Completely decoupled spherical coordinate three-movement parallel mechanism

Abstract

The present invention belongs to the field of robotics, and specifically discloses a fully decoupled spherical coordinate 3-moving parallel mechanism, including a fixed platform and a moving platform, wherein the fixed platform is connected to the moving platform through a first branch chain, a second branch chain, a third branch chain and a fourth branch chain respectively, and the second branch chain, the third branch chain and the fourth branch chain respectively realize the control of the moving platform alone or in cooperation with each other. The present invention solves the problem that the current fully decoupled spherical coordinate system 3-moving parallel mechanism has very limited configurations and cannot be optimized, and at the same time solves the configuration design problem of a spherical workspace moving operation. The parallel mechanism of the present invention has the characteristics of good dynamic performance and strong controllability.

Description

Technical Field

[0001] The invention belongs to the field of robot technology, and in particular relates to a completely decoupled spherical coordinate three-movement parallel mechanism. Background Art

[0002] The parallel robot mechanism is a multi-loop closed chain with multiple degrees of freedom in space. Since the 1980s, the parallel mechanism has been widely used in the fields of virtual axis machine tools, micro-operating tables, motion simulators, and multi-dimensional force sensors due to its high rigidity, large load-bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. The parallel mechanism has 2, 3, 4, 5 or 6 degrees of freedom. At present, the research on the 6-degree-of-freedom parallel mechanism is more comprehensive and in-depth, but the reduction of the degrees of freedom of the parallel mechanism will make the mechanism structure simpler, and the manufacturing and control costs are relatively low. Therefore, under the condition of meeting the expected work requirements, the parallel robot with fewer degrees of freedom has its unique advantages.

[0003] At present, in the working scenario where the working space is in the shape of a sphere, the existing fully decoupled spherical coordinate 3-motion mechanism configuration is very rare.

[0004] Therefore, providing a new completely decoupled spherical coordinate 3-movement parallel mechanism is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the prior art that the robot working environment is a spherical scene with a complex structure and high cost, and to provide a completely decoupled spherical coordinate 3-movement parallel mechanism.

[0006] The present invention provides a completely decoupled spherical coordinate 3-movement parallel mechanism, comprising a fixed platform and a moving platform, wherein the fixed platform is connected to the moving platform through a first branch chain, a second branch chain, a third branch chain and a fourth branch chain respectively, and the first branch chain, the second branch chain and the third branch chain respectively realize control of the moving platform independently or in cooperation with each other.

[0007] A further solution is that the first branch chain includes a revolute pair R11, a fourteenth connecting rod, a revolute pair R12, a ninth connecting rod, a translation pair P13, a tenth connecting rod and a ball pair S37 which are connected in sequence; the revolute pair R11 is connected to the fixed platform, and the ball pair S37 is connected to the moving platform;

[0008] The second branch chain includes a movable pair P21, an eighth connecting rod, a ball pair S22, a seventh connecting rod, a ball pair S23, and a sixth connecting rod connected in sequence; the movable pair P21 is connected to the fixed platform, and the sixth connecting rod is connected to the rotation pair R12;

[0009] The third branch chain includes a movable pair P31, a second link 2, a rotating pair R32, a third link 3, a movable pair P33, a fourth link, a rotating pair R34, a fifth link, a movable pair P35, and a sixth link connected in sequence; the movable pair P31 is connected to the fixed platform;

[0010] The fourth branch chain includes a movable pair P41, a thirteenth connecting rod, a movable pair P42, a twelfth connecting rod, a movable pair P43, and a movable platform connected in sequence; the movable pair P41 is connected to the fixed platform;

[0011] The rotating pair R11, the moving pair P21, and the moving pair P31 are respectively connected to driving motors, which are used to drive the moving platform to move in a circle around the axis of the rotating pair R11, to move in a circle around the axis of the rotating pair R12, and to move the moving platform along the moving direction of P13.

[0012] A further solution is that the tenth connecting rod is a V-shaped connecting rod, one top end of the V-shaped connecting rod is connected to the movable joint P13, the other top end is connected to the movable joint P36, and the bottom end is connected to the ball joint S37.

[0013] A further solution is that the revolving pair R11 is along the Z-axis direction, the revolving pair R12 is along the X-axis direction, and the moving direction of the translation pair P13 is perpendicular to the axis direction of the revolving pair R12.

[0014] A further solution is that the sixth connecting rod is a Y-shaped connecting rod, a first end of the Y-shaped connecting rod is connected to the ball joint S23, a second end is connected to the translation joint P35, and a third end is connected to the rotation joint R12.

[0015] A further solution is that the movable pair P21 is along the Z-axis direction, and the Z-axis axis passes through the center of the ball pair S22.

[0016] A further solution is that the fifth connecting rod is a V-shaped connecting rod, one top end of the fifth connecting rod is connected to the rotating pair R34, and the other top end is connected to the moving pair P35.

[0017] A further solution is that the moving direction of the movable pair P33 is at an angle of 45° with the axes of the rotating pairs R32 and R34, the angle between the movable pair P35 and the movable pair P36 is 45°, and the angle between the movable pair P36 and the movable pair P13 is 45°.

[0018] A further solution is that the moving direction of the movable pair P41 coincides with the Z-axis axis, the moving direction of the movable pair P42 coincides with the X-axis axis, and the moving direction of the movable pair P43 coincides with the Y-axis axis.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: the three driving motors of the present invention are all placed on a fixed base, which reduces the motion inertia of the moving components and improves the dynamic motion performance of the mechanism. The three moving motions are completely independent, which improves the control performance of the fully decoupled spherical coordinate three-movement mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The following drawings are only used to illustrate and explain the present invention, and are not used to limit the scope of the present invention, wherein:

[0021] Figure 1 : Schematic diagram of the connection relationship of the present invention;

[0022] In the figure: 1, fixed platform; 2, second connecting rod; 3, third connecting rod; 4, fourth connecting rod; 5, fifth connecting rod; 6, sixth connecting rod; 7, seventh connecting rod; 8, eighth connecting rod; 9, ninth connecting rod; 10, tenth connecting rod; 11, moving platform; 12, twelfth connecting rod; 13, thirteenth connecting rod; 14, fourteenth connecting rod. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution, design method and advantages of the present invention clearer, the present invention is further described in detail by specific embodiments in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0024] like Figure 1 As shown, the present invention provides a fully decoupled spherical coordinate 3-moving parallel mechanism, which solves the problem that the driving motor is placed on a moving component and has low dynamic performance, and the general fully decoupled spherical coordinate system 3-moving parallel mechanism has complex motion control. It includes a fixed platform 1 and a moving platform 11, and the fixed platform 1 is connected to the moving platform 11 through the first branch chain, the second branch chain, the third branch chain, and the fourth branch chain, respectively, and the moving platform 11 is controlled by the first branch chain, the second branch chain, and the third branch chain separately or in cooperation with each other.

[0025] In the above, the first branch chain includes a rotating pair R11, a fourteenth connecting rod 14, a rotating pair R12, a ninth connecting rod 9, a moving pair P13, a tenth connecting rod 10 and a ball pair S37 connected in sequence; the rotating pair R11 is connected to the fixed platform 1, and the ball pair S37 is connected to the moving platform 11; the second branch chain includes a moving pair P21, an eighth connecting rod 8, a ball pair S22, a seventh connecting rod 7, a ball pair S23, and a sixth connecting rod 6 connected in sequence; the moving pair P21 is connected to the fixed platform 1, and the sixth connecting rod 6 is connected to the rotating pair R12; the third branch chain includes a moving pair P31, a second connecting rod 22, a rotating pair R32, a third connecting rod 33, a moving pair P34, a moving pair P35, a moving pair P36, a moving pair P37, a moving pair P38, a moving pair P39, a moving pair P40, a moving pair P41, a moving pair P42, a moving pair P43, a moving pair P44, a moving pair P45, a moving pair P46, a moving pair P47, a moving pair P48, a moving pair P49, a moving pair P50, a moving pair P51, a moving pair P52, a moving pair P53, a moving pair P54, a moving pair P55 The movable pair P33, the fourth connecting rod 4, the rotating pair R34, the fifth connecting rod 5, the moving pair P35, and the sixth connecting rod 6; the moving pair P31 is connected to the fixed platform 1; the fourth branch chain includes the moving pair P41, the thirteenth connecting rod 13, the moving pair P42, the twelfth connecting rod 12, the moving pair P43, and the movable platform 11 connected in sequence; the movable pair P41 is connected to the fixed platform 1; the rotating pair R11, the moving pair P21, and the moving pair P31 are respectively connected with driving motors, which are respectively used to drive the movable platform 11 to move in a circle around the axis of the rotating pair R11, the movable platform 11 to move in a circle around the axis of the rotating pair R12, and the movable platform 11 to move in the moving direction of P13.

[0026] It should be understood that the first branch chain connects the fixed platform 1 and the movable platform 11, one end of the second branch chain is connected to the fixed platform 1, and the other end is connected to the rotation pair R12. Therefore, the complete second branch chain includes the mobile pair P21, the eighth connecting rod 8, the ball pair S22, the seventh connecting rod 7, the ball pair S23, the sixth connecting rod 6, the rotation pair R12, the ninth connecting rod 9, the mobile pair P13, the tenth connecting rod 10 and the ball pair S37 connected in sequence. Similarly, one end of the third branch chain is connected to the fixed platform 1, and the other end is connected to the Y-shaped sixth connecting rod 6. Therefore, the complete third branch chain includes the mobile pair P31, the second connecting rod 22, the rotation pair R32, the third connecting rod 33, the mobile pair P33, the fourth connecting rod 4, the rotation pair R34, the fifth connecting rod 5, the mobile pair P35, the sixth connecting rod 6, the rotation pair R12, the ninth connecting rod 9, the mobile pair P13, the tenth connecting rod 10 and the ball pair S37 connected in sequence.

[0027] In the above, the tenth connecting rod 10 is a V-shaped connecting rod, one top end of the V-shaped connecting rod is connected to the moving pair P13, the other top end is connected to the moving pair P36, and the bottom end is connected to the ball pair S37. The revolute pair R11 is along the Z axis direction, the revolute pair R12 is along the X axis direction, and the moving direction of the moving pair P13 is perpendicular to the axis direction of the revolute pair R12.

[0028] In the above, the sixth connecting rod 6 is a Y-shaped connecting rod, the first end of which is connected to the ball pair S23, the second end is connected to the mobile pair P35, and the third end is connected to the rotation pair R12. The mobile pair P21 is along the Z-axis direction, and the Z-axis axis passes through the center of the ball pair S22.

[0029] In the above, the fifth connecting rod 5 is a V-shaped connecting rod, one top end of the fifth connecting rod 5 is connected to the rotating pair R34, and the other top end is connected to the moving pair P35. The moving direction of the moving pair P33 is at an angle of 45° with the axis of the rotating pair R32 and the rotating pair R34, the angle between the moving pair P35 and the moving pair P36 is 45°, and the angle between the moving pair P36 and the moving pair P13 is 45°. The moving direction of the moving pair P41 coincides with the Z-axis axis, the moving direction of the moving pair P42 coincides with the X-axis axis, and the moving direction of the moving pair P43 coincides with the Y-axis axis.

[0030] The present invention uses three driving motors to drive the movable platform 11 to move in a circle around the axis of the revolving pair R11, to move in a circle around the axis of the revolving pair R12, and to move along the moving direction of P13. When these three moving modes are carried out in coordination, the movable platform 11 can move in a spherical working environment. It has certain application prospects in the fields of motion simulation, grasping, machine tool processing, coordinate measurement, etc.

[0031] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. Completely decoupled spherical coordinate 3-movement parallel mechanism, characterized in that: It includes a fixed platform and a moving platform, wherein the fixed platform is connected to the moving platform through a first branch chain, a second branch chain, a third branch chain and a fourth branch chain respectively, and the first branch chain, the second branch chain and the third branch chain respectively realize the control of the moving platform independently or in cooperation with each other; The first branch chain includes a revolute pair R11, a fourteenth connecting rod, a revolute pair R12, a ninth connecting rod, a translation pair P13, a tenth connecting rod and a ball pair S37 connected in sequence; the revolute pair R11 is connected to the fixed platform, and the ball pair S37 is connected to the moving platform; The second branch chain includes a movable pair P21, an eighth connecting rod, a ball pair S22, a seventh connecting rod, a ball pair S23, and a sixth connecting rod connected in sequence; the movable pair P21 is connected to the fixed platform, and the sixth connecting rod is connected to the rotation pair R12; The third branch chain comprises a movable pair P31, a second connecting rod (2), a rotating pair R32, a third connecting rod (3), a movable pair P33, a fourth connecting rod, a rotating pair R34, a fifth connecting rod, a movable pair P35, and a sixth connecting rod, which are connected in sequence; the movable pair P31 is connected to the fixed platform; The fourth branch chain includes a movable pair P41, a thirteenth connecting rod, a movable pair P42, a twelfth connecting rod, a movable pair P43, and a movable platform connected in sequence; the movable pair P41 is connected to the fixed platform; The rotating pair R11, the moving pair P21, and the moving pair P31 are respectively connected to driving motors, which are used to drive the moving platform to move in a circle around the axis of the rotating pair R11, to move in a circle around the axis of the rotating pair R12, and to move the moving platform along the moving direction of P13.

2. The fully decoupled spherical coordinate 3-movement parallel mechanism according to claim 1, characterized in that: The tenth connecting rod is a V-shaped connecting rod, one top end of which is connected to the moving joint P13, the other top end is connected to the moving joint P36, and the bottom end is connected to the ball joint S37.

3. The fully decoupled spherical coordinate 3-movement parallel mechanism according to claim 2, characterized in that: The revolving pair R11 is along the Z-axis direction, the revolving pair R12 is along the X-axis direction, and the moving pair P13 is moved in a direction perpendicular to the axis direction of the revolving pair R12.

4. The fully decoupled spherical coordinate 3-movement parallel mechanism according to claim 1, characterized in that: The sixth connecting rod is a Y-shaped connecting rod, a first end of which is connected to the ball joint S23, a second end of which is connected to the translation joint P35, and a third end of which is connected to the rotation joint R12.

5. The fully decoupled spherical coordinate 3-movement parallel mechanism according to claim 4, characterized in that: The movable pair P21 is along the Z-axis direction, and the Z-axis axis passes through the center of the ball pair S22.

6. The fully decoupled spherical coordinate 3-movement parallel mechanism according to claim 1, characterized in that: The fifth connecting rod is a V-shaped connecting rod, one top end of which is connected to the rotating pair R34, and the other top end of which is connected to the moving pair P35.

7. The fully decoupled spherical coordinate 3-movement parallel mechanism according to claim 6, characterized in that: The moving direction of the movable pair P33 is at an angle of 45° to the axes of the rotating pairs R32 and R34, the angle between the movable pair P35 and the movable pair P36 is 45°, and the angle between the movable pair P36 and the movable pair P13 is 45°.

8. The fully decoupled spherical coordinate 3-movement parallel mechanism according to claim 1, characterized in that: The moving direction of the moving pair P41 coincides with the Z-axis axis, the moving direction of the moving pair P42 coincides with the X-axis axis, and the moving direction of the moving pair P43 coincides with the Y-axis axis.

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