Spatial three-degree-of-freedom translation mechanism

Abstract

The utility model relates to a spatial parallel mechanism, in particular to a spatial three-degree-of-freedom translation mechanism. Comprising a base, a movable platform and at least three branch chains, the movable platform is arranged above the base, and the at least three branch chains are connected between the movable platform and the base in parallel; each branch chain comprises a parallel four-connecting-rod supporting arm and a tail-end connecting rod, the lower end of each parallel four-connecting-rod supporting arm is hinged to the base, the upper end of each parallel four-connecting-rod supporting arm is hinged to one end of the corresponding tail-end connecting rod, the other end of each tail-end connecting rod is hinged to the movable platform, and the swing direction of each tail-end connecting rod is perpendicular to the swing direction of the corresponding parallel four-connecting-rod supporting arm. And the three-degree-of-freedom translational motion of the movable platform is realized. 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 degrees of freedom translational 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 and the like. 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 requirements. Compared with multi-degree-of-freedom parallel mechanism such as six degrees of freedom, three-degree-of-freedom parallel mechanism has larger working space, simpler structure, lower cost and wider application range. Therefore, three-degree-of-freedom parallel mechanism has a large demand in the market and is widely used in training simulation simulator design, complex machine assembly and the like. However, the current Delta parallel robot, such as 2-CRR-SPS, 3-RRRT, 3-PRRU and 3-RRRP (4R) type three translational parallel mechanism, still has problems such as complex structure, large volume, high motion coupling and complex control, which is difficult to meet the application requirements of lightweight, large load, simple control and working in unstructured environment. SUMMARY

[0003] In view of the above problems, the purpose of the utility model is to provide a kind of space three degrees of freedom translational mechanism, to solve the problems that existing parallel mechanism is complex in structure, large in volume and difficult to be applied 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 degrees of freedom translational mechanism, including base, dynamic platform and at least three branch chains, wherein the dynamic platform is arranged on the top of the base, and the at least three branch chains are connected in parallel between the dynamic platform and the base.

[0006] The branch chain includes a parallel four-bar linkage support arm and a terminal connecting rod, the lower end of the parallel four-bar linkage support arm is hinged to the base, the upper end is hinged to one end of the terminal connecting rod, the other end of the terminal connecting rod is hinged to the dynamic platform, and the swing direction of the terminal connecting rod is perpendicular to the swing direction of the parallel four-bar linkage support arm.

[0007] Each branch chain moves synchronously to realize three-degree-of-freedom translational motion of the dynamic platform.

[0008] The branch chains are arranged in a circumferential direction, and the swing directions of the parallel four-bar linkage support arms in at least two branch chains are different.

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

[0010] The parallel four-bar linkage branch arm comprises a first section parallel four-bar linkage unit and a second section 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 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 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, and the lower end of the terminal link is hingedly connected to the branch chain link V.

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

[0014] The space three-degree-of-freedom translation 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-degree-of-freedom translation 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-base, 2-branch chain, 3-moving platform, 201-branch chain link I, 202-branch chain link II, 203-branch chain link III, 204-branch chain link IV, 205-branch chain link V, 206-branch chain link VI, 207-terminal link, S1-parallel quadrilateral mechanism rotation axis direction, S2-terminal link lower rotation axis direction, S3-terminal link upper 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 degrees of freedom translation 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, at least three branch chains 2 are parallel between moving platform 3 and pedestal 1, can realize three degrees of freedom translation movement;Branch chain 2 includes parallel four-bar linkage support arm and end link 207, the lower end of parallel four-bar linkage support arm is hinged with pedestal 1, the upper end is hinged with one end of end link 207, 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, each branch chain 2 synchronous action, realize the three degrees of freedom translation movement of moving platform 3.

[0020] In the embodiment of the utility model, branch chain 2 is arranged along the circumference, and the swing directions of parallel four-bar linkage support arms in at least two branch chains 2 are different to constrain the rotational degree of freedom mutually.The number of branch chain 2 can be greater than 3, to form redundant constraint three degrees of freedom parallel mechanism, after parallel of multiple branch chains 2, realize the translation movement of moving platform 3 in three directions.

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

[0022] As Fig. 2 As shown in the embodiment of the utility model, 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 end is hinged with pedestal 1, the upper end of branch chain link I 201 and branch chain link II 202 is respectively hinged with both ends of branch chain link III 203, branch chain link III 203 is parallel with pedestal 1, 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] Second section of parallel four-bar linkage unit includes branch chain link IV 204, branch chain link V 205 and branch chain link VI 206, wherein branch chain link IV 204 and branch chain link VI 206 are arranged in parallel, and the lower end is respectively hinged with both ends of branch chain link III 203, the upper end of branch chain link IV 204 and branch chain link VI 206 is respectively hinged with both ends of branch chain link V 205, branch chain link V 205 is parallel with branch chain link III 203, branch chain link III 203, branch chain link IV 204, branch chain link V 205 and branch chain link VI 206 form second section of parallel four-bar linkage unit.The lower end of end link 207 is hinged with branch chain link V 205, end link 207 rotates in the direction perpendicular to parallel four-bar linkage support arm, i.e. end link lower rotary axis direction S2 and end link upper rotary axis direction S3 are same, and parallel with x axis.Parallelogram mechanism rotary axis direction S1 is parallel with y axis.

[0024] Further, each rotary joint of each branch chain 2 is provided with a driving component for driving the movement of the branch chain 2. In the embodiment, the driving component is a hydraulic rod push rod element arranged on any rotary joint of the branch chain 2, and the hydraulic rod push rod element drives the branch chain 2 to swing.

[0025] In the embodiment, three branch chains 2 are connected in parallel between the base 1 and the moving platform 3, and the three branch chains 2 are arranged in a circumferential direction but are not parallel, thereby forming a spatial parallel mechanism, which has large rigidity, thereby improving the stability during the movement of the moving platform 3 and the reliability of the operation.

[0026] The working principle of the spatial three-degree-of-freedom translation mechanism is as follows:

[0027] Through the two series-connected parallel four-bar linkage arms, two-degree-of-freedom translation movement along the x and z directions is formed, and after the series connection of the end link 207 with two same-direction rotating pairs, the translation in the x, y and z directions and the rotation in the y direction are obtained. By distributing the three branch chains 2 along the circumferential direction, as long as at least two of the three branch chains 2 are not coplanar, the y-direction rotation freedom of different branch chains 2 relative to itself will be constrained, and the x, y and z directions of the moving platform 3 are 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-degree-of-freedom translation mechanism provided by the utility model realizes three-degree-of-freedom translation 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 of movement, etc., and is easy to ensure the precision and quality of the mechanism during operation. The utility model satisfies the application requirements of light weight, large load, simple control and operation in unstructured environment, and can be used in packaging production lines, feeding and discharging production lines, high-precision position adjustment platforms, etc., and improves the operation efficiency and safety.

[0029] The above only describes the embodiments of the utility model, and is not used to limit the protection scope of the utility model. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the utility model are included in the protection scope of the utility model.

Claims

1. A spatial three degree of freedom translational mechanism, characterized by, 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); The 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 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; The branch chains (2) are arranged in a circumferential direction, and the swinging directions of the parallel four-bar linkage branch arms in at least two of the branch chains (2) are different.

2. The spatial three degree of freedom translational mechanism of claim 1, wherein, The parallel four-bar linkage branch arm comprises at least two parallel four-bar linkage units connected in series.

3. The spatial three degree of freedom translational mechanism of 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 three degree of freedom translational mechanism of 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 thereof 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 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 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 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), and the lower end of the terminal connecting rod (207) is hinged to the branch chain connecting rod V (205).

5. The spatial three degree of freedom translational mechanism of 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 three degree of freedom translational mechanism of claim 1, wherein, ​

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