CN206105836U - Gentle and agreeable parallel mechanism of two movement freedom on plane of big stroke high accuracy - Google Patents
Gentle and agreeable parallel mechanism of two movement freedom on plane of big stroke high accuracy Download PDFInfo
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Abstract
Description
技术领域technical field
本实用新型涉及机器人技术领域，具体是一种大行程高精度的平面两移动自由度柔顺并联机构。The utility model relates to the technical field of robots, in particular to a flexible parallel mechanism with two moving degrees of freedom in a plane with a large stroke and high precision.
背景技术Background technique
并联机构的动平台通过两条以上的运动链连接到固定基座上，机构中的驱动都可以安排在基座上。这样特殊的布置方式使得并联机构具有刚度好、承载能力高、动力学特性好等优点。但是，并联机构中的关节数目通常大于机构的自由度数，这导致机构中存在许多被动关节，增加了制造、装配成本，并会影响到机构的操作精度。而采用柔性铰链代替传统的刚性铰链可以很好地解决这些问题。此外，可整体化加工的特点使得机构具有操作精度高、重量轻、摩擦小、装配少等优点。因此，柔顺并联机构得以研发，其中，具有平面内两移动自由度的柔顺并联机构是重要的一类，被广泛应用于微操作、定位等领域。The moving platform of the parallel mechanism is connected to the fixed base through more than two kinematic chains, and the drives in the mechanism can be arranged on the base. Such a special arrangement makes the parallel mechanism have the advantages of good rigidity, high bearing capacity, and good dynamic characteristics. However, the number of joints in a parallel mechanism is usually greater than the number of degrees of freedom of the mechanism, which leads to the existence of many passive joints in the mechanism, which increases the cost of manufacturing and assembly, and affects the operational accuracy of the mechanism. These problems can be well solved by using flexible hinges instead of traditional rigid hinges. In addition, the characteristics of integral processing make the mechanism have the advantages of high operating precision, light weight, small friction, and less assembly. Therefore, compliant parallel mechanisms have been developed. Among them, compliant parallel mechanisms with two degrees of freedom of movement in the plane are an important category and are widely used in micromanipulation, positioning and other fields.
现有的两移动自由度柔顺机构(如CN102623070A、CN1644329A)大多采用压电陶瓷驱动，具有快速响应、高精定位等优点。但是压电陶瓷驱动位移改变量最大仅为微米数量级，导致动平台运动范围很小，不能满足工作需要，需要在机构中增加一些位移放大机构如杠杆机构来放大其行程。这样增加了结构的复杂程度，且放大效果有限。因此，提出一种运动范围大、精度高、结构紧凑的平面两移动自由度柔顺并联机构很有必要。Most of the existing two-degree-of-freedom compliant mechanisms (such as CN102623070A and CN1644329A) are driven by piezoelectric ceramics, which have the advantages of fast response and high-precision positioning. However, the maximum displacement change of the piezoelectric ceramic drive is only on the order of microns, resulting in a small range of motion of the moving platform, which cannot meet the needs of the work. It is necessary to add some displacement amplification mechanisms such as lever mechanisms to the mechanism to amplify its stroke. This increases the complexity of the structure, and the amplification effect is limited. Therefore, it is necessary to propose a planar two-degree-of-freedom compliant parallel mechanism with large motion range, high precision, and compact structure.
实用新型内容Utility model content
本实用新型的目的是克服上述背景技术中的不足，提供一种大行程高精度的平面两移动自由度柔顺并联机构，该机构应具有运动范围大、精度高、刚度好、结构紧凑得优点。The purpose of this utility model is to overcome the shortcomings in the above-mentioned background technology and provide a large-stroke high-precision planar two-degree-of-freedom compliant parallel mechanism. The mechanism should have the advantages of large range of motion, high precision, good rigidity, and compact structure.
本实用新型的技术方案是：The technical scheme of the utility model is:
一种大行程高精度的平面两移动自由度柔顺并联机构，包括机架、动平台以及并联连接在机架与动平台之间的两个柔性分支；其特征在于：A large-stroke and high-precision planar two-degree-of-freedom compliant parallel mechanism, including a frame, a moving platform, and two flexible branches connected in parallel between the frame and the moving platform; it is characterized in that:
每个柔性分支包括依次连接在机架与动平台之间的移动副、安装块、第一柔性转动副、连杆与第二柔性转动副，并且至少有一个柔性分支还包括依次连接在安装块与动平台之间的第三柔性转动副、副连杆与第四柔性转动副；所述安装块、连杆、动平台与副连杆组成平行四边形机构；所述两个柔性分支中：两个移动副轴线互相平行或同轴布置，各柔性转动副轴线互相平行并且垂直于两个移动副轴线，所有连杆与副连杆的轴线位于同一平面。Each flexible branch includes a moving pair, a mounting block, a first flexible rotating pair, a connecting rod and a second flexible rotating pair that are sequentially connected between the frame and the moving platform, and at least one flexible branch also includes a moving pair that is sequentially connected to the mounting block. The third flexible revolving pair, the auxiliary connecting rod and the fourth flexible revolving pair between the moving platform; the installation block, the connecting rod, the moving platform and the auxiliary connecting rod form a parallelogram mechanism; among the two flexible branches: two The two moving sub-axes are arranged parallel to or coaxially with each other, the axes of the flexible rotating sub-axes are parallel to each other and perpendicular to the two moving sub-axes, and the axes of all the connecting rods and the auxiliary connecting rods are located on the same plane.
所述移动副为通过伺服电机带动且作为各分支驱动副的滚珠丝杠机构。The moving pair is a ball screw mechanism driven by a servo motor and used as a driving pair for each branch.
所述安装块固定在滚珠丝杠机构中的滑台上。The mounting block is fixed on the slide table in the ball screw mechanism.
本实用新型的有益效果是：The beneficial effects of the utility model are:
本实用新型提出的柔顺并联机构可以实现平面内的两个移动运动，具有运动范围大、精度高、制造成本低、刚度好等优点，可用于微操作、定位等领域。The compliant parallel mechanism proposed by the utility model can realize two moving motions in a plane, has the advantages of large motion range, high precision, low manufacturing cost, good rigidity, etc., and can be used in micro-operation, positioning and other fields.
附图说明Description of drawings
图1为本实用新型实施例一的立体结构示意图。Fig. 1 is a three-dimensional structural schematic diagram of Embodiment 1 of the utility model.
图2为本实用新型实施例二的立体结构示意图。Fig. 2 is a schematic diagram of the three-dimensional structure of the second embodiment of the utility model.
图3为本实用新型实施例三的立体结构示意图。Fig. 3 is a three-dimensional structural schematic diagram of Embodiment 3 of the present utility model.
图4为本实用新型实施例四的立体结构示意图。Fig. 4 is a three-dimensional structural schematic diagram of Embodiment 4 of the present utility model.
图5为本实用新型实施例五的立体结构示意图。Fig. 5 is a schematic perspective view of the fifth embodiment of the utility model.
图6为本实用新型实施例四、五、六中柔性分支的部分结构示意图。Fig. 6 is a partial structural diagram of the flexible branches in the fourth, fifth and sixth embodiments of the present utility model.
图7为本实用新型实施例中的平行四边形机构示意图。Fig. 7 is a schematic diagram of a parallelogram mechanism in an embodiment of the present invention.
具体实施方式detailed description
以下结合说明书附图，对本实用新型作进一步说明，但本实用新型并不局限于以下实施例。The utility model will be further described below in conjunction with the accompanying drawings of the description, but the utility model is not limited to the following embodiments.
实施例一Embodiment one
如图1所示，一种大行程高精度的平面两移动自由度柔顺并联机构，包括机架1、动平台2以及并联连接在机架与动平台之间的两个柔性分支。As shown in Figure 1, a large stroke and high precision planar two-degree-of-freedom compliant parallel mechanism includes a frame 1, a moving platform 2, and two flexible branches connected in parallel between the frame and the moving platform.
每个柔性分支包括依次连接在机架与动平台之间的移动副10、安装块14、第一柔性转动副12、连杆11与第二柔性转动副13，每个柔性分支还包括依次连接在安装块与动平台之间的第三柔性转动副17、副连杆16与第四柔性转动副18，并且每个柔性分支中安装块、连杆、动平台与副连杆组成平行四边形机构；两个移动副轴线互相平行，第一柔性转动副、第二柔性转动副、第三柔性转动副与第四柔性转动副的轴线互相平行并且垂直于连杆与副连杆的轴线，各柔性转动副轴线垂直于两个移动副轴线，所有连杆与副连杆的轴线位于同一平面(该平面平行于两个移动副轴线形成的平面)。Each flexible branch includes a moving pair 10, a mounting block 14, a first flexible rotating pair 12, a connecting rod 11, and a second flexible rotating pair 13 sequentially connected between the frame and the moving platform. The third flexible rotary pair 17, the secondary connecting rod 16 and the fourth flexible rotary pair 18 between the mounting block and the moving platform, and the mounting block, connecting rod, moving platform and secondary connecting rod in each flexible branch form a parallelogram mechanism The axes of the two moving pairs are parallel to each other, the axes of the first flexible rotating pair, the second flexible rotating pair, the third flexible rotating pair and the fourth flexible rotating pair are parallel to each other and perpendicular to the axes of the connecting rod and the secondary connecting rod, each flexible The rotary secondary axis is perpendicular to the two movable secondary axes, and the axes of all the connecting rods and secondary connecting rods are located in the same plane (the plane is parallel to the plane formed by the two movable secondary axes).
所述移动副为与机架固定的滚珠丝杠机构(包括丝杠、滑台15、伺服电机)，滚珠丝杠机构的滑台与安装块固定；所述连杆与副连杆的两端分别通过柔性转动副与安装块及动平台连接。Described mobile pair is the ball screw mechanism (comprising leading screw, sliding table 15, servomotor) fixed with frame, and the sliding table of ball screw mechanism is fixed with mounting block; The two ends of described connecting rod and auxiliary connecting rod They are respectively connected with the mounting block and the moving platform through flexible rotating pairs.
在未变形的情况下，两个柔性分支关于动平台轴对称，对称轴为动平台的中轴线，每个柔性分支中连杆轴线的水平投影与滚珠丝杠机构的丝杠轴线的水平投影形成的夹角为锐角(连杆轴线不垂直于丝杠轴线)。In the undeformed condition, the two flexible branches are symmetrical about the axis of the moving platform, and the axis of symmetry is the central axis of the moving platform. The horizontal projection of the connecting rod axis in each flexible branch is formed by the horizontal projection of the screw axis of the ball screw mechanism. The included angle is an acute angle (the axis of the connecting rod is not perpendicular to the axis of the screw).
实施例二Embodiment two
如图2所示，一种大行程高精度的平面两移动自由度柔顺并联机构，包括机架1、动平台2以及并联连接在机架与动平台之间的两个柔性分支。As shown in Figure 2, a large-stroke, high-precision planar two-degree-of-freedom compliant parallel mechanism includes a frame 1, a moving platform 2, and two flexible branches connected in parallel between the frame and the moving platform.
每个柔性分支包括依次连接在机架与动平台之间的移动副10、安装块14、第一柔性转动副12、连杆11与第二柔性转动副13，每个柔性分支还包括依次连接在安装块与动平台之间的第三柔性转动副17、副连杆16与第四柔性转动副18，并且每个柔性分支中安装块、连杆、动平台与副连杆组成平行四边形机构；两个移动副轴线互相平行，第一柔性转动副、第二柔性转动副、第三柔性转动副与第四柔性转动副的轴线互相平行并且垂直于连杆与副连杆的轴线，各柔性转动副轴线垂直于两个移动副轴线，所有连杆与副连杆的轴线位于同一平面(该平面平行于两个移动副轴线形成的平面)。Each flexible branch includes a moving pair 10, a mounting block 14, a first flexible rotating pair 12, a connecting rod 11, and a second flexible rotating pair 13 sequentially connected between the frame and the moving platform. The third flexible rotary pair 17, the secondary connecting rod 16 and the fourth flexible rotary pair 18 between the mounting block and the moving platform, and the mounting block, connecting rod, moving platform and secondary connecting rod in each flexible branch form a parallelogram mechanism The axes of the two moving pairs are parallel to each other, the axes of the first flexible rotating pair, the second flexible rotating pair, the third flexible rotating pair and the fourth flexible rotating pair are parallel to each other and perpendicular to the axes of the connecting rod and the secondary connecting rod, each flexible The rotary secondary axis is perpendicular to the two movable secondary axes, and the axes of all the connecting rods and secondary connecting rods are located in the same plane (the plane is parallel to the plane formed by the two movable secondary axes).
所述移动副为与机架固定的滚珠丝杠机构(包括丝杠、滑台15、伺服电机)，滚珠丝杠机构的滑台与安装块固定；所述连杆与副连杆的两端分别通过柔性转动副与安装块及动平台连接。Described mobile pair is the ball screw mechanism (comprising leading screw, sliding table 15, servomotor) fixed with frame, and the sliding table of ball screw mechanism is fixed with mounting block; The two ends of described connecting rod and auxiliary connecting rod They are respectively connected with the mounting block and the moving platform through flexible rotating pairs.
在未变形的情况下，两个柔性分支关于动平台中心对称，对称中心为动平台的中点，每个柔性分支中连杆轴线的水平投影与滚珠丝杠机构的丝杠轴线的水平投影形成的夹角为锐角(连杆轴线不垂直于丝杠轴线)。In the undeformed condition, the two flexible branches are symmetrical about the center of the moving platform, and the center of symmetry is the midpoint of the moving platform. The horizontal projection of the connecting rod axis in each flexible branch and the horizontal projection of the screw axis of the ball screw mechanism form The included angle is an acute angle (the axis of the connecting rod is not perpendicular to the axis of the screw).
实施例三Embodiment three
如图3所示，一种大行程高精度的平面两移动自由度柔顺并联机构，包括机架1、动平台2以及并联连接在机架与动平台之间的两个柔性分支。As shown in Figure 3, a large-stroke, high-precision planar two-degree-of-freedom compliant parallel mechanism includes a frame 1, a moving platform 2, and two flexible branches connected in parallel between the frame and the moving platform.
每个柔性分支包括依次连接在机架与动平台之间的移动副10、安装块14、第一柔性转动副12、连杆11与第二柔性转动副13，每个柔性分支还包括依次连接在安装块与动平台之间的第三柔性转动副17、副连杆16与第四柔性转动副18，并且每个柔性分支中安装块、连杆、动平台与副连杆组成平行四边形机构；两个移动副轴线同轴布置，第一柔性转动副、第二柔性转动副、第三柔性转动副与第四柔性转动副的轴线互相平行并且垂直于连杆与副连杆的轴线，各柔性转动副轴线垂直于两个移动副轴线，所有连杆与副连杆的轴线位于同一平面(该平面平行于两个移动副轴线形成的平面)。Each flexible branch includes a moving pair 10, a mounting block 14, a first flexible rotating pair 12, a connecting rod 11, and a second flexible rotating pair 13 sequentially connected between the frame and the moving platform. The third flexible rotary pair 17, the secondary connecting rod 16 and the fourth flexible rotary pair 18 between the mounting block and the moving platform, and the mounting block, connecting rod, moving platform and secondary connecting rod in each flexible branch form a parallelogram mechanism The axes of the two moving pairs are coaxially arranged, the axes of the first flexible rotating pair, the second flexible rotating pair, the third flexible rotating pair and the fourth flexible rotating pair are parallel to each other and perpendicular to the axes of the connecting rod and the secondary connecting rod, each The axis of the flexible rotary axis is perpendicular to the two movable axes, and the axes of all the connecting rods and the auxiliary connecting rods are located in the same plane (the plane is parallel to the plane formed by the two movable axes).
所述移动副为与机架固定的滚珠丝杠机构(包括丝杠、滑台15、伺服电机)，滚珠丝杠机构的滑台与安装块固定；所述连杆与副连杆的两端分别通过柔性转动副与安装块及动平台连接。Described mobile pair is the ball screw mechanism (comprising leading screw, sliding table 15, servomotor) fixed with frame, and the sliding table of ball screw mechanism is fixed with mounting block; The two ends of described connecting rod and auxiliary connecting rod They are respectively connected with the mounting block and the moving platform through flexible rotating pairs.
在未变形的情况下，两个柔性分支关于动平台轴对称，对称轴为动平台的中轴线，每个柔性分支中连杆轴线的水平投影与滚珠丝杠机构的丝杠轴线的水平投影形成的夹角为锐角(连杆轴线不垂直于丝杠轴线)。In the undeformed condition, the two flexible branches are symmetrical about the axis of the moving platform, and the axis of symmetry is the central axis of the moving platform. The horizontal projection of the connecting rod axis in each flexible branch is formed by the horizontal projection of the screw axis of the ball screw mechanism. The included angle is an acute angle (the axis of the connecting rod is not perpendicular to the axis of the screw).
实施例四Embodiment four
如图4所示，一种大行程高精度的平面两移动自由度柔顺并联机构，包括机架1、动平台2以及并联连接在机架与动平台之间的两个柔性分支。实施例四的结构与实施例一的结构类似，不同之处在于：实施例四中只有一个柔性分支存在平行四边形机构，另一个柔性分支省去了连接在安装块与动平台之间的第三柔性转动副17、副连杆16与第四柔性转动副18。As shown in Fig. 4, a large-stroke and high-precision planar two-degree-of-freedom compliant parallel mechanism includes a frame 1, a moving platform 2, and two flexible branches connected in parallel between the frame and the moving platform. The structure of the fourth embodiment is similar to that of the first embodiment, the difference is that only one flexible branch has a parallelogram mechanism in the fourth embodiment, and the other flexible branch omits the third flexible branch connected between the mounting block and the moving platform. The flexible rotating pair 17 , the auxiliary connecting rod 16 and the fourth flexible rotating pair 18 .
实施例五Embodiment five
如图5所示，一种大行程高精度的平面两移动自由度柔顺并联机构，包括机架1、动平台2以及并联连接在机架与动平台之间的两个柔性分支。实施例五的结构与实施例三的结构类似，不同之处在于：实施例五中只有一个柔性分支存在平行四边形机构，另一个柔性分支省去了连接在安装块与动平台之间的第三柔性转动副17、副连杆16与第四柔性转动副18。As shown in Fig. 5, a large-stroke and high-precision planar two-degree-of-freedom compliant parallel mechanism includes a frame 1, a moving platform 2, and two flexible branches connected in parallel between the frame and the moving platform. The structure of the fifth embodiment is similar to that of the third embodiment, except that in the fifth embodiment, only one flexible branch has a parallelogram mechanism, and the other flexible branch omits the third flexible branch connected between the mounting block and the moving platform. The flexible rotating pair 17 , the auxiliary connecting rod 16 and the fourth flexible rotating pair 18 .
实施例六(视图省略)Embodiment six (view omitted)
一种大行程高精度的平面两移动自由度柔顺并联机构，包括机架1、动平台2以及并联连接在机架与动平台之间的两个柔性分支。本实施例的结构与实施例二的结构类似，不同之处在于：本实施例中只有一个柔性分支存在平行四边形机构，另一个柔性分支省去了连接在安装块与动平台之间的第三柔性转动副17、副连杆16与第四柔性转动副18。A large-stroke, high-precision planar two-degree-of-freedom compliant parallel mechanism includes a frame 1, a moving platform 2, and two flexible branches connected in parallel between the frame and the moving platform. The structure of this embodiment is similar to that of Embodiment 2, the difference is that only one flexible branch has a parallelogram mechanism in this embodiment, and the other flexible branch omits the third flexible branch connected between the mounting block and the moving platform. The flexible rotating pair 17 , the auxiliary connecting rod 16 and the fourth flexible rotating pair 18 .
上述实施例中：In the above-mentioned embodiment:
各柔性转动副为柔性材料制成，所述柔性材料优选铍青铜、钛合金、聚丙烯、弹簧钢等；所述滚珠丝杠机构为各分支的驱动副，动平台在伺服电机带动下作两移动自由度运动。Each flexible rotating pair is made of flexible material, the flexible material is preferably beryllium bronze, titanium alloy, polypropylene, spring steel, etc.; the ball screw mechanism is the driving pair of each branch, and the moving platform is driven by the servo motor to make two Movement degrees of freedom.
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| CN106272354A (en) * | 2016-09-13 | 2017-01-04 | 浙江理工大学 | A kind of plane two one-movement-freedom-degree compliant parallel mechanism of large stroke and high precision |
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| CN106272354A (en) * | 2016-09-13 | 2017-01-04 | 浙江理工大学 | A kind of plane two one-movement-freedom-degree compliant parallel mechanism of large stroke and high precision |
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