Patent Grant
10675751
The invention discloses a multiple-movable-platform parallel robot construction method and a parallel robot, and in particular relates to improvements to parallel robot construction methods, belonging to the technical field of robotic mechanisms.
The structure of current parallel robots comprises a base platform, a movable platform (also called as moving platform, as in the context hereafter), and derivative chains connected between the base platform and the movable platform.
Most existing parallel robots each have only one base platform, one movable platform and a group of derivative chains connected between the base platform and the movable platform. Such example includes handling (assembling) parallel robots and parallel machine tool robots. Both types of robots have the following defects: for handling (or assembling) parallel robots, one robot can only assemble components for one machine or equipment; and for parallel machine tool robots, one parallel machine tool robot can machine only one component at a time, but cannot conduct the same or substantially the same operation to two or more objects at the same time.
Some existing parallel robots also include parallel robots having two movable platforms. For example, patent reference CN 201320207661 discloses a parallel robot comprising two movable platforms and two groups of derivative chains, as well as two sets of corresponding driving and controlling systems which are independent from each other. Defects of this robot are that one object is manipulated by actuators on the two movable platforms and that it has a relatively complex structure. This robot cannot conduct the same or substantially the same operation to two or more objects at the same time.
There are also some walking parallel robots each comprising two parallel mechanisms and two movable platforms. Embodiments of them include walking parallel robots disclosed in patent reference CN 201010292424.1 and patent reference CN 03826959.7. Such a robot has two movable platforms and two groups of derivative chains, the structure of it comprises two parallel mechanisms which are independent from each other. Correspondingly, it comprises two sets of driving and controlling systems which are independent from each other. Walking action is achieved by means of the cooperation of two movable platforms (foot arches) which are independent from each other. A defect of such a robot is that the two movable platforms (foot arches) are equipped with two sets of driving and controlling systems which are independent from each other. The robot cannot be operated by only one set of driving and controlling system. The two independent parallel mechanisms can only walk or operate on one plane, but cannot walk on an opposite plane. In other words, if the robot is turned over by 180 degrees, it cannot walk. That is, the robot cannot conduct the same or substantially the same operation in two orientations.
Thus, a common defect in current parallel robots exists in that they do not comprise two or more movable platforms defined below: the movable platforms are associated with each other and possess certain symmetry, and they can fulfill the same or substantially the same operation or task by means of only one set of driving and controlling system.
An object of the invention is to overcome the above defect by providing a multiple-movable-platform parallel robot which comprises two or more movable platforms, the movable platforms possessing a certain symmetry therebetween and being able to conduct the same or substantially the same operation by means of only one set of driving system. In other words, the parallel robot comprises two or more movable platforms having the same or similar motion pattern. Meanwhile, the invention also provides a double-sided walking parallel robot which is also able to walk after it is turned over by 180 degrees, as well as a profiling or scaling type parallel robot.
The invention discloses a multiple-movable-platform parallel robot construction method, a parallel mechanism performing this method, and a parallel robot in which this is applied or this parallel mechanism is incorporated.
The technical solution according to a multiple-movable-platform parallel robot construction method disclosed by the invention is described below.
The parallel robot is composed of an original parallel mechanism and N1 (N11) derivative parallel mechanism(s), each parallel mechanism having the same N2 (2
N2
6) degrees-of-freedom (DOFs) and the same DOF property.
The original parallel mechanism (which is also called as generating element) comprises a original base platform, an original movable platform and N2 (2N2
6) original chain s connecting the original base platform with the original movable platform, each original chain being composed of two or more generalized kinematic pairs which are connected in series; the derivative parallel mechanism comprises a derivative base platform, a derivative movable platform and N2 (2
N2
6) derivative chains connecting the derivative base platform with the derivative movable platform.
The construction method comprising the steps of:
(1) Constructing the original parallel mechanism
The original parallel mechanism (11) further meets the following five requirements:
(a) The original base platform is a planar base platform; (b) a first generalized kinematic pair in each original chain is an active pair; each original chain has only one active pair; an input end of the first kinematic pair of the original chain is a rotatable pair or a sliding pair; (c) the input end axes of the first generalized kinematic pairs are arranged in one or two or three orientations of: being parallel to the plane of the base platform, lying in the base platform plane, or being perpendicular to the base platform plane; (d) in two or three preceding generalized kinematic pairs of the original chain, at least one generalized kinematic pair is an expandable output kinematic pair; (e) the original movable platform is located at one side of the plane of the original base platform or is co-planar with the original base platform plane; in the original chain, a portion for connecting the expandable output kinematic pair with the original movable platform is called downstream original chain.
As to the original base platform, the generalized kinematic pair and the expandable output kinematic pair, detailed description of them will be seen from the section of detailed description to the original base platform, the generalized kinematic pair and the expandable output kinematic pair.
(2) Constructing the derivative parallel mechanism: comprising the following three steps:
a) Selecting and constructing a symmetrical multiple (double)-output kinematic pair (will be unitarily called as multiple-output kinematic pair) and the derivative base platform.
In each original chain of the original parallel mechanism, selecting an expandable kinematic pair, the expandable kinematic pair being also called as boundary kinematic pair; to this expandable kinematic pair, adding an output end which is called as an auxiliary output end, the original output end being called as main output end; totally N1 auxiliary output ends being added, the auxiliary output ends having the same function and symmetrical structure with the primary output end; the symmetry includes identity symmetry, translational symmetry, rotational symmetry, reflectional symmetry, gliding reflection symmetry, as well as scale symmetry.
The expandable kinematic pair becomes a multiple-output kinematic pair (comprising double-output kinematic pair) which has one more output end than the original generalized kinematic pair; in the derivative chain, a portion for connecting the boundary generalized kinematic pair with the derivative movable platform is called as downstream derivative chain; the downstream derivative chain is also called as auxiliary derivative chain.
A lower end point of the derivative chain is a hinge point between the derivative chain and the derivative base platform; the hinge points of the N2 derivative chains form the derivative base platform; the derivative base platform has the same, similar or substantially the same shape with the original base platform; the symmetry includes identity symmetry, translational symmetry, rotational symmetry, reflectional symmetry, gliding reflection symmetry, as well as scale symmetry.
As to the derivative base platform, multiple (double)-output kinematic pair and symmetry, detailed description of them will be seen from the section of detailed description to the derivative base platform, the multiple-output kinematic pair and symmetry.
b) Constructing the auxiliary derivative chains:
To each newly added auxiliary output end, connecting an auxiliary derivative chain or an auxiliary derivative rod element (the auxiliary derivative chain and the auxiliary derivative rod element will both be called as auxiliary derivative chain below); the downstream original chain in this auxiliary derivative chain is the same or substantially the same with that of the original chain; all the auxiliary derivative chains form a group of N2 auxiliary derivative chains; the auxiliary derivative chain is symmetrical with the downstream original chain; the symmetry includes translational symmetry, rotational symmetry, reflection symmetry, gliding reflection symmetry, as well as scale symmetry.
The derivative chain is also divided into two portions; with boundary kinematic pair (expandable kinematic pair) as a separation, the portion between the boundary kinematic pair and the derivative movable platform is called as downstream derivative chain, and the remaining portion of the derivative chain is called as upstream derivative chain. The downstream derivative chain is also called as auxiliary derivative chain. The downstream derivative chain and the upstream derivative chain form the derivative chain.
c) Connecting the derivative movable platform:
To a tip end of each one of the group of the auxiliary derivative chains, a derivative movable platform is connected, the derivative movable platform has the same, similar or substantially the same shape with the original movable platform, and the derivative movable platform is symmetrical with the original movable platform; in this way, a derivative parallel mechanism symmetrical with the original parallel mechanism is formed; the symmetry between the derivative movable platform and the original movable platform includes translational symmetry, rotational symmetry, reflectional symmetry, gliding reflection symmetry, as well as scale symmetry.
As to the derivative movable platform, detailed description of it will be seen from the section of detailed description to the derivative movable platform.
(3) Repeating sub-steps a), b) and c) of step (2); in this way, one more new symmetrical derivative movable platform is obtained, and one more new symmetrical derivative parallel mechanism is also obtained; repeating step (2) by N1−1 times; in this way, N1 new symmetrical derivative movable platforms and N1 new symmetrical derivative parallel mechanisms are obtained.
A multiple-movable-platform parallel robot in which the method of described above is effected, the parallel robot comprising an original parallel mechanism (11) and N1 (N11) derivative parallel mechanisms, each parallel mechanism having the same N2 (2
N2
6) DOFs and the same DOF property (that is, having the same number of DOF and the same components of the DOF).
(1) The original parallel mechanism has the following structure:
The original parallel mechanism (also called as generating element), comprises a original base platform, an original movable platform and N2 (2N2
6) original chain s connecting the original base platform with the original movable platform, each original chain being composed of two or more generalized kinematic pairs which are connected in series;
The original parallel mechanism meets the following five requirements:
(a) The original base platform is a planar base platform; when necessary, the original base platform is represented by B0;
Detailed description to the original base platform will be seen from the section of detailed description to the original base platform.
(b) A first generalized kinematic pair in each original chain is an active pair; each original chain has only one active pair; an input end of the first kinematic pair of the original chain is a rotatable pair or a sliding pair.
(c) The input end axes of the first generalized kinematic pairs are arranged in one or two or three orientations of: being parallel to the plane of the base platform, lying in the base platform plane, or being perpendicular to the base platform plane.
(d) In two or three preceding generalized kinematic pairs of the original chain, at least one generalized kinematic pair is an expandable output kinematic pair; the expandable output kinematic pair has (N1+1)*N2 output ends, in which there are N2 primary output ends, the primary output ends are located on the original chain, and the remaining (N1 *N2) output ends are called as auxiliary output ends; the primary output end is symmetrical in structure with the auxiliary output end and has the same function, and the expandable kinematic pair is also called as boundary kinematic pair or symmetrical multiple-output kinematic pair; the original chain is divided into two portions by the boundary kinematic pair, in which a portion between the primary output end of the boundary kinematic pair and the original movable platform is called as downstream original chain; the primary output end is symmetrical auxiliary output end; the symmetry includes identity symmetry, translational symmetry, rotational symmetry, reflectional symmetry, gliding reflection symmetry, as well as scale symmetry.
In the original chain, except the downstream original chain, the remaining portion is called as upstream original chain. Detailed description to the generalized kinematic pair, the expandable output kinematic pair and the multiple-output kinematic pair will be seen from the section of detailed description to the generalized kinematic pair, the expandable output kinematic pair and the multiple-output kinematic pair.
(e) N2 downstream original chains are connected to the original movable platform, and the original movable platform is located at one side of the plane of the original base platform or is co-planar with the original base platform plane.
Detailed description to the original movable platform will be seen from the section of detailed description to the original movable platform.
(2) The derivative parallel mechanisms each have the following structure:
The derivative parallel mechanism comprises a derivative base platform, a derivative movable platform and N2*N1 derivative chains connecting the derivative base platform with the derivative movable platform; the derivative parallel mechanism has the following characteristics in structure:
(a) In the expandable output kinematic pair of the original chain, each auxiliary output end is connected with an auxiliary derivative chain; a portion between the auxiliary output end of the boundary kinematic pair and the derivative movable platform is called as downstream derivative chain; the downstream derivative chain portion is also called as auxiliary derivative chain; the auxiliary derivative chain is the same or substantially the same with the downstream original chain of the original chain; their structures are symmetrical, and the symmetry includes translational symmetry, rotational symmetry, reflectional symmetry, gliding reflection symmetry, as well as scale symmetry.
The derivative chain is also divided into an upstream portion and a downstream portion, the remaining portion of downstream derivative chain being called as upstream derivative chain. The downstream derivative chain and the upstream derivative chain form the derivative chain.
Detailed description to the derivative chain will be seen from the section of detailed description to the derivative chain.
(b) A lower end point of the derivative chain is a hinge point between a derivative chain and the derivative base platform, called as derivative lower-end hinge point; the derivative lower-end hinge points of a group of N2 derivative chains having the same symmetrical characteristics form a derivative base platform; there are totally N1 derivative base platforms; the derivative base platform is symmetrical with the original base platform, and the symmetry includes identity symmetry, translational symmetry, rotational symmetry, reflectional symmetry, gliding reflection symmetry, as well as scale symmetry. When necessary, the derivative base platforms are represented by B1, B2, B3.
Detailed description to the derivative base platform will be seen from the section of detailed description to the original base platform.
(c) The auxiliary derivative chains having the same symmetrical characteristics form a group of auxiliary derivative chains, and each group of auxiliary derivative chains include N2 auxiliary derivative chains; there are totally N1 groups of derivative chains.
(d) Each group of auxiliary derivative chains are connected to a movable platform to form a parallel mechanism, the movable platform being called as derivative movable platform (15.1), and the parallel mechanism being called as derivative parallel mechanism; N1 groups of auxiliary derivative chains are connected to N1 derivative movable platforms; the derivative movable platform is the same, similar or substantially the same with the original movable platform; the derivative movable platform is symmetrical with the original movable platform; there are N1 derivative movable platforms, and there are also N1 derivative parallel mechanisms; the derivative parallel mechanism is also symmetrical with the original parallel mechanism; the symmetry between the derivative movable platform and the original movable platform includes translational symmetry, rotational symmetry, reflectional symmetry, gliding reflection symmetry, as well as scale symmetry; the symmetry between the derivative parallel mechanism and the original parallel mechanism also includes translational symmetry, rotational symmetry, reflectional symmetry, gliding reflection symmetry, as well as scale symmetry.
Detailed description to the derivative movable platform and the symmetry between it and the original base platform will be seen from the section of detailed description to the original base platform the symmetry between it and the derivative movable platform.
By means of the requirements (a), (b), (c) on the original parallel mechanism and the requirement (a) on the derivative parallel mechanism, it ensures that one driving system can drive all the parallel mechanisms.
By means of the requirements (d), (e) on the original parallel mechanism and the requirements (b) (c), (d) on the derivative parallel mechanism, it ensures the symmetry between the original parallel mechanism and the derivative parallel mechanism.
As to the layout and preferred solutions of the input end axes of the first kinematic pair:
The input end axes of the first generalized kinematic pair have only two orientation manners: perpendicular to the base platform plane and parallel to base platform plane (comprising coinciding). For a 2-DOF multiple-movable-platform parallel robot or planar parallel mechanism which has only two original chain s, the orientations of the input end axes of two active pairs form relatively simple combinations, that is, there are three combination patterns: two axes both perpendicular to the original base platform plane; two axes both parallel to or coinciding with the original base platform plane; one of the two axes parallel to or coinciding with the original base platform plane, the other perpendicular to the original base platform plane. However, if the parallel mechanism has relatively more DOFs, more original chain s results in more active pairs, and the input end axes have a lot of combined orientation patterns. In general, some simple and useful patterns may be selected for real engineering practice. For example, a pattern in which the axes are star-like, a pattern in which the axes are tangent lines of the same circle (ellipse) or tangent lines of concentric circles in the same plane, a pattern in which the axes are parallel with each other, or a pattern in which all or some of the axes are coinciding. Some important preferred solutions will be described now:
Preferred solution 1 of active pair axes: star-like layout. In the case that not all the input end axes of the first generalized kinematic pair are parallel, a pattern in which the axes arranged to be star-like is preferred. In the star-like pattern, two or more input end axes of the active pair intersect at one point, or a generalized kinematic pair is disposed along each axis, or two generalized kinematic pairs having a coincident axis are disposed along one axis, or two generalized kinematic pairs having axes parallel with each other are disposed on opposite sides of one axis. The star-like pattern comprises Y-shaped pattern. A preferred solution is described below:
In a multiple-movable-platform parallel robot according to the invention, the input end axes of the first kinematic pair in the original chain are within the base platform plane, and at least three active pairs have their axes intersecting at one point. It can be understood with reference to Embodiment 8 and Embodiment 28.
A multiple-movable-platform parallel robot formed in star-like layout may form reflectional symmetry, translational symmetry, scale translation symmetry, scale reflection symmetry, etc. It can also form rotational symmetry.
Preferred solution 2 of active pair axes: ring-like layout. In the combination pattern of the input end axes of the active pairs, in the case that not all the axes are parallel, a preferred solution is that all the axes are tangent lines of the same circle (ellipse) or tangent lines of concentric circles in the same plane.
In a multiple-movable-platform parallel robot according to the invention, the input end axes of the active pair (i.e., the first kinematic pair input end of the original chain) are within the base platform plane and the axes are tangent lines of the same circle or ellipse or tangent lines of concentric circles in the same plane. In this case, the symmetry of the movable platform is rotational symmetry or reflectional symmetry. Examples can be seen from Embodiments 27, 29.
Preferred solution 3 of active pair axes: the axes are in parallel layout; in the input end axes, in a pattern in which many or all of the axes are parallel, a preferred solution is that all the axes are parallel or coincide with the base platform plane.
In a multiple-movable-platform parallel robot according to the invention, the input end axes of the active pairs are parallel to or coincide with the base platform plane and are parallel with or coincide with each other. Examples can be seen from Embodiments 5, 13, 15, 17, 19.
Preferred solution 4 of active pair axes: in a layout in which the axes are perpendicular to the base platform plane, for the input end axes, in a layout pattern in which many or all of the axes are perpendicular to the base platform plane, a preferred solution is that all the axes are perpendicular to base platform plane.
In a multiple-movable-platform parallel robot according to the invention, all the input end axes of the active pairs are perpendicular to the base platform plane. It can be understood with reference to Embodiments 7, 9, 12, 25.
There are also a lot of other combination patterns of the active pair input end axes, so the user can determine the concrete combination pattern based on real usage requirements.
For achieving a grasping or cutting operation, the movable platform of the multiple-movable-platform parallel robot may be mounted with a manipulator, for example, grasping tool, cutting tool, suction cup, electro-magnet, graver, paint brush, 3D printer, dexterous hand, laser head, spray gun, component parts, etc. A movable platform may be mounted with a plurality of manipulators. In this way, the following new parallel robot technical solution is generated:
According to the invention, a multiple-movable-platform parallel robot is characterized in that each moving platform is mounted with a manipulator.
In order to prevent unintentional errors of the multiple-movable-platform during a cutting operation, which errors may result in discarded components, a detecting sensor, for example a pressure or displacement sensor for sensing pressure or distance, is mounted to a moving platform of the multiple-movable-platform parallel robot. The remaining moving platforms are mounted with a grasping tool, a cutting tool or other manipulators. The corresponding manipulating element on the moving platform equipped with the detecting sensor is a concrete body, and when an instruction from the detecting sensor indicates that the concrete body may be hurt, the operation instruction is stopped to prevent wrong operation. In this way, the following new parallel robot technical solution having safety protection function is generated:
The multiple-movable-platform parallel robot can also perform profile machining to a complex-shaped component part. The machining comprises performing component scaling or variant. There is one moving platform mounted with a probe or sensor, and a component part which has already been machined or to be profiled is mounted to a corresponding working table on this moving platform. A probe or sensor is used for sensing the machining boundary of the component part. When the probe contacts the component part or the sensor detects a critical distance, the platform is no more advanced, and manipulators on other movable platforms conduct profiling operation. The probe is a rigid contact which cannot move anymore once it contacts a rigid object. For example, such an operation may be grinding a turbine blade of an aircraft engine which has a complex shape.
In this way, the following new parallel robot technical solution having safety protection function or having profile following function is generated:
According to the invention, a parallel machine tool robot is characterized in that: one moving platform is mounted with a probe or detecting sensor, and the remaining moving platforms are mounted with a manipulator. It can be understood with reference to Embodiment 19.
In the case that the primary output end and the auxiliary output end, the original movable platform and the derivative movable platform, or the derivative chains and the downstream original chain s of the multiple-movable-platform parallel robot have scaled symmetrical or special structural layout, the derivative movable platform can achieve a type of scaling function. For achieving the scaling function, there are two preferred solutions.
According to the invention, a scaling parallel robot is characterized in that: the multiple-movable-platform parallel robot is a symmetrical double-moving-platform parallel mechanism, the pair of the original movable platform and the derivative movable platform and/or the pair of the primary output end and the auxiliary output end are scaled symmetrical with each other, and the derivative chain is the same or substantially the same with the original chain. It can be understood with reference to Embodiment 26, 28.
According to the invention, a scaling robot is characterized in that: the multiple-movable-platform parallel robot is a double-moving-platform parallel robot, the input end axes of the active pairs are within the base platform plane, and the axes are tangent lines of the same circle or coincide with the radius of the circle, or are tangent lines of two concentric circles on the same plane or coincide with the radii of the circles; the multiple-output kinematic pair comprises a double-output kinematic pair; all the primary output ends are at the inner side of the circle or ellipse, and all the auxiliary output ends are at the outer side of the circle or ellipse; the auxiliary derivative chain is the same or substantially the same with the downstream original chain; the original movable platform is scaled symmetrical with the derivative movable platform scaled symmetrical. The inner and outer sides mentioned here are not limited to be within the base platform plane. During working, the ranges of inner and outer sides cover the sections above and below the base platform plane which are smaller than the radius of the circle. This scaling robot can also be used in scaled profile machining. For example, based on a smaller turbine blade, a larger turbine blade can be produced by scaled profile machining. Thus, a profiling parallel robot having scaling function is generated. It can be understood with reference to Embodiment 27.
In the case that a low-DOF parallel mechanism acts as a generating element, the original chain s are generally some types of special chains having relatively complex structure. For simplifying the structure, a passive chain can be added as a redundant chain. After a passive chain is added as a redundant chain, the selection flexibility of the original chain s is increased. Examples include using unrestraint 6-DOF chains. In this way, the following technical solution is generated:
According to the invention, in the multiple-movable-platform parallel robot, the original parallel mechanism is a low-DOF parallel mechanism; the original parallel mechanism comprises, in addition to the original chain, a redundant chain connecting the original base platform with the derivative base platform; the redundant chains is a passive chain; the number of DOF of the redundant chain is more than or equal to two, and is less than six; the original chain is an unrestraint 6-DOF chain.
Walking parallel robot pattern: a multiple-movable-platform parallel robot can be used as a walking parallel robot. The technical problem in prior art, that is, the walking parallel robot cannot walk after it is turned over by 180 degrees, is solved. It can be understood with reference to Embodiment 29, 30.
According to the invention, in a double-sided walking parallel robot, the original parallel mechanism of each multiple-movable-platform parallel robot is a parallel leg mechanism; each multiple-movable-platform parallel robot comprises a original parallel mechanism and a derivative parallel mechanism, the original parallel mechanism being reflectional symmetrical with the derivative parallel mechanism; one multiple-movable-platform parallel robot is called as Leg A, and the other is called as Leg B; the original parallel mechanism of Leg A and the original parallel mechanism of Leg B or the derivative parallel mechanism of Leg B are located at the same side to form a single-sided parallel walking robot; the derivative parallel mechanism of Leg A and another parallel mechanism of Leg B are located at another side to form another single-sided parallel walking robot; the original base platforms of Leg A and Leg B are located in a plane, and the two original base platforms are fixedly connected to each other form a hip joint; all the four movable platforms are of a foot arch structure, which is called as movable platform foot arch; the movable platform foot arch is provided with toes.
The original parallel mechanism of Leg A is composed of the original base platform of Leg A, the original chain of Leg A and the original movable platform foot arch of Leg A; and the original parallel mechanism of Leg B is composed of the original base platform of Leg B, the original chain of Leg B and the original movable platform foot arch of Leg B. Each movable platform foot arch is provided with toes.
The two parallel leg mechanisms are arranged in one of the following ways:
(1) One of the two multiple-movable-platform parallel robots at the left side, and the other one at the right side;
(2) One of the two multiple-movable-platform parallel robots is larger, and the other one is smaller, the smaller one being within the larger one; two movable platforms foot arches located at the same side of the original base platform have different sizes or have different heights or have different sizes and heights;
(3) The two multiple-movable-platform parallel robots are disposed in a cross manner; two movable platforms foot arches (25.2) located at the same side of the original base platform have different sizes or have different heights or have different sizes and heights.
The terms larger and smaller used here may refer to the whole body or to a partial portion, for example, for comparing the sizes of two foot arches.
The double-sided walking parallel robot solves the problem that the walking parallel robot cannot walk after it is turned over by 180 degrees; however, there may be a new problem: the robot cannot walk when it is standing-by-side or the robot cannot recover its walking ability. For solving these problems, the following solution is proposed.
According to the invention, the double-sided walking parallel robot, the smaller one of the two double-moving-platform parallel robots is within the larger one; two movable platforms foot arches located at the same side of the original base platform have different sizes or have different heights or have different sizes and heights.
The hip joints on the base platform plane are provided with a returning ring which is larger than base platform; the returning ring is in the form of a circular ring, for connecting link rods with the hip joints together; the returning ring and the hip joints share the same center; the radius of the returning ring is larger than L/cos θ, and the radius of the returning ring is not smaller than the larger one of the radius of the circumscribed circle of the toes and the radius of the circumscribed circle of the hip joints;
wherein in the expression L/cos θ, L is the distance from the mid-point between two neighboring toes to the center of the original base platform, the mid-point between two neighboring toes being call in a simplified way as mid-point of toes; and
when drawing a connecting line from the mid-point of toes to the center of the original base platform, θ is the angle between a connecting line and the original base platform plane.
As to the selection of the radius of the returning ring, the above solution means that a determined double-sided walking parallel robot has three radii: the radius of the circumscribed circle of toes (if there are two different radii, the larger one is selected), the radius of the circumscribed circle of the hip joints, and the radius calculated from expression L/cos θ. The radius of the returning ring is selected as the maximum one of the three radii.
In a design procedure, the requirements in selection of two neighboring toes are not strict. By using different selection methods, different recovering abilities can be obtained. The hip joints shall comprise moving elements on the base platform plane; for example, in Embodiment 33 shown in
As to the size of the returning ring, the following condition shall be taken into consideration: when a certain point on the returning ring contacts the ground (horizontal ground surface), there are also two toes contacting the ground to form a triangle; now the projection point of the weight center of the robot on the horizontal ground surface is outside the triangle. The returning ring has two functions. First, when the robot is standing-by-side, the returning ring can help the double-sided walking parallel robot to return to a normal upstanding state (or a reversed state) (like a tumbler); second, when the robot is standing-by-side and cannot return to a normal upstanding state, the returning ring can be used as a rolling ring. By changing the position of the weight center of the double-sided walking parallel robot, rolling can be achieved.
As to the selection of the radius of the returning ring, the above solution means that a double-sided walking robot has three radii: the radius of the circumscribed circle of toes, the radius of the circumscribed circle of the hip joints, the radius calculated form expression L/cos θ. The radius of the returning ring can be selected as the maximum one of the three radii. It can be understood with reference to Embodiments 30, 31
A new problem created after a returning ring is added is that the overall size of the walking parallel robot becomes larger and the passing-through ability becomes worse. For solving this new problem, a method is to reduce the height of the walking parallel robot in the case that the radius of the returning ring is determined. For example, the overall height of the walking parallel robot is smaller than 60% of the diameter of the returning ring, so the radius of the returning ring can be made to be the smallest one. Another method for solving the above problem consists in the following solution.
According to the invention, in the double-sided walking parallel robot, the returning ring is substituted by N3 (N3≥2) segments of arched rods; opposite ends of each arched rod is formed with a slot, the slot extending in the direction of a tangent line of the returning ring; neighboring arched rods are overlapping with each other; the N3 arched rods form the returning ring; the rod elements for connecting the hip joints with the arched rods are substituted by N3 contracted mechanisms; each contracted mechanism is one of the following serial mechanisms: PR mechanism (the axis of the rotatable pair is perpendicular to the axis of the sliding pair), CR mechanism (the axis of the rotatable pair is perpendicular to the axis of the cylinder pair), HR mechanism (the axis of the rotatable pair is perpendicular to the axis of the helical pair), RR mechanism (the axes of the two rotatable pairs are parallel with each other), RRR mechanism (the axes of the three rotatable pairs are parallel with each other); from one or more of above mechanisms, N3 serial mechanisms are selected as a group of contracting mechanisms; the axes of the rotatable pairs of the contracted mechanism are perpendicular to base platform plane; one end of each rotatable pair of the contracted mechanism movably fits with slots in two neighboring arched rods so that the rotatable pair is slidable in the slots, and the other end of the rotatable pair is connected with a hip joint.
For example, an RR serial mechanism may be used. The axis of the rotatable pair is perpendicular to the base platform plane; a rotatable pair is connected to a hip joint at a location near its center. Another rotatable pair is connected to the slots of two neighboring arched rods. The slots of the two neighboring arched rods form movable fit with the rotatable pair at the end of the serial mechanism RR. The rotatable pair is slidable in the slots of the arched rods. Near the rotatable pair of the hip joint is a driving pair. The RR mechanism can be rotated around the rotatable pair on the base platform. After the driving pair is rotating, the arched rods can be contracted. The diameter of the walking parallel robot is reduced, and the passing-through ability is increased. The contraction mechanism can also be substituted by other structures having similar functions.
The expanded arched rods form a circle; this circle may be concentric with the center of the base platform, or is offset therefrom.
A rolling torque can be formed by means of this offset, so that a driving force is provided to the walking robot which is standing-by-side.
In order to increase the ability that the walking robot keeps the moving platform in a horizontal state and has a larger step length when the robot is walking on a slanted road or is walking upstairs, the following solution is proposed.
According to the invention, in the double-sided walking parallel robot, each parallel mechanism comprises two original parallel mechanisms and two derivative parallel mechanisms; on each movable platform (foot arch), at least one toe is mounted with a generalized sliding pair. The angle between the axis of this generalized sliding pair and the normal line of the toes plane is not larger than 30 degrees. The slanted axis can be used for adjusting the distance between toes or reducing interference. This generalized sliding pair includes a rotatable pair, a cylinder pair, or a helical pair.
There are many patterns of walking parallel robots; most walking robots disclosed in patent references CN 201010292424.1 and CN 03826959.7 can be used in the present invention.
There are some patterns of combined downstream chains: the connection manners between the chains and the movable platform can be classified into three types according to the relations of neighboring derivative chains: double-straight-line shaped, inverted V-shaped, or X-shaped. In the double-straight-line shaped type, two neighboring derivative chains are directly connected with the movable platform, each chain being equipped with a movable platform hinge point; the number of the movable platform hinge points equals to the number of the active chains. Examples can be seen from Embodiments 1, 7. In the second type, or inverted V-shaped type, two or three chains are connected with the movable platform via a composite hinge; two neighboring chains are inverted V-shaped, and the inverted V-shaped chains are jointed to one point at the connection to the movable platform; the number of the movable platform hinge points is smaller than the number of the active chains. Two or the three derivative chains are arranged in an inverted V-shape. Examples can be seen from Embodiments 18, 27. In the third type, two derivative chains are first combined into one derivative chain, and are then connected with the movable platform. The combined derivative chain is X-shaped, as simply called as X-shaped chains. In the third type, the number of the hinge points connected with the movable platform is reduced, the number of the derivative chains near the movable platform is reduced, and the partial interference space of the chains near the movable platform is reduced, and thus a distinctive pattern is formed, which can be used in walking parallel robots. The third type is suitable to be used in a parallel mechanism in which the number of DOF is more than 3. There is also a pattern in which three derivative chains are combined into one. The third type forms the following new pattern:
According to the invention, the symmetrical multiple-movable-platform symmetrical parallel robot is characterized in that: it comprises only one derivative parallel mechanism; the derivative parallel mechanism is reflectional symmetrical with the original parallel mechanism; the number of the original chain s is at least three to at most seven; the third generalized kinematic pair of the original chain comprises a double-output kinematic pair; the output ends of the double-output kinematic pair are reflectional symmetrical with each other; at least one pair of neighboring original chain s share a double-output kinematic pair, with the original two downstream original chains being combined into a downstream original chain and then being connected with the original movable platform, and the original two auxiliary derivative chains being combined into an auxiliary derivative chain and then being connected with the derivative movable platform; the derivative parallel mechanism is reflectional symmetrical with the original parallel mechanism.
In a 6-DOF original parallel mechanism, if there are three pairs of original chain s be combined, there will be only three downstream original chain s connected with a single original movable platform. Meanwhile, if three pairs of auxiliary derivative chains are combined, there will be only three auxiliary derivative chains connected with a single derivative movable platform. The original parallel mechanism takes the 6-DOF parallel mechanism proposed by Ben-Horin as a prototype. Three planar 2-DOF dollies are substituted by 2-translational-DOF planar parallel mechanisms (for example, 2-RRR, 2-RPR, 2PRR). Three rods having fixed lengths and the kinematic pairs connected with them remain unchanged.
The pattern in which two original chain s share one double-output kinematic pair can be used in constructing a 5-DOF multiple-movable-platform parallel robot, or constructing a 4-DOF multiple-movable-platform parallel robot. It can also be used in constructing a walking parallel robot. It can be understood with reference to Embodiments 32, 33.
According to the invention, a double-sided walking parallel robot is characterized in that: it comprises two multiple-movable-platform parallel robots, and the original parallel mechanisms of two multiple-movable-platform parallel robot are each a parallel leg mechanism; the two original base platforms are arranged on a plane and are fixedly connected with each other; the projections of the double-output kinematic pairs of the two multiple-movable-platform parallel robots onto the base platform plane are located in different sector spaces; the movable platform has a foot arch structure; the foot arch is provided with toes; two movable platforms foot arches located at the same side of the original base platform plane have different sizes or have different heights or have different sizes and heights.
Actually, it is feasible only if the projections of the double-output kinematic pairs of the two multiple-movable-platform parallel robots onto the base platform plane are not overlapping each other; for the above solution that the projections are located in different sector spaces, the structure can be made relatively compact. Each double-output kinematic pair has an independent working space, which is not interfered by the components of another multiple-movable-platform parallel robot. It can be understood with reference to Embodiment 33.
The terms and related structures related to in the present invention will be described below.
(I) Further Description to the Original Base Platform
In accordance with the structures of the original parallel mechanisms, the original parallel mechanisms are classified into planar original parallel mechanisms and spatial original parallel mechanisms. Accordingly, the original base platforms are classified into two types described below.
The base platform plane of the planar parallel mechanism refers to the plane in which the parallel mechanism lies. In engineering field where the requirements are not strict, it may refer to a plane parallel with the plane in which the parallel mechanism lies. The base platforms of the planar parallel mechanisms may have two types: triangle shape and straight-line shape; no matter it is triangular or straight line shaped, it is always in the plane of the planar parallel mechanism, and thus is called as planar base platform.
The original base platforms of the spatial parallel mechanisms may be classified into three types: A, the active pair axis is perpendicular to or coincides with a plane, and the first kinematic pair of the original chain is therefore mounted to this plane. This plane is called as original base platform plane. This base platform is called as planar base platform. B, the active pair axis is parallel (not coincide) with a plane, and the first kinematic pair mounted to this plane via a mount. This plane is called as original base platform plane. This base platform is called as planar base platform. C, the angle between the active pair axis and a reference plane is within +/−20 degrees, and this reference plane is called as original base platform plane. This base platform is called as planar base platform.
An example of the third type is below: the active pair is a sliding pair, the axis of the sliding pair is curved into the form of a circle, and the base platform plane is curved into a cylindrical surface. The original parallel mechanism is located in a small sector of the cylindrical surface, for example, in a sector smaller than 90 degrees. In other sector spaces, several derivative parallel mechanisms are arranged in rotationally symmetrical with each other. For the sake of the change in the axis of the sliding pair, the original base platform plane is substituted by a reference plane. In this case, if a rotatable pair substitutes the ring-like sliding pair, it is not necessary to use the reference plane as the original base platform plane.
As to the original base platform, further description is made below: 1, a base platform, after symmetrical transformation, is a combination of the original base platform and the derivative base platform, and may be still a plane or may become a curved surface, for example, becomes a cylindrical surface. But for a single derivative parallel mechanism or original parallel mechanism, if the original base platform is located in a small sector of the cylindrical surface, it still meets the condition of the third type. 2, as to the mounting manner of the active pair, the input end of a reversed double-output kinematic pair or some other double-output kinematic pairs is mounted to a middle portion, and the middle portion is mounted to base platform plane. The input end of the multiple-output kinematic pair is at an end portion, and the end portion is mounted to the base platform plane directly or via a mount mounted.
(II) Further Description to the Generalized Kinematic Pair and the Expandable Kinematic Pair
Generalized kinematic pairs include single-output kinematic pairs and multiple (double)-output kinematic pairs. The multiple (double)-output kinematic pair mentioned in the disclosure refers to a kinematic pair having two or more output ends and the output ends possessing certain symmetry. The multiple (double)-output kinematic pair will be called in a simplified way as multiple-output kinematic pair.
Single-output kinematic pairs include simple single-output kinematic pairs and complex single-output kinematic pairs; the multiple-output kinematic pairs include simple multiple-output kinematic pairs and complex multiple-output kinematic pairs.
Simple single-output kinematic pairs, generally called as kinematic pairs, include rotatable pair, sliding pair, Hooke joint, spherical pair, helical pair, cylinder pair, etc. A simple multiple-output kinematic pair is formed by adding an output end to a simple single-output kinematic pair. A complex single-output kinematic pair or a complex multiple-output kinematic pair is a kinematic pair which comprises a plurality of simple kinematic pairs or comprises various higher pairs and has a relatively complex structure.
Expandable generalized kinematic pair is a generalized kinematic pair to which a symmetrical output end can be added; if it needs to add a symmetrical output end expanding from this generalized kinematic pair, this generalized kinematic pair is an expandable generalized kinematic pair.
If there is an additional output end expands from a single-output kinematic pair, this generalized kinematic pair becomes a double-output kinematic pair, and the original generalized kinematic pair is an expandable generalized kinematic pair. If a further auxiliary output end is expanded out, this generalized kinematic pair becomes a three-output kinematic pair, and the original double-output kinematic pair is an expandable double-output kinematic pair, and so on. In this way, a multiple-output kinematic pair having N symmetrical output ends is obtained.
An expandable generalized kinematic pair or multiple-output kinematic pair is composed of an input end, an output end, an input-output converting device and expandable interface and connecting devices.
The first and the second generalized kinematic pairs each have only one input end; the third generalized kinematic pair may have two input ends only when two neighboring chains after the third generalized kinematic pair are combined into one auxiliary derivative chain. It is actually formed by combining two single-input and double-output kinematic pairs. It is actually still two single-input and double-output kinematic pairs, and in which an input end corresponds to an auxiliary derivative chain, but two input ends share one double-output kinematic pair.
When the original chain is set, the first, second and third generalized kinematic pairs in a chain are clearly set; meantime, the active pair and the active pair input end are also clearly set. For example, given the original chain is an RSS chain, the first, second and third generalized kinematic pairs are respectively R, S and S, the active pair and the active pair input end are R. Thus, in the following description, when the original chain is given, the first, second and third generalized kinematic pairs, the active pair and the active pair input end will not be described specifically, and will not be marked by reference numerals in the figures.
(III) Further Description to the Derivative Base Platform
The lower end point of the derivative chain is the hinge point between the derivative chain and the derivative base platform. The hinge points of N2 derivative chains form the derivative base platform. The derivative base platform has the same, similar or substantially the same shape with the original base platform. The derivative base platform is symmetrical with the original base platform, and the symmetry includes identity symmetry, translational symmetry, rotational symmetry, reflectional symmetry, gliding reflection symmetry as well as scale symmetry.
In most conditions, the original base platform and the derivative base platform have fixed geometric shapes. Examples can be seen from Embodiment 1, 7, 9, 25. In some conditions, for example, the active pair axes are within the base platform plane and are parallel with each other (with reference to Embodiments 17, 19), the active pairs are sliding pairs; now the active pair axes have various supporting patterns. The original base platform may have various shapes, for example, triangle, square, hexagon, etc. The derivative base platform also follows this way. Once the shape of the original base platform is set, the derivative base platform may be determined to have the same shape with the original base platform to establish the symmetry between them.
When the derivative base platforms in two or more derivative parallel mechanisms are equivalent symmetrical with the original base platform, there is actually only one base platform. Now, the number of the derivative base platforms equals to the number of the derivative parallel mechanisms.
(IV) Further Description to the Structure of the Symmetrical Multiple-Output Kinematic Pair
The symmetrical multiple-output kinematic pair is a key structural component in the invention, which is also a new concept. The multiple-output kinematic pair falls into the scope of composite kinematic pairs. Individual multiple-output kinematic pairs mentioned in the disclosure, also called as multiple-pair component in some references, are actually also composite kinematic pairs. The symmetrical multiple-output kinematic pair mentioned in the disclosure is a composite kinematic pair having one or two input ends, and also having two or more outputs, and the output ends possess certain symmetry. Ordinarily, the symmetrical multiple-output kinematic pair has one input end, and in some individual conditions, it has two input ends (in the application that two kinematic pairs are combined). In the symmetrical multiple-output kinematic pairs mentioned in the disclosure, some of them are effected by adding symmetricities to existing composite kinematic pairs, while some of them are new kinematic pairs dedicatedly created for the invention; the symmetrical multiple-output kinematic pairs include multiple-output kinematic pairs formed by flexible kinematic pairs or compliable kinematic pairs. All of them are called in a simplified way as multiple-output kinematic pairs. The multiple-output kinematic pair is composed of an input end, two or more output ends, an input-output converting device, expandable interfaces and connecting devices.
In accordance with the axes of the input and output ends and the movement properties, the multiple-output kinematic pairs are classified into two types: fixed output kinematic pairs and varying output kinematic pairs. In accordance with structure complex degree, the multiple-output kinematic pairs may be further classified into two types: simple multiple-output kinematic pairs and complex multiple-output kinematic pairs.
The axis of a fixed output kinematic pair is not changed, and the movement property is also not changed. For example, the fixed output kinematic pair may be a simple rotatable pair or sliding pair. In general, a fixed output kinematic pair is a simple kinematic pair. A varying output kinematic pair is a kinematic pair in which the output end axis may vary or the movement property may vary or both may vary. In general, a varying output kinematic pair is a complex kinematic pair. The complex kinematic pairs, in accordance with the number of the input ends, may be classified into: complex single-output kinematic pair, complex double-output kinematic pair, and complex multiple-output kinematic pair. The structures of the three types are similar. One complex output end expanded from one complex single-output kinematic pair may form one complex double-output kinematic pair. Two complex single-output kinematic pairs connected in series may form one complex double-output kinematic pairs. A complex multiple-output kinematic pair may be formed by adding one or more output ends to a complex double-output kinematic pair. The simple kinematic pairs following a similar way: the output end of a simple single-output kinematic pair can be expanded, i.e. by adding an output end of the same type, to become a simple double-output kinematic pair. By further adding a kinematic pair to the output end, a kinematic pair with three or more output ends is formed, which becomes a simple multiple-output kinematic pair. In general, a complex multiple-output kinematic pair is a varying output kinematic pair.
Simple multiple-output kinematic pairs are described below: a particular example of simple multiple-output kinematic pairs is a simple double-output kinematic pair. Simple double-output kinematic pairs are classified into two types. The first type is homo-directional double-output kinematic pair, as can be understood with reference to Kinematic Pair No. 4 (
Complex multiple-output kinematic pairs are described below: no matter it is single-output or multiple-output, complex kinematic pairs include: 1, a complex kinematic pair axis with the direction and movement both unchanged; 2, a complex kinematic pair with only the movement type changed but the movement (axis) direction unchanged; 3, a complex kinematic pair with only the axis direction changed but the movement type unchanged; 4, a kinematic pair in which the movement direction and the movement type are both changed; 5, a kinematic pair in which the axis location is changed but the axis direction is unchanged. The latter types of complex multiple-output kinematic pairs are varying-output complex kinematic pair.
The complex varying output kinematic pair has an input-output converting box, which can be implemented by means of gear pair, cam pair, linkage or slanted surface, guiderail, worm rod, parallelogram mechanism, sarrus mechanism and the like. Complex varying output kinematic pairs will be described below emphatically.
1. In ordinary conditions, the complex kinematic pair with the axis direction and movement type both unchanged can be substituted by a simple kinematic pair, and will not be described more.
2. The complex kinematic pair in which only the movement type is changed but the movement direction is unchanged will be called in a simplified way as movement-type-varying complex kinematic pair.
The complex kinematic pairs in which only the movement type is changed but the movement direction is unchanged are mainly helical pair type. Translational movement is converted into rotational movement or vice versa, which is generally achieved by a helical pair. That is, it is implemented by means of PHR or RHP (R represents rotatable pair, H represents helical pair, P represents sliding pair, as used in the context hereafter). It can be understood with reference to Kinematic Pair No. 8 (
By using gear pairs (including gear racks) or other means, the function that the movement type is changed but the movement direction is unchanged can also be achieved, but the structure is relatively complex.
3. The complex kinematic pair in which only the movement direction is changed but the movement type is unchanged will be called in a simplified way as direction-varying complex kinematic pair.
The changing of the direction-varying complex kinematic pair can be effected via gear pair, cam pair, linkage or slanted surface, guiderail, worm rod and the like, in which gear pair is preferred. Gear pair and cam pair are generally represented by RGR and PGP. G represents one or more gear pairs (generally bevel gear) or cam pairs. Gear pairs also include movable-tooth transmission, timing belt driven by worm gear, etc. Gear pairs can be understood with reference to Kinematic Pair Nos. 14, 24 (
4. The complex kinematic pair in which the movement direction and the movement type are both changed will be called in a simplified way as double-changed complex kinematic pair.
Double-changed complex kinematic pairs include gears, for example, Kinematic Pair No. 16 (
5. In the complex kinematic pair in which the location of the output end axis is changed, the axis direction is not changed, and the axis location is translationally moved. For example, Kinematic Pair No. 32 (
The function of the complex multiple-output kinematic pair is mainly effected by means of an input-output converting box (device). The input-output converting box is a simple mechanical movement converting device, and belongs to commonly known technique. There are various concrete structures for it, which will be described after classified in accordance with its symmetry.
(V) The Symmetry of the Symmetrical Multiple-Output Kinematic Pair and Classified Description
Now, various multiple (double)-output kinematic pairs related to in the invention will be described in detail in accordance with the symmetry of the output end of the multiple-output kinematic pair. The multiple-output kinematic pairs are classified in accordance with the symmetry of the output end into: reflectional symmetry type, translational symmetry type, rotational symmetry type, gliding reflection symmetry type and scale symmetry type.
In accordance with the definition above, symmetrical multiple-output kinematic pairs fall within the scope of composite kinematic pairs. A symmetrical multiple-output kinematic pair is a composite kinematic pair having one or two input ends and two or more output ends, with the output ends possessing certain symmetry. Each multiple-output kinematic pair has the same components. That is, it is composed of an input end 1, a movement converting device 2, a primary output end 3, an auxiliary output end 3.1, and an expandable interface 4. In the drawings and the following description, the components will not be described unless necessary, and only the movement converting device or the like are referred to. For some figures, there is neither reference numeral nor reference to the other portion of the description.
It is noted that, for a determined multiple-movable-platform parallel robot, the expandable interface 4 of the multiple-output kinematic pair may be not necessary. However, on the one hand, in the method of the invention, if a multiple-movable-platform parallel robot is expandable for conducting nest symmetrical transformation, an expandable interface is necessary; on the other hand, for a multiple-output kinematic pair or a single-output kinematic pair, even if an expandable interface portion is included, no more component is added. Thus, for purposes of providing more general meaning, each multiple-output kinematic pair is described as comprising an expandable interface.
For convenient description, a sequential number is given to each symmetrical multiple-output kinematic pair. For example, the translationally symmetrical multiple-output kinematic pair illustrated in
The multiple-output kinematic pairs are classified in accordance with their output ends as: reflectional symmetry type, translational symmetry type, rotational symmetry type, gliding reflection symmetry type, identity symmetry type and scale symmetry type. Now various multiple-output kinematic pairs will be described with reference to the drawings in accordance with symmetry.
Reflectional symmetry type:
Kinematic Pair No. 1 (
Kinematic Pair No. 2 (
Kinematic Pair No. 3 (
Kinematic Pair No. 4 (
Kinematic Pair No. 5 (
Kinematic Pair No. 6 (
Kinematic Pair No. 7 (
Kinematic Pair No. 8 (
Kinematic Pair A No. 9 (
Kinematic Pair B No. 9 (
Kinematic Pair No. 10 (
Kinematic Pair A No. 11 (
Kinematic Pair B No. 11 (
Kinematic Pair A No. 12 (
Kinematic Pair B No. 12 (
Kinematic Pair No. 13 (
Kinematic Pair No. 14 (
Kinematic Pair No. 15 (
Kinematic Pair No. 16 (
Kinematic Pair No. 17 (
Kinematic Pair No. 18 (
Kinematic Pair No. 19 (
Kinematic Pair No. 20 (
The reflectional symmetrical double-output kinematic pairs can also be regarded as a rotationally (rotated by 180 degrees) symmetrical multiple-output kinematic pair.
Translationally symmetrical type:
Kinematic Pair No. 21 (
Kinematic Pair No. 22 (
Kinematic Pair No. 23 (
Kinematic Pair No. 24 (
Kinematic Pair No. 25 (
Kinematic Pair No. 26 (
Kinematic Pair No. 27 (
Kinematic Pair A No. 28 (
Kinematic Pair B No. 28 (
Kinematic Pair No. 29 (
Kinematic Pair No. 30 (
Kinematic Pair No. 31 (
Kinematic Pair No. 32 (
Kinematic Pair No. 33 (
Kinematic Pair No. 34.1 (
Kinematic Pair No. 34.2 (
Kinematic Pair No. 35 (
Rotationally symmetrical type:
Kinematic Pair No. 5 (
Kinematic Pair No. 36 (
An application of Kinematic Pair No. 36 is that: a plurality of same type Kinematic Pairs No. 41 are mounted around the same axis (called as mid-axis); all the output ends are on a cylindrical surface the axis of which is the mid-axis. The cylindrical surface is divided into three or more same sector spaces; each ring-like rotatable pair has only one output end on each sector, so there are many same output ends; each sector space is mounted with a parallel mechanism, with parallel mechanisms in different sector spaces being rotationally symmetrical with each other.
Another application of Kinematic Pair No. 36 is that: a plurality of Kinematic Pairs No. 36 having different radii are mounted around the same axis (called as mid-axis); the output ends of different ring-like rotatable pairs are on circles having different radii. The radius of the circle on which the output ends of the lowermost ring-like rotatable pair lie is the largest one, while the radius of the circle on which the output ends of the uppermost ring-like rotatable pair lie is the smallest one. For other ring-like rotatable pairs, in an upward direction, the radius of the circle on which the output ends lie become smaller in sequence. All the output ends are on a plane which is perpendicular to the mid-axis. This plane is coplanar with or above the uppermost ring-like rotatable pair plane. This plane is divided into three or more same sector spaces; each ring-like rotatable pair has one output end on each sector, so there are many same output ends; each sector space is mounted with a parallel mechanism, with parallel mechanisms in different sector spaces being rotationally symmetrical with each other.
Kinematic Pair No. 37 (
Kinematic Pair No. 37 has the same function with Kinematic Pair No. 36, so the two are interchangeable. For example, the two applications of Kinematic Pair No. 36 can also be used in Kinematic Pair No. 42. However, the axis of Kinematic Pair No. 37 is changeable, while the axis of Kinematic Pair No. 36 is unique. After Kinematic Pair No. 37 substitutes Kinematic Pair No. 36 and acts as an active pair, its axis is changed. The original base platform is also changed, but still meets the basic requirement that the original base platform is planar.
Kinematic Pair No. 38 (
Kinematic Pair No. 39 (
Kinematic Pair No. 40 (
Kinematic Pair No. 41 (
Gliding reflection symmetrical type:
Kinematic Pair No. 42 (
Kinematic Pair No. 43 (
Kinematic Pair No. 44 (
Kinematic Pair No. 45 (
Kinematic Pair No. 46 (
Kinematic Pair No. 47 (
Equivalent symmetrical type:
Kinematic Pair No. 48 (
Kinematic Pair No. 49 (
Kinematic Pair No. 50 (
Kinematic Pair No. 51 (
Kinematic Pair A No. 52 (
Kinematic Pair B No. 52 (
Kinematic Pair C No. 52 (
Composite multiple-output kinematic pairs: a composite multiple-output kinematic pair has a plurality of multiple-output kinematic pairs obtained by subsequently conducting symmetrical transformation; or the number of output ends of a complex multiple-output kinematic pair kinematic pair formed by a plurality of multiple-output kinematic pairs connected in series is three or more.
Kinematic Pair No. 53 (
Kinematic Pair No. 54 (
Kinematic Pair No. 55 (
Kinematic Pair No. 56 (
Kinematic Pair No. 57 (
The above multiple-output kinematic pairs are illustrated as having two or a few output ends. Actually, symmetrical transformation can be conducted in sequence to these kinematic pairs. In this way, more output ends can be obtained. Some different multiple-output kinematic pairs disclosed above can also be connected in series to form more output ends, and thus to form multiple-output kinematic pairs which are more complex.
There are a variety of symmetrical multiple-output kinematic pairs, and it is not able to list them one by one. All the multiple-output kinematic pairs that follow the definition of the invention fall within the protection scope of the invention.
(VI) About Chains and Derivative Chains
As to chains: the number of chains mentioned in the disclosure is the number of chains expanded from the base platform, is also the number of the active pairs, called as the number of active chains; the number of derivative chains connected with the movable platform may be the same or different, and the number of derivative chains connected with the movable platform is smaller than or equals to the number of active chains. A chain is generally composed of a kinematic pair and linkages. However, in various references, when the chains are expressed customarily by capital letters for kinematic pairs, only capital letters are expressed while the linkages are not; the disclosure uses this expression manner.
As to auxiliary derivative chains and the expansion of auxiliary derivative chains: the auxiliary derivative chains comprise three types: large-sized auxiliary derivative chains, middle sized auxiliary derivative chains, small-sized auxiliary derivative chains. A large-sized auxiliary derivative chain is connected to the output end of the first kinematic pair; the large-sized auxiliary derivative chain is the same or substantially the same derivative chain with the original chain s, and thus is called as large-sized auxiliary derivative chain. Most embodiments are about large-sized auxiliary derivative chains. A small-sized auxiliary derivative chain is a derivative chain connected with the third generalized kinematic pair. It comprises two less kinematic pairs than the original chain, is the derivative chain having the minimum number of kinematic pairs, and thus is called as small-sized auxiliary derivative chain. Not all the multi-platform symmetrical parallel robots have a small-sized auxiliary derivative chain. Sometimes a small-sized auxiliary derivative chain itself is a linkage, for example, Embodiment 11 (
In the same derivative chain, the upstream derivative chain corresponding to the large-sized auxiliary derivative chain is the smallest one, and only is a multiple-output kinematic pair, for example, Embodiment 1. Similarly, the upstream derivative chain corresponding to the small-sized auxiliary derivative chain is the largest one, and has three generalized kinematic pairs, for example, Embodiment 11. Similarly, the upstream derivative chain corresponding to the middle-sized auxiliary derivative chain has two generalized kinematic pairs, for example, Embodiment 10.
As to expression that the auxiliary derivative chain (also called as downstream derivative chain) is the same or substantially the same with the downstream original chain s: same refers to be composed of the same kinematic pairs, having the same connecting sequence, and the lengths of the components connecting the kinematic pairs being also the same. Substantially the same refers to be composed of the same kinematic pairs, having the same connecting sequence, but the lengths of the components connecting the kinematic pairs being somewhat different from each other. Assembling it is required that the components of robots or parallel machine tool robots have the same length, the walking parallel robots may also be substantially the same or the same.
The symmetry between the auxiliary derivative chain and the downstream original chain, the symmetry between the auxiliary derivative chain and the downstream original chain and the symmetry between the auxiliary derivative chain and the downstream derivative chain are the same as the symmetry of the primary output end and the auxiliary output end where they are located at. The symmetricities are also classified into two types: strict symmetry and loose symmetry.
(VII) About Symmetricities
It is noted that the term symmetry used in the invention is not the same concept with the symmetry used in the field of parallel robot mechanisms. The symmetry used in the field of parallel robot mechanisms means that a parallel mechanism has the same chains, and thus it defines the instinct property of a parallel mechanism. The term symmetry used in the invention refers to the relationship of the original parallel mechanism and the derivative parallel mechanism, refers to the relationship of the original movable platform and the derivative movable platform, refers to the relationship of the primary output end and the auxiliary output end of a multiple-output kinematic pair, and refers to the relationship of the downstream original chain and the auxiliary derivative chain. Thus, it defines the nature the relationship of two parallel mechanisms.
The term symmetry used in the invention reflexes is in nature similar to the symmetry in the field of geometry, and is a type of transformation. However, it is not completely the same with the symmetry in the field of geometry. An example can be seen from Embodiment 1, its symmetrical double-output kinematic pairs act as the first kinematic pairs, and are active pairs. Theatrically, if they are symmetrical, the two active pairs both need driving; however, in engineering field, it may drive only one rotatable pair. As another example, the symmetry of a double-sided walking parallel robot may be loose symmetry. Most important characteristics of the term symmetry used in the invention is that, between the parallel mechanisms, there is a mechanical connection to provide a continuous and precise transmission path for energy, movement and information.
The term scaled symmetry used in the invention comes from a concept of fractal geometry. Scaled symmetry is symmetry with different dimensions, is symmetry after enlarged or shrunk, is symmetry formed from self-similarity, and is symmetry with similarity between one portion and another portion. In references, it is called as telescope symmetry or symmetry with self-similarity, or is called as scaled symmetry. The disclosure uses the term scaled symmetry. For example, for two similar triangles, although they have different sizes, they are scaled symmetrical. Scaled symmetricities are classified into scaled reflectional symmetry, scaled translational symmetry, scaled rotational symmetry and scaled gliding reflection symmetry.
The term symmetry used in the invention refers to symmetry at home position, and the symmetricities include reflectional symmetry, translational symmetry, rotational symmetry, gliding reflection symmetry and scale symmetry, and also include symmetry obtained by forming the above symmetry in sequence (multiplied) by limited times. Symmetricities between the original base platform and the derivative base platform and symmetricities between output ends further comprise equivalent symmetry.
The term symmetry used in the invention is a definition to a structure in an initial state. As to the symmetry in other times, the symmetry may be varied. For example, the symmetry at one time may be changed into other structural symmetry at different times. The symmetry may be overall symmetry or phase-change symmetry. Examples can be seen from the symmetricities in Embodiments 3, 4.
The term symmetricities used in the disclosure further include the symmetry between the upstream original chain and the downstream derivative chain. Such symmetry is not mentioned above. Actually, the symmetry between the upstream original chain and the downstream derivative chain is included in the symmetry between output ends and the symmetry between parallel mechanisms. The symmetry between the upstream original chain and the downstream derivative chain, and the symmetry includes equivalent symmetry, reflection symmetry, translational symmetry, rotational symmetry, gliding reflection symmetry and scaled symmetry.
The symmetricities mentioned in the disclosure comprise strict symmetry and loose symmetry. Assembling robots and parallel machine tools belong to strict symmetry, and walking parallel robots pertain to loose symmetry. Loose symmetry further comprises a condition that the translation distances are different. Scaled symmetricities also include strict symmetry and loose symmetry. Strict profiling or strict scaling profiling belong to strict symmetry, and verified profiling belongs to loose symmetry.
As to the symmetrical transformation of the original parallel mechanism, it is possible to perform symmetrical transformation in three directions (at the same time). (1) performing symmetrical transformation in the normal line direction of the base platform plane, for example, translational transformation in Embodiments 9, 10; (2) performing symmetrical transformation in a direction in the base platform plane, for example, translational transformation in Embodiments 15, 16; (3) performing symmetrical transformation along a plane which forms an angle with the base platform plane, for example, rotational transformation in Embodiment 21.
Three transformations or two transformations or one transformation can be conducted in sequence and repetitively. By conducting transformations along three directions at the same time, a lot of symmetrical parallel mechanisms can be created, and may even fill the whole Euclidean space.
(VIII) About Generating Element
The basis of the invention is a proper generating element. When a generating element is given, by applying the method disclosed in the invention, parallel mechanisms having all DOF combination patterns (57 types) can be obtained. The 57 types of DOF combinations, with different chain structures and different symmetrical manners, a large amount of multiple-movable-platform parallel robots can be generated. Embodiment of the disclosure are aimed at describing the invented methods and invented structures precisely and completely. For describing clearly and conveniently, on the one hand, the generating element is not selected form very simple parallel mechanisms. For example, 1-RS&1-RRR (1T1R) 2-DOF parallel mechanism will not be used as a generating element. On the other hand, four-arthropod parallel mechanisms having complex structures are also not selected, because it is not convenient to describe the method and structure. In the selection of generating elements, two-arthropod parallel mechanisms and planar parallel mechanisms are general used. That is, the mechanism shall be used for fully describing the structure and method, but the structure shall not be too complex. As supplementary to generating element embodiments, some relatively typical generating elements are given below, which comprises multi-arthropod parallel mechanisms.
The 5-RRR (RR) 5-DOF symmetrical parallel mechanism proposed in Reference “Advanced Spatial mechanisms” (Zhen Huang, Higher Education Press, 2006.5, simplified as Reference 1 below), the three-dimensional cylindrical movement parallel mechanisms proposed in Reference “Model Synchronization of Parallel Mechanisms” (Xianwen Kong, etc., China Machine Press, 2013.11, simplified as Reference 2 below), and the 5-DOF parallel mechanisms proposed in Reference 2 can be used as generating elements. Since the active pair axis is parallel to or perpendicular to the original base platform plane, they can be sued as generating elements directly. When the parallel mechanism proposed in Reference 1 is used as a generating element, it has two translational transformation manners. One manner is that: by properly enlarging the regular pentagonal where the first kinematic pair of the original chain are located, relatively sufficient interference space can be provided to the chains, so translational transformation can be conducted in a direction perpendicular to the original base platform plane. This manner can be seen from Embodiments 9, 10 and 11. Another manner is that: when the input end of the original chain is connected in series with an orthogonal direction-varying multiple-output kinematic pair (see Kinematic Pair No. 25 below), translational transformation can be conducted on the original base platform plane, as can be seen from Embodiments 15, 16.
Reference 2 (C pair can be substituted by PR pair) proposed three translational parallel mechanisms. Some of them can be used as generating elements directly. Some of them can be used as generating elements by connecting in series a complex direction-varying or complex double-changed multiple-output kinematic pair. For example, by connecting in series a Kinematic Pair No. 17, reflectional symmetrical transformation can be achieved. by connecting in series a Kinematic Pair No. 34, translationally symmetrical transformation can be achieved.
The parallel mechanisms proposed in Reference “Discuss on Mechanism DOF” (Zhen Huang, etc., Science Press, 2011.8, simplified as Reference 3 below), the parallel mechanisms proposed in Reference “Mathematic Basis of Robot Mechanisms” (Jingjun Yu, etc., China Machine Press, 2008.7, simplified as Reference 4 below), and the parallel mechanisms proposed in Reference “Development in Modern Mechanisms” (Huijun Zou, Feng Gao, Higher Education Press, 2007.4, simplified as Reference 5 below) can all be used as generating element directly, wherein the mechanisms disclosed in Reference 5 have been used in embodiments of the invention (Embodiment 9, 7, 19). Reference 4 and Reference 5 comprise many parallelogram kinematic pairs. Mechanisms disclosed in of Reference 3 of Reference 1 have similar structures and can also be used for conducting symmetrical transformation.
The three-dimensional spherical rotation parallel mechanism proposed in Reference 2 can be used as a generating element. In most three-dimensional spherical rotation parallel mechanisms, by applying Kinematic Pair No. 14 reflection multiple-movable-platform parallel robots can be achieved, and by applying Kinematic Pair No. 24, translational multiple-movable-platform parallel robots can be achieved.
The translational three-rotational parallel mechanism proposed in Reference 2 and the 5-DOF parallel mechanism proposed in Reference 2 can both be used as generating elements. By connecting in series Kinematic Pair No. 14, reflection multiple-movable-platform parallel robots can be achieved, and by connecting in series Kinematic Pair No. 24, translational multiple-movable-platform parallel robots can be achieved.
Most of the three-translational and one-rotational parallel mechanisms proposed in Reference 2 can be directly used as generating elements for conducting reflection transformation. The rotatable pair is a generating element for an active pair, and translational transformation can be achieved by connecting in series a Kinematic Pair No. 25. With the cooperation of Kinematic Pair No. 40, rotational transformation can be achieved. Sliding pair is the generating element for an active pair, and translational transformation can be achieved by connecting in series a Kinematic Pair No. 34; with reference to Kinematic Pair No. 40 and Kinematic Pair No. 25, rotational transformation can also be achieved by them.
For any parallel mechanism, if the first kinematic pair of each chain is an active pair and is the unique active pair of this chain, this parallel mechanism can be used as a generating element. All of them can be used for generating derivative parallel mechanisms having various symmetrical characteristics.
Based on the property of the symmetry, the newly generated derivative parallel mechanism can also be used as a generating element to form a new derivative parallel mechanism. The derivative base platform can also expand from the auxiliary output end. As an example that can be seen from Embodiment 15, the right side derivative parallel mechanism can be used as the original parallel mechanism to conduct reflection transformation. In this way, a reflection—the derivative parallel mechanism is obtained, and this derivative parallel mechanism is the sliding reflection-parallel mechanism of the original parallel mechanism. Embodiment 20 can also be formed by conducting transformation of the derivative parallel mechanism of Embodiment 2 by rotating it by 90 degrees. It can be understood with reference to the description to Embodiment 12.
(IX) Other Instructions
1. Unification and standardization of active pairs: for the same multiple-movable-platform parallel robot, it is preferred that the active pairs are of the same type of kinematic pairs. In this way, it is convenient to produce and control, and convenient to achieve standardization. If the kinematic pairs are not of the same type, a varying output kinematic pair can be connected in series, so that the input kinematic pairs become the same type.
2. Numbering of generalized kinematic pairs: the kinematic pairs are numbered from the base platform, the kinematic pair mounted to the base platform is the No. 1 kinematic pair; the kinematic pair connected with No. 1 kinematic pair is No. 2; and so on.
3. Definition of the orientation of the original parallel mechanism: assuming that the original parallel mechanism base platform is in a planar horizontal state, and the definition to upper, lower, left and right is based on this horizontal position. That is, even if it is rotated, the base platform is still regarded as horizontal, and the original description to upper, lower, left and right is still effective. When the original parallel mechanism is located above the base platform, the lower end of the original chain refers to the end of the original chain that is connected with the base platform, and the upper end of the original chain, or called as tip end, refers to the end of the original chain that is connected with the moving platform.
4. For convenient expression, in the embodiments of the disclosure, the movable platform in many cases is in the form of a triangular movable platform; especially, in a 6-DOF parallel mechanism, a triangular movable platform is also used. Actually, in other possible patterns, various other types of movable platforms can be used, like point movable platform, line segment type movable platform, planar movable platform and table-like moving platform. For example, the movable platform of a parallel machine tool robot can be of a two-layer movable platform.
5. Differences and interconnections between expandable kinematic pairs, multiple-output kinematic pairs and boundary kinematic pairs: expandable kinematic pair refers to a kinematic pair before it expands from the auxiliary output end; after expanding from the auxiliary output end, it becomes a multiple-output kinematic pair, and an auxiliary output end can further expand from this multiple-output kinematic pair, and thus this multiple-output kinematic pair is still an expandable kinematic pair. A boundary kinematic pair must be a multiple-output kinematic pair, but is used under different conditions; when a downstream derivative chain is mentioned, is corresponds to a boundary kinematic pair. For a determined derivative parallel mechanism, the three concepts do not need to be distinguished. The components of the three all comprise an expandable interface, without loss of generality.
6. Two parallel leg mechanisms of a double-sided walking parallel robot: the two pairs of base platform planes are parallel to or located on a plane; the expression “are parallel to or located on a plane” is an expression used in engineering field. Actually, two pairs of base platform planes are substantially parallel with each other and relatively near each other; thus, when they are fixedly connected together, a double-sided walking parallel robot can be formed. Here “relatively near” means that the distance between the two original base platform planes is smaller than one fifth or less of the height of the double-sided walking parallel robot. When there is provided with a height difference, the heights of the inner and outer legs can be coordinated or the interference between chains can be reduced.
Operation procedure: it is classified into two conditions: time sharing operation and simultaneous operation.
Examples of simultaneous operation may be made to an assembling robot and a profiling parallel machine tool.
The operation procedure of a multiple-movable-platform parallel robot will be described with the 3T0R assembling robot of Embodiment 16 (
The operation of the profiling parallel machine tool is described below. On the operation table of the original parallel mechanism on which the probe is mounted, a finished element (called as standard part) has already been mounted, a blank for an element to be machined (called as blank below) is mounted to an operation table of another derivative parallel mechanism; a cutting tool is mounted to the movable platform of said another derivative parallel mechanism. A control (manual or automatic control) probe moves to be closer to the standard part slowly, and the cutting tool moves to be closer to the blank slowly and starts the machining and cutting to the blank; the probe contacts the standard part, the cutting tool stops to be advanced. Changing the probe position, moving it slowly to approach the standard part, and starting the machining to another portion of the blank. The machining to the blank is finished when the probe has contacted with all portions of the standard part.
Time sharing operation will be described with the double-sided walking parallel robot as an example.
Normal upstanding state: when the movable platforms of two original parallel leg mechanisms (foot arches) are at a lower position, the two leg mechanisms are alternatively lifted up (foot moving phase) and put down (foot standing phase) to finish a walking action. Although another pair of parallel leg mechanisms are also moved, they do not finish any operation, i.e., they are “idle”.
Reversed state: when the walking parallel robot is turned over by 180 degrees resulted in an unforeseen condition, two derivative parallel mechanisms are located at a lower position, and two original parallel mechanisms are located at an upper position. In this way, two derivative parallel leg mechanisms are alternatively lifted up and put down to finish a walking action. Two original parallel leg mechanisms are in “idle” state.
Standing-by-side state: when the base platform plane is in a state of nearly perpendicular to the horizontal plane (this is also an unforeseen state), and it cannot recover the normal upstanding state or recover the reversed state, neither of the parallel leg mechanisms on opposite sides of the base platform plane can finish a walking action. Now, the side ring of the walking parallel robot reaches the ground, and the toes contact with a side wall (or a supporting object). A method can be used for changing the weight center of the walking parallel robot; for example, the weight center can be changed by leg movement, the weight center can be changed by changing the position of the center of the ring by means of a contracted returning ring; thus, the robot achieves rolling, or toes moving, applying a force to the side wall or supporting object, and so achieves the rolling of the walking parallel robot so that it comes back to the normal upstanding or reversed state. In this way, the walking parallel robot can move in various conditions. Thus, the walking parallel robot can finish a walking task in various states.
Significances and advantages of the invention will be described below:
The invention may be mainly used in the field of industrial robots; it can perform welding, machining and assembling, handling, panting, detecting, stacking, punching, membrane applying, scrubbing, grinding and polishing, and laser treating and other complex operations to a plurality of operation objects at one time.
The invention provides the following meaningful work: 1. There provides a method for generating a multiple-movable-platform parallel robot for parallel mechanism that meet some requirements. The method is applicable in some existing parallel mechanisms, and can perform one or two symmetrical operations. For example, existing Delta mechanisms, if not modified, can only be used for conducting reflectional symmetrical transformation, but cannot be used for conducting translationally symmetrical transformation on a base platform plane. 2. There provides an orthogonal direction-varying and orthogonal double-changed multiple-output kinematic pair and a corresponding method; in this method, the orthogonal direction-varying and orthogonal double-changed multiple-output kinematic pair is connected in series to the input end of the original chain of the generating element; by the generating element, many types of symmetrical transformations can be conducted. The transformations include four basic symmetrical transformations and scaled symmetrical transformation. Examples can be seen from Embodiment 15, in which translational transformation in another direction can be conducted. 3. There provides an arbitrary-direction-varying and arbitrary double-changed multiple-output kinematic pairs and a corresponding method; in this method, the arbitrary-direction-varying and arbitrary double-changed multiple-output kinematic pair is connected in series to the input ends of some parallel mechanism chains; after connection in series, these parallel mechanisms become generating elements which can be used for conducting many types of symmetrical transformations. By means of this idea, an original parallel mechanism that does not meet the requirements can be converted into a original parallel mechanism that meets the requirements to achieve symmetrical transformation. In this way, any parallel mechanism, in which all the first kinematic pairs are active pairs or only the first kinematic pair is an active pair, can be used as the original parallel mechanism. Examples can be seen from Embodiment 16, in which translational transformation can be conducted for a Delta parallel mechanism. 4. There provides the structure and device of a scaled multiple-movable-platform parallel robot, and thus it becomes possible that the generating element is used for conducting many types of scaled symmetrical transformations, and a possible pattern is provided for achieving multi-dimensional scaling and machining. Examples can be seen from Embodiment 25. 5. There provides the concept and structure of a scaled symmetrical multiple-output kinematic pair, in which operational patterns of generating elements for conducting many types of scaled symmetrical transformations are increased. For example, Kinematic Pair No. 26, Kinematic Pair No. 27. 6. There provides the concept, structure and examples of symmetrical multiple-output kinematic pair, by means of which, conditions for generating various multiple-movable-platform parallel robots are created.
In summary, the invention has the following advantages: relatively broad applications and a low error rate; easy to be repaired; simple structure; convenience in standardization; high productivity; relatively low cost. For example, the invention, when applied in parallel machine tools or assembling robots, two or more parts can be machined at the same time by means of one set of driving system and one set of control system; the working efficiency is increased significantly; conditions for parallel assembling line are also created. If the invention is applied in profiling parallel machine tools, one or more products exactly the same with a real body can be produced by profiling in accordance with the real body. If the invention is applied in scaling parallel machine tools, one or more enlarged or shrunk products can be produced in accordance with the real body. If the invention is applied in walking parallel robots, by means of one set of driving system and one set of control system, the robot can still walk in the condition that the robot is turned over by 180 degrees, so the ability of coping with complex conditions is increased greatly.
Reference numerals of multiple-output kinematic pairs: input end of multiple-output kinematic pair (simplified as input end) 1; movement converting device of multiple-output kinematic pair (simplified as converting device) 2; gear 2.1; bevel gear 2.2; gear rack 2.3; intermediate gear 2.4; parallelogram side rod 2.5; Sarrus mechanism side rod 2.6; linkage mechanism 2.7; primary output end of multiple-output kinematic pair (simplified as the main output end) 3; auxiliary output end of multiple-output kinematic pair (simplified as the auxiliary output end), or the first auxiliary output end is represented by 3.1, and when the same multiple (double)-output kinematic pair has a plurality of output ends, represented respectively by 3.2, 3.3, 3.4, 3.5; in the same derivative parallel mechanism, if the expanding points of the symmetrical multiple-output kinematic pairs are different, the symmetrical multiple-output kinematic pairs are different, and the primary output ends are also different; the primary output ends are represented respectively by 3a, 3b, 3c, corresponding auxiliary output ends are represented respectively by 3a.1, 3b.1, 3c.1; expandable interface device of multiple (double)-output kinematic pair (simplified as interface device) 4, interface connecting devices 4.1; parallelogram A-type mechanism 5, with output end on one side; 6, parallelogram B-type mechanism 6, with output end on a rotatable pair; Sarrus mechanism 7; RHP movement-converting complex kinematic pair 8; PHR movement-converting complex kinematic pair 9; single-input and single-output (or double-output) output complex kinematic pair 10 with direction-varying gears (like the structure of Kinematic Pair No. 14);
Reference numerals in embodiments: original parallel mechanism 11; derivative parallel mechanism or first derivative parallel mechanism 11.1; second derivative parallel mechanism 11.2; third the derivative parallel mechanism 11.3; and so on; original base platform 12; hinge point of original base platform represented by reference numeral B0; there is only one original base platform; active pair of or active pair input end in original chain 12a; when all the active pairs are the same, 12a represents the active pairs (or the input ends of the active pair); the derivative base platform 12.1; when there are a plurality of derivative base platforms, first derivative base platform 12.1, second derivative base platform 12.2, third the derivative base platform 12.3; and so on; hinge points of derivative base platform are represented directly by reference numerals B1, B2, B3, but most reference numerals are not marked in the figures; original chain s 13; when the original chain s of the original parallel mechanism are different, they are distinguished by left, middle and right or are represented by reference numeral 13a; derivative chain 13.1; when there are a plurality of derivative parallel mechanisms, the derivative chains in different derivative parallel mechanisms are distinguished by derivative chain 13.1 and derivative chain 13.3, and so on; if the derivative chains of the same derivative parallel mechanism are different, they are distinguished by left, middle and right or are represented by reference numeral 13a.1; downstream original chain s or downstream main rod element 14; if the downstream original chain s of the original parallel mechanism are different, they are distinguished by left, middle and right, or represented by reference numeral 14a; auxiliary derivative chain or downstream derivative rod element or downstream derivative chain 14.1; when there are a plurality of derivative parallel mechanisms, the auxiliary derivative chains or downstream auxiliary derivative chains are distinguished by downstream auxiliary derivative chain 14.1, downstream auxiliary derivative chain 14.2, downstream auxiliary derivative chain 14.3, and so on; if the auxiliary derivative chains of the same derivative parallel mechanism are different, they are distinguished by left, middle and right, or are represented by reference numeral 14a.1, or are only described without any reference numeral; original movable platform 15; there is only one original movable platform; derivative movable platform 15.1; when there are a plurality of derivative movable platforms, they are distinguished by derivative movable platform 15.1, derivative movable platform 15.2, derivative movable platform 15.3, and so on; symmetrical multiple-output kinematic pair 16; expandable kinematic pair 16a; boundary kinematic pair 16b; if the expanding points of the symmetrical multiple-output kinematic pairs of the same derivative parallel mechanism are different, they are represented by 16.1, 16.2 and16.3; for a walking parallel robot, Leg A multiple-output kinematic pair 16.4; for a walking parallel robot, Leg B multiple-output kinematic pair 16.5; manipulator 17; detecting sensor or probe 18; servo-motor 19; servo-motorized push rod 20.
Reference numerals of double-sided walking parallel robots: Leg A 31.1; Leg A original parallel mechanism 21.1; Leg A derivative parallel mechanism 21.3; Leg B 31.2; Leg B original parallel mechanism 21.2; Leg A original base platform 22.1; Leg A original base platform 22.1; Leg B original base platform 22.2; Leg B original base platform 22.2; hip joint (four base platforms, as two pairs, fixedly connected together) 23; Leg A chain 34.1; Leg A original chain 24.1; Leg B chain 24.2; Leg B original chain 34.2; Leg A foot arch 25.1; Leg A original movable platform foot arch 25.1; Leg B foot arch 25.2; Leg B original movable platform foot arch 25.2; Leg A toe 26.1; Leg A original movable platform toe 26.1; Leg B toe 26.2; Leg B original movable platform toe 26.2; returning ring 27, 28; link rod 28, 29; arched rod 29, 30; contracted mechanism 30;
Common or shared multiple-output kinematic pair 31; when there are two multiple-movable-platform parallel robots, the common multiple-output kinematic pairs are represented by 31a, 31b; common primary output end 32, common auxiliary output end 32.1; common downstream original chain 33; common auxiliary derivative chain 33.1.
Now some typical embodiments will be described with reference to the drawings, including typical embodiments of reflectional symmetrical type, translationally symmetrical type, rotationally symmetrical type, gliding reflectional symmetrical type, scaled symmetrical type, and other composite symmetrical type multiple-movable-platform parallel robot.
In all the embodiments, the derivative base platform is symmetrical with the original base platform; each auxiliary output end is symmetrical with the main output end; the auxiliary derivative chain is symmetrical with the downstream original chain; the derivative movable platform is symmetrical with the original movable platform. It is the same in each of the embodiments. Thus, for saving words, we will describe this feature only for some typical multiple-movable-platform parallel robots and when it is necessary, and will not describe it repetitively.
In all the embodiments, a multiple-movable-platform parallel robot “comprises a original parallel mechanism 11 and one (or more) derivative parallel mechanism 11.1; the original parallel mechanism comprises a original base platform 12, an original chain 13 and an original movable platform 15; the derivative parallel mechanism comprises a derivative base platform 12.1, the derivative chain 13.1 and a derivative movable platform 15.1.” The above expression between the quotation marks as well as the reference numerals used here are applied in the same manner in all the embodiments. Thus, for saving words, they will not be cited and described repetitively except for some typical embodiments.
Generalized kinematic pairs on an original chain will be numbered in a sequence of from bottom to top. For a given original chain, the kinematic pairs and their reference numerals are determined, and the active pair and the active pair input end are determined accordingly. For example, when it mentions simply that “the original chain is an RUS-chain”, it means equally that “the first generalized kinematic pair is a rotatable pair, the second generalized kinematic pair is a Hooke joint, and the third generalized kinematic pair is a spherical pair”, and it indicates at the same time that “the active pair is a rotatable pair, which is a simple kinematic pair.” If there is a complex kinematic pair, the complex kinematic pair will be expressed by its abbreviation within parentheses, with the first capital letter within the parentheses indicating the active pair input end. For example, a first generalized kinematic pair of chain (RGR) RR is (RGR), with the input end being the left one, a rotatable pair. It is evident that this rule applies for all cases. Thus, unless necessary, we will not point out each of the first generalized kinematic pair, the second generalized kinematic pair and the third generalized kinematic pair, and will not point out each of the active pair or the active pair input end, etc.
In the following description, one or two embodiments will be described in details for each type of embodiments. For example, relatively detailed description is made to Embodiment 1, Embodiment 7, Embodiment 17 and Embodiment 19, while other embodiments are only simply described.
In the embodiments, capital letters with the following meanings are used: P represents sliding (translational) pair, R represents rotatable pair or rotational DOF (degree of freedom), T represents translational DOF, H represents helical pair, U represents Hooke joint, U* represents pure-translational universal joint, S represents spherical (ball) pair. Capital letters appeared in some drawings have the same meanings. In addition, in the drawings, B0 represents original base platform, B1, B2 and B3 represent various derivative base platform.
(I) Reflectional Symmetrical Type Embodiments (Embodiments 1 to 8)
Embodiment 1
Embodiment 1 (
The original parallel mechanism 11 is above the dotted line illustrated in this figure. The original parallel mechanism 11 has a structure described below: the original base platform 12 is a linear type base platform, and the original base platform plane is within the plane of the parallel mechanism. The original chain 13 is an RRR chain, and the original movable platform 15 is a line segment type movable platform. The first generalized kinematic pair of the original chain 13 is a rotatable pair R, the rotatable pair being formed as an active pair 12a, and the first generalized kinematic pair comprises a double-output kinematic pair 16 (with reference to Kinematic Pair No. 1,
The derivative parallel mechanism 11.1 is below the dotted line illustrated in this figure. The derivative parallel mechanism has a structure described below: the derivative base platform 12.1 is reflectional symmetrical with (can also be regarded as equivalent symmetry) the original base platform 12. The derivative chain 13.1 is an RRR chain, and the auxiliary derivative chain 14.1 is an RR chain. The auxiliary derivative chain 14.1 has the same structure with the downstream original chain 14, and the two are symmetrical with each other. The double-output kinematic pair 16 has an auxiliary output end 3.1 connected with the auxiliary derivative chain 14.1. The auxiliary output end 3.1 is reflectional symmetrical with the primary output end 3. The derivative movable platform 15.1 is a line segment type movable platform. The derivative movable platform 15.1 is reflectional symmetrical with the original movable platform 15.
Embodiment 2
Embodiment 2 (
Embodiment 3
Embodiment 3 (
Embodiment 4
Embodiment 4 (
Embodiment 5
Embodiment 5 (
Embodiment 6
Embodiment 6 (
The original chain PRR in the middle of
Embodiment 7
Embodiment 7 (
The original parallel mechanism comprises a original base platform 12, original chain s 13 and an original movable platform 15. The original base platform 12 is a planar hexagonal base platform, and six original chain s 13 are RSS chains connected to the original movable platform 15. The original movable platform 15 is a planar hexagonal moving platform. The rotatable pair in each original chain 13 is an active pair 12a. The axis of each active pair 12a is perpendicular to the plane of the original base platform 12, and the active pair 12a are uniformly distributed at the six apexes of the regular hexagon of the original base platform 12. The rotatable pair R is a double-output kinematic pair 16, and is also a boundary kinematic pair and expandable kinematic pair; the double-output kinematic pair 16 is a double-output kinematic pair which is symmetrical in the movement in the same direction (with reference to Kinematic Pair No. 4,
The derivative parallel mechanism comprises a derivative base platform 12.1, derivative chains 13.1 and a derivative movable platform 15.1.
The derivative base platform 12.1 is reflectional symmetrical with the original base platform 12. The double-output kinematic pair 16 has an auxiliary output end 3.1 connected with an auxiliary derivative chain 14.1. The auxiliary derivative chain is also an SS chain. Two output ends of the double-output kinematic pair 16 are reflectional symmetrical with each other with respect to the base platform plan. The derivative movable platform 15.1 is a hexagonal movable platform is congruent to the original movable platform 15. The derivative movable platform 15.1 is reflectional symmetrical with the original movable platform 14. Below the base platform plane is a reflectional symmetrical derivative parallel mechanism 11.1. Six derivative chains 13.1 are connected to a derivative movable platform 15.1. The derivative movable platform 15.1 and the original movable platform 15 are reflectional symmetrical.
Embodiment 8
Embodiment 8 (
The original base platform 12 is a planar base platform, and six original chain s 13 (PSS chains) are connected to an original movable platform 15. The original parallel mechanism is located above the original base platform plane, the sliding pairs P are the active pairs, the axes of the active pairs 12a are in the plane of the original base platform 12, and the axes are arranged in Y-shape (star-like). On each of the three derivative of the Y-shape, each derivative has two sliding pairs, one at the inner side and the other at the outer side. Each sliding pair has two output ends, the upper one being a primary output end 3, and the lower one being an auxiliary output end 3.1. The two output ends are reflectional symmetrical with each other. Above the base platform plane, there are six primary output ends 3, with three primary output ends on the outer side being connected with three downstream original chain s 14. The three downstream original chain s 14 are connected to the apexes of the triangle of the original movable platform 15. Three primary output ends on the inner side are connected with three downstream original chain s, and then the three downstream original chain s is connected with the original movable platform 15 via a composite spherical pair. The composite spherical pair is located at the center of the triangle of the original movable platform 15.
Below the plane of the original base platform 12, there are six auxiliary output ends 3.1, with three auxiliary output ends 3.1 on the outer side being connected with three auxiliary derivative chains 14.1. The three auxiliary derivative chains 14.1 are connected to the apexes of the triangle of the derivative movable platform 15. Three auxiliary output ends on the inner side are connected with three auxiliary derivative chains 14.1, and then the three auxiliary derivative chains 14.1 are connected with the derivative movable platform 15.1 via a composite spherical pair. The composite spherical pair is located at the center of the triangle of the derivative movable platform 15.1.
Six derivative chains 13.1 are connected to a derivative movable platform. The derivative movable platform is reflectional symmetrical with the original movable platform. below the base platform plane, there is a reflectional symmetrical derivative parallel mechanism. The derivative movable platform and the original movable platform are reflectional symmetrical. The two parallel mechanisms are reflectional symmetrical with each other.
(II) Translationally Symmetrical Type Multi-Platform Symmetrical Parallel Robot Embodiments (Embodiments 9-19)
Embodiment 9
Embodiment 9 (
The original parallel mechanism comprises a original base platform 12, original chain s 13 and a original movable platform 15. The original base platform 12 is a triangular base platform (triangle B0B0B0) in the planar parallel mechanism plane, each original chain 13 is an RRR chain, the first rotatable pair is an active pair 12a, and the first rotatable pair comprises an expandable kinematic pair 16a which becomes a double-output kinematic pair 16 when an output end is expanded from it. The primary output end 3 is connected to a downstream original chain 14, and the axes of three active pairs are perpendicular to the plane of the base platform 12. Each active pair is driven by a servo motor 19. The original movable platform 12 is a triangular movable platform. The original base platform triangle is larger, while the triangle of the original movable platform 15 is smaller.
The derivative parallel mechanism 11.1 comprises a derivative base platform 12.1, derivative chains 13.1 and a derivative movable platform 15.1. The axis of each rotatable pair is perpendicular to the plane of the base platform 12. The derivative base platform 12.1 is a triangular base platform (triangle B1B1B1), and is translationally symmetrical with the original base platform 12; each original chain 13 is an RRR chain, the first rotatable pair is a multiple-output kinematic pair 16, the primary output end 3 is translationally symmetrical auxiliary output end 3.1. The primary output end 3.1 is connected to a downstream derivative chain 14.1. The downstream derivative chain 14.1 is the same with the downstream original chain 14, that is, being an RR chain. The derivative movable platform 15.1 is a triangular movable platform, and the derivative movable platform 15.1 is translationally symmetrical with the original movable platform 15. The direction of translation coincides with the axis of the rotatable pair. The direction of translation is perpendicular to the base platform plane (upwards).
Embodiment 10
Embodiment 10 (
Embodiment 11
Embodiment 11 (
All of Embodiments 9, 10 and 11 have a translationally symmetrical multi-platform planar parallel mechanism. The three embodiments are different with each other in that their multiple-output pairs have different locations and the expanding points of the derivative chains are different with each other. From Embodiments 9, 10 and 11, another type of multiple-movable-platform parallel robot can be derived. An auxiliary derivative chain (large derivative chain) is expanded from the first kinematic pair on one original chain, an auxiliary derivative chain (middle sized derivative chain) is expanded from the second kinematic pair on another original chain, and an auxiliary derivative chain (small derivative chain) is expanded from the third kinematic pair on the last original chain. The three derivative chains are connected to a derivative movable platform to form a derivative parallel mechanism. In this symmetrical multi-platform planar parallel robot, different structural characteristics of Embodiments 9, 10 and 11 are incorporated.
Embodiment 12
Embodiment 12 (
The original parallel mechanism is the second planar parallel mechanism 11. The lowermost one is a derivative parallel mechanism 11.1, having a multiple-output kinematic pair 16.1 expanded from the first kinematic pair of the original chain. The original chain 13 and the derivative chain 13.1 have the same structure and are translationally symmetrical. The downstream original chain 14 and the auxiliary derivative chain 14.1 have the same structure and are translationally symmetrical.
The uppermost on is a derivative parallel mechanism 11.2 which has a multiple-output kinematic pair 16.2 expanded from the second kinematic pair of the original chain. The downstream original chain 14 is an R chain, the auxiliary derivative chain 14.2 is also an R chains, and the two are translationally symmetrical with each other. The two share the same upstream original chain.
The third one is a derivative parallel mechanism 11.3 which has a multiple-output kinematic pair 16.3 expanded from the third kinematic pair of the original chain. The downstream original chain is a rod element fixedly connected with the derivative movable platform directly. The auxiliary derivative chain 14.2 is a rod element which is translationally symmetrical with the downstream original chain. The two share the same upstream original chain.
The two upper planar parallel mechanisms illustrated in the figure of the present embodiment share the same original base platform with the original parallel mechanism.
For the two lower planar parallel mechanisms illustrated in the figure of the present embodiment, only by switching the reference numerals of them, the two upper derivative parallel mechanisms can be regarded as generated from the first derivative parallel mechanism. That is to say, the first derivative parallel mechanism 11.2 in the present embodiment can be used as a generating element for generating a new derivative parallel mechanism. This is resulted from the symmetrical transfer characteristics.
In the direction of translation, more derivative parallel mechanisms can be generated.
Embodiment 13
Embodiment 13 (
The original parallel mechanism is located at the left side in
The active pair of Embodiment 13 is the same as the active pair of Embodiment 2, which is composed of three square tubes disposed one around another in movable fit, and the concrete structure of it can be understood with reference to Embodiment 2 (
The derivative parallel mechanism has a structure described below: the derivative base platform 12.1 is translationally symmetrical with the original base platform 12. The derivative chain 13.1 is a PRR chain, the auxiliary derivative chain 14.1 is an RR chain. The auxiliary derivative chain 14.1 is the same with the downstream original chain. The double-output kinematic pair 16 has an auxiliary output end 3.1 connected with the auxiliary derivative chain 14.1. The auxiliary output end 3.1 is reflectional symmetrical with the primary output end 3. The derivative movable platform 15.1 is a line segment type movable platform. The derivative movable platform is translationally symmetrical with the original movable platform.
Embodiment 14
Embodiment 14 (
Embodiment 15
Embodiment 15 (
The original base platform 12 is a triangular base platform, the original chain 13 is (RGR) RR, and the original movable platform 15 is a smaller triangular movable platform. The first generalized kinematic pair is an orthogonal-direction-varying multiple-output complex kinematic pair (RGR) (with reference to
Embodiment 16
Embodiment 16 (
The lower part in
Embodiment 17
Embodiment 17 (
The original parallel mechanism 11 comprises a original base platform 12, a original chain 13 and an original movable platform 15. The derivative parallel mechanism comprises a derivative base platform 12.1, a derivative chain 13.1 and a derivative movable platform 15.1.
The original base platform 12 is a planar base platform, the original chain 13 is a PSS chain, and six original chain s 13 (PSS chains) are connected to an original movable platform 15. The original movable platform 15 is a triangular movable platform, the P pair is an active pair, and the active pair axes are within the base platform plane and are parallel with each other. The original parallel mechanism 11 is located above the original base platform plane, the axis of the active pair is in the plane of the original base platform 12, the axes of the six active pairs are parallel with each other (not coincide). The sliding pair is an active pair, the active pair is driven by a servo-motorized push rod 20, the active pair is a double-output kinematic pair 16, and the double-output kinematic pair 16 is a double-output kinematic pair which is translationally symmetrical in the movement in the same direction (with reference to
The derivative parallel mechanisms are described by using the middle derivative parallel mechanism 11.1 as an example.
The derivative base platform 12.1 is a planar base platform which is translationally symmetrical with the original base platform. The derivative chain 13.1 is an PSS chain, the derivative chain is the same with the original chain, the derivative chain is connected to the derivative movable platform 13.1, and the derivative movable platform is a triangular movable platform. The active pair axes are within the base platform plane and are parallel with each other. The double-output kinematic pair 16 has an auxiliary output end 3.1 which is translationally symmetrical with the primary output end 3, and the auxiliary output end is connected with the auxiliary derivative chain 13.1. The auxiliary derivative chain is also an SS chains. Six derivative chains 13.1 are connected to a derivative movable platform 15.1. The derivative movable platform 15.1 is a triangular movable platform congruent to the original movable platform 15. The derivative movable platform 15.1 is translationally symmetrical with the original movable platform 15.
Embodiment 17 has two derivative parallel mechanisms, wherein the upper part in
Embodiment 18
Embodiment 18 (
Embodiment 19
Embodiment 19 (
By further conducting translationally symmetrical transformation along the direction of the axis of the active pair, more derivative parallel mechanisms can be obtained to form a translational multiple-movable-platform parallel robot having more derivative parallel mechanisms.
(III) Rotationally Symmetrical Type Multi-Platform Symmetrical Parallel Mechanism Embodiments (Embodiment 20-23)
Embodiment 20
Embodiment 20 (with reference to
Embodiment 21
The original parallel mechanism of Embodiment 21 (
Embodiment 22
The original parallel mechanism of Embodiment 22 (
Embodiment 22 can also be formed from Kinematic Pair No. 40 shown in
The generating element of Embodiment 22 can also become a 6-RSS parallel mechanism. The double-output kinematic pair is substituted by Kinematic Pair No. 36 shown in
(IV) Sliding Reflectional Symmetrical Type Multi-Platform Symmetrical Parallel Mechanisms Embodiments (Embodiments 23 and 24)
Embodiment 23
The original parallel mechanism Embodiment 23 (
Embodiment 24
Embodiment 24 (
(V) Scaled Multiple-Movable-Platform Parallel Robot Embodiments (Embodiments 25-28)
Embodiment 25
The original parallel mechanism of Embodiment 25 (
The first rotatable pair comprises a double-output kinematic pair 16, which is a reflectional symmetrical type double-output kinematic pair (with reference to Kinematic Pair No. 5,
In order to avoid structural interference, the original base platform, the original movable platform and the derivative movable platform are disposed on three planes which are parallel with each other, with the original base platform being located at a middle location and the original movable platform and the derivative movable platform being located at opposite sides. The original movable platform is scaled symmetrical with the derivative movable platform.
Embodiment 26
The original parallel mechanism of Embodiment 26 (
The multiple-output kinematic pair 16 is a reflectional symmetrical type sliding pair (with reference to Kinematic Pair No. 2,
Embodiment 27
The original parallel mechanism of Embodiment 27 (
The multiple-output kinematic pair 16 is a reflectional symmetrical type rotatable pair (with reference to Kinematic Pair No. 5,
The derivative parallel mechanism 11.1 is located below the original base platform 12. The larger triangular movable platform below the plane of the original base platform 15 is a derivative movable platform 15.1. Six auxiliary output ends are respectively connected with six auxiliary derivative chains (SS chains). The auxiliary derivative chains 14.1 are connected to a derivative movable platform 15.1. The auxiliary derivative chains are scaled symmetrical with the downstream original chain s; the derivative movable platform 15.1 is scaled reflectional symmetrical with the original movable platform 15.
At a home position, the primary output ends and the auxiliary output ends are all within the base platform plane. The derivative movable platform is scaled reflectional symmetrical with the original movable platform, and the derivative parallel mechanism is scaled reflectional symmetrical with the original parallel mechanism.
Embodiment 28
The original parallel mechanism of Embodiment 28 (
The multiple-output kinematic pair is a scaled translationally symmetrical type sliding pair (with reference to Kinematic Pair No. 26,
(VI) Walking Parallel Robot Embodiments (Embodiments 29-31)
Embodiment 29
Embodiment 29 (
Two original parallel mechanisms are located at the same side of the original base platform plane. Since the two parallel mechanisms at the same side of the original base platform are reflectionally symmetrical with the two parallel mechanisms at the opposite side, only the two parallel leg mechanisms at the same side of the original parallel mechanism will be described here for simplicity. Two parallel mechanisms located at the same side of the original base platform form a walking parallel robot.
The original base platform of Leg A is a smaller regular hexagon, and the original base platform of Leg B is a larger regular hexagon. The two regular hexagons are on a plane and are concentric with each other. The sides of the two regular hexagons are parallel with each other. In
The parallel leg mechanism A is larger, and parallel leg mechanism B is smaller, with the smaller one within the larger one (
Two derivative parallel mechanisms are reflectional symmetrical with the original parallel mechanism. The symmetrical plane is the base platform plane.
The returning ring 27 is mounted to the hip joint 23 via a link rod 28 (
Two derivative parallel mechanisms located at another side of the original base platform have similar structures and are not described repetitively.
The radius of the returning ring has three sets of suggested data. For each group of data, the radius of the returning ring is larger than the radius of the hip joints. The double-sided walking parallel robot having a fixed returning ring is suitable to be used in the case where the height of the double-sided walking parallel robot is smaller.
The first set of data: the radius of the circumscribed circle of the toe triangle is 50 cm. When the foot arch extends to a longest position, the distance from the toe to the base platform plane is 30 cm, the minimum height of the whole double-sided robot is about 40 cm, and the radius of the returning ring is 63 cm. In various standing-by-side states, the walking robot can always return to its vertical upstanding state.
The second set of data: the radius of the circumscribed circle of the toe triangle is 50 cm. When the foot arch extends to a longest position, the distance from the toe to the base platform plane is 30 cm; if the radius of the returning ring is 63 cm, the walking robot can return to its vertical upstanding state even in the worst condition. For a configuration having a radius of the returning ring of 50 cm (minimum value), when the walking robot is standing-by-side, walking robot can return to its vertical upstanding state only if the parallel leg mechanism is shortened to a certain degree. Although the ability of returning to vertical upstanding state is relatively weak, the structure is more compact and flexible and the passing through ability is relatively high.
The third set of data: the radius of the circumscribed circle of the toe triangle is 50 cm. When the foot arch extends to a longest position, the distance from the base platform plane to the toes is smaller than 26 cm, and the minimum height of the whole double-sided robot is about 36 cm; then, only the radius of the returning ring is set to be the minimum value of 50 cm, the walking robot can always return to its vertical upstanding state in various conditions. In the configuration having these dimensions, the structure is compact and flexible, the ability of returning to vertical upstanding state is relatively high, and the passing-through ability is relatively high.
For the double-sided walking parallel robot having the fixed returning ring, if the foot arch of the outer leg is in the form of a Y-shape convex foot arch, the mechanism will become more compact.
Embodiment 30
Embodiment 30 (
The returning ring is composed of three arched rods 29, opposite ends of each arched rod are formed with slots extending in the direction of the tangent line of the circle. The three arched rods are overlapped with each other. The base platform and the returning ring are connected by three CR serial mechanism 30. The cylinder pair of the CR serial mechanism 30 is connected to the hip joint 23, and the rotatable pair is connected to slot in the arched rod 29; the rotatable pair movably fits with slots in two neighboring arched rods so that the rotatable pair is slidable in the slots in the arched rods; the three arched rods 29 are connected to form a circle. The structure of the returning ring can be seen from
When the cylinder pair of the CR serial mechanism extends to its largest length, the returning ring is in the form of a circle, and now the returning ring has two functions. First, when the walking parallel robot is in a standing-by-side state, the returning ring helps the walking parallel robot to return to a normal upstanding state (or a reversed state); second, when the walking parallel robot is in a standing-by-side state and cannot return to the normal upstanding state, the returning ring can be used as a rolling ring. When the cylinder pair of the CR serial mechanism extends to the shortest length, the returning ring is shrunk to become smaller, and now the walking robot has better passing-through ability.
Now a group of reference dimensions of the returning ring are given below: the radius of the circumscribed circle of the toe triangle is 50 cm. When the foot arch extends to a longest position, and the distance from the base platform plane to the toes is 40 cm, the maximum radius of the returning ring is 92 cm, so that in various conditions walking robot can always return to its vertical upstanding state. After the returning ring ix contracted, the minimum radius is about 53 cm. In the state of the minimum radius, the robot still has a certain degree of returning ability. That is, only when the parallel leg mechanism is the shortest one, the walking robot has the ability of returning to vertical upstanding state.
For a double-sided walking parallel robot having an adjustable returning ring, we suggest using it in a configuration that the overall height is larger. Since the returning ring has the ability of retracting, the passing-through ability and the returning ability can both be achieved. A walking parallel robot having a larger size can be manufactured, which is conducive to increasing walking speed and enlarging carrying space.
Embodiment 31
Embodiment 31: by slightly modifying Embodiment 30, Embodiment 31 is formed. In Embodiment 30, the CR serial mechanism connecting the returning ring and the hip joints is substituted by an RR serial mechanism. The axis of the rotatable pair is perpendicular to the base platform plane. The rotatable pair connected with the base platform is a driving pair, and the returning ring can be contracted by rotating the driving pair. Other aspects can be understood with reference to Embodiment 30.
(VII) Embodiments of a Symmetrical Double-Platform Parallel Robot Having Combined Downstream Chains (Embodiments 32-33)
Embodiment 32: the original parallel mechanism of Embodiment 32 uses a 6-DOF parallel mechanism proposed by Ben-Horin as prototype. Ben-Horin's 6-DOF parallel mechanism has three chains, each chain being composed of a planar 2-DOF dolly and an SR chain which are connected in series. In the present disclosure, the planar 2-DOF dolly is substituted by a 2-translational-DOF planar parallel mechanism. For example, the 2-DOF dolly is substituted by (2-RR>R) (“>” represents that two chains are combined into one chain). The planar parallel mechanism substituting the 2-DOF dolly is called as a 2-DOF planar mechanism. In the present embodiment, the planar 2-DOF dolly is substituted by (2-RR>R). A (2-RR>R) chain is on the base platform plane, and all the axes of the rotatable pairs are perpendicular to the base platform plane. Thus, there are six chains connected with the base platform. The third rotatable pair on the chain comprises a double-output kinematic pair. Two neighboring original chain s share one double-output kinematic pair, and their two downstream original chain s are combined into one downstream original chain. The SR chains remain unchanged. The modified Ben-Horin parallel mechanism has six original chain s and still three downstream chains, and thus we call it as a new Ben-Horin parallel mechanism. The new Ben-Horin parallel mechanism meets the requirements of the invention to the original parallel mechanism. Thus, it can be used as a generating element in the present embodiment.
Embodiment 32
Embodiment 32 (
The original base platform is in the form of a ring or a hexagon, with three planar parallel mechanisms (2-RR>R) being mounted to the base platform B1 or being parallel with the base platform plane.
Three planar parallel mechanisms (2-RR>R) are distributed inside the hexagon. The double-output kinematic pair is on the inner side of the hexagon. An upper end of the double-output kinematic pair is a primary output end 32 connected to the downstream original chain 33 (SR), and the lower end of the double-output kinematic pair is an auxiliary output end 32.1 connected to an auxiliary derivative original chain 33.1 (SR). Three downstream original chain s SR on the upper ends are connected to the original movable platform 15, and three auxiliary derivative chains SS on the lower ends are connected to the derivative movable platform 15.1. The derivative movable platform 15.1 is reflectional symmetrical with the original movable platform 15. The derivative parallel mechanism is reflectional symmetrical with the original parallel mechanism.
Embodiment 33
Embodiment 33 (
The axes of three front rotatable pairs of three combined double chains of the same parallel leg mechanism are perpendicular to the base platform plane. Six combined double chains are located on the outer side of the regular hexagon. The third rotatable pair comprises a double-output kinematic pair. Two neighboring chains of Leg A share a double-output kinematic pair 31a, and two neighboring chains of Leg B share a double-output kinematic pair 31b. The downstream original chain s are SR chains,
Two original parallel mechanisms have six double-output kinematic pairs 31a, 31b, each occupying a 60-degree sector area, so that their working spaces are not interfered with each other (the circles of dashed lines in the figure). To increase the working spaces of the double-output kinematic pairs, two neighboring planar parallel mechanisms (2-RR>R) may be provided on two parallel planes, so that the projections of the neighboring second rotatable pairs of two sets of different combined chains on the base platform plane have an overlapped area, but the working of two neighboring planar parallel mechanisms is not affected.
The movable platform (foot arch A) of the original parallel mechanism A is a Y-shaped convex foot arch 25.1. The movable platform (foot arch B) of the original parallel mechanism B is also a Y-shaped convex foot arch 25.2. The two foot arches are connected with respective output ends via corresponding auxiliary derivative chains (the downstream original chain s). The projections of the two foot arches on the base platform plane are offset from each other by 60 degrees; in addition, foot arch A is relatively high, and foot arch B is relatively low, so that they are not interfered with each other.
According to this solution, the space occupied by the upstream portions (RRR) of the chains in the base platform plane is a surface (theoretically having no volume), the interference area is limited and it is easy to design their layout. The number of downstream portions (SR) of the chains is decreased by half, and the interference space is decreased accordingly. For example, above the original base platform of Embodiment 29, there are 12 auxiliary derivative chains, each derivative chain having its interference space, so the space available for accommodating and arranging equipment is occupied. On the contrary, above the original base platform of the present embodiment, there are only 6 auxiliary derivative chains, so that interference space of six derivative chains is released to be free, and thus the space available for accommodating and arranging equipment is increased. This is conducive to increasing the step length and accommodating space and reducing the structure size.
If the present embodiment is mounted with a returning ring, the radius of the returning ring shall be large enough for encircling the area indicated by the dashed lines. In Embodiment 33, it is also possible to mount generalized sliding pairs on the toes.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2015 1 0275161 | May 2015 | CN | national |
The present application is continuation application of application Ser. No. 15/576,657 filed Nov. 22, 2017, which is a national stage application of the international application PCT/CN2016/082745 having an international filing date of May 20, 2016, which claims the benefit of the Chinese patent application CN201510275161.6 filed May 26, 2015, each of which is incorporated herein by reference in its entirety.
| Number | Name | Date | Kind |
|---|---|---|---|
| 20040103739 | Brogardh | Jun 2004 | A1 |
| 20060104793 | Skutberg | May 2006 | A1 |
| 20070255453 | Brogardh | Nov 2007 | A1 |
| Number | Date | Country |
|---|---|---|
| 1819901 | Aug 2006 | CN |
| 101973027 | Feb 2011 | CN |
| 103522283 | Jan 2014 | CN |
| 104972453 | Oct 2015 | CN |
| 2740567 | Jun 2014 | EP |
| Number | Date | Country | |
|---|---|---|---|
| 20190262984 A1 | Aug 2019 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 15576657 | US | |
| Child | 16405596 | US |
