A completely decoupled two-mode 3T1R parallel mechanism and its working method

Abstract

The present invention discloses a completely decoupled two-mode 3T1R parallel mechanism and a working method thereof, belonging to the field of robotics technology. It includes a moving platform, a fixed platform, a first branch chain, a second branch chain, a third branch chain and a fourth branch chain; each driving pair controls an independent movement of the moving platform, which makes it easy to control the mechanism. When the multi-mode mechanism is working, it may be necessary to change the motion mode. The completely decoupled mechanism structure makes it easier to implement the motion mode change, which is convenient for the change of the mechanism motion mode, and improves the practicality of the multi-mode mechanism. In both motion modes, the mechanism has the characteristics of complete decoupling, which improves the controllability of completing different work tasks.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a completely decoupled two-mode 3T1R parallel mechanism and a working method thereof. 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 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 relatively 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 mechanism configuration with 3T1R motion mode is very rare. Multi-mode parallel mechanisms require the use of auxiliary drive pairs to achieve the transformation of the mechanism motion mode. At present, the auxiliary drive pairs of existing multi-mode mechanisms are mostly placed on the moving components, resulting in reduced dynamic performance of the mechanism. Summary of the invention

[0004] In order to solve the above problems, the purpose of the present invention is to provide a fully decoupled two-mode 3T1R parallel mechanism and a working method thereof. The motion mode change is easy to control and has high practicality. In both motion modes, the mechanism has the characteristics of complete decoupling, which improves the controllability of completing different work tasks.

[0005] The present invention is achieved through the following technical solutions:

[0006] The present invention discloses a completely decoupled two-mode 3T1R parallel mechanism, comprising a moving platform, a fixed platform, a first branch chain, a second branch chain, a third branch chain and a fourth branch chain;

[0007] The first branch chain includes an eleventh moving pair, a first connecting rod, a twelfth moving pair, a second connecting rod, a thirteenth moving pair, a third connecting rod, a fourteenth rotating pair, a fourth connecting rod and a fifteenth rotating pair connected in sequence; the eleventh moving pair is connected to the fixed platform, and the fifteenth rotating pair is connected to the moving platform;

[0008] The second branch chain includes a 21st moving pair, a 5th connecting rod, a 22nd moving pair, a 6th connecting rod, a 23rd moving pair, a 7th connecting rod, a 24th rotating pair, an 8th connecting rod and a 25th rotating pair connected in sequence; the 21st moving pair is connected to the fixed platform, and the 25th rotating pair is connected to the moving platform;

[0009] The third branch chain includes a 31st moving pair, a 13th connecting rod, a 32nd moving pair, a 12th connecting rod, a 33rd moving pair, an 11th connecting rod, a 34th rotating pair, a 10th connecting rod and a 35th rotating pair which are connected in sequence; the 31st moving pair is connected to the fixed platform, and the 35th rotating pair is connected to the moving platform;

[0010] The fourth branch chain includes a forty-first rotating pair, a forty-fourth rotating pair and a forty-seventh movable pair. The forty-first rotating pair and the forty-fourth rotating pair are respectively connected to the fixed platform, and the forty-seventh movable pair is connected to the movable platform; the forty-first rotating pair is connected to the seventeenth connecting rod, the seventeenth connecting rod is connected to the forty-second rotating pair, the forty-second rotating pair is connected to the sixteenth connecting rod, the sixteenth connecting rod is connected to the forty-third rotating pair, the forty-third rotating pair is connected to the eighteenth connecting rod, and the eighteenth connecting rod is connected to the forty-fourth rotating pair; at the same time, the sixteenth connecting rod is sequentially connected to the forty-fifth movable pair, the fifteenth connecting rod, the forty-sixth movable pair and the fourteenth connecting rod, and the fourteenth connecting rod is connected to the forty-seventh movable pair.

[0011] Preferably, the eleventh moving pair, the twenty-first moving pair, the thirty-first moving pair, the forty-first rotating pair and the forty-fourth rotating pair are all provided with driving motors.

[0012] Preferably, the eleventh moving pair, the twenty-second moving pair, the thirty-second moving pair and the forty-fifth moving pair have the same direction.

[0013] Preferably, the twelfth moving pair, the twenty-first moving pair, the thirty-third moving pair and the forty-seventh moving pair have the same direction.

[0014] Preferably, the thirteenth moving pair, the twenty-third moving pair, the thirty-first moving pair and the forty-sixth moving pair have the same direction.

[0015] Preferably, the fourteenth rotation pair, the twenty-fifth rotation pair, the thirty-fourth rotation pair, the forty-second rotation pair and the forty-fourth rotation pair have the same direction.

[0016] Preferably, the fifteenth rotation pair, the twenty-fourth rotation pair, the thirty-fifth rotation pair, the forty-first rotation pair and the forty-third rotation pair have the same direction.

[0017] The working method of the above-mentioned fully decoupled two-mode 3T1R parallel mechanism disclosed in the present invention comprises:

[0018] Movement mode 1: Lock the 44th rotational pair, the 11th mobile pair, the 21st mobile pair and the 31st mobile pair, drive the 41st rotational pair to rotate, and the mechanism has three-dimensional movement and rotational freedom parallel to the X-axis;

[0019] Movement mode 2: Lock the 41st rotational pair, the 11th movable pair, the 21st movable pair and the 31st movable pair, drive the 44th rotational pair to rotate, and the mechanism has three-dimensional movement and rotational freedom parallel to the Y axis.

[0020] Compared with the prior art, the present invention has the following beneficial technical effects:

[0021] The multi-mode parallel mechanism needs to realize the transformation of motion mode under the constraint of singular configuration. Therefore, when the mode is transformed, the drive needs to be controlled to realize the accurate movement of the mechanism to the precise configuration. The fully decoupled parallel mechanism is simple to control. Therefore, the multi-mode mechanism with fully decoupled motion characteristics has the characteristic of easy control of the drive pair to realize the transformation of motion mode compared with the existing multi-mode mechanism.

[0022] The present invention discloses a completely decoupled two-mode 3T1R parallel mechanism, in which each driving pair controls an independent movement of the braking platform, making it easy to control the mechanism. When the multi-mode mechanism is working, it may be necessary to change the motion mode. The completely decoupled mechanism structure makes it easier to implement the motion mode change, which is convenient for the mechanism motion mode change and improves the practicality of the multi-mode mechanism. In both motion modes, the mechanism has the characteristics of complete decoupling, which improves the controllability of completing different work tasks.

[0023] The working method of the above-mentioned fully decoupled two-mode 3T1R parallel mechanism disclosed in the present invention is easy to control the motion mode change and has high practicality. In both motion modes, the mechanism has the characteristics of complete decoupling, which improves the controllability of completing different work tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the system of the present invention;

[0025] Figure 2 It is a schematic diagram of the configuration of the system motion mode 1 of the present invention;

[0026] Figure 3 It is a schematic diagram of the configuration of the system motion mode 2 of the present invention.

[0027] In the figure: 1-first connecting rod, 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-moving platform, 10-tenth connecting rod, 11-eleventh connecting rod, 12-twelfth connecting rod, 13-thirteenth connecting rod, 14-fourteenth connecting rod, 15-fifteenth connecting rod, 16-sixteenth connecting rod, 17-seventeenth connecting rod, 18-eighteenth connecting rod, 19-fixed platform, P11-eleventh moving pair, P12-twelfth moving pair, P13-thirteenth moving pair, R14-fourteenth rotating pair, R15-fifteenth rotating pair Pair, P21-21st moving pair, P22-22nd moving pair, P23-23rd moving pair, R24-24th rotation pair, R25-25th rotation pair, P31-31st moving pair, P32-32nd moving pair, P33-33rd moving pair, R34-34th rotation pair, R35-35th rotation pair, R41-41st rotation pair, R42-42nd rotation pair, R43-43rd rotation pair, R44-44th rotation pair, P45-45th moving pair, P46-46th moving pair, P47-47th moving pair. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments, the contents of which are intended to explain the present invention rather than to limit it:

[0029] like Figure 1 , which is a fully decoupled two-mode 3T1R parallel mechanism of the present invention, includes a fixed platform 19, a moving platform 9, and four motion branches arranged between the fixed platform 19 and the moving platform 9.

[0030] The fixed platform 19 is respectively provided with an eleventh moving pair P11 , a twenty-first moving pair P21 , a thirty-first moving pair P31 , a forty-first rotation pair R41 , and a forty-fourth rotation pair R44 .

[0031] The eleventh moving pair P11, the twenty-first moving pair P21, the thirty-first moving pair P31, the forty-first rotation pair R41, and the forty-fourth rotation pair R44 are all provided with driving motors.

[0032] The moving branch chain includes a first branch chain, a second branch chain, a third branch chain and a fourth branch chain. One end of the first branch chain, one end of the second branch chain, one end of the third branch chain and one end of the fourth branch chain are respectively connected to the fixed platform 19 through the eleventh moving pair P11, the twenty-first moving pair P21, the thirty-first moving pair P31, the forty-first rotation pair R41 and the forty-fourth rotation pair R44; the other end of the first branch chain, the other end of the second branch chain, the other end of the third branch chain and the other end of the fourth branch chain are respectively connected to the moving platform 9 through the fifteenth rotation pair R15, the twenty-fifth rotation pair R25, the thirty-fifth rotation pair R35 and the forty-seventh rotation pair R47.

[0033] The first branch chain is composed of the eleventh moving pair P11, which is connected in sequence to the first link 1, the twelfth moving pair P12, the second link 2, the thirteenth moving pair P13, the third link 3, the fourteenth rotation pair R14, the fourth link 4, and the fifteenth rotation pair R15.

[0034] The second branch chain is composed of the twenty-first moving pair P21, which is connected in sequence to the fifth link 5, the twenty-second moving pair P22, the sixth link 6, the twenty-third moving pair P23, the seventh link 7, the twenty-fourth rotation pair R24, the eighth link 8, and the twenty-fifth rotation pair R25.

[0035] The third branch chain is composed of the thirty-first moving pair P31, which is connected in sequence to the thirteenth connecting rod 13, the thirty-second moving pair P32, the twelfth connecting rod 12, the thirty-third moving pair P33, the eleventh connecting rod 11, the thirty-fourth rotation pair R34, the tenth connecting rod 10, and the thirty-fifth rotation pair R35.

[0036] The fourth branch chain is composed of the 41st rotating pair R41, which is connected in sequence to the 17th connecting rod 17, the 42nd rotating pair R42, the 16th connecting rod 16, the 43rd rotating pair R43, the 18th connecting rod 18, the 44th rotating pair R44, and the fixed platform 19; the 16th connecting rod is connected in sequence to the 45th movable pair, the 15th connecting rod, the 46th movable pair P46, the 14th connecting rod, and the 47th movable pair P47.

[0037] Figure 1 In the shown mechanism configuration, the eleventh moving pair P11, the twenty-second moving pair P22, the thirty-second moving pair P32, and the forty-fifth moving pair P45 are along the Z-axis direction.

[0038] Figure 1 In the shown mechanism configuration, the twelfth moving pair P12, the twenty-first moving pair P21, the thirty-third moving pair, and the forty-seventh moving pair are along the Y-axis direction.

[0039] Figure 1In the shown mechanism configuration, the thirteenth mobile pair P13, the twenty-third mobile pair P23, the thirty-first mobile pair P31, and the forty-sixth mobile pair P46 are along the X-axis direction.

[0040] Figure 1 In the shown mechanism configuration, the fourteenth rotation pair R14, the twenty-fifth rotation pair R25, the thirty-fourth rotation pair R34, the forty-second rotation pair R42, and the forty-fourth rotation pair R44 are along the Y-axis direction.

[0041] Figure 1 In the shown mechanism configuration, the fifteenth rotation pair R15, the twenty-fourth rotation pair R24, the thirty-fifth rotation pair R35, the forty-first rotation pair R41, and the forty-third rotation pair R43 are along the X-axis direction.

[0042] Figure 1 In the shown mechanism configuration, the moving platform 9 has a three-dimensional movement along the XYZ space and a two-dimensional rotation instantaneous motion mode parallel to the Y axis and the X axis.

[0043] exist Figure 1 In the shown mechanism configuration, the 44th rotation pair R44 is locked, the 11th movement pair P11, the 21st movement pair P21, and the 31st movement pair P31 are locked, and the 41st rotation pair R41 is driven to rotate, so that the mechanism moves to Figure 2 The mechanism configuration shown in the figure has three-dimensional movement and rotational freedom parallel to the X-axis.

[0044] exist Figure 1 In the shown mechanism configuration, the 41st rotation pair R41 is locked, the 11th movement pair P11, the 21st movement pair P21, and the 31st movement pair P31 are locked, and the 44th rotation pair R44 is driven to rotate, so that the mechanism moves to Figure 3 The mechanism configuration shown in the figure has three-dimensional movement and rotational freedom parallel to the Y-axis.

[0045] exist Figure 2 In the shown mechanism configuration, the eleventh movable pair P11 is driven to control the movement of the moving platform 9 along the Z axis; the twenty-first movable pair P21 is driven to control the movement of the moving platform 9 along the Y axis; the thirty-first movable pair P31 is driven to control the movement of the moving platform 9 along the X axis; the forty-first rotation pair R41 is driven to control the rotation of the moving platform 9 parallel to the X axis.

[0046] exist Figure 3 Under the shown mechanism configuration, the eleventh movable pair P11 is driven to control the movement of the moving platform 9 along the Z axis; the twenty-first movable pair P21 is driven to control the movement of the moving platform 9 along the Y axis; the thirty-first movable pair P31 is driven to control the movement of the moving platform 9 along the X axis; the forty-fourth rotation pair R44 is driven to control the rotation of the moving platform 9 parallel to the Y axis.

[0047] The above is only part of the embodiments of the present invention. Although some terms are used in the present invention, the possibility of using other terms is not excluded. The use of these terms is only for the convenience of describing and explaining the essence of the present invention. It is contrary to the spirit of the present invention to interpret them as any additional restrictions. The above is only to further illustrate the content of the present invention with examples for easier understanding, but it does not mean that the embodiments of the present invention are limited to this. Any technical extension or re-creation made according to the present invention is protected by the present invention.

Claims

1. A fully decoupled two-mode 3T1R parallel mechanism, characterized in that: It comprises a moving platform (9), a fixed platform (19), a first branch chain, a second branch chain, a third branch chain and a fourth branch chain; The first branch chain comprises an eleventh movable pair (P11), a first connecting rod (1), a twelfth movable pair (P12), a second connecting rod (2), a thirteenth movable pair (P13), a third connecting rod (3), a fourteenth rotating pair (R14), a fourth connecting rod (4) and a fifteenth rotating pair (R15) which are connected in sequence; the eleventh movable pair (P11) is connected to the fixed platform (19), and the fifteenth rotating pair (R15) is connected to the movable platform (9); The second branch chain comprises a twenty-first movable pair (P21), a fifth connecting rod (5), a twenty-second movable pair (P22), a sixth connecting rod (6), a twenty-third movable pair (P23), a seventh connecting rod (7), a twenty-fourth rotating pair (R24), an eighth connecting rod (8) and a twenty-fifth rotating pair (R25) which are connected in sequence; the twenty-first movable pair (P21) is connected to the fixed platform (19), and the twenty-fifth rotating pair (R25) is connected to the movable platform (9); The third branch chain comprises a thirty-first moving pair (P31), a thirteenth connecting rod (13), a thirty-second moving pair (P32), a twelfth connecting rod (12), a thirty-third moving pair (P33), an eleventh connecting rod (11), a thirty-fourth rotating pair (R34), a tenth connecting rod (10) and a thirty-fifth rotating pair (R35) which are connected in sequence; the thirty-first moving pair (P31) is connected to the fixed platform (19), and the thirty-fifth rotating pair (R35) is connected to the moving platform (9); The fourth branch chain comprises a forty-first rotating pair (R41), a forty-fourth rotating pair (R44) and a forty-seventh movable pair (P47); the forty-first rotating pair (R41) and the forty-fourth rotating pair (R44) are respectively connected to the fixed platform (19); the forty-seventh movable pair (P47) is connected to the movable platform (9); the forty-first rotating pair (R41) is connected to the seventeenth connecting rod (17); the seventeenth connecting rod (17) is connected to the forty-second rotating pair (R42); the forty-second rotating pair (R42) is connected to the seventeenth connecting rod (17); The sixteenth connecting rod (16) is connected to the forty-third rotating pair (R43), the forty-third rotating pair (R43) is connected to the eighteenth connecting rod (18), and the eighteenth connecting rod (18) is connected to the forty-fourth rotating pair (R44); at the same time, the sixteenth connecting rod (16) is sequentially connected to the forty-fifth moving pair (P45), the fifteenth connecting rod (15), the forty-sixth moving pair (P46) and the fourteenth connecting rod (14), and the fourteenth connecting rod (14) is connected to the forty-seventh moving pair (P47).

2. The fully decoupled two-mode 3T1R parallel mechanism according to claim 1, characterized in that: The eleventh movable pair (P11), the twenty-first movable pair (P21), the thirty-first movable pair (P31), the forty-first rotating pair (R41) and the forty-fourth rotating pair (R44) are all provided with driving motors.

3. The fully decoupled two-mode 3T1R parallel mechanism according to claim 1, characterized in that: The eleventh moving pair (P11), the twenty-second moving pair (P22), the thirty-second moving pair (P32) and the forty-fifth moving pair (P45) have the same direction.

4. The fully decoupled two-mode 3T1R parallel mechanism according to claim 1, characterized in that: The twelfth moving pair (P12), the twenty-first moving pair (P21), the thirty-third moving pair (P33) and the forty-seventh moving pair (P47) have the same direction.

5. The fully decoupled two-mode 3T1R parallel mechanism according to claim 1, characterized in that: The thirteenth moving pair (P13), the twenty-third moving pair (P23), the thirty-first moving pair (P31) and the forty-sixth moving pair (P46) have the same direction.

6. The fully decoupled two-mode 3T1R parallel mechanism according to claim 1, characterized in that: The fourteenth rotation pair (R14), the twenty-fifth rotation pair (R25), the thirty-fourth rotation pair (R34), the forty-second rotation pair (R42) and the forty-fourth rotation pair (R44) have the same direction.

7. The fully decoupled two-mode 3T1R parallel mechanism according to claim 1, characterized in that: The directions of the fifteenth rotation pair (R15), the twenty-fourth rotation pair (R24), the thirty-fifth rotation pair (R35), the forty-first rotation pair (R41) and the forty-third rotation pair (R43) are the same.

8. The working method of the fully decoupled two-mode 3T1R parallel mechanism according to any one of claims 1 to 7, characterized in that: include: Movement mode 1: Lock the 44th rotational pair (R44), the 11th mobile pair (P11), the 21st mobile pair (P21) and the 31st mobile pair (P31), drive the 41st rotational pair (R41) to rotate, and the mechanism has three-dimensional movement and rotational freedom parallel to the X-axis; Movement mode 2: Lock the 41st rotational pair (R41), the 11th movable pair (P11), the 21st movable pair (P21) and the 31st movable pair (P31), drive the 44th rotational pair (R44) to rotate, and the mechanism has three-dimensional movement and rotational freedom parallel to the Y axis.

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