Spatial three-translation and one-rotation parallel mechanism

Abstract

The utility model relates to a spatial parallel mechanism, in particular to a spatial three-translation and one-rotation parallel mechanism, which comprises a base, a moving platform and at least three branched chains, the moving platform is arranged above the base, and the at least three branched chains are connected between the moving platform and the base in parallel; each branch chain comprises a parallel four-connecting-rod support arm and a tail-end connecting rod, the lower end of the parallel four-connecting-rod support arm is hinged to the base, the upper end of the parallel four-connecting-rod support arm is hinged to one end of the tail-end connecting rod, the other end of the tail-end connecting rod is hinged to the movable platform, and the swing direction of the tail-end connecting rod is perpendicular to the swing direction of the parallel four-connecting-rod support arm and is parallel to the plane of the base; all the branch chains act synchronously, so that the movable platform can achieve three-degree-of-freedom translational motion and rotary motion around the vertical axis. The multi-branch parallel mechanism has the advantages that the movable branch chains are simple in movement and can be decoupled in movement, and the multi-branch parallel mechanism is small in degree of freedom and high in rigidity, and precision and quality of the mechanism in the operation process are easily guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to space parallel mechanism, especially in a kind of space three translations one rotation parallel mechanism. BACKGROUND

[0002] At present, space parallel mechanism has wide application in industrial fields such as handling, sorting, gluing, packaging and welding due to the characteristics of compact structure, less degree of freedom, easy integration, high motion speed etc. With the complex and changeable working conditions in modern production, more flexible or multi-degree-of-freedom parallel mechanism is needed to meet the work demand. However, the current SCARA robot has low rigidity, H4 parallel mechanism is prone to singular configuration, I4, Par4, He l i4, X4 and other three translations one rotation parallel mechanism still have problems such as complex structure, large volume, high motion coupling and complex control, which are difficult to meet the application requirements of lightweight, large load, simple control and working in unstructured environment. UTILITY MODEL CONTENT

[0003] In view of the above problems, the utility model aims at providing a kind of space three translations one rotation parallel mechanism to solve the problems of complex structure, large volume of existing parallel mechanism, difficult to apply in unstructured environment.

[0004] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0005] The utility model provides a kind of space three translations one rotation space parallel mechanism, including base, dynamic platform and at least three branch chains, wherein dynamic platform is arranged on the top of base, and at least three branch chains are parallel between dynamic platform and base;

[0006] The branch chain includes parallel four-bar linkage support arm and end link, the lower end of parallel four-bar linkage support arm is hinged with base, the upper end is hinged with one end of end link, the other end of end link is hinged with dynamic platform, and the swing direction of end link is perpendicular to the swing direction of parallel four-bar linkage support arm and parallel to the upper plane of base;

[0007] Each branch chain moves synchronously, and three-degree-of-freedom translational motion and one rotation motion around vertical axis of dynamic platform can be realized.

[0008] The branch chain is arranged circumferentially, and the parallel four-bar linkage support arms in each branch chain are not coplanar.

[0009] The parallel four-bar linkage support arm includes at least two sections of parallel four-bar linkage units connected in series.

[0010] The parallel four-bar linkage support arm includes first section of parallel four-bar linkage unit and second section of parallel four-bar linkage unit connected in series.

[0011] The first section parallel four-bar linkage unit comprises a branch chain link I, a branch chain link II and a branch chain link III, wherein the branch chain link I and the branch chain link II are arranged in parallel, and the lower ends of the branch chain link I and the branch chain link II are hingedly connected to the base, the upper ends of the branch chain link I and the branch chain link II are respectively hingedly connected to the two ends of the branch chain link III, and the branch chain link III is parallel to the base.

[0012] The second section parallel four-bar linkage unit comprises a branch chain link IV, a branch chain link V and a branch chain link VI, wherein the branch chain link IV and the branch chain link VI are arranged in parallel, and the lower ends thereof are respectively hingedly connected to the two ends of the branch chain link III, the upper ends of the branch chain link IV and the branch chain link VI are respectively hingedly connected to the two ends of the branch chain link V, the branch chain link V is parallel to the branch chain link III, the terminal link is parallel to the base, and one end of the terminal link is hingedly connected to the branch chain link V.

[0013] The driving components for driving the branch chains to move are arranged on the rotary joints of the branch chains.

[0014] The space three-translation one-rotation parallel mechanism has the advantages of small structure size, simple mechanism, simple control, strong load capacity, large rigidity and fast response speed, is suitable for unstructured environment, is easy to realize, and has a wide application range. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 Fig. 1 is a structural schematic view of the space three-translation one-rotation parallel mechanism of the utility model;

[0016] Fig. 2 Fig. 2 is a structural schematic view of the branch chain in the utility model.

[0017] In the figure, 1 is a base, 2 is a branch chain, 3 is a moving platform, 201 is a branch chain link I, 202 is a branch chain link II, 203 is a branch chain link III, 204 is a branch chain link IV, 205 is a branch chain link V, 206 is a branch chain link VI, 207 is a terminal link, S1 is a parallelogram mechanism rotation axis direction, S2 is a terminal link outside rotation axis direction, and S3 is a terminal link inside rotation axis direction. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme and advantages of the utility model more clear, the utility model is described in detail below by combining with the drawings and specific embodiments.

[0019] For example, Figs. 1-2As shown in the utility model provides a kind of space three parallel motion one rotation parallel mechanism, including pedestal 1, moving platform 3 and at least three branch chains 2, wherein moving platform 3 is arranged on the top of pedestal 1, and at least three branch chains 2 are parallel between moving platform 3 and pedestal 1;Branch chain 2 includes parallel four-bar linkage support arm and end link 207, and the lower end of parallel four-bar linkage support arm is hinged with pedestal 1, and the upper end is hinged with one end of end link 207, and the other end of end link 207 is hinged with moving platform 3, and the swing direction of end link 207 is perpendicular to the swing direction of parallel four-bar linkage support arm and parallel to the upper plane of pedestal 1.Each branch chain 2 swings synchronously, and three degrees of freedom translational motion and one rotation motion around vertical axis can be realized.

[0020] In the embodiment of the utility model, branch chain 2 is arranged along the circumference, and the parallel four-bar linkage support arms in each branch chain 2 are not coplanar, so as to ensure that each parallel four-bar linkage support arm can swing simultaneously. The number of branch chain 2 can be greater than three, to form a redundant constraint parallel mechanism, and the translational motion of moving platform 3 in three directions and the rotation motion around vertical axis can be realized after parallel connection of multiple branch chains 2.

[0021] Specifically, the parallel four-bar linkage support arm includes at least two sections of parallel four-bar linkage units connected in series.

[0022] As Fig. 2 shown in the embodiment of the utility model, the parallel four-bar linkage support arm includes first section of parallel four-bar linkage unit and second section of parallel four-bar linkage unit connected in series;First section of parallel four-bar linkage unit includes branch chain link I 201, branch chain link II 202 and branch chain link III 203, wherein branch chain link I 201 and branch chain link II 202 are arranged in parallel, and the lower ends thereof are hinged with pedestal 1, and the upper ends of branch chain link I 201 and branch chain link II 202 are respectively hinged with two ends of branch chain link III 203, and branch chain link III 203 is parallel to pedestal 1, and pedestal 1, branch chain link I 201, branch chain link II 202 and branch chain link III 203 form first section of parallel four-bar linkage unit.

[0023] The second section parallel four-bar linkage unit comprises a branch chain linkage IV 204, a branch chain linkage V 205 and a branch chain linkage VI 206, wherein the branch chain linkage IV 204 and the branch chain linkage VI 206 are arranged in parallel, and the lower ends thereof are hingedly connected to the two ends of the branch chain linkage III 203 respectively, the upper ends of the branch chain linkage IV 204 and the branch chain linkage VI 206 are hingedly connected to the two ends of the branch chain linkage V 205 respectively, the branch chain linkage V 205 is parallel to the branch chain linkage III 203, and the branch chain linkage III 203, the branch chain linkage IV 204, the branch chain linkage V 205 and the branch chain linkage VI 206 form the second section parallel four-bar linkage unit.

[0024] Further, a driving component for driving the branch chain 2 to move is arranged on the rotary joint of each branch chain 2. In the embodiment, the lower end joint of each branch chain 2 is connected with a motor arranged on the base 1, and the motor is used for driving the branch chain 2 to swing.

[0025] In the embodiment, three branch chains 2 are connected in parallel between the base 1 and the movable platform 3, the three branch chains 2 are arranged in the circumferential direction but are not parallel, and constitute a spatial parallel mechanism, so that the rigidity is large, thereby improving the stability in the movement process of the movable platform 3 and the reliability of the operation.

[0026] The working principle of the spatial three-translation one-rotation parallel mechanism is as follows:

[0027] Through the two series-connected parallel four-bar linkage arms, two-degree-of-freedom translational movement along the y and z directions is formed, and after the series connection of the end linkage 207 with two same-direction rotation pairs, the translational movement in the y and z directions and the rotational movement in the z direction are obtained. By distributing the three branch chains 2 along the circumferential direction, the three-translation one-rotation movement of the movable platform 3 is realized after the parallel connection of the multiple branch chains. The three driving motors are arranged on the rotary joints of the three branch chains 2 respectively, so that the spatial three-degree-of-freedom movement of the mechanism can be driven.

[0028] The spatial three-translation one-rotation parallel mechanism provided by the utility model realizes three-translation one-rotation movement by using the parallel transmission principle of the spatial linkage mechanism, and has the advantages of compact size, few degrees of freedom, large rigidity, simple control, strong load capacity, simple movement, low coupling degree and decoupling movement, etc., can easily ensure the precision and quality of the mechanism in the operation process, meets the application requirements of light weight, large load, simple control and operation in unstructured environment, and can be used for packaging production lines, feeding and discharging production lines, high-precision position adjustment platforms and the like, and improves the operation efficiency and safety.

[0029] The above merely illustrates the embodiments of the present application, and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A spatial 3-translation-1-rotation parallel mechanism, characterized in that, The device comprises a base (1), a moving platform (3) and at least three branch chains (2), wherein the moving platform (3) is arranged above the base (1), and the at least three branch chains (2) are connected in parallel between the moving platform (3) and the base (1); Each branch chain (2) comprises a parallel four-bar linkage branch arm and a terminal connecting rod (207), the lower end of the parallel four-bar linkage branch arm is hinged to the base (1), the upper end of the parallel four-bar linkage branch arm is hinged to one end of the terminal connecting rod (207), the other end of the terminal connecting rod (207) is hinged to the moving platform (3), and the swinging direction of the terminal connecting rod (207) is perpendicular to the swinging direction of the parallel four-bar linkage branch arm and parallel to the upper plane of the base (1); The branch chains (2) are arranged in a circumferential direction, and the parallel four-bar linkage branch arms in each branch chain (2) are not coplanar.

2. The spatial 3-translation-1-revolution parallel mechanism according to claim 1, characterized in that, The parallel four-bar linkage branch arm comprises at least two serially connected parallel four-bar linkage units.

3. The spatial 3-translation-1-revolution parallel mechanism according to claim 1, wherein, The parallel four-bar linkage branch arm comprises a first parallel four-bar linkage unit and a second parallel four-bar linkage unit connected in series.

4. The spatial 3-translation-1-revolution parallel mechanism according to claim 3, wherein, The first parallel four-bar linkage unit comprises a branch chain connecting rod I (201), a branch chain connecting rod II (202) and a branch chain connecting rod III (203), wherein the branch chain connecting rod I (201) and the branch chain connecting rod II (202) are arranged in parallel, and the lower ends of the branch chain connecting rod I (201) and the branch chain connecting rod II (202) are hinged to the base (1), the upper ends of the branch chain connecting rod I (201) and the branch chain connecting rod II (202) are hinged to the two ends of the branch chain connecting rod III (203), and the branch chain connecting rod III (203) is parallel to the base (1). The second parallel four-bar linkage unit comprises a branch chain connecting rod IV (204), a branch chain connecting rod V (205) and a branch chain connecting rod VI (206), wherein the branch chain connecting rod IV (204) and the branch chain connecting rod VI (206) are arranged in parallel, and the lower ends thereof are hinged to the two ends of the branch chain connecting rod III (203), respectively, the upper ends of the branch chain connecting rod IV (204) and the branch chain connecting rod VI (206) are hinged to the two ends of the branch chain connecting rod V (205), respectively, the branch chain connecting rod V (205) is parallel to the branch chain connecting rod III (203), the terminal connecting rod (207) is parallel to the base (1), and one end of the terminal connecting rod (207) is hinged to the branch chain connecting rod V (205).

5. The spatial 3-translation-1-revolution parallel mechanism according to claim 4, wherein, A driving component for driving the movement of the branch chain (2) is arranged on the rotary joint of each branch chain (2).

6. The spatial 3-translation-1-revolution parallel mechanism according to claim 1, wherein, ​

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