CN105881499A - Decoupling hybrid mechanism with five freedom degrees of (1T2R)&2T - Google Patents

Abstract

The invention belongs to the field of robots, in particular to a space decoupling hybrid mechanism. It mainly includes a parallel mechanism (1T2R) and two guide rails connected to its bottom end and the mechanism end connected to the upper end of the parallel mechanism. The parallel mechanism consists of a bottom platform, a moving platform, and three branches connecting the bottom platform and the moving platform. The fixed guide rail is connected to the bottom platform through the moving pair. The first branch is composed of a moving pair, four rotating pairs and four connecting rods connecting them; the second branch is composed of a moving pair, a universal hinge and the connecting rods connecting them. . The third branch is composed of a cylindrical pair, four rotating pairs and four connecting rods connecting them; the two-branch parallel mechanism is composed of a moving platform, the end of the mechanism, and two branches connecting the moving platform and the end; the end of the mechanism is connected to the The moving platform is connected, and the invention realizes the function of three shifts and two shifts, stable structure, decoupling of motion, easy control, and large operating space.

Description

A (1T2R)&2T five-degree-of-freedom decoupling hybrid mechanism

Technical field

The invention belongs to the field of robots, in particular to a space decoupling hybrid mechanism.

Background technique

At the same time, the hybrid robot has the advantages of large working space and easy control of the serial robot, and the parallel robot has the advantages of stable structure, high rigidity, less error accumulation, good dynamic performance, and easy kinematic inverse solution. , Parallel configuration shortcomings, more practical in modern manufacturing, has been applied in welding, painting, handling, automobile assembly, medical and other fields.

Since the hybrid robot includes a parallel structure, the parallel mechanism has the problem of strong kinematic coupling. Due to the coupling of hybrid robots, there are many problems in mechanism design, calculation analysis and motion control. Therefore, in order to simplify the control process of hybrid robots, improving the decoupling of hybrid mechanisms has become a hot issue in the field of mechanism research.

In the research of five-degree-of-freedom hybrid robots, the 5-degree-of-freedom Tricept series robots produced by Sweden’s Neos Robotic and the 5-freedom Exechon robots produced by Germany’s DS-Technology Company are composed of a 1T2R three-degree-of-freedom parallel mechanism and a 2-freedom robot. Rotors are formed in series. Chinese patent document CN1524662A proposes an asymmetric space 5-DOF hybrid robot connection, which has the advantage of modular design and can realize plug-and-play. Some progress has been made in the research on the decoupling of hybrid mechanisms. For example, Chinese patent document CN102172913A proposes a four-degree-of-freedom decoupling hybrid robot, which consists of a moving pair and a rotating pair connected in series with a two-degree-of-freedom planar parallel mechanism. Completely decoupled. Chinese patent document CN102133560A is a multi-spray gun cooperative spraying five-axis hybrid robot. The five-axis hybrid spraying robot has the advantages of simple structure, easy manufacture, control decoupling, large motion working space, and high positioning accuracy. Although the mechanism of the above invention achieves motion decoupling, such decoupling hybrid mechanisms that can realize three shifts and two turns are very rare, and the decoupling of most mechanisms has not been well resolved.

Contents of the invention

The object of the present invention is to provide a three-transfer, two-rotation, five-degree-of-freedom hybrid robot with stable structure, easy control, and motion decoupling. It mainly consists of a parallel mechanism (1T2R), two guide rails connected to its bottom and a moving pair connected to its upper end to form a series form of 2T (1T2R) & 2T five-degree-of-freedom decoupling hybrid mechanism. The parallel mechanism consists of bottom It consists of a platform, a moving platform, and three branches connecting the bottom platform and the moving platform. The fixed guide rail is connected to the bottom platform through the moving pair. The first branch is composed of a moving pair, four rotating pairs and four connecting rods connecting them; the second branch is composed of a moving pair, a universal hinge and the connecting rods connecting them. ; The third branch is composed of a cylindrical pair, four rotating pairs and four connecting rods connecting them; the end of the mechanism is connected with the moving platform through the moving pair.

The fixed guide rail is connected with the bottom platform through the moving pair, and the center line of the moving pair is parallel to the bottom platform. Branch 1 is composed of a moving joint, four rotating joints and four connecting rods connecting them. One end of the first connecting rod is connected with the bottom platform through the rotating joint, and the other end of the first connecting rod is connected with the second connecting rod through the moving joint. One end of the two connecting rods is connected, the other end of the second connecting rod is connected with one end of the third connecting rod through a rotating joint, and the other end of the third connecting rod is connected with one end of the fourth connecting rod through a rotating joint Connected, the other end of the fourth connecting rod is connected to the moving platform through a rotating pair, the axes of the first two rotating pairs are parallel to each other and perpendicular to the fixed plane and the centerline of the moving pair, and perpendicular to the subsequent two rotating pairs whose axes are parallel; The second branch consists of a moving pair, a universal hinge and connecting rods connecting them. One end of the first connecting rod is connected to the bottom platform through a moving pair, and the other end of the connecting rod is connected to the moving platform through a universal hinge. The two axes of the universal hinge are perpendicular to the moving direction of the moving pair; one end of the first connecting rod in the third branch is connected with the fixed platform through the rotating pair, and the other end of the first connecting rod is connected with the second connecting rod through the rotating pair. The other end of the second connecting rod is connected with the third connecting rod through the rotating joint, the other end of the third connecting rod is connected with the moving platform through the rotating joint, and the two axes of the universal joint are connected with the moving platform. The moving direction of the moving pair is vertical; branch three is composed of a cylindrical pair, four rotating pairs and four connecting rods connecting them. One end of the first connecting rod is connected with the bottom platform through a cylindrical pair, and the other end of the first connecting rod One end is connected with the second connecting rod through the rotating joint, the other end of the second connecting rod is connected with the third connecting rod through the rotating joint, the other end of the third connecting rod is connected with the moving platform through the rotating joint, and The auxiliary axis of the connecting cylinder at the bottom is parallel to the fixed platform, and perpendicular to the axes of the next two rotating pairs, the axis of the rotating pair connected to the moving platform is parallel to the moving plane and parallel to the axis of the adjacent rotating pair, perpendicular to the moving pair whose axes are parallel to the first two ; The end of the mechanism is connected with the moving platform through the moving pair.

Compared with the prior art, the present invention has the following advantages:

1. The structure is simple, the kinematic pair has low-level and compound kinematic pairs, the assembly is simple, and the manufacturing cost can be reduced;

2. Realized the decoupling of three degrees of freedom of movement and two degrees of freedom of rotation in space;

3. All input drives are connected to the fixed platform, which reduces the load on the rod, and has good mobility and stability and a large movement space.

Description of drawings

Fig. 1 is the three-dimensional schematic diagram of the present invention;

Figure 2 is a schematic diagram of the overall structure.

detailed description

In the schematic diagram of a two-shift, three-rotation, five-degree-of-freedom decoupling space hybrid mechanism shown in Fig. The pair 2 is connected with the fixed platform, the other end of the connecting rod 3 is connected with one end of the connecting rod 5 through the moving pair 4, and the other end of the connecting rod is connected with the connecting rod 7 through the rotating pair 6; the other end of the connecting rod is rotated The pair 8 is connected to the connecting rod 9, and the other end of the connecting rod 9 is connected to the moving platform 11 through the rotating pair 10; The universal hinge 13 is connected with the moving platform; one end of the first connecting rod 18 in the branch three is connected with the fixed platform through the cylindrical pair 17, and the other end of the first connecting rod 18 is connected with one end of the second connecting rod 20 through the rotating pair 19 The other end of the second connecting rod is connected with one end of the third connecting rod 22 through the rotating joint 21, and the other end of the third connecting rod is connected with the connecting rod 24 through the rotating joint 23. The other end of the fourth connecting rod is connected with the moving platform through the rotating pair 25 ; the end 27 of the mechanism is connected with the moving platform through the moving pair 26 .

The center line of the moving pair 29 is perpendicular to the center line of the moving pair 15, 26 and parallel to the axes of the rotating pairs 8, 10, 23, 25, and the axis direction of the rotating pair 2 in branch one is parallel to the axis direction of the rotating pair 6 and perpendicular to the fixed plane 1 and the axial direction of the revolving pair 8,10, and the revolving pair of the axis 6,8 are parallel to each other. The axial directions of the revolving pair 2 in the branch one and the revolving pair 19, 20 in the branch two are parallel. The centerline of the moving pair 4 is parallel to the fixed platform 1; the direction of the centerline of the moving pair 15 in the second branch is parallel to the fixed platform 1, parallel to the axial direction of the rotating pair 29 in the fourth branch, and perpendicular to the axis direction of the rotating pair in the first, second and third branches , perpendicular to the direction of the centerline of the guide rail on the moving platform. The axis direction and branch of the rotating pair closest to the moving platform in the universal joint are 8, 10, 23, 25 in the first and third middle cylinder pairs 17, the axis direction is parallel to the other axis direction of the universal joint and is perpendicular to the fixed plane 1; the branch The axis directions of the three rotating pairs 17, 23, 25 are parallel to each other, parallel to the fixed plane, and perpendicular to the axes of the rotating pairs 19, 21; the center line of the moving pair 26 is perpendicular to the moving platform.

Claims (1)

1. (1T2R) five degree of freedom decoupling hybrid mechanism, it mainly includes a parallel institution (1T2R) and is connected to its end End two guide rails and be connected to it on end mechanism end, parallel institution by end platform, moving platform and connect end platform and Three branch's compositions of moving platform.It is characterized in that: its end platform is rectangle structure, moving platform is class triangular structure.Gu Determining guide rail to be connected with end platform by moving sets, moving sets centerline parallel is in end platform.Branch one is by a moving sets and four Revolute pair and connect their four connecting rods composition, one end of first connecting rod is connected with end platform by revolute pair, and this is first years old The other end of individual connecting rod is connected by one end of moving sets and second connecting rod, the other end of this second connecting rod by revolute pair and One end of 3rd connecting rod connects, and the other end of the 3rd connecting rod is connected with one end of the 4th connecting rod by revolute pair, and this is the years old The other end of four connecting rods is connected with moving platform by revolute pair, the first two revolute pair axis be parallel to each other and be perpendicular to the face that allocates with Moving sets centrage, and it is perpendicular to the revolute pair parallel with latter two axis；Branch two by a moving sets and universal hinge with And the connecting rod connecting them forms, one end of first connecting rod is connected with end platform by moving sets, and the other end of this connecting rod leads to Crossing Hooke's hinge to be connected with moving platform, two axis of universal hinge are vertical with moving sets moving direction；In 3rd branch first One end of connecting rod is connected with fixed platform by revolute pair, and the other end of this first connecting rod is connected with second connecting rod by revolute pair, The other end of this second connecting rod is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod pass through revolute pair and Moving platform connects, and two axis of universal hinge are vertical with moving sets moving direction；Branch three is by a cylindrical pair and four revolute pairs And four connecting rods connecting them form, one end of first connecting rod is connected with end platform by cylindrical pair, this first connecting rod The other end is connected with second connecting rod by revolute pair, the other end of this second connecting rod is by revolute pair and the 3rd connecting rod company Connecing, the other end of the 3rd connecting rod is connected with moving platform by revolute pair, is parallel to fixed platform with end connecting cylinder secondary axis, And vertical with latter two revolute pair axis, the revolute pair axis being connected with moving platform is parallel to dynamic plane and is parallel to turning of next-door neighbour Dynamic secondary axis is perpendicular to the moving sets that the first two axis is parallel.Mechanism end is connected with moving platform by moving sets.