Joint coupling structure of reconfigurable parallel mechanism

Abstract

The utility model relates to the technical field of reconfigurable parallel mechanisms, in particular to a joint coupling structure of a reconfigurable parallel mechanism, which comprises an upper support leg and a lower support leg, the upper support leg is of a square tube type structure, a hinge seat is fixedly arranged at the upper end of the lower support leg, a hinge head is rotatably connected inside the hinge seat through a pin shaft, and the upper support leg is fixedly arranged on the ring surface of the hinge head. An incomplete outer gear ring is installed on the annular face of the hinged head, an ejector rod is vertically arranged in the lower supporting leg, the upper end of the ejector rod penetrates through the hinged base and is fixedly provided with a toothed plate which is of an arc-shaped structure and matched with the outer gear ring, a rotatable threaded lead screw is transversely arranged in the lower supporting leg, a sliding sleeve is connected to the threaded lead screw through threads, and a stepping motor is installed on the left side of the lower supporting leg. Through effective locking of the locking structure, the rigidity and the bearing capacity of the mechanism can be improved, more application scenes with high requirements are met, good reconfigurability is kept while the rigidity and the bearing capacity are enhanced, and the mechanism can flexibly adapt to different operation requirements.

Description

TECHNICAL FIELD

[0001] The utility model relates to reconfigurable parallel mechanism technical field, specifically, a reconfigurable parallel mechanism's joint coupling structure is related. BACKGROUND

[0002] Reconfigurable parallel mechanism is a kind of special parallel robot mechanism, it can change its structural configuration without the aid of external tool, to adapt to different work tasks or working environment.The advantage of this mechanism is flexibility and adaptability, can realize different movement mode or working space by changing connecting rod length, changing joint type or changing branch chain configuration etc.

[0003] Reconfigurable parallel mechanism due to its flexibility and versatility, in industrial robot, aerospace, medical rehabilitation equipment etc.Various fields have wide application.However, the existing reconfigurable parallel mechanism often has the problem of insufficient rigidity and poor bearing capacity in joint coupling structure, especially when needing to bear large load operation, these problems are particularly prominent.Therefore, it is particularly important to develop a structure that can lock the joint coupling place when necessary to improve the rigidity and bearing capacity of mechanism. SUMMARY

[0004] In view of the existing deficiencies, the utility model provides a reconfigurable parallel mechanism's joint coupling structure, solves the problem raised in the above background technology, realizes the effective locking of hinged place by the locking mechanism set, to greatly improve the rigidity and bearing capacity of mechanism.

[0005] To achieve the above object, the technical scheme adopted by the utility model is as follows:

[0006] A reconfigurable parallel mechanism's joint coupling structure, including upper branch leg and lower branch leg, the lower branch leg is square tube type structure, its upper end is fixedly provided with hinged seat, the hinged seat is rotatably connected with hinged joint in the inside by pin shaft, the hinged joint ring surface is fixedly provided with upper branch leg, the hinged joint ring surface is installed with incomplete outer gear ring, the lower branch leg is vertically provided with top rod in the inside, its upper end penetrates hinged seat and is fixedly provided with the tooth plate of arc structure and with the outer gear ring is adapted, the lower branch leg is horizontally provided with rotatable screw thread screw rod in the inside, the screw thread screw rod is connected with sliding sleeve by thread on it, the lower branch leg left side is installed with step motor, and the step motor output end is fixedly connected with screw thread screw rod left end.

[0007] Further, the top rod is fixedly provided with a baffle near the lower end, a compression spring is sleeved on the top rod between the baffle and the hinged seat, and the compression spring is always in compression state.

[0008] Further, the sliding sleeve is provided as a conical structure, and the diameter of the left end is larger than that of the right end.

[0009] Further, the lower end of the ejector rod is embedded with a rotatable micro roller, and the sliding sleeve is provided with a limiting groove matched with the micro roller, and the micro roller is clamped into the limiting groove and connected with the limiting groove through rolling.

[0010] Further, the outer side of the hinged seat is provided with a supporting guide ring, the lower end of the supporting guide ring is fixedly connected to the lower supporting leg, the inner side of the upper supporting leg is provided with a through groove matched with the supporting guide ring, and the supporting guide ring passes through the through groove in the inner side of the upper supporting leg.

[0011] Further, the inner wall of the through groove is embedded with a plurality of groups of freely rotatable rolling balls on the upper and lower sides, the upper and lower sides of the supporting guide ring are provided with guiding sliding grooves matched with the rolling balls, and the rolling balls are clamped into the guiding sliding grooves and connected with the guiding sliding grooves through rolling.

[0012] Compared with the prior art, the utility model has the following beneficial effects:

[0013] 1. The utility model discloses a locking structure, which can improve the rigidity and carrying capacity of the mechanism, meet more high requirement application scenes, and maintain good reconfigurability while enhancing the rigidity and carrying capacity, so that the mechanism can flexibly adapt to different operation requirements.

[0014] 2. The utility model discloses a compression spring, which can always provide a downward pre-stress for the ejector rod, push the ejector rod to move downward, make the lower end of the ejector rod always abut against the sliding sleeve, and ensure that the ejector rod can move up and down along the translation of the sliding sleeve.

[0015] 3. The utility model discloses a rolling connection between the micro roller and the limiting groove, which reduces the frictional resistance, makes the movement of the ejector rod in the sliding sleeve more smooth, and effectively prevents jamming.

[0016] 4. The utility model discloses a supporting guide ring, which enhances the connection stability between the upper supporting leg and the lower supporting leg, prevents the upper supporting leg from deviating or shaking during rotation, and ensures the overall stability of the mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 It is the whole structure schematic view of the utility model.

[0018] Fig. 2 It is another angle structure schematic view of the utility model.

[0019] Fig. 3 It is the partial sectional view of the utility model.

[0020] Fig. 4 It is the internal structure schematic view of the lower support leg in the utility model.

[0021] Fig. 5 It is the structure schematic view of the upper support leg and the support guide ring in the utility model.

[0022] In the drawing: 1, upper support leg;2, support guide ring;3, hinged seat;4, lower support leg;5, step motor;6, pin shaft;7, hinged head;8, outer gear ring;9, toothed plate;10, top rod;11, compression spring;12, baffle;13, micro roller;14, threaded screw;15, sliding sleeve;16, limit groove;17, guide sliding slot;18, ball;19, through groove. DETAILED DESCRIPTION

[0023] The technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0024] Embodiment:

[0025] As Figs. 1 to 5 shown, a joint coupling structure of reconfigurable parallel mechanism includes upper support leg 1 and lower support leg 4, the lower support leg 4 is square tube structure, the upper end is fixedly provided with hinged seat 3, the hinged seat 3 is rotatably connected with hinged head 7 by pin shaft 6 inside, the hinged head 7 ring surface is fixedly provided with upper support leg 1, the hinged head 7 ring surface is installed with incomplete outer gear ring 8, the lower support leg 4 is vertically provided with top rod 10 inside, the upper end penetrates hinged seat 3 and is fixedly provided with toothed plate 9 of arc structure and is adapted with outer gear ring 8, the lower support leg 4 is horizontally provided with rotatable threaded screw 14 inside, the threaded screw 14 is connected with sliding sleeve 15 by thread on it, the lower support leg 4 left side is installed with step motor 5, and the step motor 5 output end is fixedly connected with threaded screw 14 left end, which solves the problem of insufficient rigidity and poor bearing capacity of existing reconfigurable parallel mechanism on joint coupling structure.

[0026] In the embodiment, the top rod 10 is fixed with a baffle 12 near the lower end, and a compression spring 11 is sleeved on the top rod 10 between the baffle 12 and the hinged seat 3, and the compression spring 11 is always in a compressed state. The design can always provide a downward pre-stress for the top rod 10 through the compression spring 11, and push the top rod 10 to move downward, so that the lower end of the top rod 10 is always in contact with the sliding sleeve 15.

[0027] In the embodiment, the sliding sleeve 15 is designed in a conical cylinder structure, and the diameter of the left end is larger than that of the right end. The conical cylinder structure makes the sliding sleeve 15 more uniform and efficient in force transmission. Since the diameter of the sliding sleeve 15 gradually decreases from left to right, when the stepper motor 5 drives the threaded lead screw 14 to rotate, the sliding sleeve 15 can more smoothly transmit the force to the top rod 10 and the toothed plate 9, reducing the loss of force and unstable factors in the transmission process. The design of the conical cylinder sliding sleeve 15 makes it more flexible in installation and adjustment. Since the diameter of the sliding sleeve 15 is variable, the contact point between the sliding sleeve 15 and the top rod 10 can be changed by adjusting the position of the sliding sleeve 15 on the threaded lead screw 14, thereby realizing the up and down movement of the top rod 10, driving the toothed plate 9 to realize locking and unlocking.

[0028] In the embodiment, the lower end of the top rod 10 is embedded with a rotatable micro-roller 13, and the sliding sleeve 15 is provided with a limiting groove 16 matched with the micro-roller 13, and the micro-roller 13 is clamped into the limiting groove 16 and connected with it in rolling connection. The rolling connection between the micro-roller 13 and the limiting groove 16 reduces the friction resistance, making the movement of the top rod 10 in the sliding sleeve 15 more smooth and effectively preventing jamming. At the same time, the limiting groove 16 limits the micro-roller 13, so that the top rod 10 and the sliding sleeve 15 always maintain a stable connection relationship, ensuring the effectiveness of transmission.

[0029] In the embodiment, the hinged seat 3 is provided with a support guide ring 2 outside, and the lower end of the support guide ring 2 is fixedly connected to the lower leg 4. The upper leg 1 is provided with a through groove 19 matched with the support guide ring 2 inside, and the support guide ring 2 passes through the through groove 19 inside the upper leg 1. The presence of the support guide ring 2 enhances the connection stability between the upper leg 1 and the lower leg 4, prevents the upper leg 1 from deviating or shaking during rotation, and ensures the overall stability of the mechanism.

[0030] In the embodiment, a plurality of groups of freely rotatable rolling balls 18 are embedded on the inner wall of the through groove 19 on both sides, a guide sliding groove 17 adapted to the rolling balls 18 is formed on the upper and lower sides of the support guide ring 2, and the rolling balls 18 can be connected with the guide sliding groove 17 in rolling. The rolling balls 18 cooperating with the guide sliding groove 17 significantly reduces the frictional resistance, so that the support guide ring 2 slides more smoothly in the through groove 19, and plays a role of reducing friction and providing guidance. The rolling connection of the rolling balls 18 and the guide sliding groove 17 provides stronger guidance for the upper support leg 1. The rolling of the rolling balls 18 in the guide sliding groove 17 ensures that the upper support leg 1 can move along the predetermined trajectory during rotation, avoiding deviation or shaking.

[0031] The working principle of the joint coupling structure of the reconfigurable parallel mechanism is as follows:

[0032] In normal use, the upper support leg 1 is connected with the lower support leg 4 through the hinge joint 7, and rotates while the upper support leg 1 rotates along the support guide ring 2. The existence of the support guide ring 2 enhances the connection stability between the upper support leg 1 and the lower support leg 4, prevents the upper support leg 1 from deviating or shaking during rotation, and ensures the overall stability of the mechanism. When it is necessary to lock the relative position between the upper support leg 1 and the lower support leg 4, the step motor 5 drives the threaded lead screw 14 to rotate. Since the sleeve 15 is connected with the threaded lead screw 14 through threads, the sleeve 15 will move axially along the threaded lead screw 14 and approach the top rod 10 to the right. During the movement of the sleeve 15 with the conical cylinder structure, the part with gradually increasing diameter will contact the top rod 10 and gradually transmit force to the top rod 10, pushing the top rod 10 to move upward. The push rod drives the toothed plate 9 to move upward, so that the toothed plate 9 is engaged with the external gear ring 8 on the hinge joint 7, thereby achieving locking. When unlocking is needed, the step motor 5 reversely drives the threaded lead screw 14 to rotate, and the sleeve 15 moves to the left, gradually releasing the pressure on the top rod 10. Under the action of the compression spring 11, the top rod 10 moves downward, and the toothed plate 9 gradually separates from the external gear ring 8, achieving unlocking.

[0033] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the utility model, and are not a limitation on the embodiments of the utility model. For ordinary skilled in the art, other different forms of changes or variations can be made on the basis of the above description, and all the embodiments cannot be exhausted here. Any obvious changes or variations derived from the technical solutions of the utility model still fall within the protection scope of the utility model.

Claims

1. A joint coupling structure of a reconfigurable parallel mechanism, comprising an upper branch leg (1) and a lower branch leg (4), characterized in that: The lower leg (4) is a square tube structure, the upper end of which is fixedly provided with a hinge seat (3), the hinge seat (3) is rotatably connected with a hinge joint (7) through a pin shaft (6) inside, the hinge joint (7) is fixedly provided with an upper leg (1) on the ring surface, the hinge joint (7) is mounted with an incomplete outer gear ring (8) on the ring surface, the lower leg (4) is vertically provided with a jacking rod (10) inside, the upper end of which penetrates through the hinge seat (3) and is fixedly provided with a toothed plate (9) of arc structure and matched with the outer gear ring (8), the lower leg (4) is transversely provided with a rotatable threaded lead screw (14) inside, the threaded lead screw (14) is threadedly connected with a sliding sleeve (15), the lower leg (4) is mounted with a stepping motor (5) on the left side, and the output end of the stepping motor (5) is fixedly connected with the left end of the threaded lead screw (14).

2. The joint coupling structure of the reconfigurable parallel mechanism according to claim 1, characterized in that: The jacking rod (10) is fixedly provided with a baffle (12) close to the lower end, a compression spring (11) is sleeved on the jacking rod (10) between the baffle (12) and the hinge seat (3), and the compression spring (11) is always in a compressed state.

3. The joint coupling structure of the reconfigurable parallel mechanism according to claim 1, characterized in that: The sliding sleeve (15) is provided in a conical cylinder structure, and the diameter of the left end is larger than that of the right end.

4. The joint coupling structure of the reconfigurable parallel mechanism according to claim 3, characterized in that: The lower end of the jacking rod (10) is embedded with a rotatable micro-roller (13), the sliding sleeve (15) is provided with a limiting groove (16) matched with the micro-roller (13), and the micro-roller (13) is clamped into the limiting groove (16) and is in rolling connection with the limiting groove (16).

5. The joint coupling structure of the reconfigurable parallel mechanism according to claim 1, characterized in that: The outer side of the hinge seat (3) is provided with a supporting guide ring (2), the lower end of the supporting guide ring (2) is fixedly connected to the lower leg (4), the inner side of the upper leg (1) is provided with a through groove (19) matched with the supporting guide ring (2), and the supporting guide ring (2) penetrates through the through groove (19) in the inner side of the upper leg (1).

6. The joint coupling structure of the reconfigurable parallel mechanism according to claim 5, characterized in that: The inner wall of the through groove (19) is embedded with a plurality of groups of freely rotatable balls (18) on the upper and lower sides, the upper and lower sides of the supporting guide ring (2) are provided with guide sliding grooves (17) matched with the balls (18), and the balls (18) are in rolling connection with the guide sliding grooves (17).

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