A completely decoupled 2-rotation 1-movement parallel mechanism

Abstract

The present invention discloses a completely decoupled 2-rotation 1-movement parallel mechanism, belonging to the field of robot technology, comprising: a fixed platform and a moving platform, wherein the fixed platform is connected to the moving platform via a first branch chain, a second branch chain and a third branch chain. This solution solves the problem that the driving motor is placed on a moving component and the motion control of a general 2R1T parallel mechanism is complex. The three driving motors of the parallel mechanism of the present invention respectively control two spatial rotational motions and one moving motion represented by Euler angles, and have the characteristics of good dynamic performance and strong controllability. This type of new parallel mechanism has certain application prospects in the fields of motion simulation, laser scanning, radar tracking, posture adjustment, robot wrist, etc.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a completely decoupled 2-rotation 1-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] The existing fully decoupled 2R1T mechanism configuration is very rare. In view of this, a 2R1T mechanism with a simpler structure and fully decoupled is designed. Summary of the invention

[0004] In view of the above problems, the present invention provides a completely decoupled 2-rotation 1-movement parallel mechanism.

[0005] The technical solution adopted by the present invention is: a completely decoupled 2-rotation 1-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 and a third branch chain;

[0006] The first branch chain comprises: a first connecting rod and a second connecting rod;

[0007] One end of the first connecting rod is rotatably connected to the fixed platform via a rotating pair R11, the other end of the first connecting rod is movably connected to the second connecting rod via a rotating pair R12, and the second connecting rod is connected to the movable platform via a translation pair P13;

[0008] The second branch chain includes: a fourth connecting rod and a fifth connecting rod;

[0009] One end of the fourth connecting rod is rotatably connected to the fixed platform via a first movable joint P21, the other end of the fourth connecting rod is movably connected to the fifth connecting rod via a first ball joint S22, and the fifth connecting rod is movably connected to the second connecting rod via a second ball joint S23;

[0010] The third branch chain includes a sixth connecting rod, a seventh connecting rod, an eighth connecting rod and a ninth connecting rod;

[0011] One end of the sixth connecting rod is movably connected to the fixed platform through a moving pair P31, the other end of the sixth connecting rod is rotatably connected to one end of the seventh connecting rod through a rotating pair R32, the other end of the seventh connecting rod is connected to one end of the eighth connecting rod through a moving pair P33, the other end of the eighth connecting rod is connected to one end of the ninth connecting rod through a rotating pair R34, and the other end of the ninth connecting rod is connected to a moving pair P35.

[0012] The movable pair P35 is also movably connected to the second connecting rod. The ninth connecting rod is also connected to a movable pair P36, and the movable pair P36 is connected to the moving platform.

[0013] Further, the second connecting rod is a T-shaped connecting rod, the relative rotation axis of the rotating pair R11 is parallel to the X-axis direction; the rotating pair R12 is perpendicular to the relative rotation axis direction of the rotating pair R11, and the relative rotation axis of the rotating pair R12 is along the Y-axis direction; the moving direction of the moving pair P13 is perpendicular to the axis direction of the rotating pair R12, and the moving pair P13 moves along the Z-axis direction;

[0014] The rotating pair R11 is connected to a motor, and the rotating pair R11 serves as a rotating driving pair.

[0015] Furthermore, the moving pair P21 moves along the X-axis direction, and the moving direction of the moving pair P21 coincides with the axis of the rotating pair R11;

[0016] The moving pair P21 is connected to a motor, and the moving pair P21 serves as a first moving driving pair.

[0017] Furthermore, the moving direction of the moving pair P31 coincides with the relative rotation axis of the rotating pair R11, and the relative rotation axis of the rotating pair R32 coincides with the relative rotation axis of the rotating pair R11;

[0018] The included angle between the moving direction of the movable pair P33 and the relative rotation axis of the rotating pair R32 is 45°, and the included angle between the moving direction of the movable pair P33 and the moving direction of the movable pair P35 is 45°;

[0019] The moving direction of the moving pair P35 coincides with the relative rotation axis of the rotating pair R34, and the relative rotation axis of the rotating pair R34 coincides with the relative rotation axis of the rotating pair R12;

[0020] The angle between the moving direction of the moving pair P35 and the moving direction of the moving pair P36 is 45°, and the angle between the moving direction of the moving pair P36 and the moving direction of the moving pair P13 is 45°.

[0021] Furthermore, the eighth connecting rod, the ninth connecting rod and the moving platform are all V-shaped connecting rods, a motor is connected to the moving pair P31, and the moving pair P31 serves as a second moving driving pair.

[0022] Furthermore, the relative rotation axes of the rotation pair R11 and the rotation pair R12 intersect at point O of the coordinate system OXYZ, the relative rotation axes of the rotation pair R34 and the rotation pair R32 intersect at point O, and the moving directions of the moving pair P31, the moving pair P13, the moving pair P21 and the moving pair P35 pass through point O.

[0023] Beneficial effects of the present invention:

[0024] The problem of low dynamic performance when the drive motor is placed on a moving component and complex motion control of a general 2R1T parallel mechanism is solved. The three drive motors of the parallel mechanism of the present invention respectively control two spatial rotational motions and one mobile motion represented by Euler angles, and have the characteristics of good dynamic performance and strong controllability. This type of novel parallel mechanism has certain application prospects in the fields of motion simulation, laser scanning, radar tracking, posture adjustment, robot wrist, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0026] Figure 1 It is a schematic diagram of a completely decoupled 2R1T parallel mechanism according to an embodiment of the present invention.

[0027] Reference numerals:

[0028] 1 is the first connecting rod, 2 is the second connecting rod, 3 is the moving platform, 4 is the fourth connecting rod, 5 is the fifth connecting rod, 6 is the sixth connecting rod, 7 is the seventh connecting rod, 8 is the eighth connecting rod, 9 is the ninth connecting rod, and 11 is the fixed platform. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. 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.

[0030] See also Figure 1 ,like Figure 1 As shown, a completely decoupled 2-rotation 1-movement parallel mechanism comprises: a fixed platform 11 and a moving platform 3, wherein the fixed platform 11 is connected to the moving platform 3 via a first branch chain, a second branch chain and a third branch chain;

[0031] The first branch chain comprises: a first connecting rod 1 and a second connecting rod 2;

[0032] One end of the first connecting rod 1 is rotatably connected to the fixed platform 11 through a rotating pair R11, the other end of the first connecting rod 1 is movably connected to the second connecting rod 2 through a rotating pair R12, and the second connecting rod 2 is connected to the movable platform 3 through a translation pair P13;

[0033] The second branch chain comprises: a fourth link 4 and a fifth link 5;

[0034] One end of the fourth connecting rod 4 is rotatably connected to the fixed platform 11 through a first movable joint P21, the other end of the fourth connecting rod 4 is movably connected to the fifth connecting rod 5 through a first ball joint S22, and the fifth connecting rod 5 is movably connected to the second connecting rod 2 through a second ball joint S23;

[0035] The third branch chain includes a sixth connecting rod 6, a seventh connecting rod 7, an eighth connecting rod 8 and a ninth connecting rod 9;

[0036] One end of the sixth connecting rod 6 is movably connected to the fixed platform 11 through a moving pair P31, the other end of the sixth connecting rod 6 is rotatably connected to one end of the seventh connecting rod 7 through a rotating pair R32, the other end of the seventh connecting rod 7 is connected to one end of the eighth connecting rod 8 through a moving pair P33, the other end of the eighth connecting rod 8 is connected to one end of the ninth connecting rod 9 through a rotating pair R34, and the other end of the ninth connecting rod 9 is connected to a moving pair P35.

[0037] The movable pair P35 is also movably connected to the second connecting rod 2 . The ninth connecting rod 9 is also connected to a movable pair P36 , and the movable pair P36 is connected to the moving platform 3 .

[0038] In one embodiment of the present invention, the second connecting rod 2 is a T-shaped connecting rod, the relative rotation axis of the rotation pair R11 is parallel to the X-axis direction; the rotation pair R12 is perpendicular to the relative rotation axis direction of the rotation pair R11, and the relative rotation axis of the rotation pair R12 is along the Y-axis direction; the moving direction of the moving pair P13 is perpendicular to the axis direction of the rotation pair R12, and the moving pair P13 moves along the Z-axis direction;

[0039] The rotating pair R11 is connected to a motor, and the rotating pair R11 serves as a rotating driving pair.

[0040] In one embodiment of the present invention, the mobile pair P21 moves along the X-axis direction, and the moving direction of the mobile pair P21 coincides with the axis of the rotation pair R11;

[0041] The moving pair P21 is connected to a motor, and the moving pair P21 serves as a first moving driving pair.

[0042] In one embodiment of the present invention, the moving direction of the moving pair P31 coincides with the relative rotation axis of the rotating pair R11, and the relative rotation axis of the rotating pair R32 coincides with the relative rotation axis of the rotating pair R11;

[0043] The included angle between the moving direction of the movable pair P33 and the relative rotation axis of the rotating pair R32 is 45°, and the included angle between the moving direction of the movable pair P33 and the moving direction of the movable pair P35 is 45°;

[0044] The moving direction of the moving pair P35 coincides with the relative rotation axis of the rotating pair R34, and the relative rotation axis of the rotating pair R34 coincides with the relative rotation axis of the rotating pair R12;

[0045] The angle between the moving direction of the moving pair P35 and the moving direction of the moving pair P36 is 45°, and the angle between the moving direction of the moving pair P36 and the moving direction of the moving pair P13 is 45°.

[0046] In one embodiment of the present invention, the eighth connecting rod 8, the ninth connecting rod 9 and the movable platform 3 are all V-shaped connecting rods, a motor is connected to the movable pair P31, and the movable pair P31 serves as a second movable driving pair.

[0047] In one embodiment of the present invention, the relative rotation axes of the rotation pair R11 and the rotation pair R12 intersect at point O of the coordinate system OXYZ, the relative rotation axes of the rotation pair R34 and the rotation pair R32 intersect at point O, and the moving directions of the moving pair P31, the moving pair P13, the moving pair P21 and the moving pair P35 pass through point O.

[0048] The present invention provides a working method of a completely decoupled 2-rotation 1-motion parallel mechanism. When in use, the driving pair R11 controls the braking platform to rotate around the axis of the rotating pair R11, the driving pair P21 controls the braking platform to rotate around the axis of the rotating pair R12, and the driving pair P31 controls the braking platform to move along the motion pair P13.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A completely decoupled 2-rotation 1-motion parallel mechanism, characterized in that: include: A fixed platform and a moving platform, wherein the fixed platform is connected to the moving platform via a first branch chain, a second branch chain and a third branch chain; The first branch chain comprises: a first connecting rod and a second connecting rod; One end of the first connecting rod is rotatably connected to the fixed platform via a rotating pair R11, the other end of the first connecting rod is movably connected to the second connecting rod via a rotating pair R12, and the second connecting rod is connected to the movable platform via a translation pair P13; The second branch chain includes: a fourth connecting rod and a fifth connecting rod; One end of the fourth connecting rod is rotatably connected to the fixed platform via a first movable joint P21, the other end of the fourth connecting rod is movably connected to the fifth connecting rod via a first ball joint S22, and the fifth connecting rod is movably connected to the second connecting rod via a second ball joint S23; The third branch chain includes a sixth connecting rod, a seventh connecting rod, an eighth connecting rod and a ninth connecting rod; One end of the sixth connecting rod is movably connected to the fixed platform through a moving pair P31, the other end of the sixth connecting rod is rotatably connected to one end of the seventh connecting rod through a rotating pair R32, the other end of the seventh connecting rod is connected to one end of the eighth connecting rod through a moving pair P33, the other end of the eighth connecting rod is connected to one end of the ninth connecting rod through a rotating pair R34, and the other end of the ninth connecting rod is connected to a moving pair P35. The movable pair P35 is also movably connected to the second connecting rod. The ninth connecting rod is also connected to a movable pair P36, and the movable pair P36 is connected to the moving platform.

2. The fully decoupled 2-rotation 1-movement parallel mechanism according to claim 1, characterized in that: The second connecting rod is a T-shaped connecting rod, the relative rotation axis of the rotating pair R11 is parallel to the X-axis direction; the rotating pair R12 is perpendicular to the relative rotation axis direction of the rotating pair R11, and the relative rotation axis of the rotating pair R12 is along the Y-axis direction; the moving direction of the moving pair P13 is perpendicular to the axis direction of the rotating pair R12, and the moving pair P13 moves along the Z-axis direction; The rotating pair R11 is connected to a motor, and the rotating pair R11 serves as a rotating driving pair.

3. The fully decoupled 2-rotation 1-movement parallel mechanism according to claim 1, characterized in that: The moving pair P21 moves along the X-axis direction, and the moving direction of the moving pair P21 coincides with the axis of the rotating pair R11; The moving pair P21 is connected to a motor, and the moving pair P21 serves as a first moving driving pair.

4. The fully decoupled 2-rotation 1-movement parallel mechanism according to claim 1, characterized in that: The moving direction of the moving pair P31 coincides with the relative rotation axis of the rotating pair R11, and the relative rotation axis of the rotating pair R32 coincides with the relative rotation axis of the rotating pair R11; The included angle between the moving direction of the movable pair P33 and the relative rotation axis of the rotating pair R32 is 45°, and the included angle between the moving direction of the movable pair P33 and the moving direction of the movable pair P35 is 45°; The moving direction of the moving pair P35 coincides with the relative rotation axis of the rotating pair R34, and the relative rotation axis of the rotating pair R34 coincides with the relative rotation axis of the rotating pair R12; The angle between the moving direction of the moving pair P35 and the moving direction of the moving pair P36 is 45°, and the angle between the moving direction of the moving pair P36 and the moving direction of the moving pair P13 is 45°.

5. The fully decoupled 2-rotation 1-movement parallel mechanism according to claim 1, characterized in that: The eighth connecting rod, the ninth connecting rod and the moving platform are all V-shaped connecting rods. A motor is connected to the moving pair P31, and the moving pair P31 serves as a second moving driving pair.

6. The fully decoupled 2-rotation 1-movement parallel mechanism according to claim 1, characterized in that: The relative rotation axes of the rotation pairs R11 and R12 intersect at point O of the coordinate system OXYZ, the relative rotation axes of the rotation pairs R34 and R32 intersect at point O, and the moving directions of the moving pairs P31, P13, P21 and P35 pass through point O.

Images