CN115175790B - Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly - Google Patents
Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly Download PDFInfo
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- CN115175790B CN115175790B CN202080096359.7A CN202080096359A CN115175790B CN 115175790 B CN115175790 B CN 115175790B CN 202080096359 A CN202080096359 A CN 202080096359A CN 115175790 B CN115175790 B CN 115175790B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
A multi-degree-of-freedom parallel mechanism and a component with the same, wherein the parallel mechanism comprises a guide (G), two primary branched chains (1) and a secondary branched chain (2), each primary branched chain (1) comprises two driving parts (11), one branched chain platform (12) and a plurality of primary connecting rods, the driving parts (11) can reciprocate along the guide (G), the secondary branched chain (2) comprises a positioning platform (20) and a plurality of secondary connecting rods, one of the two driving parts (11) in each primary branched chain (1) is connected with the branched chain platform (12) through at least two primary connecting rods and forms a parallelogram parallel to a first plane (xoz), one of the two branched chain platforms (12) in the secondary branched chain (2) is connected with the positioning platform (20) through at least two secondary connecting rods and forms a parallelogram capable of moving in a second plane (xoy), and the first plane (xoz) is perpendicular to the second plane (xoy). The multi-degree-of-freedom parallel mechanism is compact and simple in structure, large in moving range in the vertical direction and convenient to control.
Description
Technical Field
The invention relates to the field of robots, in particular to a multi-degree-of-freedom parallel mechanism and a parallel mechanism assembly of a parallel robot.
Background
From the perspective of mechanics, robots can be divided into two main categories, namely serial robots and parallel robots, and compared with serial robots, parallel robots have the advantages of high rigidity, high bearing capacity, high precision, small inertia of end pieces and the like.
The existing parallel robots are designed completely symmetrically, so that the whole volume of the robot is large, and the robot cannot be well adapted to a small operation space or a plurality of robots can not be simultaneously arranged in a limited space.
Most common parallel robots are six degrees of freedom, for example patent publication US3295224a discloses a parallel robot for motion simulation. However, the cost of parallel robots having complete six degrees of freedom is often that the movement space of each degree of freedom is approximately equally divided, and the requirement for some robots having a larger movement space in a particular direction is not well met. Therefore, according to specific requirements, people limit degrees of freedom in certain directions, and exchange for larger movement space in other directions, and most of the parallel robots used for picking up operations provide degrees of freedom of three translational motions and one rotational motion, for example, patent publication WO2009053506A1 discloses a four-degree-of-freedom parallel robot, a supporting part of which uses a plurality of non-coplanar four-bar mechanisms, and the movements of the non-coplanar four-bar mechanisms are mutually restricted, so that a movable platform of a terminal cannot realize two translational motions and two rotational degrees of freedom. However, in applications such as surgical robots or machine tools, where it is necessary to control the degrees of freedom of at least two translational and two rotational movements of the tool, the parallel mechanism providing three translational and one rotational movements described above is not suitable.
Chinese patent CN105729450B discloses a four-degree-of-freedom parallel mechanism that can realize three translational and one rotational degrees of freedom of the movable platform, but cannot realize the rotation of the movable platform around the y-direction or around the x-direction. In addition, the following disadvantages exist in this scheme:
(i) The motion of the movable platform in the x direction and the z direction are coupled, and the motion range in the z direction is limited due to the influence of the motion in the x direction;
(ii) The guide rail for guiding the movement of the slider is two spaced apart guide rails, which makes the mechanism as a whole occupy a large space, which is disadvantageous for arrangement in a limited space.
Disclosure of Invention
The invention aims to overcome or at least alleviate the defects in the prior art and provide a multi-degree-of-freedom parallel mechanism and a parallel mechanism assembly.
According to a first aspect of the present invention, there is provided a multiple degree of freedom parallel mechanism comprising a guide, two primary branches and one secondary branch, wherein,
Each primary branched chain comprises two driving parts, a branched chain platform and a plurality of primary connecting rods connected with the driving parts and the branched chain platform, the driving parts can reciprocate along the guide parts, the secondary branched chain comprises a positioning platform and a plurality of secondary connecting rods connected with the branched chain platform and the positioning platform,
In each primary branched chain, one of the two driving parts is connected with the branched chain platform through at least two primary connecting rods, two ends of a primary first rod are respectively connected with a primary first point and a primary second point in a rotating way with the driving part and the branched chain platform, two ends of a primary second rod are respectively connected with a primary third point and a primary fourth point in a rotating way with the driving part and the branched chain platform, and a quadrangle obtained by sequentially connecting the primary first point, the primary second point, the primary fourth point and the primary third point is a parallelogram parallel to a first plane; the other of the two driving members is rotatably connected to the branched platform or the primary first lever through at least one primary link to determine the posture of a parallelogram defined by the primary first lever and the primary second lever,
In the secondary branched chain, one branched chain platform of the two branched chain platforms is connected with the positioning platform through at least two secondary connecting rods, two ends of a secondary first rod are respectively connected with the branched chain platform and the positioning platform in a rotating way and are connected with a secondary first point and a secondary second point, two ends of a secondary second rod are respectively connected with the branched chain platform and the positioning platform in a rotating way and are connected with a secondary third point and a secondary fourth point, and quadrilaterals obtained by sequentially connecting the secondary first point, the secondary second point, the secondary fourth point and the secondary third point are parallelograms capable of moving in a second plane; the other of the two branched platforms is pivotally connected to the positioning platform or the secondary first bar by at least one secondary link to determine the pose of a parallelogram defined by the secondary first bar and the secondary second bar,
The first plane being non-parallel to the second plane, the guide being parallel to the second plane,
The positioning platform has at least three translational degrees of freedom.
In at least one embodiment, the first plane is perpendicular to the second plane.
In at least one embodiment, in each primary branched chain, the other one of the two driving members is connected with the primary first rod through a primary third rod, two ends of the primary third rod are respectively connected with the driving member and the primary first rod in a rotating way, the primary sixth point is not overlapped with the primary fifth point,
The other branched chain platform in the two branched chain platforms is connected with the second-stage first rod through a second-stage third rod, two ends of the second-stage third rod are respectively connected with the branched chain platform and the second-stage first rod in a rotating mode, the second-stage fifth point and the second-stage sixth point are not overlapped with the second-stage first point.
In at least one embodiment, the first stage sixth point coincides with the first stage second point, and/or
The second-level sixth point coincides with the second-level second point.
In at least one embodiment, in each of the primary branches, the other one of the two driving members is further connected to the primary second rod through a primary fourth rod, two ends of the primary fourth rod are respectively connected to a primary seventh point and a primary eighth point with the driving member and the primary second rod in a rotating manner, and a quadrangle obtained by sequentially connecting the primary fifth point, the primary sixth point, the primary eighth point and the primary seventh point is a parallelogram
The other branched chain platform in the two branched chain platforms is also connected with the second level second lever through a second level fourth lever, two ends of the second level fourth lever are respectively connected with the branched chain platform and the second level second lever in a rotating way to a second level seventh point and a second level eighth point, and quadrangles obtained by sequentially connecting the second level fifth point, the second level sixth point, the second level eighth point and the second level seventh point are parallelograms.
In at least one embodiment, four of the active members share one of the guide members.
In at least one embodiment, the branched platform comprises a base and a turntable, the turntable being rotatable relative to the base about a branched rotation axis,
The primary link is connected to the base station and the secondary link is connected to the turntable.
In at least one embodiment, the branched chain rotation axis is parallel to the second plane.
In at least one embodiment, the positioning platform comprises a terminal positioning platform and two rotating positioning platforms, the rotating positioning platforms are rotationally connected with the terminal positioning platform, the rotating connection points of the secondary connecting rods and the positioning platforms are located on the rotating positioning platforms, each rotating positioning platform can rotate around a positioning platform rotation axis relative to the terminal positioning platform, and the terminal positioning platform has at least three translational degrees of freedom and one rotational degree of freedom.
In at least one embodiment, the positioning stage axis of rotation is perpendicular to the second plane.
In at least one embodiment, the first plane is a vertical plane and the second plane is a horizontal plane.
In at least one embodiment, the guide extends in a horizontal direction.
According to a second aspect of the present invention there is provided a parallel mechanism assembly comprising a bridge assembly and two multi degree of freedom parallel mechanisms according to the present invention, both of said positioning platforms of the two multi degree of freedom parallel mechanisms being rotatably connected to the bridge assembly such that the bridge assembly is rotatable relative to either of said positioning platforms about two axes which are non-parallel to each other, said bridge assembly having at least three translational degrees of freedom and two rotational degrees of freedom.
In at least one embodiment, the two axes of rotation of the bridge assembly relative to each of the positioning platforms are perpendicular to each other.
The multi-degree-of-freedom parallel mechanism is compact in structure and large in moving range in the vertical direction, and the parallel mechanism component is simple in structure and convenient to control.
Drawings
Fig. 1 and 2 are schematic views of a multiple degree of freedom parallel mechanism according to a first embodiment of the present invention.
Fig. 3 is a schematic diagram of a multiple degree of freedom parallel mechanism according to a second embodiment of the invention.
Fig. 4 is a schematic diagram of a multiple degree of freedom parallel mechanism according to a third embodiment of the invention.
Fig. 5 is a schematic diagram of a multiple degree of freedom parallel mechanism according to a fourth embodiment of the invention.
Fig. 6 is a schematic diagram of a parallel mechanism assembly according to one embodiment of the invention.
Fig. 7 is a schematic diagram of a parallel mechanism assembly according to one embodiment of the invention.
Reference numerals illustrate:
G guide;
a first-order branched chain; 11a driving member; a 12-branched platform; a 121 base station; 122 a turntable;
a 2-stage branched chain; 20 positioning a platform; a 20p pick-up adaptor;
A L11 primary first lever; an L12 primary second lever; an L13 primary third lever; a level L14 fourth bar; an L21 secondary first lever; an L22 secondary second lever; an L23 secondary third lever; an L24 secondary fourth lever;
a 3-bridge assembly; m terminal operation pieces; b1, a branched chain rotating shaft; b2, positioning a rotating axis of the platform; a1, a2 axis of rotation.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that these specific illustrations are for the purpose of illustrating how one skilled in the art may practice the invention, and are not intended to be exhaustive of all of the possible ways of practicing the invention, nor to limit the scope of the invention.
The present invention describes the positional relationship of the respective members in a three-dimensional coordinate system shown in fig. 1 to 7 unless otherwise specified. It should be understood that the positional relationship defined according to the x, y and z axes in the present invention is relative, and the coordinate axes may be rotated in space according to the actual application of the device.
(First embodiment of Multi-degree-of-freedom parallel mechanism)
A first embodiment of the multiple degree of freedom parallel mechanism of the present invention is described with reference to fig. 1 and 2.
The parallel mechanism according to the first embodiment of the present invention includes a guide G, two primary branches 1, and one secondary branch 2.
Each primary branch 1 comprises two driving parts 11, a branch platform 12 and a plurality of primary connecting rods for connecting the driving parts 11 and the branch platform 12. The secondary branched chain 2 comprises a positioning platform 20 and a plurality of secondary connecting rods, and the secondary connecting rods are used for connecting the positioning platform 20 and the two branched chain platforms 12 of the primary branched chain 1.
In the present embodiment, the guide G extends in the x direction, and the driving member 11 can reciprocate along the guide G. The primary branches 1 move in a plane xoz (also called a first plane) and the secondary branches 2 move in an xoy plane (also called a second plane), preferably the first plane is a vertical plane and the second plane is a horizontal plane. By driving any one or more of the four driving members 11 along the guide G, the position of the positioning stage 20 of the end of the secondary branch 2 in the three-dimensional coordinate system can be changed, i.e., the positioning stage 20 of the secondary branch 2 has three translational degrees of freedom in the x-direction, the y-direction, and the z-direction.
The primary link in this embodiment includes a primary first lever L11, a primary second lever L12, a primary third lever L13, and a primary fourth lever L14. The first level first rod L11, the second level second rod L12, the driving piece 11 and the branched chain platform 12 form a parallelogram structure, and the third level third rod L13 and the fourth level fourth rod L14, the driving piece 11 and the branched chain platform 12 form another parallelogram structure.
Specifically, two ends of a first-stage first rod L11 are respectively and rotatably connected with a driving member 11 and a branched chain platform 12 to a first-stage first point O11 and a second-stage second point O12, two ends of the first-stage second rod L12 are respectively and rotatably connected with the driving member 11 and the branched chain platform 12 to a third-stage third point O13 and a fourth-stage point O14, and quadrilaterals obtained by sequentially connecting the first-stage first point O11, the second-stage second point O12, the fourth-stage point O14 and the third-stage third point O13 are parallelograms; the two ends of the first-stage third rod L13 are respectively connected with the driving piece 11 and the branched chain platform 12 in a rotating way and are respectively connected with the first-stage fifth point O15 and the first-stage sixth point O16, and the two ends of the first-stage fourth rod L14 are respectively connected with the driving piece 11 and the branched chain platform 12 in a rotating way and are respectively connected with the first-stage seventh point O17 and the first-stage eighth point O18, and quadrangles obtained by sequentially connecting the first-stage fifth point O15, the first-stage sixth point O16, the first-stage eighth point O18 and the first-stage seventh point O17 are parallelograms.
In the present embodiment, the first-stage second point O12 and the first-stage sixth point O16 overlap (these two points are on the same rotation axis), and the first-stage fourth point O14 and the first-stage eighth point O18 overlap, so that it can be said that the first-stage third lever L13 is connected to the first-stage first lever L11 and the first-stage fourth lever L14 is connected to the second-stage second lever L12. In this case, the first-stage third lever L13 is rotatably connected to the branched platform 12, and the first-stage fourth lever L14 is rotatably connected to the branched platform 12. Of course, the primary third lever L13 may be connected to other portions of the branched platform 12 instead of the primary first lever L11, and the primary fourth lever L14 may be connected to other portions of the branched platform 12 instead of the primary second lever L12, as will be readily understood by those skilled in the art.
In the present embodiment, the guide G extends in the x direction, and the driving member 11 can reciprocate along the guide G. The primary links are parallel to the plane xoz, i.e. as the position of the driving element 11 on the guide G changes, both of the parallelograms change shape and/or position in the plane xoz, thereby enabling the translation of the branched platform 12 connected to both parallelograms in the x-direction and in the z-direction.
The secondary link in the present embodiment includes a secondary first lever L21, a secondary second lever L22, a secondary third lever L23, and a secondary fourth lever L24. The second-stage first rod L21, the second-stage second rod L22 and the positioning platform 20 and one branched platform 12 form a parallelogram structure, and the second-stage third rod L23, the second-stage fourth rod L24 and the positioning platform 20 and the other branched platform 12 form another parallelogram structure.
Specifically, two ends of the second-stage first rod L21 are respectively and rotatably connected with a branched chain platform 12 and a positioning platform 20 to form a second-stage first point O21 and a second-stage second point O22, two ends of the second-stage second rod L22 are respectively and rotatably connected with the branched chain platform 12 and the positioning platform 20 to form a second-stage third point O23 and a second-stage fourth point O24, and a quadrangle obtained by sequentially connecting the second-stage first point O21, the second-stage second point O22, the second-stage fourth point O24 and the second-stage third point O23 is a parallelogram; two ends of the second-stage third rod L23 are respectively and rotatably connected with the other branched chain platform 12 and the positioning platform 20 to form a second-stage fifth point O25 and a second-stage sixth point O26, and two ends of the second-stage fourth rod L24 are respectively and rotatably connected with the other branched chain platform 12 and the positioning platform 20 to form a second-stage seventh point O27 and a second-stage eighth point O28, so that a quadrilateral obtained by sequentially connecting the second-stage fifth point O25, the second-stage sixth point O26, the second-stage eighth point O28 and the second-stage seventh point O27 is a parallelogram.
In the present embodiment, the second point O22 and the sixth point O26 overlap, and the fourth point O24 and the eighth point O28 overlap, and thus it can be said that the second third lever L23 is connected to the second first lever L21 and the fourth lever L24 is connected to the second lever L22.
The secondary links are parallel to the xoy plane, and as the position of the driving element 11 on the guiding element G changes, both parallelograms in the secondary branches 2 can change shape and/or position in the xoy plane, so that the positioning platform 20 connected to these two parallelograms can translate in the x-direction and the y-direction, and in addition to the motion transferred by the primary branch 1, the positioning platform 20 has translational degrees of freedom in the x-, y-, and z-directions.
Preferably, the positioning platform 20 is provided with a terminal work piece M, which may be used, for example, for performing a specific function of the work. The present invention does not limit the installation position and direction of the terminal work M on the positioning stage 20.
(Second embodiment of Multi-degree-of-freedom parallel mechanism)
A second embodiment of the multiple degree of freedom parallel mechanism of the present invention is described with reference to fig. 3. The present embodiment is a modification of the first embodiment, and differences from the first embodiment mainly include the arrangement of links, and the same or similar parts in this embodiment as those in the first embodiment are given the same reference numerals. The present embodiment describes the different possible arrangements of the connecting rod by means of two asymmetric primary branches 1.
Reference is first made to the primary branch 1 on the left in fig. 3. In the primary branched chain 1, two ends of a primary third rod L13 are respectively connected with a driving piece 11 and a primary first rod L11 in a rotating way and are connected with a primary fifth point O15 and a primary sixth point O16, wherein the primary sixth point O16 is positioned in the middle of the primary first rod L11 and is not overlapped with the primary second point O12; the two ends of the first-stage fourth rod L14 are respectively connected with the driving piece 11 and the first-stage second rod L12 in a rotating way and are connected with a first-stage seventh point O17 and a first-stage eighth point O18, wherein the first-stage eighth point O18 is positioned in the middle of the first-stage second rod L12 and is not overlapped with the first-stage fourth point O14. The quadrangle obtained by sequentially connecting the first-stage fifth point O15, the first-stage sixth point O16, the first-stage eighth point O18 and the first-stage seventh point O17 is a parallelogram.
The arrangement is such that, in the same space, the two active elements 11 of the primary branch 1 have a greater active space and do not easily interfere with each other or with other surrounding elements.
Next, referring to the right primary branch 1 in fig. 3, the right primary branch 1 does not have the primary fourth lever L14 therein, as compared with the left primary branch 1. That is, in the primary branch 1, by connecting the driving member 11 and the primary third lever L13 of the primary first lever L11, the posture of the parallelogram defined by the primary first lever L11 and the primary second lever L12 can be determined, so that the purpose of determining the position of the branch platform 12 in the plane xoz can be achieved.
The arrangement mode further reduces the number of parts in the primary branched chain 1, so that the primary branched chain 1 is lighter and smaller.
It should be noted that there is still another modification of the primary branched chain 1 on the right side in fig. 3, in which the rotational connection point of the primary third lever L13 with the primary first lever L11, i.e., the primary sixth point O16, may also coincide with the primary second point O12, in other words, this modification corresponds to omitting the primary fourth lever L14 in the first embodiment. This arrangement also makes it possible to determine the attitude of the parallelogram defined by the primary first lever L11 and the primary second lever L12.
Likewise, the modified arrangement of the primary links in the primary branch 1 is applicable to the secondary link arrangement in the secondary branch 2. That is, only one parallelogram structure including one branch table 12 may be reserved in the secondary branch 2, and the other branch table 12 may be connected to one link of the above-mentioned parallelogram structure through only one link; alternatively, the secondary branches 2 still retain two parallelograms, but one of them comprises a positioning platform 20, and the links in the other parallelogram are not connected to the positioning platform 20, but to the secondary links in the previous parallelogram.
As will be readily appreciated by those skilled in the art, while reducing the number of links in the branches may result in a smaller space occupation of the mechanism, the redundant parallelogram configuration created by the greater number of links can increase the stability of the guide mechanism.
(Third embodiment of Multi-degree-of-freedom parallel mechanism)
A third embodiment of the multiple degree of freedom parallel mechanism of the present invention is described with reference to fig. 4. This embodiment is a modification of the first embodiment, and differences from the first embodiment mainly include the arrangement of the branching platform 12, and the same or similar parts in this embodiment are given the same reference numerals.
In this embodiment, the branched stage 12 includes a base 121 and a turntable 122, the base 121 is connected to a primary link, the turntable 122 is connected to a secondary link, and the turntable 122 is rotatable about a branched rotation axis b1 with respect to the base 121. The branched chain rotation axis b1 is parallel to the xoy plane, and in this embodiment, it is preferable that the branched chain rotation axis b1 is parallel to the y direction.
The increased rotational freedom of the branched platform 12 reduces the motion coupling degree of the multi-degree-of-freedom parallel mechanism in each direction, the parallel mechanism has a larger moving range, and the positioning platform 20 can realize four degrees of freedom. Specifically, when each driving member 11 moves along the guide member G to a position where the two branched platforms 12 have different positions in the z direction, the branched platforms 12, i.e., the secondary branches 2, rotate about the y direction, and thus the positioning platform 20 has translational degrees of freedom in the x, y, and z directions and rotational degrees of freedom about the y direction.
Because the rotating structure is arranged at the end part of the primary branched chain 1 connected with the secondary branched chain 2, the rotating structure is far away from the positioning platform 20 at the tail end of the multi-degree-of-freedom parallel mechanism, so that the positioning platform 20 has a light and small structure while having a rotational degree of freedom.
(Fourth embodiment of Multi-degree-of-freedom parallel mechanism)
A fourth embodiment of the multiple degree of freedom parallel mechanism of the present invention is described with reference to fig. 5. This embodiment is a modification of the third embodiment.
In the present embodiment, the positioning stage 20 includes a terminal positioning stage 21 and two rotary positioning stages 22. Each of the rotational positioning stages 22 is rotatable with respect to the terminal positioning stage 21 about a positioning stage rotational axis b2, the positioning stage rotational axis b2 being parallel to the z-direction in this embodiment. The rotational connection point of the secondary linkage to the positioning stage 20 is located at the rotational positioning stage 22.
In this embodiment, the terminal positioning stage 21 has translational degrees of freedom in three directions of x, y and z, and also rotational degrees of freedom about the z direction.
It should be appreciated that the positioning stage rotation axis b2 may also be arranged parallel to the x-direction or parallel to the y-direction, such that the terminal positioning stage 21 has a rotational degree of freedom about the x-direction or about the y-direction.
It should be noted that, in the present embodiment, the two rotation positioning platforms 22 may be spaced apart by a certain distance in the z direction, so that the two rotation positioning platforms 22 and the secondary connecting rod connected thereto will not interfere during rotation, in other words, this will enable the terminal positioning platform 21 to have a larger rotation range.
(Parallel mechanism Assembly)
Next, the parallel mechanism assembly according to the present invention will be described with reference to fig. 6 and 7. The parallel mechanism assembly according to the present invention comprises two multi-degree of freedom parallel mechanisms D according to the present invention, and further comprises a bridge assembly 3.
Referring first to fig. 6, two positioning platforms 20 of two multiple degree of freedom parallel mechanism D are each rotatably coupled to bridge assembly 3 and enable rotation of bridge assembly 3 relative to each positioning platform 20 about two non-parallel (preferably mutually perpendicular) axes of rotation a1 and a 2. In the present embodiment, when the movements of the two positioning stages 20 are synchronized, that is, when the positions of the two positioning stages 20 in the xoy plane are the same, the rotation axis a1 is parallel to the x-direction, and the rotation axis a2 is parallel to the y-direction.
By controlling the positions of the eight driving members 11 of the multi-degree-of-freedom parallel mechanism D on the respective guiding members G, the positions of the two positioning platforms 20 in the x, y and z directions can be controlled, so that the translation of the bridge assembly 3 in the x direction, the translation in the y direction, the translation in the z direction, the rotation around the x direction and the rotation around the y direction are realized, and the bridge assembly 3 has five degrees of freedom.
Preferably, the bridge assembly 3 is provided with a terminal working member M, such as a surgical instrument. The present invention does not limit the arrangement position and orientation of the end effector M on the bridge assembly 3.
Referring to fig. 7, when the parallel mechanism assembly includes a multiple degree of freedom parallel mechanism D similar to the fourth embodiment of the multiple degree of freedom parallel mechanism described above, i.e., the positioning stage 20 includes a terminal positioning stage 21 and two rotational positioning stages 22, each rotational positioning stage 22 is capable of rotating about a rotational axis b2 relative to the terminal positioning stage 21, the rotational axis b2 in this embodiment being parallel to the z-direction. The bridge assembly 3 will then have six degrees of freedom (translational degrees of freedom in x, y and z directions and rotational degrees of freedom about x, y and z directions).
The present invention does not limit the number of guides G in the parallel mechanism assembly.
It will be appreciated that the above-described embodiments and portions of aspects or features thereof may be suitably combined.
Some advantageous effects of the above-described embodiments of the present invention are briefly described below.
(I) The motion of the primary branched chain 1 in the z direction (for example, the vertical direction) and the motion of the secondary branched chain 2 in the z direction of the multi-degree-of-freedom parallel mechanism according to the present invention are not mutually restricted, so that the movable range of the positioning platform 20 in the z direction is large.
(Ii) The driving members 11 of the parallel mechanism with multiple degrees of freedom according to the present invention may be disposed on one guide member G, so that the structure of the parallel mechanism is more compact.
(Iii) The parallel mechanism component has simple structure and convenient control, and can realize at least three translational degrees of freedom and two rotational degrees of freedom.
It should be understood that the above-described embodiments are merely exemplary and are not intended to limit the present invention. Those skilled in the art can make various modifications and changes to the above-described embodiments without departing from the scope of the present invention. For example, the number of the cells to be processed,
(I) The parallel mechanism or parallel mechanism assembly according to the invention is preferably used as part of a surgical robot, however the invention is not limited thereto, and the parallel mechanism or parallel mechanism assembly according to the invention may also provide guidance for other instruments.
When the end effector M is added to the positioning platform 20 or the bridge assembly 3, the end effector M may have an additional degree of freedom with respect to the positioning platform 20 or the bridge assembly 3.
(Ii) The guide G of the present invention is not limited to the form of a guide rail as shown in the drawings, but may be other forms of guide such as a guide groove or a screw.
(Iii) The guide G may not extend in a straight line, but may be a guide path having a curved form, for example.
(Iv) The two primary branches 1 of the parallel mechanism with multiple degrees of freedom according to the present invention may not be symmetrical, or the two portions of the secondary branch 2 connecting the primary branches 1 may not be symmetrical.
Claims (13)
1. A multi-degree-of-freedom parallel mechanism comprises a guide member (G), two primary branched chains (1) and a secondary branched chain (2), wherein,
Each primary branched chain (1) comprises two driving parts (11), a branched chain platform (12) and a plurality of primary connecting rods for connecting the driving parts (11) and the branched chain platform (12), the driving parts (11) can reciprocate along the guide parts (G), the secondary branched chain (2) comprises a positioning platform (20) and a plurality of secondary connecting rods for connecting the branched chain platform (12) and the positioning platform (20),
In each primary branched chain (1), one driving piece (11) of two driving pieces (11) is connected with the branched chain platform (12) through at least two primary connecting rods, two ends of a primary first rod (L11) are respectively connected with a primary first point (O11) and a primary second point (O12) in a rotating way with the driving piece (11) and the branched chain platform (12), two ends of a primary second rod (L12) are respectively connected with a primary third point (O13) and a primary fourth point (O14) in a rotating way with the driving piece (11) and the branched chain platform (12), and quadrangles obtained by sequentially connecting the primary first point (O11), the primary second point (O12), the primary fourth point (O14) and the primary third point (O13) are parallelograms parallel to a first plane (xoz); the other one (11) of the two driving members (11) is rotatably connected to the branched platform (12) or the primary first lever (L11) through at least one of the primary links to determine the attitude of a parallelogram defined by the primary first lever (L11) and the primary second lever (L12),
In the secondary branched chain (2), one branched chain platform (12) of the two branched chain platforms (12) is connected with the positioning platform (20) through at least two secondary connecting rods, two ends of a secondary first rod (L21) are respectively connected with the branched chain platform (12) and the positioning platform (20) in a rotating way and are connected with a secondary first point (O21) and a secondary second point (O22), two ends of a secondary second rod (L22) are respectively connected with the branched chain platform (12) and the positioning platform (20) in a rotating way and are connected with a secondary third point (O23) and a secondary fourth point (O24), and quadrangles obtained by sequentially connecting the secondary first point (O21), the secondary second point (O22), the secondary fourth point (O24) and the secondary third point (O23) are parallelograms which can move in a second plane (xoy); the other (12) of the two branch platforms (12) is rotationally connected to the positioning platform (20) or to the secondary first lever (L21) by means of at least one secondary connecting rod, so as to determine the attitude of a parallelogram defined by the secondary first lever (L21) and the secondary second lever (L22),
Said first plane (xoz) being non-parallel to said second plane (xoy), said guide (G) being parallel to said second plane (xoy),
The positioning platform (20) has at least three translational degrees of freedom;
The branched chain platform (12) comprises a base (121) and a turntable (122), the turntable (122) can rotate around a branched chain rotating shaft (b 1) relative to the base (121),
The primary link is connected to the base (121) and the secondary link is connected to the turntable (122).
2. The multiple degree of freedom parallel mechanism of claim 1 wherein the first plane (xoz) is perpendicular to the second plane (xoy).
3. The multi-degree of freedom parallel mechanism of claim 1 wherein, in each of the primary branches (1), the other one (11) of the two driving members (11) is connected to the primary first lever (L11) through a primary third lever (L13), both ends of the primary third lever (L13) are respectively connected to a primary fifth point (O15) and a primary sixth point (O16) in rotation with the driving member (11) and the primary first lever (L11), the primary sixth point (O16) is not coincident with the primary first point (O11),
The other branched chain platform (12) of the two branched chain platforms (12) is connected with the second-stage first rod (L21) through a second-stage third rod (L23), two ends of the second-stage third rod (L23) are respectively connected with the branched chain platform (12) and the second-stage first rod (L21) in a rotating mode, the second-stage third rod is connected with a second-stage fifth point (O25) and a second-stage sixth point (O26), and the second-stage sixth point (O26) is not overlapped with the second-stage first point (O21).
4. A multiple degree of freedom parallel mechanism according to claim 3, characterized in that the first order sixth point (O16) coincides with the first order second point (O12), and/or
The second-order sixth point (O26) coincides with the second-order second point (O22).
5. A multiple degree of freedom parallel mechanism according to claim 3, characterized in that in each of the primary branches (1), the other one (11) of the two driving members (11) is further connected to the primary second lever (L12) through a primary fourth lever (L14), both ends of the primary fourth lever (L14) are respectively connected with the driving member (11) and the primary second lever (L12) in rotation to a primary seventh point (O17) and a primary eighth point (O18), quadrilaterals obtained by sequentially connecting the primary fifth point (O15), the primary sixth point (O16), the primary eighth point (O18) and the primary seventh point (O17) are parallelograms, and/or
The other branched chain platform (12) of the two branched chain platforms (12) is further connected with a second-stage second rod (L22) through a second-stage fourth rod (L24), two ends of the second-stage fourth rod (L24) are respectively connected with a second-stage seventh point (O27) and a second-stage eighth point (O28) in a rotating mode, and quadrilaterals obtained by the second-stage fifth point (O25), the second-stage sixth point (O26), the second-stage eighth point (O28) and the second-stage seventh point (O27) are connected in sequence to form parallelograms.
6. A multiple degree of freedom parallel mechanism according to claim 1, characterized in that four of the driving members (11) share one of the guiding members (G).
7. A multiple degree of freedom parallel mechanism according to any one of claims 1 to 6, wherein the branched chain rotation axis (b 1) is parallel to the second plane (xoy).
8. The multiple degree of freedom parallel mechanism of any one of claims 1 to 6 wherein the positioning platform (20) comprises a terminal positioning platform (21) and two rotational positioning platforms (22), the rotational positioning platforms (22) being rotationally coupled to the terminal positioning platform (21), the rotational coupling point of the secondary linkage to the positioning platform (20) being located at the rotational positioning platform (22), each rotational positioning platform (22) being rotatable relative to the terminal positioning platform (21) about a positioning platform rotational axis (b 2), the terminal positioning platform (21) having at least three translational degrees of freedom and one rotational degree of freedom.
9. The multiple degree of freedom parallel mechanism of claim 8 wherein the positioning stage axis of rotation (b 2) is perpendicular to the second plane (xoy).
10. The multiple degree of freedom parallel mechanism of any one of claims 1 to 6 wherein the first plane (xoz) is a vertical plane and the second plane (xoy) is a horizontal plane.
11. A multiple degree of freedom parallel mechanism according to any one of claims 1 to 6 wherein the guide (G) extends in a horizontal direction.
12. A parallel mechanism assembly comprising a bridge assembly (3) and two multi-degree of freedom parallel mechanisms (D) according to any one of claims 1 to 11, both of the positioning platforms (20) of the two multi-degree of freedom parallel mechanisms (D) being in rotational connection with the bridge assembly (3) such that the bridge assembly (3) can rotate about two axes (a 1, a 2) that are non-parallel to each other relative to either of the positioning platforms (20), the bridge assembly (3) having at least three translational degrees of freedom and two rotational degrees of freedom.
13. Parallel mechanism assembly according to claim 12, characterized in that the two axes (a 1, a 2) of rotation of the bridge assembly (3) with respect to each of the positioning platforms (20) are mutually perpendicular.
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| PCT/CN2020/078824 WO2021179210A1 (en) | 2020-03-11 | 2020-03-11 | Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly |
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| CN113997276B (en) * | 2021-12-14 | 2024-07-12 | 江西制造职业技术学院 | Variable-rod-length-containing parallelogram closed-loop subchain three-translation pickup robot |
| CN114012710B (en) * | 2021-12-14 | 2024-06-14 | 江西制造职业技术学院 | Parallelogram closed-loop subchain two-translation pickup robot with variable rod length |
| CN114367961B (en) * | 2022-01-10 | 2023-08-25 | 燕山大学 | Novel five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
| CN114888780B (en) * | 2022-04-29 | 2024-05-14 | 浙江理工大学 | A three-branch 6+3 degree-of-freedom motion redundant parallel mechanism |
| CN115816426B (en) * | 2022-11-07 | 2024-03-22 | 广东工业大学 | A modular neck for a humanoid robot |
| CN115741639B (en) * | 2022-11-16 | 2024-12-24 | 天津大学 | Six-branched-chain five-degree-of-freedom parallel processing robot oriented to complex curved surface |
| USD1042580S1 (en) | 2022-11-28 | 2024-09-17 | Shanghai Flexiv Robotics Technology Co., Ltd. | Delta robot |
| US20250073918A1 (en) * | 2022-11-28 | 2025-03-06 | Shanghai Flexiv Robotics Technology Co., Ltd. | Parallel robot |
| CN116275762B (en) * | 2023-05-19 | 2023-08-11 | 常州碳科智能装备有限公司 | Welding robot based on parallel mechanism |
| CN118952172A (en) * | 2024-08-22 | 2024-11-15 | 西安工程大学 | Planar kinematic parallel robot with locking mode |
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