Single-loop two-branched-chain three-translational parallel robot

Abstract

The application relates to the technical field of three-dimensional motion mechanisms, in particular to a single-loop two-branch-chain three-translational parallel robot, which comprises a static platform, a dynamic platform, a simple branch chain one and a simple branch chain two, the simple branch chain one is composed of a moving pair one, a rotating pair one, a rotating pair two and a rotating pair three which are sequentially connected in series, the simple branch chain two is composed of a moving pair two, a rotating pair four, a rotating pair five and a rotating pair six which are sequentially connected in series, one end of the dynamic platform is connected with the rotating pair three, and the other end is connected with the rotating pair six, the moving pair one and the moving pair two are arranged on the static platform, and the moving direction of the moving pair one is perpendicular to the moving direction of the moving pair two, the application is composed of only two simple branch chains to form a loop, the required part quantity is small, the cost can be reduced, and the application has obvious advantages such as simple structure, convenient design and manufacture which are composed of only rotating pairs and moving pairs, difficulty in interference between the branch chains, large working space and the like; meanwhile, the application has motion decoupling and symbolic position direct solution.

Description

Technical Field

[0001] This invention relates to the field of three-dimensional motion mechanism technology, and in particular to a single-loop, two-branch, three-translational parallel robot. Background Technology

[0002] With the development of the robotics and equipment industry, parallel robot mechanisms, as the most active branch in the field of robot mechanism science, have received attention and favor from the academic and industrial communities at home and abroad. Patents with publication numbers CN106289696A, CN109015597A, CN102350696A, CN110142746A and CN109129437A have all proposed three-translational parallel mechanisms. However, existing three-translational parallel mechanisms are composed of two or more loops, containing at least three simple branches or one or more mixed branches. The more loops there are, the more parts are required, resulting in higher costs. Moreover, the structure of the three-translational parallel mechanism will inevitably become more complex, and the branches are prone to interference and the working space is small. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: in order to solve the problems of existing three-translation parallel mechanisms consisting of two or more loops, which inevitably require a large number of parts, resulting in high cost, complex structure, easy interference between branches and small working space, the present invention provides a single-loop two-branch three-translation parallel robot.

[0004] The technical solution adopted by the present invention to solve its technical problem is: a single-loop two-branch three-translational parallel robot, including a static platform, a moving platform, a simple branch one and a simple branch two, wherein the simple branch one and the simple branch two are both connected between the static platform and the moving platform, and the simple branch one is composed of a prismatic joint one, a revolute joint one, a revolute joint two and a revolute joint three connected in sequence, wherein the moving direction of the prismatic joint one, the axis of the revolute joint one, the axis of the revolute joint two and the axis of the revolute joint three are parallel to each other;

[0005] The simple branch 2 consists of a sliding joint 2, a rotating joint 4, a rotating joint 5, and a rotating joint 6 connected in series. The moving direction of the sliding joint 2, the axis of the rotating joint 4, the axis of the rotating joint 5, and the axis of the rotating joint 6 are parallel to each other.

[0006] One end of the moving platform is connected to the third rotating joint and the other end is connected to the sixth rotating joint. The axis of the third rotating joint is perpendicular to the axis of the sixth rotating joint, and the axis of the third rotating joint passes through the axis of the sixth rotating joint. The first and second sliding joints are both set on the stationary platform, and the moving direction of the first sliding joint is perpendicular to the moving direction of the second sliding joint.

[0007] Furthermore, the three-translational parallel robot has three degrees of freedom;

[0008] When the first and second prismatic joints on the stationary platform are taken as driving joints, and the first or fourth revolute joint is taken as the driving joint, the moving platform has output motion of three-dimensional spatial movement.

[0009] Furthermore, the moving direction of the first sliding joint is parallel to the Y-axis direction, the moving direction of the second sliding joint is parallel to the X-axis direction, and the X-axis direction, Y-axis direction, and Z-axis direction are perpendicular to each other.

[0010] The input of the first prismatic joint determines the displacement of the moving platform in the Y-axis direction, while the input of the second prismatic joint determines the displacement of the moving platform in the X-axis direction. The input of the first or fourth rotary joint, which serves as the driving joint, determines the displacement of the moving platform in the Z-axis direction.

[0011] The beneficial effects of the present invention are: the single-loop two-branch three-translational parallel robot three-translational parallel mechanism of the present invention consists of only two simple branches forming a loop, requiring fewer parts, reducing costs, and has obvious advantages such as simple structure, convenient design and manufacturing (composed purely of revolute joints and prismatic joints), less interference between branches, and large working space; at the same time, it has motion decoupling and symbolic position correct solution. Attached Figure Description

[0012] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0013] Figure 1 This is a schematic diagram of the single-loop, two-branch, three-translational parallel robot of the present invention.

[0014] In the diagram: 0 represents the static platform, and 1 represents the dynamic platform;

[0015] I. Simple branch one; II. Simple branch two;

[0016] P 11 , Moving secondary one, R 12 Rotating joint 1, R 13 Rotating joint two, R 14 Rotating joint three;

[0017] P 21 1. Moving secondary, R 22 Rotating joint four, R 23 Rotating joint five, R 24 Rotating pair six. Detailed Implementation

[0018] The invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention in a schematic manner. Therefore, they only show the components relevant to the invention, and the orientations and references (e.g., up, down, left, right, etc.) are only used to aid in the description of the features in the drawings. Therefore, the following specific embodiments are not intended to be limiting, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.

[0019] like Figure 1 As shown, a single-loop, two-branch, three-translational parallel robot includes a static platform 0, a moving platform 1, a simple branch I, and a simple branch II. Both simple branch I and simple branch II are connected between the static platform 0 and the moving platform 1. Specifically, one end of simple branch I is connected to the static platform 0, and the other end is connected to the moving platform 1. Similarly, one end of simple branch II is connected to the static platform 0, and the other end is connected to the moving platform 1. Simple branch I is composed of sequentially connected prismatic joints P. 11 Rotating joint R 12 Rotating pair 2R 13 and rotating joint three R 14 Composition, moving sub-P 11 The direction of movement, the rotational joint R 12 The axis, the revolute joint R 13 The axis and the three-axis revolute joint 14 The axes are parallel to each other;

[0020] Simple branch II consists of sequentially connected mobilizing joints IIP. 21 Rotating pair four R 22 Rotating joint five R 23 and rotating joint six R 24 Composition, moving sub-P 21 The direction of movement, the rotational joint of the four R 22 The axis, the five-axis revolute joint 23 The axis and the six-axis revolute joint 24 The axes are parallel to each other;

[0021] One end of the moving platform 1 is connected to the rotating joint three R 14 Connect the other end to the revolute joint 6R 24 Connect, rotating joint three R 14 The axis is perpendicular to the six-axis revolute joint. 24 The axis, and the rotating joint three R 14 The axis passes through the six-axis revolute joint. 24 The axis, the sliding joint P 11 and mobile secondary P 21 All are set on the static platform 0, and the moving part is P. 11 The direction of movement and the movement pair P 21 The direction of movement is perpendicular.

[0022] In some examples, the three-translational parallel robot has three degrees of freedom; when the translating pair P on the stationary platform 0 is taken as an example. 11 and mobile secondary P 21 For a driving joint, and taking a revolute joint as R... 12 Or rotate the secondary four R 22 When driven by the auxiliary platform, the moving platform 1 has output motion for three-dimensional spatial movement.

[0023] In some examples, the moving sub-P 11 The direction of movement is parallel to the Y-axis direction, and the prismatic joint is P. 21 The direction of movement is parallel to the X-axis, and the X-axis, Y-axis, and Z-axis are perpendicular to each other;

[0024] Mobile Sub-P 11 The input determines the displacement of the moving platform 1 in the Y-axis direction, and the prismatic joint P... 11 The input refers to the moving pair P. 11 Displacement in the Y-axis direction;

[0025] Mobile secondary P 21 The input determines the displacement of the moving platform 1 in the X-axis direction; the prismatic joint P 21 The input refers to the moving pair P. 21 Displacement in the X-axis direction;

[0026] And the rotating joint R, which serves as the driving pair, 12 Or rotate the secondary four R 22 The input determines the displacement of the moving platform 1 in the Z-axis direction;

[0027] That is, the moving sub-P 11 Mobile secondary P 21 and revolute joint R 12 When driven by the rotating joint, the moving platform 1 has output motion for three-dimensional spatial movement, and the rotating joint R... 12 The input determines the displacement of the moving platform 1 in the Z-axis direction, and the revolute joint R... 12 The input is rotation about its own axis;

[0028] Or, move secondary P 11 Mobile secondary P 21 and rotating joint four R 22 When driven by the rotating joint, the moving platform 1 has output motion for three-dimensional spatial movement, and the four rotating joints R 22 The input determines the displacement of the moving platform 1 in the Z-axis direction, and the rotary joint R... 22 The input is rotation about its own axis;

[0029] This three-translational parallel mechanism consists of only two simple branches forming a loop, requiring fewer parts and having lower cost. It also has significant advantages such as simple structure, convenient design and manufacturing (composed purely of revolute and prismatic joints), less interference between branches, and large working space. At the same time, it has motion decoupling and symbolic position correct solution.

[0030] Compared with other three-translational parallel mechanisms, this three-translational parallel mechanism has the following advantages: 1) It consists only of lower pairs, with a simpler structure, easier manufacturing, and simpler installation; 2) It is less prone to interference between simple branch I and simple branch II; 3) The motion has partial motion decoupling, making it easy to obtain the symbolic positive position solution, thus making the kinematics, motion control, trajectory planning, and dynamic analysis of this three-translational parallel mechanism easy and convenient; 4) It has a large workspace and a wide range of motion for the moving platform 1.

[0031] The above description, based on the preferred embodiments of the present invention, provides inspiration. Those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification but must be determined according to the claims.

Claims

1. A single-loop, two-branch, three-translational parallel robot, comprising a static platform (0), a moving platform (1), a simple branch one (I), and a simple branch two (II), wherein the simple branch one (I) and the simple branch two (II) are both connected between the static platform (0) and the moving platform (1), characterized in that: The simple branch I (I) consists of sequentially connected locating pairs I (P) 11 ), Rotary joint 1 (R) 12 ), Rotary joint two (R) 13 ) and rotating joint three (R 14 Composed of, the moving pair one (P) 11 The direction of movement of ) and the rotational joint 1 (R) 12 The axis of the revolute joint (R) 13 The axis of the revolute joint and the third revolute joint (R) 14 The axes of the two structures are parallel to each other. The simple branch II (Ⅱ) consists of sequentially connected movable joints II (P) 21 ), Rotary joint four (R) 22 ), Rotary joint five (R) 23 ) and rotating joint six (R 24 Composed of, the second movable sub-pair (P) 21 The direction of movement of the fourth revolute joint (R) 22 The axis of the revolute joint (R) 23 The axis of the revolute joint and the sixth revolute joint (R) 24 The axes of the two structures are parallel to each other. One end of the moving platform (1) is connected to the rotating joint (R). 14 The other end is connected to the revolute joint (R). 24 ) connection, the revolute joint three (R 14 The axis of ) is perpendicular to the revolute joint (R) 24 The axis of the rotation joint (R) and the rotation joint three (R) 14 The axis of ) passes through the revolute joint six (R) 24 The axis of the moving pair (P) 11 ) and moving secondary (P) 21 All are set on the static platform (0), and the moving pair (P) is set on the static platform (0). 11 The direction of movement and the movement of the second subunit (P) 21 The direction of movement is perpendicular; The three-translational parallel robot has three degrees of freedom. When the moving pair (P) on the stationary platform (0) 11 ) and moving secondary (P) 21 ) is the driving pair, and the revolute pair is taken as (R) 12 ) or rotating pair four (R 22 When ) is the driving pair, the moving platform (1) has output motion of three-dimensional spatial movement.

2. The single-loop, two-branch, three-translational parallel robot according to claim 1, characterized in that: The moving pair one (P) 11 The direction of movement of the second prismatic joint (P) is parallel to the Y-axis direction. 21 The direction of movement is parallel to the X-axis, and the X-axis, Y-axis and Z-axis are perpendicular to each other; The moving pair one (P) 11 The input of ) determines the displacement of the moving platform (1) in the Y-axis direction, while the prismatic pair (P) 21 The input of ) determines the displacement of the moving platform (1) in the X-axis direction, while the revolute joint (R) which is the driving joint 12 ) or rotating pair four (R 22 The input of ) determines the displacement of the moving platform (1) in the Z-axis direction.

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