A fully hinged two-chain two-translation parallel mechanism

Abstract

The present invention belongs to the field of mechanism and robot, and relates to a fully hinged two-branched chain two-translation parallel mechanism with a spatial arrangement and a minimum number of rotating pairs, comprising a simple branch chain one, a simple branch chain two, a moving platform and a static platform, wherein the simple branch chain one is composed of a rotating pair group one and a rotating pair group two, wherein the rotating pair group one is composed of a rotating pair one and a rotating pair two whose axes are parallel to each other connected in series; the rotating pair group two is composed of a rotating pair three, a rotating pair four and a rotating pair five whose axes are parallel to each other connected in series; the simple branch chain two is composed of a rotating pair six, a rotating pair seven and a rotating pair eight whose axes are parallel to each other connected in series, wherein the fully hinged two-branched chain two-translation parallel mechanism of the present invention is composed entirely of rotating pairs, and the number of rotating pairs required is small, so as to meet the production process requirements with a small operating range, high speed and high precision in the field of industrial production, and has the advantages of simple structure, easy manufacturing, stable movement, good dynamic performance, high operating precision and the like.

Description

Technical Field

[0001] The invention belongs to the field of mechanism and robot, and relates to a full-hinge two-branch two-translation parallel mechanism which is spatially arranged and composed of a minimum number of rotation pairs. Background Art

[0002] There are few studies on 2-DOF parallel mechanisms. Wu Zeqi et al. proposed a 2-DOF PRRRP symmetrical planar parallel mechanism with two moving pairs and three rotating pairs, and proposed a measurement index for force transmission performance, and used this index to perform corresponding optimization design; Shen Junwei et al. optimized the motion trajectory planning of a planar 2-DOF 6R parallel mechanism for product packaging; Yang Yi et al. designed a three-branch 2-DOF compliant mobile parallel mechanism composed of multiple rotating pairs, and applied it to the unmanned boat water sample docking device; Shang Bo et al. studied a three-flexible cable-driven spatial 2-DOF parallel mechanism with a constraint mechanism. The mechanism is supported by a rigid support rod to form a new type of rigid-flexible parallel mechanism; Wang Rugui et al. designed a spatial asymmetric 2-DOF RU&RPRP parallel mechanism with multiple rotating pairs and 2 moving pairs and gave an example of mechanism engineering application; Chai Baoming et al. established the functional relationship between the structural parameters and the workspace shape of the planar 2-DOF redundantly driven 8R parallel robot, and drew a two-dimensional map of the workspace of the two based on dimensionless parameters. Qu Yunxia et al. designed a 2-DOF RR&PRR decoupled spherical parallel mechanism with a P pair, and systematically analyzed the performance indicators of the mechanism's load-bearing capacity. Liu Xinjun et al. proposed two 2-DOF parallel robots, one is a PRRRP parallel robot with two moving pairs, in which the two moving pairs move in parallel but not in a collinear direction, and the end posture of the mechanism is variable; the other is a 2-PPa (Pa represents a parallelogram mechanism) parallel mechanism, in which the moving pairs also move in parallel but not in a collinear direction, and the end posture is immutable.

[0003] Most of the above-mentioned two-DOF parallel mechanisms do not have the characteristics of two translational motions, and most of the mechanisms currently having two translational motions are planar mechanisms and contain moving pairs. No parallel mechanism with full rotational pairs, spatial arrangement, and two translational motion outputs has been found.

[0004] The present invention provides a parallel mechanism with a single loop and two degrees of freedom drive or a single degree of freedom drive but still capable of generating two translational motions, so as to meet the production process requirements of a smaller operating range and higher speed and precision in the field of industrial production. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in order to solve the deficiencies in the prior art, a fully hinged, two-branched, two-translation parallel mechanism with a full rotation pair and two translation output motions arranged in space is provided, which has the advantages of simple structure, easy manufacturing and good dynamic performance.

[0006] The technical solution adopted by the present invention to solve the technical problem is: a full hinge two-branch two-translation parallel mechanism, including a simple branch chain 1, a simple branch chain 2, a dynamic platform and a static platform, wherein the simple branch chain 1 and the simple branch chain 2 are connected between the dynamic platform and the static platform;

[0007] The simple branch chain 1 is composed of a rotating pair group 1 and a rotating pair group 2. The rotating pair group 1 is composed of a rotating pair 1 and a rotating pair 2 whose axes are parallel to each other, which are connected in series; the rotating pair group 2 is composed of a rotating pair 3, a rotating pair 4 and a rotating pair 5 whose axes are parallel to each other, which are connected in series; the rotating pair 2 is connected to the rotating pair 3, and the axis of the rotating pair 2 is perpendicular to the axis of the rotating pair 3;

[0008] The simple branch chain 2 is composed of a rotating pair 6, a rotating pair 7 and a rotating pair 8 connected in series, the axes of which are parallel to each other, the axis of the rotating pair 8 is perpendicular to the axis of the rotating pair 5, and the axis of the rotating pair 8 is perpendicular to the axis of the rotating pair 1;

[0009] The first rotating pair and the sixth rotating pair are both connected to the static platform, and the fifth rotating pair and the eighth rotating pair are both connected to the dynamic platform.

[0010] Furthermore, the two translational parallel mechanisms have two degrees of freedom, and the moving platform can generate two translational movements; the coupling degree of the two translational parallel mechanisms is zero, and has a symbolic position positive solution.

[0011] Furthermore, when any rotation pair of the simple branch chain 1 and the simple branch chain 2 is locked, the two translational parallel mechanisms become two translational parallel mechanisms with one degree of freedom, wherein one translation is a non-independent derivative motion; the coupling degree of the two translational parallel mechanisms is zero and has a symbolic position positive solution.

[0012] The present invention also provides a full hinge two-branch two-translation parallel mechanism, comprising a simple branch chain 1, a simple branch chain 2, a moving platform and a static platform, wherein the simple branch chain 1 and the simple branch chain 2 are connected between the moving platform and the static platform;

[0013] The simple branch chain 1 is composed of a rotating pair group 1 and a rotating pair group 2. The rotating pair group 1 is composed of a rotating pair 1, a rotating pair 2 and a rotating pair 3 whose axes are parallel to each other, which are connected in series. The rotating pair group 2 is composed of a rotating pair 4 and a rotating pair 5 whose axes are parallel to each other, which are connected in series. The rotating pair 3 is connected to the rotating pair 4, and the axis of the rotating pair 3 is perpendicular to the axis of the rotating pair 4.

[0014] The simple branch chain 2 is composed of a rotating pair 6, a rotating pair 7 and a rotating pair 8 connected in series, the axes of which are parallel to each other, the axis of the rotating pair 8 is perpendicular to the axis of the rotating pair 5, and the axis of the rotating pair 8 is perpendicular to the axis of the rotating pair 1;

[0015] The first rotating pair and the sixth rotating pair are both connected to the static platform, and the fifth rotating pair and the eighth rotating pair are both connected to the dynamic platform.

[0016] Furthermore, the two translational parallel mechanisms have two degrees of freedom, and the moving platform can generate two translational movements; the coupling degree of the two translational parallel mechanisms is zero, and has a symbolic position positive solution.

[0017] Furthermore, when any rotation pair of the simple branch chain 1 and the simple branch chain 2 is locked, the two translational parallel mechanisms become two translational parallel mechanisms with one degree of freedom, wherein one translation is a non-independent derivative motion; the coupling degree of the two translational parallel mechanisms is zero and has a symbolic position positive solution.

[0018] The beneficial effects of the present invention are as follows: the fully hinged, two-branch, two-translation parallel mechanism of the present invention is entirely composed of rotating pairs, and the required number of rotating pairs is small, so as to meet the production process requirements of a small operating range, high speed and high precision in the industrial production field, and has the advantages of simple structure, easy manufacturing, smooth movement, good dynamic performance, high operating precision, etc.; it can be used as an independent module in modern manufacturing industry, and the coupling degree is zero, and it has a symbolic position positive solution; and when any rotating pair is locked, a two-translation parallel mechanism with one degree of freedom is formed, and one translation is a non-independent derivative motion, realizing single-degree-of-freedom drive but still being able to generate two translation motions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0020] Figure 1 Schematic diagram of the full hinge two-branch two-translation parallel mechanism in Example 1;

[0021] Figure 2 Schematic diagram of the full hinge two-branch two-translation parallel mechanism in Example 2;

[0022] Figure 3 Schematic diagram of the full hinge two-branch two-translation parallel mechanism in Example 3;

[0023] Figure 4 Schematic diagram of the full hinge two-branch two-translation parallel mechanism in Example 4;

[0024] In the figure: 0, static platform, 1, dynamic platform;

[0025] I, simple branch chain one, II, simple branch chain two;

[0026] R 11 , Rotation pair 1, R 12 , Rotation pair 2, R 13 , Rotation pair 3, R 14 , Rotation pair 4, R 15, Rotation pair five, R 21 , Rotation pair six, R 22 , Rotate pair seven, R 23 , rotate pair eight. DETAILED DESCRIPTION

[0027] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention, and directions and references (e.g., up, down, left, right, etc.) may only be used to help describe the features in the drawings. Therefore, the following specific embodiments are not to be taken in a limiting sense, and the scope of the subject matter claimed is limited only by the attached claims and their equivalents.

[0028] Example 1

[0029] like Figure 1 As shown, a fully hinged two-branch two-translation parallel mechanism includes a simple branch chain I, a simple branch chain II, a moving platform 1 and a static platform 0, wherein the simple branch chain I and the simple branch chain II are connected between the moving platform 1 and the static platform 0;

[0030] The simple branch chain I is composed of a revolving pair group I and a revolving pair group II. The revolving pair group I is composed of a revolving pair R with axes parallel to each other. 11 With the revolute pair R 12 The rotating pair group 2 is composed of the rotating pair 3 R with axes parallel to each other. 13 、Rotation pair 4 R 14 and rotating pair 5 R 15 Series structure; Rotary pair 2 R 12 With the revolute pair R 13 Connect and rotate the second pair R 12 The axis is perpendicular to the revolving pair R 13 The axis of

[0031] Simple branched chain II consists of six revolute pairs with parallel axes. 21 、Rotation pair seven R 22 and rotary pair R 23 Composed in series, rotating pair eight R 23 The axis and the revolute pair R 15 The axis of the rotation pair is vertical, and the rotation pair R 23 The axis and the revolute pair R 11 The axis is vertical;

[0032] Rotary pair R 11 and rotary pair 6 R 21 Both are connected to the static platform 0, and the rotating pair R 15 and rotary pair R 23They are all connected to the moving platform 1, so that the rotational sub-axes of the rotational sub-group 1, the rotational sub-group 2 and the simple branch chain II are perpendicular to each other.

[0033] The degrees of freedom of the two translational parallel mechanisms are two, for example, the rotation pair R 11 and rotary pair 6 R 21 When the driving pair is used, the moving platform 1 can produce two translational movements; the coupling degree of the two translational parallel mechanisms is zero, and has a symbolic position positive solution;

[0034] The two translation parallel mechanisms are entirely composed of revolute pairs, and the number of revolute pairs required is small. They have the advantages of simple structure, easy manufacturing, smooth movement, good dynamic performance, high operating accuracy, etc. They can be used as independent modules in modern manufacturing, with zero coupling degree and symbolic position positive solution.

[0035] Example 2

[0036] The difference between Example 2 and Example 1 is that any rotation pair in the simple branch chain I and the simple branch chain II is locked, which is equivalent to the rotation pair R 11 、Rotation pair 2 R 12 、Rotation pair 3 R 13 、Rotation pair 4 R 14 , Rotation pair R 15 、Rotation pair 6 R 21 、Rotation pair seven R 22 and rotary pair R 23 If one of them is locked, the locked revolute pair will be equivalent to a rigid body; Figure 2 , for example, rotating pair R 15 When locked, the two translation parallel mechanisms become two translation parallel mechanisms with one degree of freedom, in which one translation is a non-independent derivative motion, realizing single-degree-of-freedom drive but still capable of generating two translation motions. Specifically, the rotation pair R 11 Or rotating pair six R 21 When it is a driving pair, the moving platform 1 can produce two translational movements; the coupling degree of the two translational parallel mechanisms is zero, and has a symbolic position positive solution.

[0037] Example 3

[0038] like Figure 3 As shown, a fully hinged two-branch two-translation parallel mechanism includes a simple branch chain I, a simple branch chain II, a moving platform 1 and a static platform 0, wherein the simple branch chain I and the simple branch chain II are connected between the moving platform 1 and the static platform 0;

[0039] The simple branch chain I is composed of a revolving pair group I and a revolving pair group II. The revolving pair group I is composed of a revolving pair R with axes parallel to each other. 11 、Rotation pair 2 R 12 With the revolute pair R13 The rotating pair group 2 is composed of rotating pair 4 with axes parallel to each other. 14 and rotating pair 5 R 15 Series structure, rotating pair three R 13 With the revolute pair R 14 Connect and rotate the third R 13 The axis and the revolute pair R 14 The axes are perpendicular to each other;

[0040] Simple branched chain II consists of six revolute pairs with parallel axes. 21 、Rotation pair seven R 22 and the rotary pair R 23 Composed in series, rotating pair eight R 23 The axis and the revolute pair R 15 The axis of the rotation pair is vertical, and the rotation pair R 23 The axis and the revolute pair R 11 The axis is vertical;

[0041] Rotary pair R 11 and rotary pair 6 R 21 Both are connected to the static platform 0, and the rotating pair R 15 and rotary pair R 23 They are all connected to the moving platform 1, so that the rotational sub-axes in the rotational sub-group 1, the rotational sub-group 2 and the simple branch chain II are perpendicular to each other.

[0042] The degrees of freedom of the two translational parallel mechanisms are two, for example, the rotation pair R 11 and rotary pair 6 R 21 When the driving pair is used, the moving platform 1 can produce two translational movements; the coupling degree of the two translational parallel mechanisms is zero, and has a symbolic position positive solution;

[0043] The two translation parallel mechanisms are entirely composed of revolute pairs, and the number of revolute pairs required is small. They have the advantages of simple structure, easy manufacturing, smooth movement, good dynamic performance, high operating accuracy, etc. They can be used as independent modules in modern manufacturing, with zero coupling degree and symbolic position positive solution.

[0044] Example 4

[0045] The difference between Example 4 and Example 3 is that any rotation pair in the simple branch chain I and the simple branch chain II is locked, which is equivalent to the rotation pair R 11 、Rotation pair 2 R 12 、Rotation pair 3 R 13 、Rotation pair 4 R 14 , Rotation pair R 15 、Rotation pair 6 R 21 、Rotation pair seven R 22 and rotary pair R 23If one of them is locked, the locked revolute pair will be equivalent to a rigid body; Figure 4 , for example, the rotation pair R 12 When locked, the two translation parallel mechanisms become two translation parallel mechanisms with one degree of freedom, in which one translation is a non-independent derivative motion. Specifically, the rotation joint R 11 Or rotating pair six R 21 When it is a driving pair, the moving platform 1 can produce two translational movements; the coupling degree of the two translational parallel mechanisms is zero, and has a symbolic position positive solution.

[0046] The above-mentioned ideal embodiments of the present invention are for inspiration. Through the above-mentioned description, relevant staff can make various changes and modifications without departing from the technical idea of ​​the present invention. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A fully hinged two-chain two-translation parallel mechanism, characterized in that: It comprises a simple branch chain 1 (I), a simple branch chain 2 (II), a moving platform (1) and a static platform (0), wherein the simple branch chain 1 (I) and the simple branch chain 2 (II) are connected between the moving platform (1) and the static platform (0); The simple branch chain 1 (I) is composed of a rotation pair group 1 and a rotation pair group 2. The rotation pair group 1 is composed of a rotation pair 1 (R 11 ) and the second revolute pair (R 12 ) are connected in series; the second rotating pair group is composed of a rotating pair group (R 13 )、Rotation pair 4(R 14 ) and the rotation pair V (R 15 ) are connected in series; the second rotating pair (R 12 ) and the rotary pair 3 (R 13 ) connection, and the rotating pair 2 (R 12 ) is perpendicular to the axis of the revolving pair (R 13 )’s axis; The simple branched chain II (II) consists of six rotation pairs (R) with axes parallel to each other 21 )、Rotation pair seven(R 22 ) and the rotation pair eight (R 23 ) are composed in series, the rotating pair eight (R 23 ) and the axis of the revolute pair V (R 15 ) is perpendicular to the axis of rotation pair eight (R 23 ) and the axis of the revolute pair (R 11 )’s axis is vertical; The revolving pair (R 11 ) and revolute pair six (R 21 ) are connected to the static platform (0), the revolving pair 5 (R 15 ) and the rotation pair eight (R 23 ) are connected to the moving platform (1); The two translation parallel mechanisms have two degrees of freedom, and the moving platform (1) can generate two translation movements; the coupling degree of the two translation parallel mechanisms is zero, and has a symbolic position positive solution; When any rotation pair of the simple branch chain 1 (I) and the simple branch chain 2 (II) is locked, the two translation parallel mechanisms become two translation parallel mechanisms with one degree of freedom, wherein one translation is a non-independent derivative motion; the coupling degree of the two translation parallel mechanisms is zero, and has a symbolic position positive solution.

2. A fully hinged two-chain two-translation parallel mechanism, characterized in that: It comprises a simple branch chain 1 (I), a simple branch chain 2 (II), a moving platform (1) and a static platform (0), wherein the simple branch chain 1 (I) and the simple branch chain 2 (II) are connected between the moving platform (1) and the static platform (0); The simple branch chain 1 (I) is composed of a rotation pair group 1 and a rotation pair group 2. The rotation pair group 1 is composed of a rotation pair 1 (R 11 )、Rotation pair 2(R 12 ) and the rotary pair 3 (R 13 ) are connected in series, the rotating pair group 2 is composed of rotating pairs 4 (R 14 ) and the rotation pair V (R 15 ) are connected in series, the rotating pair three (R 13 ) and the revolute pair 4 (R 14 ) connection, and rotating pair 3 (R 13 ) and the axis of the revolute pair 4 (R 14 ) are perpendicular to each other; The simple branched chain II (II) consists of six rotation pairs (R) with axes parallel to each other 21 )、Rotation pair seven(R 22 ) and the rotation pair eight (R 23 ) are composed in series, the rotating pair eight (R 23 ) and the axis of the revolute pair V (R 15 ) is perpendicular to the axis of rotation pair eight (R 23 ) and the axis of the revolute pair (R 11 )’s axis is vertical; The revolving pair (R 11 ) and revolute pair six (R 21 ) are connected to the static platform (0), the revolving pair 5 (R 15 ) and the rotation pair eight (R 23 ) are connected to the moving platform (1); The two translation parallel mechanisms have two degrees of freedom, and the moving platform (1) can generate two translation movements; the coupling degree of the two translation parallel mechanisms is zero, and has a symbolic position positive solution; When any rotation pair of the simple branch chain 1 (I) and the simple branch chain 2 (II) is locked, the two translation parallel mechanisms become two translation parallel mechanisms with one degree of freedom, wherein one translation is a non-independent derivative motion; the coupling degree of the two translation parallel mechanisms is zero, and has a symbolic position positive solution.

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