CN203003880U - Parallel mechanism comprising two symmetrical closed-loop subchains - Google Patents
Parallel mechanism comprising two symmetrical closed-loop subchains Download PDFInfo
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- CN203003880U CN203003880U CN 201220733159 CN201220733159U CN203003880U CN 203003880 U CN203003880 U CN 203003880U CN 201220733159 CN201220733159 CN 201220733159 CN 201220733159 U CN201220733159 U CN 201220733159U CN 203003880 U CN203003880 U CN 203003880U
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Abstract
本实用新型涉及一种包含两个对称闭环子链的并联机构，包括第一五杆机构闭环子链、第二五杆闭环子链以及执行机构子链。第一五杆机构闭环子链可控制第一虎克铰运动，第二五杆机构闭环子链可控制第二虎克铰运动，第一虎克铰、第二虎克铰的运动可实现动平台的空间运动。本实用新型通过两个闭环子链来控制两个虎克铰在空间的运动，从而实现动平台的空间多自由度运动，具有结构紧凑、灵活自由、控制简单的优点，机构运动惯量小，动力学性能好。
The utility model relates to a parallel mechanism comprising two symmetrical closed-loop sub-chains, including a first five-bar mechanism closed-loop sub-chain, a second five-bar closed-loop sub-chain and an executive mechanism sub-chain. The closed-loop sub-chain of the first five-bar mechanism can control the movement of the first Hooke hinge, the closed-loop sub-chain of the second five-bar mechanism can control the movement of the second Hooke hinge, and the movement of the first Hooke hinge and the second Hooke hinge can realize dynamic Space movement of the platform. The utility model controls the movement of two Hooke hinges in space through two closed-loop sub-chains, thereby realizing the space multi-degree-of-freedom movement of the moving platform, and has the advantages of compact structure, flexibility and freedom, and simple control. Good academic performance.
Description
技术领域technical field
本实用新型涉及机器人领域，特别是一种含闭环子链的空间多自由度并联机构。The utility model relates to the field of robots, in particular to a space multi-degree-of-freedom parallel mechanism with closed-loop sub-chains.
背景技术Background technique
并联机构和传统的串联机构相比较，具有以下特点：无累积误差，精度较高；驱动装置可置于定平台上或接近定平台的位置，这样运动部分重量轻，速度高，动态响应好；结构紧凑，刚度高，承载能力大；对称的并联机构具有较好的各向同性。由于并联机构本身就比较复杂，如果分支再含有闭环的话，其机构将会更加复杂，所以一般来说，对称的、分支不含闭环的并联机构才会具有最典型的性质，但是如果闭环应用的恰当，并联机构的性能将会更加卓越，如著名的delta机构。另外，现有的并联机构，其支链受连接方式的限制，一般只有一个主动杆连接在固结在机架上的驱动上，这样的话多自由度并联机构为实现其运动就需要多条支链或采取支链上串联多个主动杆的方式，而多条支链的并联机构结构复杂控制困难，支链上串联多个主动杆会影响并联机构的运动性能。Compared with the traditional serial mechanism, the parallel mechanism has the following characteristics: no cumulative error and high precision; the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response; Compact structure, high rigidity, large bearing capacity; symmetrical parallel mechanism has better isotropy. Since the parallel mechanism itself is relatively complex, if the branch contains closed loops, the mechanism will be more complicated. Therefore, generally speaking, the symmetrical parallel mechanism with branches without closed loops will have the most typical properties. However, if the closed-loop application Properly, the performance of the parallel mechanism will be more excellent, such as the famous delta mechanism. In addition, in the existing parallel mechanism, the branch chain is limited by the connection method. Generally, there is only one active rod connected to the drive fixed on the frame. The chain may adopt the method of connecting multiple active rods in series on the branch chain, but the structure of the parallel mechanism with multiple branch chains is complex and difficult to control. Multiple active rods connected in series on the branch chain will affect the kinematic performance of the parallel mechanism.
发明内容Contents of the invention
本实用新型的目的在于提供一种包含两个对称闭环子链的并联机构，解决多条支链的并联机构结构复杂控制困难的缺点。The purpose of the utility model is to provide a parallel mechanism comprising two symmetrical closed-loop sub-chains, which solves the disadvantage of complex structure and difficult control of the parallel mechanism with multiple branch chains.
本实用新型通过以下技术方案达到上述目的：一种包含两个对称闭环子链的并联机构，包括第一五杆机构闭环子链、第二五杆机构闭环子链和执行机构子链。The utility model achieves the above object through the following technical solutions: a parallel mechanism comprising two symmetrical closed-loop sub-chains, including a first five-bar mechanism closed-loop sub-chain, a second five-bar mechanism closed-loop sub-chain and an actuator sub-chain.
所述第一五杆机构闭环子链由第一连杆、第二连杆、第三连杆、第四连杆及第一立柱连接而成，第一立柱通过第一转动副与机架相连，第一连杆一端通过第二转动副连接到第一立柱上，第一连杆另一端通过第一移动副与第二连杆连接，第二连杆另一端通过第三转动副与第三连杆连接，第三连杆另一端通过第四转动副与第四连杆连接，第四连杆另一端通过第五转动副与第一立柱连接，第一五杆机构闭环子链的运动可控制第一虎克铰在空间运动。The closed-loop sub-chain of the first five-bar mechanism is formed by connecting the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the first column, and the first column is connected with the frame through the first rotating pair , one end of the first connecting rod is connected to the first column through the second rotating pair, the other end of the first connecting rod is connected to the second connecting rod through the first moving pair, and the other end of the second connecting rod is connected to the third connecting rod through the third rotating pair The connecting rod is connected, the other end of the third connecting rod is connected with the fourth connecting rod through the fourth rotating pair, the other end of the fourth connecting rod is connected with the first column through the fifth rotating pair, the movement of the closed-loop sub-chain of the first five-bar mechanism can be Control the motion of the first Hooke hinge in space.
所述第二五杆机构闭环子链由第五连杆、第六连杆、第七连杆、第八连杆及第二立柱连接而成，第二立柱通过第六转动副与机架相连，第五连杆一端通过第七转动副连接到第二立柱上，第五连杆另一端通过第二移动副与第六连杆连接，第六连杆另一端通过第八转动副与第七连杆连接，第七连杆另一端通过第九转动副与第八连杆连接，第八连杆另一端通过第十转动副与第二立柱连接，第二五杆机构闭环子链的运动可控制第二虎克铰在空间运动。The closed-loop sub-chain of the second five-bar mechanism is formed by connecting the fifth connecting rod, the sixth connecting rod, the seventh connecting rod, the eighth connecting rod and the second column, and the second column is connected with the frame through the sixth rotating pair , one end of the fifth connecting rod is connected to the second column through the seventh rotating pair, the other end of the fifth connecting rod is connected to the sixth connecting rod through the second moving pair, and the other end of the sixth connecting rod is connected to the seventh connecting rod through the eighth rotating pair The connecting rod is connected, the other end of the seventh connecting rod is connected with the eighth connecting rod through the ninth rotating pair, the other end of the eighth connecting rod is connected with the second column through the tenth rotating pair, the movement of the closed-loop sub-chain of the second five-bar mechanism can be Control the motion of the second Hooke hinge in space.
所述执行机构子链由第一虎克铰、第二虎克铰、及动平台连接而成，第一虎克铰通过第三转动副与第二连杆连接，第一虎克铰通过第十一转动副与动平台连接，第二虎克铰通过第八转动副与第六连杆连接，第二虎克铰通过第十二转动副与动平台连接。第一虎克铰、第二虎克铰在各自的运动空间的运动可实现动平台的空间多自由度运动。The sub-chain of the actuator is connected by the first Hooke hinge, the second Hooke hinge and the moving platform, the first Hooke hinge is connected with the second connecting rod through the third rotating pair, and the first Hooke hinge is connected through the second The eleventh revolving pair is connected with the moving platform, the second Hooke hinge is connected with the sixth connecting rod through the eighth revolving pair, and the second Hooke hinge is connected with the moving platform through the twelfth revolving pair. The movement of the first Hooke hinge and the second Hooke hinge in their respective movement spaces can realize the space multi-degree-of-freedom movement of the moving platform.
本实用新型的突出优点在于：The outstanding advantages of the utility model are:
1、通过闭环子链控制机构的运动，机构支链通过可转动立柱连接在机架上；1. The movement of the mechanism is controlled by the closed-loop sub-chain, and the branch chain of the mechanism is connected to the frame through a rotatable column;
2、杆件连接结构简单，杆件做成轻杆，机构运动惯量小，动力学性能好；2. The connection structure of the rods is simple, the rods are made of light rods, the movement inertia of the mechanism is small, and the dynamic performance is good;
3、通过在动平台上安装各种不同用途的末端执行器，本机构可应用到抓取、搬运、码垛、装配、切割等工作中。3. By installing various end effectors for different purposes on the moving platform, this mechanism can be applied to grasping, handling, palletizing, assembling, cutting and other work.
附图说明Description of drawings
图1为本实用新型所述一种包含两个对称闭环子链的并联机构的第一结构示意图。Fig. 1 is a schematic diagram of the first structure of a parallel mechanism comprising two symmetrical closed-loop sub-chains according to the present invention.
图2为本实用新型所述一种包含两个对称闭环子链的并联机构的第二结构示意图。Fig. 2 is a second structural schematic diagram of a parallel mechanism comprising two symmetrical closed-loop sub-chains according to the present invention.
图3为本实用新型所述一种包含两个对称闭环子链的并联机构的第三结构示意图。Fig. 3 is a schematic diagram of the third structure of a parallel mechanism comprising two symmetrical closed-loop sub-chains according to the present invention.
图4为本实用新型所述一种包含两个对称闭环子链的并联机构的第一工作示意图。Fig. 4 is a first working schematic diagram of a parallel mechanism comprising two symmetrical closed-loop sub-chains according to the present invention.
图5为本实用新型所述一种包含两个对称闭环子链的并联机构的第二工作示意图。Fig. 5 is a second working schematic diagram of a parallel mechanism comprising two symmetrical closed-loop sub-chains according to the present invention.
具体实施方式Detailed ways
下面结合附图及实施例对本实用新型的技术方案作进一步说明。The technical solution of the present utility model will be further described below in conjunction with the accompanying drawings and embodiments.
对照图1、图2、图3，图4和图5，一种包含两个对称闭环子链的并联机构，包括第一五杆机构闭环子链、第二五杆机构闭环子链和执行机构子链。Referring to Figure 1, Figure 2, Figure 3, Figure 4 and Figure 5, a parallel mechanism comprising two symmetrical closed-loop sub-chains, including the first five-bar mechanism closed-loop sub-chain, the second five-bar mechanism closed-loop sub-chain and the actuator child chain.
所述第一五杆机构闭环子链由第一连杆(4)、第二连杆(7)、第三连杆(8)、第四连杆(10)及第一立柱(3)连接而成，第一立柱(3)通过第一转动副(2)与机架(1)相连，第一连杆(4)一端通过第二转动副(5)连接到第一立柱(3)上，第一连杆(4)另一端通过第一移动副(6)与第二连杆(7)连接，第二连杆(7)另一端通过第三转动副(27)与第三连杆(8)连接，第三连杆(8)另一端通过第四转动副(9)与第四连杆(10)连接，第四连杆(10)另一端通过第五转动副(11)与第一立柱(3)连接，第一五杆机构闭环子链的运动可控制第一虎克铰(24)在空间运动。The closed-loop sub-chain of the first five-bar mechanism is connected by the first connecting rod (4), the second connecting rod (7), the third connecting rod (8), the fourth connecting rod (10) and the first column (3) Formed, the first column (3) is connected with the frame (1) through the first rotating pair (2), and one end of the first connecting rod (4) is connected to the first column (3) through the second rotating pair (5) , the other end of the first connecting rod (4) is connected with the second connecting rod (7) through the first moving pair (6), and the other end of the second connecting rod (7) is connected with the third connecting rod through the third rotating pair (27) (8) connection, the other end of the third connecting rod (8) is connected with the fourth connecting rod (10) through the fourth rotating pair (9), and the other end of the fourth connecting rod (10) is connected with the fifth rotating pair (11) The first column (3) is connected, and the movement of the closed-loop sub-chain of the first five-bar mechanism can control the movement of the first Hooke hinge (24) in space.
所述第二五杆机构闭环子链由第五连杆(15)、第六连杆(13)、第七连杆(22)、第八连杆(18)及第二立柱(19)连接而成，第二立柱(19)通过第六转动副(20)与机架(1)相连，第五连杆(15)一端通过第七转动副(16)连接到第二立柱(19)上，第五连杆(15)另一端通过第二移动副(14)与第六连杆(13)连接，第六连杆(13)另一端通过第八转动副(26)与第七连杆(22)连接，第七连杆(22)另一端通过第九转动副(21)与第八连杆(18)连接，第八连杆(18)另一端通过第十转动副(17)与第二立柱(19)连接，第二五杆机构闭环子链的运动可控制第二虎克铰(23)在空间运动。The closed-loop sub-chain of the second five-bar mechanism is connected by the fifth connecting rod (15), the sixth connecting rod (13), the seventh connecting rod (22), the eighth connecting rod (18) and the second column (19) Formed, the second column (19) is connected with the frame (1) through the sixth rotating pair (20), and one end of the fifth connecting rod (15) is connected to the second column (19) through the seventh rotating pair (16) , the other end of the fifth connecting rod (15) is connected to the sixth connecting rod (13) through the second moving pair (14), and the other end of the sixth connecting rod (13) is connected to the seventh connecting rod through the eighth rotating pair (26) (22) connection, the other end of the seventh connecting rod (22) is connected with the eighth connecting rod (18) through the ninth rotating pair (21), and the other end of the eighth connecting rod (18) is connected with the tenth rotating pair (17) The second column (19) is connected, and the movement of the closed-loop sub-chain of the second five-bar mechanism can control the movement of the second Hooke hinge (23) in space.
所述执行机构子链由第一虎克铰(24)、第二虎克铰(23)、及动平台(12)连接而成，第一虎克铰(24)通过第三转动副(27)与第二连杆(7)连接，第一虎克铰(24)通过第十一转动副(28)与动平台(12)连接，第二虎克铰(23)通过第八转动副(26)与第六连杆(13)连接，第二虎克铰(23)通过第十二转动副(25)与动平台(12)连接。The sub-chain of the actuator is formed by connecting the first Hooke hinge (24), the second Hooke hinge (23) and the moving platform (12), and the first Hooke hinge (24) passes through the third revolving pair (27) ) is connected with the second connecting rod (7), the first Hooke hinge (24) is connected with the moving platform (12) through the eleventh revolving pair (28), and the second Hooke hinge (23) is connected through the eighth revolving pair ( 26) is connected with the sixth connecting rod (13), and the second Hooke hinge (23) is connected with the moving platform (12) through the twelfth rotating pair (25).
对照图1、图2、图3，图4和图5，通过第一五杆机构闭环子链本身的运动和第一立柱整体的转动，从而带动第一虎克铰(24)在空间运动；通过第二五杆机构闭环子链本身的运动和第二立柱整体的转动，从而带动第二虎克铰(23)在空间运动；第一虎克铰(24)、第二虎克铰(23)在各自的运动空间的运动可实现动平台(12)的空间多自由度运动。With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the motion of the closed-loop sub-chain of the first five-bar mechanism and the overall rotation of the first column drive the first Hooke hinge (24) to move in space; Through the movement of the second five-bar mechanism closed-loop sub-chain itself and the overall rotation of the second column, the second Hooke hinge (23) is driven to move in space; the first Hooke hinge (24), the second Hooke hinge (23 ) in their respective motion spaces can realize the motion of the movable platform (12) with multiple degrees of freedom in space.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990652A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two symmetrical closed-loop sub-chains |
| CN105794589A (en) * | 2016-05-17 | 2016-07-27 | 广西大学 | Reconfigurable felling and lopping machine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990652A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two symmetrical closed-loop sub-chains |
| CN105794589A (en) * | 2016-05-17 | 2016-07-27 | 广西大学 | Reconfigurable felling and lopping machine |
| CN105794589B (en) * | 2016-05-17 | 2018-06-22 | 广西大学 | A kind of restructural lumbering delimber |
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