CN203109939U

CN203109939U - Controllable mechanical parallel mechanism containing two closed loop subchains

Info

Publication number: CN203109939U
Application number: CN 201220733390
Authority: CN
Inventors: 蔡敢为; 胥刚; 王小纯; 潘宇晨; 吕姗姗; 高德中; 于腾; 丁侃
Original assignee: Guangxi University
Current assignee: Guangxi University
Priority date: 2012-12-27
Filing date: 2012-12-27
Publication date: 2013-08-07
Anticipated expiration: 2022-12-27

Abstract

A controllable mechanism parallel mechanism with two closed-loop sub-chains, including a closed-loop sub-chain of a four-bar mechanism and a closed-loop sub-chain of a five-bar mechanism. The closed-loop sub-chain of the four-bar mechanism can control the movement in the plane of the closed-loop sub-chain of the four-bar mechanism where the first connecting rod is located, and the closed-loop sub-chain of the five-bar mechanism can control the movement in the plane of the closed-loop sub-chain of the five-bar mechanism where the fifth connecting rod is located. Movement, the movement of the first connecting rod and the fifth connecting rod can realize the spatial movement of the movable platform. The utility model is realized through the control of two closed-loop sub-chains. The spatial movement of the two closed-loop sub-chains, the first connecting rod and the fifth connecting rod can realize the spatial movement of the moving platform. It has the advantages of compact structure and simple control, and all The connecting rods are all connected to the frame, and the rods can be made into light rods, so the mechanism has a small moment of inertia and good dynamic performance.

Description

A Controllable Mechanism Parallel Mechanism Containing Two Closed-loop Subchains

技术领域 technical field

本实用新型涉及机器人领域，特别是一种含两个闭环子链的可控机构式的并联机构。 The utility model relates to the field of robots, in particular to a controllable mechanism parallel mechanism comprising two closed-loop sub-chains. the

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。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，然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. 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. However, 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. the

发明内容 Contents of the invention

本实用新型的目的在于提供一种含两个闭环子链的可控机构式的并联机构，解决传统并联机构一条支链多个驱动不能同时连接在机架上的缺点。 The purpose of the utility model is to provide a controllable mechanism parallel mechanism with two closed-loop sub-chains, which solves the disadvantage of the traditional parallel mechanism that one branch chain and multiple drives cannot be connected to the frame at the same time. the

本实用新型通过以下技术方案达到上述目的：一种含两个闭环子链的可控机构式的并联机构，包括一个四杆机构闭环子链和一个五杆机构闭环子链，其结构和连接方式为： The utility model achieves the above object through the following technical solutions: a controllable mechanism parallel mechanism containing two closed-loop sub-chains, including a four-bar mechanism closed-loop sub-chain and a five-bar mechanism closed-loop sub-chain, its structure and connection method for:

所述四杆机构闭环子链由第一连杆11、第二连杆15、第三连杆17、第四连杆33、第一滑块13、第一虎克铰7、动平台4及机架1连接而成，第一连杆11一端通过第一转动副2连接在机架1上，第一连杆11另一端通过第一移动副12与第一滑块13连接，第一滑块13另一端通过第二转动副14与第二连杆15一端连接，第二连杆15另一端通过第三转动副16与第三连杆17连接，第三连杆17另一端和第四连杆33一端通过第四转动副10与第一虎克铰7的下顶支9连接，第一虎克铰7的上顶支8通过第五转动副5与动平台4一端连接，第四连杆33另一端通过第六转动35副与固定在第一连杆11上的第一支座34连接， Described four-bar mechanism closed-loop sub-chain consists of the first connecting rod 11, the second connecting rod 15, the third connecting rod 17, the fourth connecting rod 33, the first slide block 13, the first Hooke hinge 7, the moving platform 4 and The frame 1 is connected, one end of the first connecting rod 11 is connected to the frame 1 through the first rotating pair 2, the other end of the first connecting rod 11 is connected with the first slider 13 through the first moving pair 12, the first sliding The other end of the block 13 is connected with one end of the second connecting rod 15 through the second rotating pair 14, and the other end of the second connecting rod 15 is connected with the third connecting rod 17 through the third rotating pair 16, and the other end of the third connecting rod 17 is connected with the fourth connecting rod 17. One end of the connecting rod 33 is connected with the lower support 9 of the first Hooke hinge 7 through the fourth rotating pair 10, the upper supporting branch 8 of the first Hooke hinge 7 is connected with one end of the moving platform 4 through the fifth rotating pair 5, and the fourth The other end of the connecting rod 33 is connected with the first support 34 fixed on the first connecting rod 11 through the sixth rotation 35 pairs,

所述五杆机构闭环子链由第五连杆27、第六连杆23、第七连杆21、第八连杆32、第九连杆30、第二滑块25、第二支座28、第二虎克铰7、动平台4及机架1连接而成，第五连杆27一端通过第七转动3副连接到机架1上，第五连杆27另一端通过第二移动副26与第二滑块25连接，第二滑块25另一端通过第八转动副24与第六连杆23连接，第六连杆23另一端通过第三移动副22和第七连杆21连接，第七连杆21另一端和第八连杆32一端通过第九转动副39与第二虎克铰36的下顶支38连接，第二虎克铰36的上顶支37通过第十转动副6与动平台4另一端连接，第八连杆32另一端通过第十一转动副31与第九连杆30连接，第九连杆30另一端通过第十二转动副29与固定在第五连杆27上的第二支座28连接， The closed-loop sub-chain of the five-bar mechanism is composed of the fifth connecting rod 27, the sixth connecting rod 23, the seventh connecting rod 21, the eighth connecting rod 32, the ninth connecting rod 30, the second slider 25, and the second support 28. , the second Hooke hinge 7, the moving platform 4 and the frame 1 are connected, one end of the fifth connecting rod 27 is connected to the frame 1 through the seventh rotation 3 pairs, and the other end of the fifth connecting rod 27 is connected to the frame 1 through the second moving pair 26 is connected with the second slider 25, the other end of the second slider 25 is connected with the sixth connecting rod 23 through the eighth rotating pair 24, and the other end of the sixth connecting rod 23 is connected with the seventh connecting rod 21 through the third moving pair 22 , the other end of the seventh connecting rod 21 and one end of the eighth connecting rod 32 are connected with the lower top support 38 of the second Hooke hinge 36 through the ninth rotating pair 39, and the upper top support 37 of the second Hooke hinge 36 is rotated through the tenth rotation The pair 6 is connected to the other end of the moving platform 4, the other end of the eighth connecting rod 32 is connected to the ninth connecting rod 30 through the eleventh rotating pair 31, and the other end of the ninth connecting rod 30 is fixed to the second connecting rod through the twelfth rotating pair 29. The second support 28 on the five connecting rods 27 is connected,

所述第一移动副、第二移动副、第一转动副、第七转动副旋转轴线相互平行，第五转动副与第十转动副旋转轴线相互平行。 The rotation axes of the first moving pair, the second moving pair, the first turning pair and the seventh turning pair are parallel to each other, and the rotation axes of the fifth turning pair and the tenth turning pair are parallel to each other. the

本实用新型的突出优点在于： The outstanding advantages of the present utility model are:

1、通过闭环子链控制机构的运动，机构支链可有多个连杆连接在机架上； 1. Through the closed-loop sub-chain to control the movement of the mechanism, the branch chain of the mechanism can have multiple connecting rods connected to the frame;

2、所有连杆都连接在机架上，杆件做成轻杆，机构运动惯量小，动力学性能好； 2. All the connecting rods are connected to the frame, and the rods are made of light rods, the mechanism has a small moment of inertia and good dynamic performance;

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、码垛等工作中。 3. By installing various end effectors for different purposes on the moving platform, this mechanism can be applied to work such as grabbing, handling, and stacking. the

附图说明 Description of drawings

图1为本实用新型所述一种含两个闭环子链的可控机构式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 controllable mechanism-type parallel mechanism containing two closed-loop sub-chains according to the present invention. the

图2为本实用新型所述一种含两个闭环子链的可控机构式的并联机构的第二结构示意图。 Fig. 2 is a second structural schematic diagram of a controllable mechanism-type parallel mechanism comprising two closed-loop sub-chains according to the present invention. the

图3为本实用新型所述一种含两个闭环子链的可控机构式的并联机构的支座示意图。 Fig. 3 is a schematic diagram of a support of a controllable mechanism-type parallel mechanism containing two closed-loop sub-chains according to the utility model. the

图4为本实用新型所述一种含两个闭环子链的可控机构式的并联机构的动平台示意图。 Fig. 4 is a schematic diagram of a moving platform of a controllable mechanism-type parallel mechanism containing two closed-loop sub-chains according to the utility model. the

图5为本实用新型所述一种含两个闭环子链的可控机构式的并联机构的第一虎克铰示意图。 Fig. 5 is a schematic diagram of the first Hooke hinge of a controllable mechanism-type parallel mechanism containing two closed-loop sub-chains according to the utility model. the

图6为本实用新型所述一种含两个闭环子链的可控机构式的并联机构的第二虎克铰示意图。 Fig. 6 is a schematic diagram of the second Hooke hinge of a controllable mechanism-type parallel mechanism containing two closed-loop sub-chains according to the utility model. the

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. the

对照图1、图3、图4、图5和图6，一种含两个闭环子链的可控机构式的并联机构，包括一个四杆机构闭环子链和一个五杆机构闭环子链，其结构和连接方式为： Referring to Figure 1, Figure 3, Figure 4, Figure 5 and Figure 6, a controllable mechanism parallel mechanism with two closed-loop sub-chains, including a four-bar mechanism closed-loop sub-chain and a five-bar mechanism closed-loop sub-chain, Its structure and connection method are:

所述四杆机构闭环子链由第一连杆11、第二连杆15、第三连杆17、第四连杆33、第一滑块13、第一虎克铰7、动平台4及机架1连接而成，第一连杆11一端通过第一转动副2连接在机架1上，第一连杆11另一端通过第一移动副12与第一滑块13连接，第一滑块13另一端通过第二转动副14与第二连杆15一端连接，第二连杆15另一端通过第三转动副16与第三连杆17连接，第三连杆17另一端和第四连杆33一端通过第四转动副10与第一虎克铰7的下顶支9连接，第一虎克铰7的上顶支8通过第五转动副5与动平台4一端连接，第四连杆33另一端通过第六转动35副与固定在第一连杆11上的第一支座34连接， Described four-bar mechanism closed-loop sub-chain consists of the first connecting rod 11, the second connecting rod 15, the third connecting rod 17, the fourth connecting rod 33, the first slide block 13, the first Hooke hinge 7, the moving platform 4 and The frame 1 is connected, one end of the first connecting rod 11 is connected to the frame 1 through the first rotating pair 2, the other end of the first connecting rod 11 is connected with the first slider 13 through the first moving pair 12, the first sliding The other end of the block 13 is connected with one end of the second connecting rod 15 through the second rotating pair 14, and the other end of the second connecting rod 15 is connected with the third connecting rod 17 through the third rotating pair 16, and the other end of the third connecting rod 17 is connected with the fourth connecting rod 17. One end of the connecting rod 33 is connected with the lower top support 9 of the first Hooke hinge 7 through the fourth rotating pair 10, the upper top support 8 of the first Hooke hinge 7 is connected with one end of the moving platform 4 through the fifth rotating pair 5, and the fourth The other end of the connecting rod 33 is connected with the first support 34 fixed on the first connecting rod 11 through the sixth rotation 35 pairs,

对照图2、图3、图4、图5和图6，第一连杆在所在平面内的运动可实现动平台4的空间运动。 Referring to Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the movement of the first connecting rod in the plane where it is located can realize the spatial movement of the moving platform 4. the

Claims

1. A controllable mechanism parallel mechanism with two closed-loop sub-chains, including a closed-loop sub-chain of a four-bar mechanism and a closed-loop sub-chain of a five-bar mechanism. Its structure and connection method are:

The closed-loop sub-chain of the four-bar mechanism is formed by connecting the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the first slider, the first Hooke hinge, the moving platform and the frame. One end of a connecting rod is connected to the frame through the first rotating pair, the other end of the first connecting rod is connected to the first slider through the first moving pair, and the other end of the first sliding block is connected to one end of the second connecting rod through the second rotating pair The other end of the second connecting rod is connected with the third connecting rod through the third rotating pair, the other end of the third connecting rod and one end of the fourth connecting rod are connected with the lower top branch of the first Hooke hinge through the fourth rotating pair, and the second The top support on a Hooke hinge is connected to one end of the moving platform through the fifth rotating pair, and the other end of the fourth connecting rod is connected to the first support fixed on the first connecting rod through the sixth rotating pair.

The closed-loop sub-chain of the five-bar mechanism consists of the fifth connecting rod, the sixth connecting rod, the seventh connecting rod, the eighth connecting rod, the ninth connecting rod, the second slider, the second support, the second Hooke hinge, One end of the fifth connecting rod is connected to the frame through the seventh rotating pair, the other end of the fifth connecting rod is connected with the second sliding block through the second moving pair, and the other end of the second sliding block is connected through the The eighth rotating pair is connected to the sixth connecting rod, the other end of the sixth connecting rod is connected to the seventh connecting rod through the third moving pair, the other end of the seventh connecting rod and one end of the eighth connecting rod are connected to the second connecting rod through the ninth rotating pair The lower top branch of the Hooke hinge is connected, the upper top branch of the second Hooke hinge is connected with the other end of the moving platform through the tenth revolving pair, the other end of the eighth connecting rod is connected with the ninth connecting rod through the eleventh revolving pair, and the ninth The other end of the connecting rod is connected with the second support fixed on the fifth connecting rod through the twelfth rotating pair,

The rotation axes of the first moving pair, the second moving pair, the first turning pair and the seventh turning pair are parallel to each other, and the rotation axes of the fifth turning pair and the tenth turning pair are parallel to each other. the