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WO2021179210A1 - Mécanisme parallèle à degrés de liberté multiples et ensemble à mécanisme parallèle - Google Patents

Mécanisme parallèle à degrés de liberté multiples et ensemble à mécanisme parallèle Download PDF

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Publication number
WO2021179210A1
WO2021179210A1 PCT/CN2020/078824 CN2020078824W WO2021179210A1 WO 2021179210 A1 WO2021179210 A1 WO 2021179210A1 CN 2020078824 W CN2020078824 W CN 2020078824W WO 2021179210 A1 WO2021179210 A1 WO 2021179210A1
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WIPO (PCT)
Prior art keywords
level
point
rod
platform
branch
Prior art date
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Ceased
Application number
PCT/CN2020/078824
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English (en)
Chinese (zh)
Inventor
周啸波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Mailan Medical Technologies Co Ltd
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Suzhou Mailan Medical Technologies Co Ltd
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Publication date
Application filed by Suzhou Mailan Medical Technologies Co Ltd filed Critical Suzhou Mailan Medical Technologies Co Ltd
Priority to CN202080096359.7A priority Critical patent/CN115175790B/zh
Priority to PCT/CN2020/078824 priority patent/WO2021179210A1/fr
Publication of WO2021179210A1 publication Critical patent/WO2021179210A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

Definitions

  • the invention relates to the field of robots, in particular to a multi-degree-of-freedom parallel mechanism and a parallel mechanism assembly of a parallel robot.
  • robots can be divided into two categories: series robots and parallel robots.
  • parallel robots Compared with series robots, parallel robots have the advantages of greater rigidity, strong carrying capacity, high precision, and low end piece inertia.
  • Patent Publication WO2009053506A1 discloses a four-degree-of-freedom parallel robot. Its support part uses multiple non-coplanar four-bar linkage mechanisms.
  • Chinese patent CN105729450B discloses a four-degree-of-freedom parallel mechanism, which can realize the freedom of three translational movement and one rotation of the movable platform, but cannot realize the rotation of the movable platform around the y direction or around the x direction.
  • the scheme also has the following shortcomings:
  • the guide rails used to guide the movement of the slider are two spaced apart guide rails, which makes the whole mechanism occupy a large space, which is not conducive to the arrangement in a limited space.
  • the purpose of the present invention is to overcome or at least alleviate the above-mentioned shortcomings of the prior art, and to provide a multi-degree-of-freedom parallel mechanism and a parallel mechanism assembly.
  • a multi-degree-of-freedom parallel mechanism which includes a guide, two primary branches and one secondary branch, wherein,
  • Each of the primary side chains includes two driving members, a side chain platform, and a plurality of primary links connecting the driving member and the side chain platform, and the driving member can reciprocate along the guide ,
  • the secondary side chain includes a positioning platform and a plurality of secondary links connecting the side chain platform and the positioning platform,
  • one of the two active parts is connected to the branch chain platform by at least two first-level links, wherein the two ends of the first-level first rod are respectively It is rotatably connected to the first point and the second point of the first level with the active part and the branch chain platform, and both ends of the first level second rod are rotatably connected to the active part and the branch chain platform.
  • the third point of the first level and the fourth point of the first level, the quadrilateral obtained by sequentially connecting the first point of the first level, the second point of the first level, the fourth point of the first level and the third point of the first level is and Parallelogram with the first plane parallel; the other of the two active parts is connected to the branch chain platform or the first-level first rod through at least one of the first-level connecting rods to determine the The posture of the parallelogram defined by the first-level first rod and the first-level second rod,
  • one of the two side chain platforms is connected to the positioning platform by at least two secondary links, and both ends of the secondary first rod are connected to the positioning platform respectively.
  • the branch chain platform and the positioning platform are rotatably connected to the secondary first point and the secondary second point, and both ends of the secondary second rod are respectively rotatably connected to the secondary chain platform and the positioning platform.
  • the third point and the second-level fourth point, the quadrilateral obtained by sequentially connecting the second-level first point, the second-level second point, the second-level fourth point, and the second-level third point can be A parallelogram that moves in the second plane; the other of the two branch chain platforms is connected to the positioning platform or the second-stage first rod through at least one of the two-stage connecting rods to rotate Determining the posture of the parallelogram defined by the second-level first rod and the second-level second rod,
  • the first plane is not parallel to the second plane, and the guide is parallel to the second plane,
  • the positioning platform has at least three translational degrees of freedom.
  • the first plane is perpendicular to the second plane.
  • the other one of the two active parts is connected to the first-level first rod through the first-level third rod, and the one The two ends of the third-level rod are respectively connected to the first-level fifth point and the sixth-level point in rotation with the active member and the first-level first rod.
  • the sixth-level point is connected to the first-level first rod The points do not overlap
  • the other of the two branch chain platforms is connected to the second-level first rod through a second-level third rod, and both ends of the second-level third rod are connected to the branch chain platform and the
  • the second-level first rod is rotatably connected to the second-level fifth point and the second-level sixth point, and the second-level sixth point does not coincide with the second-level first point.
  • the sixth point of the first level coincides with the second point of the first level, and/or
  • the second-level sixth point coincides with the second-level second point.
  • the other one of the two active elements is also connected to the first-level second rod through the first-level fourth rod, and the The two ends of the first-level fourth rod are respectively connected to the first-level seventh point and the first-level eighth point with the active member and the first-level second rod respectively, and sequentially connect the first-level fifth point and the first-level fifth point and the first-level second rod.
  • the quadrilaterals obtained by the sixth point at the first level, the eighth point at the first level, and the seventh point at the first level are parallelograms, and/or
  • the other one of the two branch chain platforms is also connected to the second-level second rod through a second-level fourth rod, and both ends of the second-level fourth rod are connected to the branch chain platform and
  • the second-level second rod is rotatably connected to the second-level seventh point and the second-level eighth point, and sequentially connects the second-level fifth point, the second-level sixth point, the second-level eighth point and the second-level eighth point.
  • the quadrilateral obtained by the seventh point of the second level is a parallelogram.
  • the four active elements share one guide element.
  • the branch chain platform includes a base table and a turntable, and the turntable can rotate relative to the base table around a branch chain axis of rotation,
  • the primary link is connected to the abutment, and the secondary link is connected to the turntable.
  • the branched chain shaft is parallel to the second plane.
  • the positioning platform includes a terminal positioning platform and two rotational positioning platforms, the rotational positioning platform is rotationally connected to the terminal positioning platform, and the secondary link is rotationally connected to the positioning platform
  • the point is located on the rotating positioning platform, each of the rotating positioning platforms can rotate relative to the terminal positioning platform about the rotation axis of the positioning platform, and the terminal positioning platform has at least three translational degrees of freedom and one rotational degree of freedom.
  • the rotation axis of the positioning platform is perpendicular to the second plane.
  • the first plane is a vertical plane
  • the second plane is a horizontal plane
  • the guide member extends in a horizontal direction.
  • a parallel mechanism assembly which is characterized in that it comprises a bridge assembly and two multi-degree-of-freedom parallel mechanisms according to the present invention, and the two positioning mechanisms of the two multi-degree-of-freedom parallel mechanisms
  • the platforms are all rotatably connected with the bridge assembly, so that the bridge assembly can rotate about two non-parallel axes relative to any one of the positioning platforms, and the bridge assembly has at least three translational degrees of freedom and two rotations Degrees of freedom.
  • the two axes on which the bridge assembly rotates relative to each of the positioning platforms are perpendicular to each other.
  • the multi-degree-of-freedom parallel mechanism according to the present invention has a compact structure and a large range of movement in the vertical direction, and the parallel mechanism assembly according to the present invention has a simple structure and convenient control.
  • FIG. 1 and 2 are schematic diagrams of a multi-degree-of-freedom parallel mechanism according to the first embodiment of the present invention.
  • Fig. 3 is a schematic diagram of a multi-degree-of-freedom parallel mechanism according to a second embodiment of the present invention.
  • Fig. 4 is a schematic diagram of a multi-degree-of-freedom parallel mechanism according to a third embodiment of the present invention.
  • Fig. 5 is a schematic diagram of a multi-degree-of-freedom parallel mechanism according to a fourth embodiment of the present invention.
  • Fig. 6 is a schematic diagram of a parallel mechanism assembly according to an embodiment of the present invention.
  • Fig. 7 is a schematic diagram of a parallel mechanism assembly according to an embodiment of the present invention.
  • the present invention uses the three-dimensional coordinate system shown in FIGS. 1 to 7 to illustrate the positional relationship of each component. It should be understood that the position relationship defined according to the x, y, and z axes in the present invention is relative, and the coordinate axis can be rotated in space according to the actual application of the device.
  • the parallel mechanism according to the first embodiment of the present invention includes a guide G, two primary branches 1 and one secondary branch 2.
  • Each primary side chain 1 includes two driving parts 11, a side chain platform 12 and a plurality of primary links connecting the driving parts 11 and the side chain platform 12.
  • the secondary branch 2 includes a positioning platform 20 and a plurality of secondary linkages, and the secondary linkages are used to connect the positioning platform 20 and the two branch platforms 12 of the primary branch 1.
  • the guide member G extends along the x direction, and the active member 11 can reciprocate along the guide member G.
  • the primary branch chain 1 moves in the xoz plane (also called the first plane), and the secondary branch chain 2 moves in the xoy plane (also called the second plane).
  • the first plane is a vertical plane, and the second plane For the horizontal plane.
  • the first-stage link in this embodiment includes a first-stage first lever L11, a first-stage second lever L12, a first-stage third lever L13, and a first-stage fourth lever L14.
  • the first-level first lever L11, the first-level second lever L12, an active member 11 and the branch chain platform 12 form a parallelogram structure
  • the chain platform 12 forms another parallelogram structure.
  • the two ends of the first-level first lever L11 are rotatably connected to the first-level first point O11 and the first-level second point O12 with the active member 11 and the branch chain platform 12, and the two ends of the first-level second lever L12 are respectively connected to
  • the driving part 11 and the branch chain platform 12 are rotatably connected to the first-level third point O13 and the first-level fourth point O14, which are sequentially connected to the first-level first point O11, the first-level second point O12, the first-level fourth point O14, and the first-level fourth point O14.
  • the quadrilateral obtained by the third point O13 of the first level is a parallelogram; the two ends of the third lever L13 of the first level are respectively connected to the fifth point O15 of the first level and the sixth point O16 of the first level with the driving member 11 and the branch chain platform 12 respectively.
  • the two ends of the fourth lever L14 are respectively connected to the first-level seventh point O17 and the first-level eighth point O18 with the driving member 11 and the branch chain platform 12 respectively, and are sequentially connected to the first-level fifth point O15 and the first-level sixth point O16.
  • the quadrilateral obtained by the eighth point O18 at the first level and the seventh point O17 at the first level is a parallelogram.
  • the first-level second point O12 and the first-level sixth point O16 overlap (the two points are on the same rotation axis), the first-level fourth point O14 and the first-level eighth point O18 overlap, so it can also be It is said that the first-level third rod L13 is connected to the first-level first rod L11, and the first-level fourth rod L14 is connected to the first-level second rod L12. In this case, it can also be said that the first-level third lever L13 is rotationally connected to the branch chain platform 12, and the first-level fourth rod L14 is rotationally connected to the branch chain platform 12.
  • first-level third rod L13 may not be connected to the first-level first rod L11 but to other parts of the branch chain platform 12, and the first-level fourth rod L14 may not be connected to the first rod L11. Instead, the second lever L12 is connected to other parts of the branch chain platform 12.
  • the guide member G extends along the x direction, and the active member 11 can reciprocate along the guide member G.
  • the primary link is parallel to the xoz plane, that is, as the position of the driving member 11 on the guide G changes, the two parallelograms change their shape and/or position in the xoz plane, so that they are aligned with the two parallelograms.
  • the connected branch chain platforms 12 can move in translation in the x-direction and z-direction.
  • the secondary connecting rod in this embodiment includes a secondary first rod L21, a secondary second rod L22, a secondary third rod L23, and a secondary fourth rod L24.
  • the second-level first rod L21, the second-level second rod L22 and the positioning platform 20 and a branch chain platform 12 form a parallelogram structure
  • the chain platform 12 forms another parallelogram structure.
  • the two ends of the second-level first rod L21 are respectively rotatably connected with a branch chain platform 12 and the positioning platform 20 to the second-level first point O21 and the second-level second point O22, and the two ends of the second-level second rod L22 are respectively It is rotatably connected to the second-level third point O23 and the second-level fourth point O24 with a branch chain platform 12 and the positioning platform 20, and sequentially connected to the second-level first point O21, the second-level second point O22, and the second-level fourth point O24
  • the quadrilateral obtained from the second-level third point O23 is a parallelogram; the two ends of the second-level third lever L23 are respectively connected to the second-level fifth point O25 and the second-level sixth point with the other branch chain platform 12 and the positioning platform 20 respectively.
  • the two ends of the second-level fourth lever L24 are respectively connected to the second-level seventh point O27 and the second-level eighth point O28 with the other branch chain platform 12 and the positioning platform 20 respectively, and sequentially connected to the second-level fifth point O25,
  • the quadrilateral obtained by the second-level sixth point O26, the second-level eighth point O28, and the second-level seventh point O27 is a parallelogram.
  • the second-level second point O22 and the second-level sixth point O26 overlap, and the second-level fourth point O24 and the second-level eighth point O28 overlap. Therefore, it can also be said that the second-level third rod L23 is connected to The second-level first rod L21 and the second-level fourth rod L24 are connected to the second-level second rod L22.
  • the secondary link is parallel to the xoy plane.
  • the two parallelograms in the secondary branch 2 can both change their shape and/or position in the xoy plane, so that The positioning platform 20 connected to the two parallelograms can move in the x-direction and the y-direction.
  • the positioning platform 20 has three directions in x, y, and z. Translational degrees of freedom.
  • a terminal work piece M is provided on the positioning platform 20, and the terminal work piece M can be used to perform operations of a specific function, for example.
  • the present invention does not limit the position and direction of the terminal work piece M on the positioning platform 20.
  • the second embodiment of the multi-degree-of-freedom parallel mechanism of the present invention will be described with reference to FIG. 3.
  • This embodiment is a modification of the first embodiment.
  • the difference from the first embodiment mainly includes the arrangement of the connecting rod.
  • the same or similar parts as in the first embodiment use the same reference numerals.
  • two asymmetric primary branches 1 are used to illustrate the possible different arrangements of the connecting rods.
  • the two ends of the first-level third lever L13 are rotatably connected to the first-level fifth point O15 and the first-level sixth point O16 with the driving member 11 and the first-level first rod L11, of which the first-level The sixth point O16 is located in the middle of the first-level first lever L11 and does not coincide with the first-level second point O12; the two ends of the first-level fourth lever L14 are respectively rotatably connected with the driving member 11 and the first-level second lever L12.
  • the quadrilateral obtained by sequentially connecting the first-level fifth point O15, the first-level sixth point O16, the first-level eighth point O18, and the first-level seventh point O17 is a parallelogram.
  • the two active parts 11 of the primary branch 1 have a larger moving space and are not easy to interfere with each other or with other surrounding components.
  • the primary branch 1 on the right in FIG. 3 compared to the primary branch 1 on the left, the primary branch 1 on the right does not have the primary fourth lever L14. That is, in the first-level branch chain 1, the first-level third rod L13 that connects the active member 11 and the first-level first rod L11 can determine the limit defined by the first-level first rod L11 and the first-level second rod L12.
  • the posture of the parallelogram can achieve the purpose of determining the position of the branch chain platform 12 in the xoz plane.
  • This arrangement further reduces the number of components in the primary branch chain 1 and makes the primary branch chain 1 lighter and more compact.
  • the modified setting of the primary link in the primary branch 1 is applicable to the secondary link in the secondary branch 2. That is, only one parallelogram structure may be retained in the secondary branch chain 2.
  • the parallelogram structure includes one branch chain platform 12, and the other branch chain platform 12 is connected to only one link in the parallelogram structure by a link.
  • the secondary branch 2 still retains two parallelogram structures, but one of the parallelogram structures includes the positioning platform 20, and the link in the other parallelogram structure is not connected to the positioning platform 20, but is connected to the previous one The secondary link in a parallelogram structure.
  • the third embodiment of the multi-degree-of-freedom parallel mechanism of the present invention will be described with reference to FIG. 4.
  • This embodiment is a modification of the first embodiment.
  • the difference from the first embodiment mainly includes the arrangement of the branch chain platform 12.
  • the same or similar parts as in the first embodiment use the same reference numerals.
  • the branch chain platform 12 includes a base 121 and a turntable 122.
  • the base 121 is connected to the primary link, and the turntable 122 is connected to the secondary link.
  • the turntable 122 can rotate relative to the base 121 around the branch chain shaft b1. Rotate.
  • the branch rotation axis b1 is parallel to the xoy plane, and in the present embodiment, preferably, the branch rotation axis b1 is parallel to the y direction.
  • the increased rotational freedom of the branch chain platform 12 reduces the kinematic coupling degree of the multi-degree-of-freedom parallel mechanism in this embodiment in all directions, the parallel mechanism has a larger range of motion, and enables the positioning platform 20 to achieve four degrees of freedom.
  • the branch chain platform 12 that is, the secondary branch chain 2 rotates around the y direction, therefore,
  • the positioning platform 20 has translational degrees of freedom in the x, y, and z directions and rotational degrees of freedom around the y direction.
  • the rotating structure Since the rotating structure is arranged at the end of the primary branch 1 connected to the secondary branch 2, the rotating structure is far from the positioning platform 20 at the end of the multi-degree-of-freedom parallel mechanism, which enables the positioning platform 20 to have rotational freedom at the same time It can also have a lightweight and compact structure.
  • the fourth embodiment of the multi-degree-of-freedom parallel mechanism of the present invention will be described with reference to FIG. 5.
  • This embodiment is a modification of the third embodiment.
  • the positioning platform 20 includes a terminal positioning platform 21 and two rotating positioning platforms 22.
  • Each rotating positioning platform 22 can rotate relative to the terminal positioning platform 21 about the positioning platform rotation axis b2.
  • the positioning platform rotation axis b2 is parallel to the z direction.
  • the rotating connection point between the secondary connecting rod and the positioning platform 20 is located on the rotating positioning platform 22.
  • the terminal positioning platform 21 has translational degrees of freedom in the three directions of x, y, and z, as well as degrees of freedom of rotation around the z direction.
  • the positioning platform rotation axis b2 may also be set to be parallel to the x direction or parallel to the y direction, so that the terminal positioning platform 21 has a degree of freedom of rotation around the x direction or a degree of freedom of rotation around the y direction.
  • the two rotating positioning platforms 22 can be separated by a certain distance in the z direction, so that the two rotating positioning platforms 22 and the secondary connecting rods connected to it will not be rotated during the rotation. Interference occurs, in other words, this causes the terminal positioning platform 21 to have a greater rotation amplitude.
  • the parallel mechanism assembly according to the present invention includes two multi-degree-of-freedom parallel mechanisms D according to the present invention, and also includes a bridge assembly 3.
  • the two positioning platforms 20 of the two multi-degree-of-freedom parallel mechanisms D are both rotatably connected to the bridge assembly 3, and the bridge assembly 3 relative to each positioning platform 20 can move around two non-parallel (preferably The rotation axes a1 and a2, which are perpendicular to each other, rotate.
  • the rotation axis a1 is parallel to the x direction
  • the rotation axis a2 is parallel to the y direction.
  • the positions of the eight active parts 11 of the multi-degree-of-freedom parallel mechanism D on their respective guide parts G can be controlled, thereby realizing the bridge assembly 3 in the x direction
  • the translational movement on the upper side, the translational movement in the y direction, the translational movement in the z direction, the rotation around the x direction and the rotation around the y direction make the bridge assembly 3 have five degrees of freedom.
  • a terminal work piece M is provided on the bridge assembly 3, and the terminal work piece M is, for example, a surgical instrument.
  • the present invention does not limit the position and direction of the terminal work piece M on the bridge assembly 3.
  • the positioning platform 20 includes a terminal positioning platform 21 and two rotational positioning platforms 22.
  • Each rotation positioning platform 22 can rotate relative to the terminal positioning platform 21 about the rotation axis b2, and the rotation axis b2 in this embodiment is parallel to the z direction.
  • the bridge assembly 3 will have six degrees of freedom (the translational degrees of freedom in the x, y, and z directions and the rotational degrees of freedom around the x, y, and z directions).
  • the present invention does not limit the number of guides G in the parallel mechanism assembly.
  • the movement of the primary branch 1 in the z direction (for example, the vertical direction) and the movement of the secondary branch 2 in the z direction do not restrict each other, so that the positioning platform 20 has a large range of motion in the z direction.
  • the active parts 11 of the multi-degree-of-freedom parallel mechanism according to the present invention can be arranged on a guide G, making the structure of the parallel mechanism more compact.
  • the parallel mechanism assembly according to the present invention has a simple structure and convenient control, and can realize at least three translational and two rotational degrees of freedom.
  • the parallel mechanism or parallel mechanism assembly according to the present invention is preferably used as a part of a surgical robot, but the present invention is not limited to this.
  • the parallel mechanism or parallel mechanism assembly according to the present invention can also provide guidance for other instruments.
  • the terminal work piece M can have an additional degree of freedom relative to the positioning platform 20 or the bridge assembly 3.
  • the guide G of the present invention is not limited to the form of the guide rail as shown in the figure, but may also be a guide in other forms such as a guide groove or a screw rod.
  • the guide G may not extend along a straight line, for example, it may be a guide path in the form of a curve.
  • the two primary branches 1 of the multi-degree-of-freedom parallel mechanism according to the present invention may not be symmetrical, and the two parts of the secondary branch 2 connecting the primary branch 1 may not be symmetrical.

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  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention concerne un mécanisme parallèle à degrés de liberté multiples et un ensemble équipé du mécanisme parallèle. Le mécanisme parallèle comprend une pièce de guidage (G), deux branches primaires (1) et une branche secondaire (2) ; chaque branche primaire (1) comprend deux pièces actives (11), une plateforme de branche (12) et une pluralité de tiges de liaison primaires, les pièces actives (11) étant aptes à se déplacer en va-et-vient le long de la pièce de guidage (G) ; la branche secondaire (2) comprend une plateforme de positionnement (20) et une pluralité de tiges de liaison secondaires ; l'une des deux pièces actives (11) dans chaque branche primaire (1) est reliée à la plateforme de branche (12) par l'intermédiaire d'au moins deux tiges de liaison primaires pour former un parallélogramme qui est parallèle à un premier plan (xoz) ; l'une des deux plateformes de branche (12) est reliée à la plateforme de positionnement (20) dans la branche secondaire (2) par l'intermédiaire d'au moins deux tiges de liaison secondaires pour former un parallélogramme qui est apte à se déplacer dans un second plan (xoy) ; le premier plan (xoz) est perpendiculaire au second plan (xoy). Le mécanisme parallèle à degrés de liberté multiples est compact et de structure simple et facile à commander et a une grande plage de mouvement dans la direction verticale.
PCT/CN2020/078824 2020-03-11 2020-03-11 Mécanisme parallèle à degrés de liberté multiples et ensemble à mécanisme parallèle Ceased WO2021179210A1 (fr)

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CN202080096359.7A CN115175790B (zh) 2020-03-11 2020-03-11 多自由度并联机构和并联机构组件
PCT/CN2020/078824 WO2021179210A1 (fr) 2020-03-11 2020-03-11 Mécanisme parallèle à degrés de liberté multiples et ensemble à mécanisme parallèle

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CN114012710A (zh) * 2021-12-14 2022-02-08 江西制造职业技术学院 一种含变杆长平行四边形闭环子链两平动拾取机器人
CN114367961A (zh) * 2022-01-10 2022-04-19 燕山大学 一种可实现三维平动二维转动的新型五自由度并联机构
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CN116275762A (zh) * 2023-05-19 2023-06-23 常州碳科智能装备有限公司 基于并联机构的焊接机器人
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JP2025537943A (ja) * 2022-11-28 2025-11-20 シャンハイ・フレクシブ・ロボティクス・テクノロジー・カンパニー・リミテッド パラレルリンクロボット
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