A three-rotation mechanism with full-circle rotation capability

Abstract

The present invention belongs to the field of robot technology. The purpose is to provide a three-rotation mechanism with full-circle rotation capability, which can realize full-circle rotation around three axis directions in space, and has the advantages of sensitive response, compact structure, easy control, and low manufacturing cost. The technical solution is: a three-rotation mechanism with full-circle rotation capability, characterized in that: it includes a frame, a moving platform, and a first branch chain and a second branch chain connected in parallel between the frame and the moving platform; the first branch chain includes a hinged six-bar mechanism and a first branch connected in sequence between the frame and the moving platform; the second branch chain includes a hinged five-bar mechanism and a second branch connected in sequence between the frame and the moving platform.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular is a three-rotation mechanism with full-circle rotation capability. Background Art

[0002] Although serial robots have advantages such as simple structure, low cost, simple control, and large motion space, their disadvantages such as low motion accuracy, small load bearing, and poor dynamic characteristics are still prominent. Compared with serial mechanisms, parallel mechanisms have greater rigidity, more stable structure, and relatively larger load-bearing capacity.

[0003] In today's society with rapid technological development, people have higher and higher requirements for robots, and the scope of use of robots is becoming more and more extensive. In high-speed and heavy-load working environments, parallel robots have obvious advantages over serial robots. Parallel robots have the advantages of high rigidity, strong load-bearing capacity, high precision, and small inertia of end parts, which can greatly reduce people's work intensity. Therefore, parallel robots have been widely studied. The three-rotation mechanism with full-circle rotation capability is an important type of parallel mechanism, which can be applied to motion simulation, surface processing, automatic spraying and other fields.

[0004] The invention patent with publication number CN 101973030 A discloses a "high-speed pick-and-place parallel robot mechanism capable of full-circle rotation". Although the parallel robot mechanism has the ability to make full-circle rotation, it cannot perform full-circle rotation around any axis in space. Therefore, it is necessary to propose a three-rotation mechanism with full-circle rotation capability. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a three-rotation mechanism with full-circle rotation capability, which can realize full-circle rotation motion around three axial directions in space and has the advantages of sensitive response, compact structure, easy control and low manufacturing cost.

[0006] The technical solution provided by the present invention is:

[0007] A three-rotation mechanism with full-circle rotation capability, characterized in that it includes a frame, a moving platform, and a first branch chain and a second branch chain connected in parallel between the frame and the moving platform; the first branch chain includes a hinged six-bar mechanism and a first branch connected in sequence between the frame and the moving platform; the second branch chain includes a hinged five-bar mechanism and a second branch connected in sequence between the frame and the moving platform.

[0008] The hinged six-bar mechanism includes a sliding pair, a first rotating pair, a third connecting rod, a sixth rotating pair, a fourth connecting rod, a fourth rotating pair, a fifth connecting rod, a third rotating pair, a sixth connecting rod and a second rotating pair which are connected in sequence; the guide rod of the sliding pair is fixed to the frame, and the slider of the sliding pair is connected to the first rotating pair; the second rotating pair is connected to the frame; the rotation axes of the sixth rotating pair, the fourth rotating pair and the third rotating pair are parallel to each other; the moving axis of the sliding pair is parallel to the rotation axis of the first rotating pair; the rotation axis of the first rotating pair coincides with the rotation axis of the second rotating pair; the rotation axis of the sixth rotating pair is perpendicular to the rotation axis of the first rotating pair.

[0009] The first branch includes a fifth rotating pair, a seventh connecting rod and a seventh rotating pair which are sequentially connected between the fourth rotating pair and the moving platform; the rotating axis of the fifth rotating pair is the same axis as the rotating axis of the fourth rotating pair and is connected to the fifth connecting rod at the same time; the rotating axis of the seventh rotating pair is perpendicular to the rotating axis of the fifth rotating pair.

[0010] The hinged five-bar mechanism includes a fourteenth rotating pair, a thirteenth connecting rod, a fifteenth rotating pair, a fourteenth connecting rod, an eleventh rotating pair, an eleventh connecting rod, a twelfth rotating pair, a twelfth connecting rod and a thirteenth rotating pair connected in sequence; the thirteenth rotating pair and the fourteenth rotating pair are respectively connected to the frame; the rotation axes of the eleventh rotating pair, the twelfth rotating pair, the thirteenth rotating pair, the fourteenth rotating pair and the fifteenth rotating pair are parallel to each other and parallel to the rotation axis of the first rotating pair.

[0011] The second branch includes the tenth rotating pair, the tenth connecting rod, the ninth rotating pair, the ninth connecting rod and the eighth rotating pair which are sequentially connected between the eleventh rotating pair and the moving platform; the rotating shaft of the tenth rotating pair is the same axis as the rotating shaft of the eleventh rotating pair and is connected to the fourteenth connecting rod at the same time; the rotation axis of the eighth rotating pair is perpendicular to the rotation axis of the ninth rotating pair; the rotation axis of the ninth rotating pair is perpendicular to the rotation axis of the tenth rotating pair and parallel to the rotation axis of the fifth rotating pair; the rotation axis of the eighth rotating pair is parallel to the rotation axis of the seventh rotating pair.

[0012] The sliding pair, the thirteenth rotating pair and the fourteenth rotating pair are all driving pairs; a driving motor is installed on the driving pair.

[0013] The beneficial effects of the present invention are:

[0014] The present invention can realize full-circle rotational motion around three axial directions in space, and has the advantages of low manufacturing cost, easy control, sensitive response, compact structure, high rigidity, small inertia of end parts, etc. It can be widely used in motion simulation, surface processing, automatic spraying and other fields, and has good market prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0016] Reference numerals:

[0017] 1. Frame; 1-1. Guide rod; 2. Slider; 3. Third connecting rod; 4. Fourth connecting rod; 5. Fifth connecting rod; 6. Sixth connecting rod; 7. Seventh connecting rod; 8. Moving platform; 9. Ninth connecting rod; 10. Tenth connecting rod; 11. Eleventh connecting rod; 12. Twelfth connecting rod; 13. Thirteenth connecting rod; 14. Fourteenth connecting rod; T1. Sliding pair; R1. First rotation pair; R2. Second rotation pair; R3. Third rotation pair; R4. Fourth rotation pair; R5. Fifth rotation pair; R6. Sixth rotation pair; R7. Seventh rotation pair; R8. Eighth rotation pair; R9. Ninth rotation pair; R10. Tenth rotation pair; R11. Eleventh rotation pair; R12. Twelfth rotation pair; R13. Thirteenth rotation pair; R14. Fourteenth rotation pair; R15. Fifteenth rotation pair. DETAILED DESCRIPTION

[0018] The following is a further description with reference to the embodiments shown in the accompanying drawings.

[0019] As shown in the figure, the three-rotation mechanism with full-circle rotation capability includes a frame 1, a moving platform 8, and a first branch and a second branch connected in parallel between the frame and the moving platform. The first branch includes a hinged six-bar mechanism and a first branch, wherein the hinged six-bar mechanism connects the frame, and the first branch is connected between the hinged six-bar mechanism and the moving platform. The second branch includes a hinged five-bar mechanism and a second branch, wherein the hinged five-bar mechanism connects the frame, and the second branch is connected between the hinged five-bar mechanism and the moving platform.

[0020] The hinged six-bar mechanism includes a sliding pair T1, a first rotating pair R1, a third connecting rod 3, a sixth rotating pair R6, a fourth connecting rod 4, a fourth rotating pair R4, a fifth connecting rod 5, a third rotating pair R3, a sixth connecting rod 6 and a second rotating pair R2 connected in sequence; the sliding pair includes a guide rod 1-1 fixed on the frame and a slider 2 slidingly matched with the guide rod; the slider of the sliding pair is connected to the first rotating pair. The second rotating pair R2 is connected to the frame. The rotation axes of the sixth rotating pair, the fourth rotating pair and the third rotating pair are parallel to each other; the moving axis of the sliding pair is parallel to the rotation axis of the first rotating pair; the rotation axis of the first rotating pair coincides with the rotation axis of the second rotating pair; the rotation axis of the sixth rotating pair is perpendicular to the rotation axis of the first rotating pair.

[0021] The first branch includes the fifth rotation pair R5, the seventh connecting rod 7 and the seventh rotation pair R7 which are sequentially connected between the fourth rotation pair and the moving platform; the rotating shaft of the fifth rotation pair is the same axis as the rotating shaft of the fourth rotation pair and is connected to the fifth connecting rod at the same time (the seventh connecting rod is fixed to the sleeve of the fifth transmission pair, the fourth connecting rod is fixed to the sleeve of the fourth rotation pair, the rotating shaft of the fifth rotation pair is the same axis as the rotating shaft of the fourth rotation pair and is fixed to the fifth connecting rod); the rotation axis of the seventh rotation pair is perpendicular to the rotation axis of the fifth rotation pair.

[0022] The hinged five-bar mechanism includes a fourteenth rotation pair R14, a thirteenth connecting rod 13, a fifteenth rotation pair R15, a fourteenth connecting rod 14, an eleventh rotation pair R11, an eleventh connecting rod 11, a twelfth rotation pair R12, a twelfth connecting rod 12 and a thirteenth rotation pair R13 which are connected in sequence; the thirteenth rotation pair and the fourteenth rotation pair are respectively connected to the frame; the rotation axes of the eleventh rotation pair, the twelfth rotation pair, the thirteenth rotation pair, the fourteenth rotation pair and the fifteenth rotation pair are parallel to each other and parallel to the rotation axis of the first rotation pair.

[0023] The second branch includes the tenth rotation pair R10, the tenth connecting rod 10, the ninth rotation pair R9, the ninth connecting rod 9 and the eighth rotation pair R8 which are sequentially connected between the eleventh rotation pair and the moving platform; the rotating shaft of the tenth rotation pair is the same axis as the rotating shaft of the eleventh rotation pair and is connected to the fourteenth connecting rod at the same time (the eleventh connecting rod is fixed to the bushing of the eleventh transmission pair, the tenth connecting rod is fixed to the bushing of the tenth rotation pair, the rotating shaft of the eleventh rotation pair is the same axis as the rotating shaft of the tenth rotation pair and is fixed to the fourteenth connecting rod), and the eighth rotation pair is connected to the moving platform; the rotation axis of the eighth rotation pair is perpendicular to the rotation axis of the ninth rotation pair; the rotation axis of the ninth rotation pair is perpendicular to the rotation axis of the tenth rotation pair and is parallel to the rotation axis of the fifth rotation pair; the rotation axis of the eighth rotation pair is parallel to the rotation axis of the seventh rotation pair.

[0024] The sliding pair, the thirteenth rotating pair and the fourteenth rotating pair are driving pairs; a driving motor (not shown in the figure) is also installed on the driving pair. When the driving pair moves, the moving platform can make a full circle rotation around the three axis directions of the space.

[0025] Finally, it should be noted that the above examples are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above examples, and many variations are possible. All variations that can be directly derived or associated with the content disclosed by a person skilled in the art should be considered as the protection scope of the present invention.

Claims

1. A three-rotation mechanism capable of full-circle rotation, characterized in that: The machine comprises a frame (1), a moving platform (8), and a first branch chain and a second branch chain connected in parallel between the frame and the moving platform; the first branch chain comprises a hinged six-bar mechanism and a first branch connected in sequence between the frame and the moving platform; the second branch chain comprises a hinged five-bar mechanism and a second branch connected in sequence between the frame and the moving platform; The hinged six-bar mechanism comprises a sliding pair (T1), a first rotating pair (R1), a third connecting rod (3), a sixth rotating pair (R6), a fourth connecting rod (4), a fourth rotating pair (R4), a fifth connecting rod (5), a third rotating pair (R3), a sixth connecting rod (6) and a second rotating pair (R2) which are connected in sequence; the guide rod (1-1) of the sliding pair is fixed to the frame, the slider (2) of the sliding pair is connected to the first rotating pair; the second rotating pair is connected to the frame; the rotation axes of the sixth rotating pair, the fourth rotating pair and the third rotating pair are parallel to each other; the moving axis of the sliding pair is parallel to the rotation axis of the first rotating pair; the rotation axis of the first rotating pair coincides with the rotation axis of the second rotating pair; the rotation axis of the sixth rotating pair is perpendicular to the rotation axis of the first rotating pair; The first branch comprises a fifth rotational pair (R5), a seventh connecting rod (7) and a seventh rotational pair (R7) which are sequentially connected between the fourth rotational pair and the moving platform; the rotation axis of the fifth rotational pair is the same axis as the rotation axis of the fourth rotational pair and is connected to the fifth connecting rod at the same time; the rotation axis of the seventh rotational pair is perpendicular to the rotation axis of the fifth rotational pair; The hinged five-bar mechanism comprises a fourteenth rotation pair (R14), a thirteenth connecting rod (13), a fifteenth rotation pair (R15), a fourteenth connecting rod (14), an eleventh rotation pair (R11), an eleventh connecting rod (11), a twelfth rotation pair (R12), a twelfth connecting rod (12) and a thirteenth rotation pair (R13) which are connected in sequence; the thirteenth rotation pair and the fourteenth rotation pair are respectively connected to the frame; the rotation axes of the eleventh rotation pair, the twelfth rotation pair, the thirteenth rotation pair, the fourteenth rotation pair and the fifteenth rotation pair are parallel to each other and parallel to the rotation axis of the first rotation pair; The second branch comprises a tenth rotation pair (R10), a tenth connecting rod (10), a ninth rotation pair (R9), a ninth connecting rod (9) and an eighth rotation pair (R8) which are sequentially connected between the eleventh rotation pair and the moving platform; the rotation axis of the tenth rotation pair is the same axis as the rotation axis of the eleventh rotation pair and is connected to the fourteenth connecting rod at the same time; the rotation axis of the eighth rotation pair is perpendicular to the rotation axis of the ninth rotation pair; the rotation axis of the ninth rotation pair is perpendicular to the rotation axis of the tenth rotation pair and parallel to the rotation axis of the fifth rotation pair; the rotation axis of the eighth rotation pair is parallel to the rotation axis of the seventh rotation pair.

2. The three-rotation mechanism with full-circle rotation capability according to claim 1, characterized in that: The sliding pair, the thirteenth rotating pair and the fourteenth rotating pair are all driving pairs; a driving motor is installed on the driving pair.

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