CN206066430U - A kind of four-freedom parallel connection robot mechanism - Google Patents

Abstract

The utility model provides a four-degree-of-freedom parallel robot mechanism, which includes a frame, a moving platform, and a first leg, a second leg, a third leg and a fourth leg connected between the frame and the moving platform, and the first leg The lower part is rotatably mounted on the frame through the first cross connector, the upper part of the first leg is rotatably mounted on the moving platform through the third rotating shaft, the lower part of the second leg is rotatably mounted on the frame through the second cross connector, and the second leg is rotatably mounted on the frame through the second cross connector. The upper part of the supporting leg is rotatably connected to the moving platform through the sixth rotating shaft, the lower part of the third supporting leg is rotatably mounted on the frame through the third cross connector, the upper part of the third supporting leg is rotatably mounted on the moving platform through the ninth rotating shaft, and the fourth The lower part of the leg is rotatably mounted on the frame through the fourth cross connector, and the upper part of the fourth leg is rotatably mounted on the moving platform through a spherical hinge; the mechanism structure of the utility model is simple, the number of motion pairs is small, the rigidity is high, and the working space is large. , good dynamic performance, and easy to control, has a good application prospect.

Description

A four-degree-of-freedom parallel robot mechanism

technical field

The utility model relates to the technical field of robot mechanisms, in particular to a four-degree-of-freedom parallel robot mechanism.

Background technique

Compared with the series mechanism, the parallel mechanism has the advantages of large rigidity, strong bearing capacity, small cumulative error, and high precision. The six-degree-of-freedom parallel mechanism can realize the position and posture adjustment of six degrees of freedom, but in general, due to the increase in the number of degrees of freedom, The number of branches will increase accordingly, and the complexity of the control process will increase accordingly.

In recent years, the four-degree-of-freedom parallel mechanism among the few-degree-of-freedom parallel mechanisms has been continuously valued and favored by researchers, and such parallel mechanisms with high stiffness, large work space, good movement flexibility, and simple control are urgently needed now. , and there are few designs using the four-degree-of-freedom parallel mechanism as an ocean motion simulator, and there are basically no designs using it as a stable leveling platform for ocean drilling.

Utility model content

In view of this, the utility model provides a four-degree-of-freedom parallel robot mechanism with large working space, high rigidity and easy control.

The utility model provides a four-degree-of-freedom parallel robot mechanism, which includes a frame, a moving platform, and a first leg, a second leg, a third leg and a fourth leg connected between the frame and the moving platform. The legs, the second leg, the third leg and the fourth leg are all telescopic, the lower part of the first leg is rotatably mounted on the frame through a first cross connector, and the first leg The cross connector includes a first rotating shaft and a second rotating shaft perpendicular to each other, the first leg can rotate around the first rotating shaft and the second rotating shaft respectively, and the upper part of the first leg is mounted on the On the moving platform, the lower part of the second leg is rotatably mounted on the frame through the second cross connector. The second cross connector includes a fourth shaft and a fifth shaft perpendicular to each other. The second leg It can rotate around the fourth and fifth rotating shafts respectively, the upper part of the second leg is rotatably connected to the moving platform through the sixth rotating shaft, and the lower part of the third leg is rotatably mounted on the moving platform through the third cross connector. On the frame, the third cross connector includes a seventh rotating shaft and an eighth rotating shaft perpendicular to each other, the third leg can rotate around the seventh rotating shaft and the eighth rotating shaft respectively, and the third The upper part of the leg is rotatably mounted on the moving platform through the ninth rotating shaft, and the lower part of the fourth leg is rotatably mounted on the frame through the fourth cross connector, and the fourth cross connector includes mutually perpendicular first The tenth rotating shaft and the eleventh rotating shaft, the fourth leg can rotate around the tenth rotating shaft and the eleventh rotating shaft respectively, and the upper part of the fourth supporting leg is rotatably mounted on the moving platform through a spherical hinge.

Further, the frame is fixed with a first base, a second base, a third base and a fourth base, and the connection lines between two adjacent bases among the four bases form a square , the first rotating shaft is rotatably connected to the first base, the fourth rotating shaft is rotatably connected to the second base, the seventh rotating shaft is rotatably connected to the third base, and the tenth rotating shaft is rotatably connected to the the fourth base.

Further, the fifth base, the sixth base, the seventh base and the eighth base are fixed on the moving platform, and the connection line between two adjacent bases among the four bases forms a square , the third rotating shaft is rotatably connected to the fifth base, the sixth rotating shaft is rotatably connected to the sixth base, the ninth rotating shaft is rotatably connected to the seventh base, and the spherical hinge is rotatably connected to the Describe the eighth base.

Further, the first leg includes a first drive rod and a second drive rod, the second drive rod performs telescopic movement in the first drive rod through the first moving pair, and the second leg includes a third A driving rod and a fourth driving rod, the fourth driving rod performs telescopic movement in the third driving rod through the second moving pair, the third leg includes a fifth driving rod and a sixth driving rod, the first The six driving rods perform telescopic movement in the fifth driving rod through the third moving pair, the fourth leg includes the seventh driving rod and the eighth driving rod, and the eighth driving rod moves in the fifth driving rod through the fourth moving pair. The telescopic movement is performed in the seventh driving rod.

Further, the axis of the first rotating shaft coincides with the axis of the seventh rotating shaft, the axis of the first rotating shaft, the axis of the fourth rotating shaft and the axis of the tenth rotating shaft are parallel to each other, and the axis of the third rotating shaft The axis of the rotating shaft, the axis of the sixth rotating shaft and the axis of the ninth rotating shaft are parallel to each other.

Further, the first moving pair, the second moving pair, the third moving pair and the fourth moving pair are respectively driven, and the first leg, the second leg, the third The supporting foot and the fourth supporting foot jointly control the attitude and position of the moving platform to realize two degrees of freedom of rotation, the axis of one degree of freedom of rotation is the axis direction of the first axis of rotation, and the axis of the other degree of freedom of rotation is in line with the axis of the first axis of rotation. The axis of the first rotating shaft intersects and is parallel to the axis of the second rotating shaft, and also realizes two degrees of freedom of movement, the direction of one degree of freedom of movement is the axis direction of the first rotating shaft, and the direction of the other degree of freedom of movement is the direction of the The seventh rotation axis and the eighth rotation axis form a normal vector direction of the plane.

Further, the first moving pair, the second moving pair, the third moving pair and the fourth moving pair are all used as active driving moving pairs, and the driving mode is driven by a motor or a hydraulic cylinder.

Furthermore, the four-degree-of-freedom parallel robot mechanism can be applied to the field of marine equipment, including marine motion simulators and stable leveling platforms for marine drilling.

The beneficial effects brought by the technical solution of the utility model are: the four-degree-of-freedom parallel robot mechanism of the utility model has a simple structure, a small number of kinematic pairs, high rigidity, a large working space, good dynamic performance, and is easy to control, and has good application prospect.

Description of drawings

Fig. 1 is a structural schematic diagram of a four-degree-of-freedom parallel robot mechanism of the present invention.

Fig. 2 is another structural schematic diagram of the four-degree-of-freedom parallel robot mechanism of the present invention.

In the figure: 1-frame, 11-first base, 12-second base, 13-third base, 14-fourth base, 2-moving platform, 21-fifth base, 22- The sixth base, 23-the seventh base, 24-the eighth base, 3-the first leg, 31-the first cross connector, 311-the first rotating shaft, 312-the second rotating shaft, 32-the first drive Rod, 33-the first moving pair, 34-the second driving rod, 35-the third shaft, 4-the second leg, 41-the second cross connector, 411-the fourth shaft, 412-the fifth shaft, 42- The third drive rod, 43-the second moving pair, 44-the fourth drive rod, 45-the sixth shaft, 5-the third leg, 51-the third cross connector, 511-the seventh shaft, 512-the eighth shaft , 52-fifth drive rod, 53-third moving pair, 54-sixth drive rod, 55-ninth shaft, 6-fourth leg, 61-fourth cross connector, 611-tenth shaft, 612- The eleventh rotating shaft, 62-the seventh driving rod, 63-the fourth moving pair, 64-the eighth driving rod, 65-spherical hinge.

detailed description

In order to make the purpose, technical solutions and advantages of the utility model clearer, the following will further describe the implementation of the utility model in conjunction with the accompanying drawings.

Please refer to Fig. 1, the embodiment of the present utility model provides a kind of four-degree-of-freedom parallel robot mechanism, comprises frame 1, moving platform 2 and the parallel first foot 3 between frame 1 and moving platform 2, the second Leg 4, the third leg 5 and the fourth leg 6, the frame 1 is fixed with the first base 11, the second base 12, the third base 13 and the fourth base 14, two of the four bases The connecting line between two adjacent bases forms a square; the fifth base 21, the sixth base 22, the seventh base 23 and the eighth base 24 are fixed on the lower side of the moving platform 2, which are distributed in a square. The connecting lines between any two adjacent pedestals among the four pedestals form a square.

The first leg 3 includes a first cross connector 31 , a first driving rod 32 and a second driving rod 33 . The lower end of the first driving rod 32 is rotatably connected to the first base 11 through the first cross connecting member 31. The first cross connecting member 31 includes a first rotating shaft 311 and a second rotating shaft 312 perpendicular to each other. Therefore, the first driving rod 32 can Rotate around the first rotating shaft 311 and the second rotating shaft 312 respectively. The first driving rod 32 is connected to the second driving rod 34 through the first moving pair 33. The first driving rod 32 (cylinder barrel) is hollow, and the second driving rod 34 (piston rod) is connected to the first driving rod through the first moving pair 33. 32 to do telescopic movement, thereby adjusting the height of the first leg 3. The upper end of the second driving rod 34 is rotatably connected to the fifth base 21 through the third rotating shaft. Wherein, the axis of the second rotating shaft 312 is parallel to the axis of the third rotating shaft 35 and perpendicular to the axis of the first moving pair 33 .

The second leg 4 includes a second cross connecting member 41 , a third cross connecting member 45 , a third driving rod 42 and a fourth driving rod 44 . The lower end of the third driving rod 42 is rotatably connected to the second base 12 through the second cross connecting member 41, and the second cross connecting member 41 includes a fourth rotating shaft 411 and a fifth rotating shaft 412 perpendicular to each other. Therefore, the third driving rod 42 can Rotate around the fourth rotating shaft 411 and the fifth rotating shaft 412 respectively. The third driving rod 42 is connected to the fourth driving rod 44 through the second moving pair 43, the third driving rod 44 (cylinder barrel) is hollow, and the fourth driving rod 42 (piston rod) is connected to the third driving rod through the second moving pair 43. 44 to do telescopic movement, thereby adjusting the height of the second leg 4. The upper end of the fourth driving rod 44 is rotatably connected to the sixth base through the sixth rotating shaft. Wherein, the axis of the fifth rotating shaft 412 is parallel to the axis of the sixth rotating shaft 45 and perpendicular to the axis of the second moving pair 43 .

The third leg 5 includes a third cross link 51 , a fifth driving rod 52 and a sixth driving rod 54 . The lower end of the fifth driving rod 52 is rotatably connected to the third base 13 through the third cross connecting member 51, and the fourth cross connecting member 51 includes a seventh rotating shaft 511 and an eighth rotating shaft 512 perpendicular to each other. Therefore, the fifth driving rod 52 can Rotate around the seventh rotating shaft 511 and the eighth rotating shaft 512 respectively. The fifth driving rod 52 is connected to the sixth driving rod 54 through the third moving pair 53, the fifth driving rod 54 (cylinder barrel) is hollow, and the sixth driving rod 52 (piston rod) is connected to the fifth driving rod through the third moving pair 53. 54 to do telescopic movement, thereby adjusting the height of the third leg 5. The upper end of the sixth driving rod 54 is rotatably connected to the seventh base 23 through the ninth rotating shaft 55 . Wherein, the axis of the eighth rotating shaft 512 is parallel to the axis of the ninth rotating shaft 55 and perpendicular to the axis of the third moving pair 53 .

The fourth leg 6 includes a fourth cross connector 61 , a seventh driving rod 62 and an eighth driving rod 64 . The lower end of the seventh driving rod 62 is rotatably connected to the fourth base 14 through the fourth cross connecting member 61. The fourth cross connecting member 61 includes a tenth rotating shaft 611 and an eleventh rotating shaft 612 that are perpendicular to each other. Therefore, the seventh driving rod 62 can rotate around the tenth rotation axis 611 and the eleventh rotation axis 612 respectively. The seventh driving rod 62 is connected to the eighth driving rod 64 through the fourth moving pair 63, the seventh driving rod 62 (cylinder) is hollow, and the eighth driving rod 64 (piston rod) is connected to the seventh driving rod through the fourth moving pair 63 62 to do telescopic movement, thereby adjusting the height of the fourth leg 6. The upper end of the eighth driving rod 64 is rotatably connected to the eighth base 24 through a spherical hinge 65 , and the connection point between the eighth driving rod 64 and the spherical hinge 65 can be used as a fulcrum to rotate within the conical space restricted by the spherical hinge 65 . Wherein, the axis of the eleventh rotating shaft 612 is perpendicular to the axis of the fourth moving pair 63 .

Wherein, the axis of the first rotating shaft 311 coincides with the axis of the seventh rotating shaft 511, the axis of the fourth rotating shaft 411 is parallel to the axis of the tenth rotating shaft 611 and both are parallel to the axis of the first rotating shaft 311, the axis of the third rotating shaft 35, the axis of the The axes of the sixth rotating shaft 45 and the ninth rotating shaft 55 are parallel to each other.

Referring to FIG. 2 , FIG. 2 is a structural diagram of the mechanism in FIG. 1 after movement. Line a is the common axis of the first rotating shaft 311 and the seventh rotating shaft 511 , line b intersects line a and is parallel to the axis of the second rotating shaft 312 , and line c is the normal vector of the plane formed by the seventh rotating shaft 511 and the eighth rotating shaft 512 . The first moving pair 33, the second moving pair 43, the third moving pair 53 and the fourth moving pair 63 are respectively driven, wherein the first leg 3, the second leg 4, the third leg 5 and the fourth leg 6 jointly control the braking The attitude of platform 2 realizes two degrees of freedom of rotation, the axis of one degree of freedom of rotation is the direction of line a, the axis of rotation of the other degree of freedom of rotation is the direction of line b, and two degrees of freedom of movement are realized, and the direction of one degree of freedom of movement is the direction of line b a direction, the direction of another degree of freedom of movement is the line c direction.

In the embodiment of the utility model, the first moving pair 33 , the second moving pair 43 , the third moving pair 53 and the fourth moving pair 63 are all used as active driving moving pairs, and the driving mode can be driven by a motor or a hydraulic cylinder.

The four-degree-of-freedom parallel robot mechanism of the utility model can be applied to the field of marine equipment, including a marine motion simulator and a stable leveling platform for marine drilling.

In this article, the orientation words such as front, rear, upper, and lower involved are defined by the parts in the drawings and the positions between the parts in the drawings, just for the clarity and convenience of expressing the technical solution. It should be understood that the use of the location words should not limit the scope of protection claimed in this application.

In the case of no conflict, the above-mentioned embodiments and features in the embodiments herein may be combined with each other.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.

Claims (8)

1. A four-degree-of-freedom parallel robot mechanism, comprising a frame and a moving platform, is characterized in that: the four-degree-of-freedom parallel robot mechanism also includes a first leg connected between the frame and the moving platform, a second leg, The third leg and the fourth leg, the first leg, the second leg, the third leg and the fourth leg are all telescopic, and the lower part of the first leg is rotated through a first cross connector Installed on the frame, the first cross connector includes a first rotating shaft and a second rotating shaft perpendicular to each other, the first legs can rotate around the first rotating shaft and the second rotating shaft respectively, and the first The upper part of the leg is rotatably mounted on the moving platform through the third rotating shaft, and the lower part of the second leg is rotatably mounted on the frame through the second cross connector, and the second cross connector includes mutually perpendicular first Four rotating shafts and the fifth rotating shaft, the second leg can rotate around the fourth rotating shaft and the fifth rotating shaft respectively, the upper part of the second supporting leg is connected to the moving platform through the sixth rotating shaft, and the third The lower part of the leg is rotatably mounted on the frame through a third cross link, the third cross link includes a seventh shaft and an eighth shaft perpendicular to each other, and the third legs can respectively rotate around the seventh shaft and the eighth rotating shaft rotates, the upper part of the third leg is rotatably mounted on the moving platform through the ninth rotating shaft, and the lower part of the fourth leg is rotatably mounted on the frame through the fourth cross connector, The fourth cross connector includes a tenth shaft and an eleventh shaft that are perpendicular to each other, the fourth leg can rotate around the tenth shaft and the eleventh shaft respectively, and the upper part of the fourth leg passes through The spherical hinge is rotatably installed on the moving platform. 2. The four-degree-of-freedom parallel robot mechanism as claimed in claim 1, wherein a first base, a second base, a third base and a fourth base are fixed on the frame, and the four The connecting lines between two adjacent bases in the base form a square, the first rotating shaft is connected to the first base in rotation, the fourth rotating shaft is connected to the second base in rotation, and the seventh rotating shaft is connected to the second base in rotation. The rotating shaft is rotatably connected to the third base, and the tenth rotating shaft is rotatably connected to the fourth base. 3. The four-degree-of-freedom parallel robot mechanism according to claim 1, characterized in that: the fifth base, the sixth base, the seventh base and the eighth base are fixed on the moving platform, and the four The connecting lines between two adjacent bases in the base form a square, the third rotating shaft is connected to the fifth base in rotation, the sixth rotating shaft is connected to the sixth base in rotation, and the ninth rotating shaft is connected to the sixth base in rotation. The rotating shaft is rotatably connected to the seventh base, and the spherical hinge is rotatably connected to the eighth base. 4. The four-degree-of-freedom parallel robot mechanism according to claim 1, wherein the first leg comprises a first driving rod and a second driving rod, and the second driving rod is moved between the The telescopic movement is performed in the first drive rod, the second leg includes a third drive rod and a fourth drive rod, and the fourth drive rod performs telescopic movement in the third drive rod through the second moving pair, and the The third leg includes the fifth drive rod and the sixth drive rod, and the sixth drive rod performs telescopic movement in the fifth drive rod through the third moving pair, and the fourth leg includes the seventh drive rod and the eighth drive rod. A driving rod, the eighth driving rod performs telescopic movement in the seventh driving rod through the fourth moving pair. 5. The four-degree-of-freedom parallel robot mechanism according to claim 4, wherein the axis of the first rotating shaft coincides with the axis of the seventh rotating shaft, and the axis of the first rotating shaft and the fourth rotating shaft The axis of the shaft is parallel to the axis of the tenth rotation shaft, the axis of the third rotation shaft, the axis of the sixth rotation shaft and the axis of the ninth rotation shaft are parallel to each other. 6. The four-degree-of-freedom parallel robot mechanism according to claim 4, characterized in that: the first moving pair, the second moving pair, the third moving pair and the fourth moving pair are respectively driven , the first leg, the second leg, the third leg and the fourth leg jointly control the attitude and position of the moving platform to achieve two rotational degrees of freedom, and the rotating shaft of one rotational degree of freedom is the The axis direction of the first rotating shaft, the rotating shaft with another degree of freedom of rotation intersects the axis of the first rotating shaft and is parallel to the axis of the second rotating shaft, and realizes two degrees of freedom of movement, and the direction of one degree of freedom of movement is the direction of the said first rotating shaft The axis direction of the first rotation axis and the direction of another degree of freedom of movement are the normal vector direction of the plane formed by the seventh rotation axis and the eighth rotation axis. 7. The four-degree-of-freedom parallel robot mechanism according to claim 4, characterized in that: the first moving pair, the second moving pair, the third moving pair and the fourth moving pair are all active Drive the kinematic pair, the drive mode is motor drive or hydraulic cylinder drive. 8. The four-degree-of-freedom parallel robot mechanism according to claim 1, characterized in that: the four-degree-of-freedom parallel robot mechanism can be applied to the field of marine equipment, including marine motion simulators and marine drilling stable leveling platforms.