one-screw motion mode
CN118617384A (en) * 2024-06-18 2024-09-10 西安工程大学 Fully decoupled high-load three-degree-of-freedom planar robot

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