CN110253542B - Reconfigurable 3D printing parallel robot mechanism - Google Patents
Reconfigurable 3D printing parallel robot mechanism Download PDFInfo
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- CN110253542B CN110253542B CN201910654696.2A CN201910654696A CN110253542B CN 110253542 B CN110253542 B CN 110253542B CN 201910654696 A CN201910654696 A CN 201910654696A CN 110253542 B CN110253542 B CN 110253542B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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Abstract
本发明公开了一种可重构3D打印并联机器人机构，包括固定平台和运动平台，两个平台通过固定自由度支链、第一变胞支链、第二变胞支链相连，三个支链两两相邻呈90°放置并通过螺栓连接在固定平台上,固定自由度支链、第一变胞支链、第二变胞支链的顶部分别通过第一连接杆、第二连接杆、第三连接杆与运动平台相连。作业时，选取球面五杆机构与第二底板相连的第一、第二转动副为输入副，通过锁死或驱动变胞支链上的第一转动副、第二转动副时，顶部的运动平台可以具有具有3T2R运动、3T1R运动和3T运动三种构态的切换，其中3T1R运动包括旋转方向不同的两种构态方式，从而适应不同性质表面作业，具备根据操作任务变化而变换其拓扑结构和自由度的能力。
The invention discloses a reconfigurable 3D printing parallel robot mechanism, comprising a fixed platform and a motion platform. The two platforms are connected by a fixed degree of freedom branch, a first metamorphic branch, and a second metamorphic branch. The chains are placed adjacent to each other at 90° and connected to the fixed platform by bolts, and the tops of the fixed degree of freedom branch, the first metamorphic branch, and the second metamorphic branch pass through the first connecting rod and the second connecting rod respectively. , The third connecting rod is connected with the motion platform. During operation, the first and second rotating pairs connected with the second base plate of the spherical five-bar mechanism are selected as input pairs. When the first rotating pair and the second rotating pair on the metamorphic branch are locked or driven, the movement of the top is The platform can switch between three configuration states: 3T2R motion, 3T1R motion and 3T motion. The 3T1R motion includes two configuration modes with different rotation directions, so as to adapt to surface operations of different natures, and has the ability to change its topology according to changes in operating tasks. and degrees of freedom.
Description
Technical Field
The invention relates to the technical field of mechanics and robotics, in particular to a reconfigurable 3D printing parallel robot mechanism.
Background
With the development of industry, intelligent manufacturing and robots become the subjects of manufacturing development, and intelligent robots, unmanned planes and 3D printing robots also gradually become hot spots concerned by society. The traditional 3D printing robot is generally of a serial structure, and in order to improve the 3D printing speed, the Delta parallel robot is applied to 3D printer design, such as a Delta 3D printer which is widely applied at present.
No matter adopt series connection structure or parallel structure, the printing head appearance of most 3D printing robot is fixed at present, and it has following obvious not enough: (1) the surface quality of the printed product is poor. For some surfaces of the three-dimensional entity which are not perpendicular to the printing head, the one-way layered 3D printing can generate unsmooth steps, and the smoothness and the surface precision of the product are influenced. (2) It is difficult to add geometric features to some parts. When the part is damaged in the using process and the like, the part can be repaired through 3D printing, and if the posture of a printing head is not changed in the process, interference may occur between the printing head and the existing solid features of the part. (3) The mechanical properties of the printed product are directional. For example, printing products using FDM (fused deposition modelling) technology, the material properties depend on the printing direction.
Thus, in a 3D print job, the degrees of freedom required by the robot end effector are different in different surface jobs of different nature, depending on the job task requirements. For example, when the working surface is a plane, the end effector may have a 3T (when motion is indicated, the letter T indicates movement) motion capability; when the working surface is a ruled surface, the end effector needs to have 3T1R (when representing movement, the letter R represents rotation) movement capacity; when the working surface is a free curved surface, the end effector needs to have 3T2R motion capability. Conventional 3D printing equipment is generally fixed degree of freedom equipment and does not have the ability to transform its topology and degrees of freedom according to operational task changes.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a reconfigurable 3D printing parallel robot mechanism which can change the operation mode and the degree of freedom according to different operation task requirements of actual engineering.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention discloses a reconfigurable 3D printing parallel robot mechanism which comprises a fixed platform and a moving platform, wherein the fixed platform and the moving platform are connected through a fixed freedom degree branched chain, a first metamorphic branched chain and a second metamorphic branched chain, the fixed freedom degree branched chain, the first metamorphic branched chain and the second metamorphic branched chain are adjacent in pairs and are placed at 90 degrees and are connected into a positioning groove of the fixed platform through bolts, and the tops of the fixed freedom degree branched chain, the first metamorphic branched chain and the second metamorphic branched chain are respectively connected with the moving platform through a first connecting rod, a second connecting rod and a third connecting rod.
Furthermore, the fixed degree of freedom branched chain comprises a first bottom plate, a plane five-bar mechanism and a continuous three-bar mechanism, and the continuous three-bar mechanism is arranged on the first bottom plate through the plane five-bar mechanism; the plane five-bar mechanism comprises a first T-shaped bar, a second T-shaped bar, a first U-shaped bar, a second U-shaped bar, a sixth connecting bar and a seventh connecting bar, the first T-shaped bar and the second T-shaped bar are arranged in parallel, the bottoms of the first T-shaped bar and the second T-shaped bar are connected to the first bottom plate, the first T-shaped bar and the first U-shaped bar are connected through a first linear revolute pair, the second T-shaped bar and the second U-shaped bar are connected through a second linear revolute pair, the bottom ends of the first U-shaped bar and the sixth connecting bar are connected through a twelfth revolute pair, the bottom ends of the second U-shaped bar and the seventh connecting bar are connected through a thirteenth revolute pair, and the top ends of the sixth connecting bar and the seventh connecting bar are connected through a fourteenth revolute pair; the continuous three-link mechanism comprises an eighth link, a ninth link and a tenth link, one end of the eighth link is connected to a fourteenth revolute pair of the plane five-link mechanism, the other end of the eighth link is connected with one end of the ninth link through a fifteenth revolute pair, the other end of the ninth link is connected with one end of the tenth link through a sixteenth revolute pair, and the other end of the tenth link is connected with the first link through a seventeenth revolute pair.
Still further, the first metamorphic branch chain comprises a metamorphic five-bar mechanism and a three-link mechanism, and the three-link mechanism is connected to the top of the metamorphic five-bar mechanism; the metamorphic five-bar mechanism comprises a second bottom plate, a first spherical five-bar mechanism, a second spherical five-bar mechanism, two connecting bars and two connecting rods, the first spherical five-bar mechanism and the second spherical five-bar mechanism are arranged side by side and connected to the second bottom plate, the first spherical five-bar mechanism and the second spherical five-bar mechanism are respectively connected with a first connecting bar and a second connecting bar, the first connecting bar is connected with the first connecting rod through a sixth revolute pair, the second connecting bar is connected with the second connecting rod through a seventh revolute pair, and the top ends of the first connecting bar and the second connecting bar are connected through an eighth revolute pair; the three-link mechanism comprises a third connecting rod, a fourth connecting rod and a fifth connecting rod, one end of the third connecting rod is connected to the eighth revolute pair, the other end of the third connecting rod is connected with one end of the fourth connecting rod through a ninth revolute pair, the other end of the fourth connecting rod is connected with one end of the fifth connecting rod through a tenth revolute pair, and the other end of the fifth connecting rod is connected with the second connecting rod through an eleventh revolute pair.
Still further, the first spherical five-bar mechanism comprises a first straight bar A and a second straight bar A which are vertically fixed on the second bottom plate; the end of the first straight rod A is connected with one end of a first bent rod A through a first revolute pair A, and the end of the second straight rod A is connected with one end of a second bent rod A through a second revolute pair A; the other end of the first bent rod A is connected with one end of a third bent rod A through a third revolute pair A, the other end of the second bent rod A is connected with one end of a fourth bent rod A through a fourth revolute pair A, and the other end of the fourth bent rod A is connected with the other end of the third bent rod A through a fifth revolute pair A; the bend angles of the first bent rod A, the second bent rod A, the third bent rod A and the fourth bent rod A are all 90 degrees; the lower end of the first side link is fixed at the corner of the fourth bent rod A, and the first side link is upward vertical to the plane of the fourth bent rod A;
the second spherical surface five-bar mechanism has the same structure as the first spherical surface five-bar mechanism and comprises a first straight bar B and a second straight bar B which are vertically fixed on the second bottom plate; the end of the first straight rod B is connected with one end of a first bent rod B through a first revolute pair B, and the end of the second straight rod B is connected with one end of a second bent rod B through a second revolute pair B; the other end of the first bent rod B is connected with one end of a third bent rod B through a third revolute pair B, the other end of the second bent rod B is connected with one end of a fourth bent rod B through a fourth revolute pair B, and the other end of the fourth bent rod B is connected with the other end of the third bent rod B through a fifth revolute pair B; the bending angle angles of the first bent rod B, the second bent rod B, the third bent rod B and the fourth bent rod B are all 90 degrees; the lower end of the second side link is fixed at the corner of the fourth bent rod B, and the second side link is upward vertical to the plane of the fourth bent rod B;
the axes of the sixth revolute pair, the seventh revolute pair, the eighth revolute pair, the fourth revolute pair A and the fourth revolute pair B are parallel, the second revolute pair A and the second revolute pair B are coaxially arranged and have the same rotation angle, and the axes of the first revolute pair A and the first revolute pair B are parallel.
Still further, the first side link and the second side link have the same specification, and the first connecting rod and the second connecting rod have the same specification.
Still further, two clearance holes are formed in the second bottom plate and located right below the first spherical five-bar mechanism and the second spherical five-bar mechanism.
Furthermore, the second metamorphic branch chain has the same structure as the first metamorphic branch chain, and the first metamorphic branch chain rotates clockwise by 90 degrees around the central axis of the fixed platform and then is superposed with the second metamorphic branch chain.
Compared with the prior art, the invention has the beneficial technical effects that:
the invention discloses a reconfigurable 3D printing parallel robot mechanism which comprises a fixed platform and a moving platform, wherein a fixed freedom degree branched chain, a first metamorphic branched chain and a second metamorphic branched chain are connected to the fixed platform, the fixed freedom degree branched chain comprises a first bottom plate, a plane five-bar mechanism and a continuous three-link mechanism, the metamorphic branched chain comprises a metamorphic five-bar mechanism and a three-link mechanism, and the three-link mechanism is connected to the top of the metamorphic five-bar mechanism; the metamorphic five-rod mechanism comprises a second bottom plate, a first spherical five-rod mechanism, a second spherical five-rod mechanism, two side link rods and two connecting rods; during operation, the first rotating pair and the second rotating pair which are connected with the second bottom plate through the spherical five-bar mechanism are selected as input pairs, when the first rotating pair and the second rotating pair on the metamorphic branch chain are locked or driven, the moving platform at the top can have three structural states of 3T2R movement, 3T1R movement and 3T movement (when the movement is represented, T represents movement, and R represents rotation), wherein the 3T1R movement comprises two structural states which are different in rotation direction, so that the device is suitable for surface operation with different properties, and has the capability of changing the topological structure and the degree of freedom of the device according to the change of operation tasks.
Drawings
The invention is further illustrated in the following description with reference to the drawings.
FIG. 1 is a schematic diagram of a reconfigurable 3D printing parallel robot mechanism of the invention;
FIG. 2 is a schematic diagram of a structure of a metamorphic branch chain according to the present invention;
FIG. 3 is a schematic diagram of a fixed degree of freedom branched chain structure according to the present invention;
description of reference numerals: 1. a fixed platform; 2. a motion platform; 3. fixing the degree of freedom branched chain; 4. a first metamorphic branch chain; 5. a second metamorphic branch; 6. a first connecting rod; 7. a second connecting rod; 8. a third connecting rod;
301. a first base plate; 302. a first T-bar; 303. a second T-shaped bar; 304. a first linear revolute pair; 305. a second linear revolute pair; 306. a first U-shaped rod; 307. a second U-shaped rod; 308. a sixth link; 309. a seventh connecting rod; 310. a twelfth revolute pair; 311. a thirteenth revolute pair; 312. a fourteenth revolute pair; 313. an eighth link; 314. a ninth link; 315. a tenth link; 316. a fifteenth revolute pair; 317. a sixteenth revolute pair; 318. a seventeenth revolute pair;
401. a second base plate; 402. a first spherical five-bar mechanism; 402-1, a first straight rod A; 402-2, a second straight rod A; 402-3, a first revolute pair A; 402-4, a first curved rod A; 402-5, a second revolute pair A; 402-6, a second curved rod A; 402-7, third revolute pair A; 402-8 and a third bent rod A; 402-9 and a fourth revolute pair A; 402-10, a fourth curved rod A; 402-11, a fifth revolute pair A;
403. a second spherical five-bar mechanism; 403-1, a first straight rod B; 403-2, a second straight rod B; 403-3, a first revolute pair B; 403-4, a first curved bar B; 403-5, a second revolute pair B; 403-6 and a second bent rod B; 403-7 and a third revolute pair B; 403-8 and a third curved bar B; 403-9 and a fourth revolute pair B; 403-10 and a fourth bent rod B; 403-11 and a fifth revolute pair B;
404. a first link lever; 405. a first link; 406. a second link; 407. a second side link; 408. A sixth revolute pair; 409. a seventh revolute pair; 410. an eighth revolute pair; 411. a third link; 412. a fourth link; 413. a fifth link; 414. a ninth revolute pair; 415. a tenth revolute pair; 416. the tenth revolute pair.
Detailed Description
As shown in fig. 1-3, a reconfigurable 3D printing parallel robot mechanism comprises a fixed platform 1 and a moving platform 2, wherein the fixed platform 1 and the moving platform 2 are connected through a fixed freedom branched chain 3, a first metamorphic branched chain 4 and a second metamorphic branched chain 5, the fixed freedom branched chain 3, the first metamorphic branched chain 4 and the second metamorphic branched chain 5 are adjacent to each other in pairs and are placed at 90 degrees and are connected in a positioning groove of the fixed platform 1 through bolts, and the tops of the fixed freedom branched chain 3, the first metamorphic branched chain 4 and the second metamorphic branched chain 5 are respectively connected with the moving platform 2 through a first connecting rod 6, a second connecting rod 7 and a third connecting rod 8. Specifically, first connecting rod 6, second connecting rod 7, third connecting rod 8 are the circumference equipartition and are in on motion platform 2's the lateral surface, and with motion platform 2 fixed connection is a whole.
As shown in fig. 3, the fixed-degree-of-freedom branched chain 3 includes a first base plate 301, a planar five-bar mechanism, and a continuous three-bar linkage mechanism, and the continuous three-bar linkage mechanism is mounted on the first base plate 301 through the planar five-bar mechanism; the plane five-bar mechanism comprises a first T-shaped bar 302, a second T-shaped bar 303, a first U-shaped bar 306, a second U-shaped bar 307, a sixth connecting bar 308 and a seventh connecting bar 309, wherein the first T-shaped bar 302 and the second T-shaped bar 303 are arranged in parallel, the bottoms of the first T-shaped bar 302 and the second U-shaped bar 303 are connected to the first bottom plate 301, the first T-shaped bar 302 and the first U-shaped bar 306 are connected through a first linear revolute pair 304, the second T-shaped bar 303 and the second U-shaped bar 307 are connected through a second linear revolute pair 305, the bottom ends of the first U-shaped bar 306 and the sixth connecting bar 308 are connected through a twelfth revolute pair 310, the bottom ends of the second U-shaped bar 307 and the seventh connecting bar 309 are connected through a thirteenth revolute pair 311, and the top ends of the sixth connecting bar 308 and the seventh connecting bar 309 are connected through a fourteenth revolute pair 312; the continuous three-link mechanism comprises an eighth link 313, a ninth link 314 and a tenth link 315, wherein one end of the eighth link 313 is connected to the fourteenth revolute pair 312 of the planar five-link mechanism, the other end of the eighth link 313 is connected to one end of the ninth link 314 through a fifteenth revolute pair 316, the other end of the ninth link 314 is connected to one end of the tenth link 315 through a sixteenth revolute pair 317, and the other end of the tenth link 315 is connected to the first link 6 through a seventeenth revolute pair 318. Specifically, the sixth link 308 and the eighth link 313 are fixedly connected to a rotation shell of the fourteenth revolute pair 312, and the seventh link 309 is fixedly connected to a rotation shaft of the fourteenth revolute pair 312. The sixth link 308, the eighth link 313 and the seventh link 309 form a revolute pair connection.
Specifically, the first U-shaped rod 306, the second U-shaped rod 307, the sixth link 308, the seventh link 309 and the first base plate 301 form a plane five-rod mechanism, and the axes of the twelfth revolute pair 310, the thirteenth revolute pair 311, the fourteenth revolute pair 312, the first linear revolute pair 304 and the second linear revolute pair 305 are parallel to each other and to the first base plate 301. The axes of the fifteenth revolute pair 316, the sixteenth revolute pair 317 and the seventeenth revolute pair 318 are parallel and orthogonal to the axes of the twelfth revolute pair 310, the thirteenth revolute pair 311, the fourteenth revolute pair 312, the first rectilinear revolute pair 304 and the second rectilinear revolute pair 305. A seventeenth revolute pair 318 is connected to the motion platform 2 via a first connecting rod 6.
The fixed degree of freedom branch 3 has five degrees of freedom and a constraint force couple exists. The axes of the twelfth revolute pair 310, the thirteenth revolute pair 311, the fourteenth revolute pair 312, the first linear revolute pair 304 and the second linear revolute pair 305 form a group of line vectors with parallel axes, the axes of the fifteenth revolute pair 316, the sixteenth revolute pair 317 and the seventeenth revolute pair 318 form another group of line vectors with parallel axes, and the common normal direction of the two groups of line vectors is the direction of the constraint couple of the branched chain with fixed degree of freedom. The first U-shaped bar 306 and the second U-shaped bar 307 are perpendicular to the first base plate 301, and are in an initial configuration of a fixed degree of freedom branched chain. In the initial configuration, the axes of the fifteenth revolute pair 316, the sixteenth revolute pair 317 and the seventeenth revolute pair 318 are parallel to the first base plate 301.
As shown in fig. 1 and 2, the first metamorphic branch chain 4 comprises a metamorphic five-bar mechanism and a three-bar linkage mechanism, wherein the three-bar linkage mechanism is connected to the top of the metamorphic five-bar mechanism; the metamorphic five-bar mechanism comprises a second base plate 401, a first spherical five-bar mechanism 402, a second spherical five-bar mechanism 403, two connecting bars and two connecting rods, wherein the first spherical five-bar mechanism 402 and the second spherical five-bar mechanism 403 are arranged side by side and connected to the second base plate 401, the first spherical five-bar mechanism 402 and the second spherical five-bar mechanism 403 are respectively connected with a first connecting bar 404 and a second connecting bar 407, the first connecting bar 404 is connected with a first connecting rod 405 through a sixth revolute pair 408, the second connecting bar 407 is connected with a second connecting rod 406 through a seventh revolute pair 409, and the top ends of the first connecting bar 405 and the second connecting bar 406 are connected through an eighth revolute pair 410; the three-link mechanism comprises a third link 411, a fourth link 412 and a fifth link 413, wherein one end of the third link 411 is connected to the eighth revolute pair 410, the other end of the third link 411 is connected to one end of the fourth link 412 through a ninth revolute pair 414, the other end of the fourth link 412 is connected to one end of the fifth link 413 through a tenth revolute pair 415, and the other end of the fifth link 413 is connected to the second connecting rod 7 through an eleventh revolute pair 416. Specifically, the first link 405 and the third link 411 are fixedly connected to a rotation housing of the eighth revolute pair 410, and the second link 406 is fixedly connected to a rotation shaft of the eighth revolute pair 410. The one link 405, the third link 411 and the second link 406 form a revolute pair connection.
The first spherical five-bar mechanism 402 comprises a first straight bar A402-1 and a second straight bar A402-2 which are vertically fixed on the second bottom plate 401; the end of the first straight rod A402-1 is connected with one end of a first bent rod A402-4 through a first revolute pair A402-3, and the end of the second straight rod A402-2 is connected with one end of a second bent rod A402-6 through a second revolute pair A402-5; the other end of the first bent rod A402-4 is connected with one end of a third bent rod A402-8 through a third revolute pair A402-7, the other end of the second bent rod A402-6 is connected with one end of a fourth bent rod A402-10 through a fourth revolute pair A402-9, and the other end of the fourth bent rod A402-10 is connected with the other end of the third bent rod A402-8 through a fifth revolute pair A402-11; the bend angles of the first bent rod A402-4, the second bent rod A402-6, the third bent rod A402-8 and the fourth bent rod A402-10 are all 90 degrees; the lower end of the first connecting rod 404 is fixed at the corner of the fourth curved rod A402-10, and the first connecting rod 404 is upward vertical to the plane of the fourth curved rod A402-10;
the second spherical five-bar mechanism 403 has the same structure as the first spherical five-bar mechanism 402, and includes a first straight bar B403-1 and a second straight bar B403-2 vertically fixed on the second base plate 401; the end of the first straight rod B403-1 is connected with one end of a first bent rod B403-4 through a first revolute pair B403-3, and the end of the second straight rod B403-2 is connected with one end of a second bent rod B403-6 through a second revolute pair B403-5; the other end of the first bent rod B403-4 is connected with one end of a third bent rod B403-8 through a third revolute pair B403-7, the other end of the second bent rod B403-6 is connected with one end of a fourth bent rod B403-10 through a fourth revolute pair B403-9, and the other end of the fourth bent rod B403-10 is connected with the other end of the third bent rod B403-8 through a fifth revolute pair B403-11; the bend angles of the first bent rod B403-4, the second bent rod B403-6, the third bent rod B403-8 and the fourth bent rod B403-10 are all 90 degrees; the lower end of the second side link 407 is fixed at the corner of the fourth curved bar B403-10, and the second side link 407 is upward perpendicular to the plane of the fourth curved bar B403-10; the axes of the sixth revolute pair 408, the seventh revolute pair 409, the eighth revolute pair 410, the fourth revolute pair A402-9 and the fourth revolute pair B403-9 are parallel, the second revolute pair A402-5 and the second revolute pair B403-5 are coaxially arranged and have the same rotation angle, and the axes of the first revolute pair A402-3 and the first revolute pair B403-3 are parallel.
Specifically, a second revolute pair a402-5 of the first spherical five-bar mechanism 402 connected with the second base plate 401, a revolute pair first revolute pair B403-3 of the second spherical five-bar mechanism 403 connected with the second base plate 401 are input pairs of the metamorphic five-bar mechanism, the axes of the second revolute pair a402-5 and the first revolute pair B403-3 are orthogonal and parallel to the second base plate 401, and the metamorphic five-bar mechanism selectively drives or locks the second revolute pair a402-5 and the first revolute pair B403-3 and has different sub-configurations.
Specifically, as shown in fig. 2, when the first side link 404 and the second side link 407 are perpendicular to the second base 401, they are the initial positions of the first and second metamorphic branches. In the initial configuration, the axes of first revolute pair A402-3 and first revolute pair B403-3 are parallel to the axes of sixth revolute pair 408, seventh revolute pair 409 and eighth revolute pair 410, the axes of ninth revolute pair 414, tenth revolute pair 415 and eleventh revolute pair 416 are orthogonal to second base 401, the axes of first revolute pair B403-3 and fourth revolute pair B403-9 are collinear, and the axes of first revolute pair A402-3 and fourth revolute pair A402-9 are collinear.
When the second revolute pair A402-5 and the first revolute pair B403-3 are driven simultaneously, the metamorphic branch is switched from the initial configuration to the sub-configuration A. In the substructure A, the degree of freedom of the metamorphic branch is 6, and no geometric constraint exists. When the first revolute pair B403-3 is driven and the second revolute pair A402-5 is locked, the metamorphic branch is switched to the sub-configuration B from the initial configuration. In the substructure B, the degree of freedom of the metamorphic branch is 5, and a constraint couple exists. In the sub-configuration B, the axes of the sixth revolute pair 408, the seventh revolute pair 409 and the eighth revolute pair 410 form a group of line vectors with parallel axes, the axes of the ninth revolute pair 414, the tenth revolute pair 415 and the eleventh revolute pair 416 form another group of line vectors with parallel axes, and the common normal direction of the two groups of line vectors is the direction of the coupling of the metamorphic branches.
The first side link 404 and the second side link 407 have the same size, and the first link 405 and the second link 406 have the same size. Two clearance holes are formed in the second bottom plate 401 and located right below the first spherical five-bar mechanism 402 and the second spherical five-bar mechanism 403.
The second metamorphic branch chain 5 and the first metamorphic branch chain 4 are consistent in structure, and the first metamorphic branch chain 4 rotates clockwise by 90 degrees around the central axis of the fixed platform 1 and then is superposed with the second metamorphic branch chain 5. And an eleventh revolute pair at the top of the second metamorphic branch chain 5 is connected with the motion platform 2 through a third connecting rod 8.
The action process of the invention is as follows:
the invention utilizes two metamorphic branched chains and a fixed degree of freedom branched chain to connect a fixed platform 1 and a moving platform 2, and obtains a novel reconfigurable 3D printing parallel robot mechanism shown in figure 1; the branched chain where the third connecting rod 8 is located is a fixed degree of freedom branched chain 3, the branched chain where the first connecting rod 6 is located is a first metamorphic branched chain 4, and the branched chain where the second connecting rod 7 is located is a second metamorphic branched chain 5. The first revolute pair B403-3 on the second metamorphic branch chain 5 is arranged orthogonally to the axis of the first revolute pair B403-3 on the first metamorphic branch chain 4, and the first revolute pair B403-3 on the second metamorphic branch chain 5 is arranged in parallel to the axis of the second rectilinear revolute pair 305 on the fixed degree of freedom branch chain 3. When the fixed degree of freedom branched chain 3, the first metamorphic branched chain 4 and the second metamorphic branched chain 5 are all located at the initial configuration, the novel reconfigurable 3D printing parallel robot mechanism is called to be located at the initial configuration. And establishing a motion coordinate system o-xyz at the geometric center of the motion platform 2, wherein the x axis is parallel to the axis of the first revolute pair B403-3 on the second metamorphic branch chain 5 during initial configuration, the y axis is parallel to the axis of the first revolute pair B403-3 on the first metamorphic branch chain 4 during initial configuration, and the z axis is determined by the cross product of the x axis and the y axis.
When the first metamorphic branch chain 4 and the second metamorphic branch chain 5 are both switched to the substructure A, the first metamorphic branch chain 4 and the second metamorphic branch chain 5 have no geometric constraint to act on the motion platform 2. The fixed degree of freedom branched chain 3 has a constraint couple acting on the moving platform 2, the constraint couple is in the same direction with the z axis, the rotation of the moving platform 2 around the z axis is constrained, and the moving platform 2 has 3T1Rx1RyMotion (T for movement, R for rotation, subscripts x and y for rotation direction, and the numbers in front of the letters for the number of motion types) at which time the novel reconfigurable 3D printing and robotic mechanism is switched from the initial configuration to operating mode a.
When the second metamorphic branch chain 5 is switched to the sub-configuration B, the first metamorphic branch chain 4 is switched to the sub-configuration A, the second metamorphic branch chain 5 and the fixed degree of freedom branch chain 3 both have a constraint couple to act on the motion platform 2, and the first metamorphic branch chain 4 has no geometric constraint to act on the motion platform 2. The constraint couple of the second metamorphic branch chain 5 is in the same direction with the y axis, the constraint couple of the fixed degree of freedom branch chain 3 is in the same direction with the z axis, the rotation of the motion platform 2 around the y axis and the z axis is constrained, and the motion platform 2 is provided with 3T1RxAnd (4) moving, namely switching the novel reconfigurable 3D printing parallel robot mechanism from the initial configuration to an operation mode B.
When the second metamorphic branch 5 is switched to the sub-configuration A and the first metamorphic branch 4 is switched to the sub-configuration B, the first metamorphic branch 4 and the fixed degree of freedom branch 3 are both present at aboutThe binding force couple acts on the motion platform 2, and the second metamorphic branch chain 5 acts on the motion platform 2 without geometric constraint. The constraint couple of the first metamorphic branched chain 4 is in the same direction with the x axis, the constraint couple of the fixed degree of freedom branched chain 3 is in the same direction with the z axis, the rotation of the motion platform 2 around the x axis and the z axis is constrained, and the motion platform 2 is provided with 3T1RyAnd (4) moving, namely switching the novel reconfigurable 3D printing parallel robot mechanism from the initial configuration to an operation mode C.
When the second metamorphic branch chain 5 and the first metamorphic branch chain 4 are switched to the substructure B, the second metamorphic branch chain 5, the first metamorphic branch chain 4 and the fixed degree of freedom branch chain 3 all have a constraint couple to act on the motion platform 2. The constraint couple of the second metamorphic branch chain 5 is in the same direction with the y axis, the constraint couple of the first metamorphic branch chain 4 is in the same direction with the x axis, the constraint couple of the fixed degree of freedom branch chain 3 is in the same direction with the z axis, all rotation of the motion platform 2 is constrained, the motion platform 2 has 3T motion, and at the moment, the novel reconfigurable 3D printing parallel robot mechanism is switched from an initial configuration to an operation mode D.
The above-mentioned embodiments are only for describing the preferred mode of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (6)
1. The utility model provides a reconfigurable 3D prints parallel robot mechanism which characterized in that: the device comprises a fixed platform (1) and a moving platform (2), wherein the fixed platform (1) and the moving platform (2) are connected through a fixed freedom degree branched chain (3), a first metamorphic branched chain (4) and a second metamorphic branched chain (5), bottom plates at the bottoms of the fixed freedom degree branched chain (3), the first metamorphic branched chain (4) and the second metamorphic branched chain (5) are connected into positioning grooves of the fixed platform (1) through bolts, and the positioning grooves where the fixed freedom degree branched chain (3) and the first metamorphic branched chain (4) are located are placed on the fixed platform (1) in an angle of 90 degrees; the tops of the fixed freedom degree branched chain (3), the first metamorphic branched chain (4) and the second metamorphic branched chain (5) are respectively connected with the motion platform (2) through a first connecting rod (6), a second connecting rod (7) and a third connecting rod (8); the fixed freedom degree branched chain (3) comprises a first bottom plate (301), a plane five-bar mechanism and a continuous three-bar mechanism, and the continuous three-bar mechanism is arranged on the first bottom plate (301) through the plane five-bar mechanism;
the plane five-bar mechanism comprises a first T-shaped bar (302), a second T-shaped bar (303), a first U-shaped bar (306), a second U-shaped bar (307), a sixth connecting rod (308) and a seventh connecting rod (309), the first T-shaped rod (302) and the second T-shaped rod (303) are arranged in parallel, the bottoms of the first T-shaped rod and the second T-shaped rod are connected to the first bottom plate (301), the first T-shaped rod (302) and the first U-shaped rod (306) are connected through a first linear rotating pair (304), the second T-shaped rod (303) and the second U-shaped rod (307) are connected through a second linear rotating pair (305), the bottom ends of the first U-shaped rod (306) and the sixth connecting rod (308) are connected through a twelfth revolute pair (310), the bottom ends of the second U-shaped rod (307) and the seventh connecting rod (309) are connected through a thirteenth revolute pair (311), the top ends of the sixth connecting rod (308) and the seventh connecting rod (309) are connected through a fourteenth revolute pair (312);
the continuous three-link mechanism comprises an eighth link (313), a ninth link (314) and a tenth link (315), one end of the eighth link (313) is connected to a fourteenth revolute pair (312) of the plane five-link mechanism, the other end of the eighth link (313) is connected with one end of the ninth link (314) through a fifteenth revolute pair (316), the other end of the ninth link (314) is connected with one end of the tenth link (315) through a sixteenth revolute pair (317), and the other end of the tenth link (315) is connected with the first link (6) through a seventeenth revolute pair (318).
2. The reconfigurable 3D printing parallel robot mechanism according to claim 1, wherein: the first metamorphic branch chain (4) comprises a metamorphic five-bar mechanism and a three-link mechanism, and the three-link mechanism is connected to the top of the metamorphic five-bar mechanism;
the metamorphic five-bar mechanism comprises a second base plate (401), a first spherical five-bar mechanism (402), a second spherical five-bar mechanism (403), two side link rods and two connecting rods, wherein the first spherical five-bar mechanism (402) and the second spherical five-bar mechanism (403) are arranged side by side and connected to the second base plate (401), the first spherical five-bar mechanism (402) and the second spherical five-bar mechanism (403) are respectively connected with a first connecting rod (404) and a second connecting rod (407), the first connecting rod (404) is connected with a first connecting rod (405) through a sixth revolute pair (408), the second connecting rod (407) is connected with a second connecting rod (406) through a seventh revolute pair (409), and the top ends of the first connecting rod (405) and the second connecting rod (406) are connected through an eighth revolute pair (410);
the three-link mechanism comprises a third link (411), a fourth link (412) and a fifth link (413), one end of the third link (411) is connected to the eighth revolute pair (410), the other end of the third link (411) is connected to one end of the fourth link (412) through a ninth revolute pair (414), the other end of the fourth link (412) is connected to one end of the fifth link (413) through a tenth revolute pair (415), and the other end of the fifth link (413) is connected to the second connecting rod (7) through an eleventh revolute pair (416).
3. The reconfigurable 3D printing parallel robot mechanism according to claim 2, wherein: the first spherical five-bar mechanism (402) comprises a first straight bar A (402-1) and a second straight bar A (402-2) which are vertically fixed on the second bottom plate (401); the end of the first straight rod A (402-1) is connected with one end of a first bent rod A (402-4) through a first revolute pair A (402-3), and the end of the second straight rod A (402-2) is connected with one end of a second bent rod A (402-6) through a second revolute pair A (402-5); the other end of the first bent rod A (402-4) is connected with one end of a third bent rod A (402-8) through a third revolute pair A (402-7), the other end of the second bent rod A (402-6) is connected with one end of a fourth bent rod A (402-10) through a fourth revolute pair A (402-9), and the other end of the fourth bent rod A (402-10) is connected with the other end of the third bent rod A (402-8) through a fifth revolute pair A (402-11); the bending angles of the first bent rod A (402-4), the second bent rod A (402-6), the third bent rod A (402-8) and the fourth bent rod A (402-10) are all 90 degrees; the lower end of the first connecting rod (404) is fixed at the corner of the fourth bent rod A (402-10), and the first connecting rod (404) is upward vertical to the plane of the fourth bent rod A (402-10);
the second spherical five-bar mechanism (403) has the same structure as the first spherical five-bar mechanism (402), and comprises a first straight bar B (403-1) and a second straight bar B (403-2) which are vertically fixed on the second bottom plate (401); the end of the first straight rod B (403-1) is connected with one end of a first bent rod B (403-4) through a first revolute pair B (403-3), and the end of the second straight rod B (403-2) is connected with one end of a second bent rod B (403-6) through a second revolute pair B (403-5); the other end of the first bent rod B (403-4) is connected with one end of a third bent rod B (403-8) through a third revolute pair B (403-7), the other end of the second bent rod B (403-6) is connected with one end of a fourth bent rod B (403-10) through a fourth revolute pair B (403-9), and the other end of the fourth bent rod B (403-10) is connected with the other end of the third bent rod B (403-8) through a fifth revolute pair B (403-11); the bending angles of the first bent rod B (403-4), the second bent rod B (403-6), the third bent rod B (403-8) and the fourth bent rod B (403-10) are all 90 degrees; the lower end of the second side link (407) is fixed at the bent angle of the fourth bent rod B (403-10), and the second side link (407) is upward vertical to the plane of the fourth bent rod B (403-10);
the axes of the sixth revolute pair (408), the seventh revolute pair (409), the eighth revolute pair (410), the fourth revolute pair A (402-9) and the fourth revolute pair B (403-9) are parallel, the second revolute pair A (402-5) and the second revolute pair B (403-5) are coaxially arranged and have the same rotation angle, and the axes of the first revolute pair A (402-3) and the first revolute pair B (403-3) are parallel.
4. The reconfigurable 3D printing parallel robot mechanism according to claim 2, wherein: the first side link (404) and the second side link (407) have the same specification, and the first link (405) and the second link (406) have the same specification.
5. The reconfigurable 3D printing parallel robot mechanism according to claim 2, wherein: two clearance holes are formed in the second bottom plate (401), and the two clearance holes are located right below the first spherical five-bar mechanism (402) and the second spherical five-bar mechanism (403).
6. The reconfigurable 3D printing parallel robot mechanism according to claim 1, wherein: the second metamorphic branch chain (5) is consistent with the first metamorphic branch chain (4) in structure, and the first metamorphic branch chain (4) rotates clockwise by 90 degrees around the central axis of the fixed platform (1) and then is overlapped with the second metamorphic branch chain (5).
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| CN105751202A (en) * | 2016-03-04 | 2016-07-13 | 北京交通大学 | Reorganizable parallel mechanism with five-rod movement branches |
| CN107139167A (en) * | 2017-07-03 | 2017-09-08 | 北华航天工业学院 | A kind of Motion Bifurcation parallel institution |
| CN107297731A (en) * | 2017-07-03 | 2017-10-27 | 北华航天工业学院 | A kind of restructural parallel institution |
| CN107498540A (en) * | 2017-09-18 | 2017-12-22 | 北京交通大学 | A kind of relative freedom is three reconfigurable in-parallel robot mechanism |
| CN109719712A (en) * | 2019-03-19 | 2019-05-07 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
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| CN105751202A (en) * | 2016-03-04 | 2016-07-13 | 北京交通大学 | Reorganizable parallel mechanism with five-rod movement branches |
| CN107139167A (en) * | 2017-07-03 | 2017-09-08 | 北华航天工业学院 | A kind of Motion Bifurcation parallel institution |
| CN107297731A (en) * | 2017-07-03 | 2017-10-27 | 北华航天工业学院 | A kind of restructural parallel institution |
| CN107498540A (en) * | 2017-09-18 | 2017-12-22 | 北京交通大学 | A kind of relative freedom is three reconfigurable in-parallel robot mechanism |
| CN109719712A (en) * | 2019-03-19 | 2019-05-07 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
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