CN100372657C - 3-degree-of-freedom 6-UPS tri-translational parallel robot - Google Patents
3-degree-of-freedom 6-UPS tri-translational parallel robot Download PDFInfo
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- CN100372657C CN100372657C CNB200610012601XA CN200610012601A CN100372657C CN 100372657 C CN100372657 C CN 100372657C CN B200610012601X A CNB200610012601X A CN B200610012601XA CN 200610012601 A CN200610012601 A CN 200610012601A CN 100372657 C CN100372657 C CN 100372657C
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Abstract
The present invention belongs to the fields of a robot and mechanical manufacture and is characterized in that three pairs of linear driving branches are symmetrically arranged between an upper platform (1) and a base (2) in a regular triangle mode, and each pair of linear driving branches comprise two SPU type synchronous flexible driving branches with the same structure. The upper end of each SPU type branch is provided with a ball pair, a moving pair is arranged in the middle of each SPU type branch, and the lower end of each SPU type branch is provided with a universal pair connected with the base (2). The moving pair is composed of a mechanical or hydraulic synchronous flexible driving mechanism, and the distance of the two ball pairs (3) of each pair of linear driving branches is equal to the distance of vertical shafts (9) of the two universal pairs. The present invention relatively has the characteristics of few freedoms, easy control, large working space, no redundant self-motion, simple and symmetrical structure, high motion precision, etc.; the carrying capacity and the rigidity of the present invention are equivalent to the carrying capacity and the rigidity of a six-freedom 6-UPS parallel robot. The present invention can design multiform space three-portable type parallel robots with the relative structure, parallel machine tools, micro-motion robots, medical appliances, large-scale telescopes, health care massage mechanical arms, three-dimensional measure instruments, sensor elements, spaceflight sailing simulators, etc.
Description
Technical field
Invention relates to robot and mechanical manufacturing field, particularly relates to a kind of 3-degree-of-freedom 6-UPS tri-translational parallel robot.
Background technology
For ease of explanation, divide number with (n, n=1,2,3,4,6) expression, with (P R) represents (ball pair, universal pair, moving sets, revolute pair) in the sub-chain respectively for S, U, and the sub-chain structure type is represented in their combination.
Parallel robot has relatively that mechanism's rigidity is big, and bearing capacity is strong, and end mass is light, and inertia is little, and site error such as does not accumulate at characteristics, is complementary relationship with the serial machine people on using.The free degree is less than 6 parallel robot mechanism and has advantages such as simple in structure, easy control relatively, has become robot now and has made the focus of area research.In recent years, Hunt proposed 3-RPS mechanism in 1986; Nineteen ninety Pierrot proposes three translation Delta mechanisms; Tsai proposed three translation 3-TPT mechanisms in 1996, obtained United States Patent (USP) (USA No.5656905); Gosselin in 2002 proposes three and rotates 3-RRR mechanism and three translation 3-PRR mechanisms; The novel freedom degree parallel connection of yellow true proposition of calendar year 2001 travel mechanism obtains Chinese patent (CN1311083A), and the yellow true precise jiggle three-dimensional moving mechanism in parallel that proposes in 2004 obtains Chinese patent (CN1539603A).Compare with Stewart six degree of freedom 6-SPS parallel institution, advantage such as that the lower-mobility parallel institution has relatively is simple in structure, easy control, but shortcoming is also arranged: because of bearing load divides number few, reduced parallel institution rigidity and bearing capacity; There is redundant autokinesis in 3-UPU mechanism, drives branch and is subjected to moment of torsion; 3-RPS mechanism working space is little, and redundant autokinesis is arranged, and drives branch and is subjected to moment of flexure; The rotating drive branch complexity of Delta mechanism and 3-RRR mechanism has moment of flexure; There are moment of flexure and shearing in the driving branch of 3-PRR mechanism.Experiment is found: redundant autokinesis influences mechanism's proper motion; Driving the turning round of branch, moment of flexure and shearing produces mechanism's strain and in the big load of revolute pair, has a strong impact on drive unit and mechanism's proper motion.
Summary of the invention
The object of the invention is to provide a kind of high rigidity, bearing capacity is big, working space is big, kinematic accuracy is high, control is easy to 3-degree-of-freedom 6-UPS tri-translational parallel robot, this invention have relatively few, the easy control of the free degree, working space greatly, bearing capacity and rigidity is equivalent to six degree of freedom 6-UPS parallel robot, symmetrical configuration is simple and characteristics such as kinematic accuracy height.
The technical solution adopted for the present invention to solve the technical problems is: Three Degree Of Freedom 6-UPS parallel robot is made up of three pairs of linear drives branches of upper mounting plate, support and connection upper mounting plate and support, and three pairs of linear drives branches are equilateral triangle and are symmetrically distributed between upper mounting plate and support; Every pair of linear drives branch comprises that all identical UPS synchronization telescope of two versions and size drives branch, there is a secondary S of ball each UPS type branch upper end, there is a moving sets P centre, and there is a universal secondary U lower end, and moving sets is made of machinery or hydraulic pressure synchronization telescope driving mechanism; The distance of two ball pairs of every pair of linear drives branch is identical with the distance and the length of connecting rod of two universal pairs, this geometrical constraint and the combination of machinery or hydraulic pressure synchronization telescope driving mechanism have guaranteed that every pair of linear drives branch collapsing length equates and is parallel to each other, and has realized that the Three Degree Of Freedom of 6-UPS parallel robot upper mounting plate moves.
Mechanical synchronization telescopic drive mechanism is made up of two nut sleeves, two leading screws, a connecting rod, two bearing pins, two trunnion axis, two vertical axises, two gear wheels, a pinion and a motor; Two nut sleeve upper ends connect with two ball duplicate invoices with upper mounting plate, and the lower end connects with revolute pair with two connecting rods; Two ball pairs on the upper mounting plate, two nut sleeves, constitute a parallel four-bar linkage with two bearing pins of connecting rod; Two leading screws upper end connects with two nut sleeve spirals, and the lower end connects with two trunnion axis rotations, and trunnion axis connects the universal pair of formation with the rotation of vertical axis quadrature, and the vertical axis vertical support and is connected with gear wheel is coaxial on support; The motor vertical support and is connected with pinion is coaxial on support, pinion and two direct engaged transmission of gear wheel, perhaps pinion, two canine tooths and band engaged transmission synchronously.Two leading screws of motor drives rotate in the same way, again by the screw pair of leading screw and nut sleeve, drive two relative two leading screw synchronization telescopes of nut sleeve.
The synchronization telescope driving mechanism is made up of hydraulic cylinder and piston rod respectively, and hydraulic cylinder and upper mounting plate connect with the ball duplicate invoice, and piston rod rotates with trunnion axis and connects, and trunnion axis rotates to connect with the vertical axis quadrature and constitutes universal pair; The vertical axis vertical support is on support, and two hydraulic cylinders connect with two bearing pins with connecting rod.Guarantee two relative two piston rod synchronization telescopes of hydraulic cylinder with the hydro-cushion control-driven system.
Description of drawings
Fig. 1 is a mechanical synchronization drive-type 3-degree-of-freedom 6-UPS tri-translational parallel robot;
Fig. 2 is direct geared engaged transmission and gear and the schematic diagram of band transmission synchronously;
Fig. 3 is a hydraulic pressure driven in synchronism formula 3-degree-of-freedom 6-UPS tri-translational parallel robot.
In Fig. 1, Fig. 2 and Fig. 3,1. moving platform, 2. support, 3. ball pair, 4. ball nut sleeve, 5. connecting rod, 6. bearing pin, 7. leading screw, 8. trunnion axis, 9. vertical axis, 10. gear wheel, 11. pinions, 12. stepper motors, 13. bands synchronously, 14. hydraulic cylinders, 15. piston rods.
The specific embodiment
Fig. 1 is a mechanical synchronization drive-type 3-degree-of-freedom 6-UPS tri-translational parallel robot disclosed by the invention, and three pairs of linear drives branches connect upper mounting plate 1 and are the equilateral triangle symmetrical distribution with 2, three pairs of linear drives branches of support between upper mounting plate 1 and support 2; Every pair of linear drives branch comprises that two identical UPS type synchronization telescopes of structure drive branch, there is a ball pair each UPS type branch upper end, there is a moving sets centre, and there is a universal pair lower end, and the distance of two ball pairs 3 of every pair of linear drives branch equals the distance of two universal secondary vertical axises 9.Each nut sleeve 4 upper end connects with upper mounting plate 1 usefulness ball secondary 3, and two bearing pins 6 of two nut sleeve 4 lower end side and connecting rod 5 usefulness connect; Two ball pairs 3 on the upper mounting plate 1, two nut sleeves 4, connecting rod 5 and two bearing pins 6 constitute a parallel four-bar linkage; Two leading screw 7 upper ends connect with two nut sleeve 4 spirals, and its lower end is rotated with two trunnion axis 8 and connected, and two trunnion axis 8 rotate to connect with two vertical axis 9 quadratures and constitute two universal pairs; Two vertical axis 9 vertical support on support 2, and with 10 coaxial connections of two gear wheels; Motor 12 vertical support on support 2 and with 11 coaxial connections of pinion, pinion 11 and two gear wheel 10 direct engaged transmission.Pinion 11 and two gear wheels 10 also can be used synchronous cog belt 13 indirect engaged transmission (see figure 2)s.This geometrical constraint and mechanical synchronization telescopic drive mechanism are in conjunction with having guaranteed that every pair of linear drives branch collapsing length equates and is parallel to each other, and has realized that the Three Degree Of Freedom of 6-UPS parallel robot upper mounting plate 1 moves.
Fig. 3 is a hydraulic pressure driven in synchronism formula 3-degree-of-freedom 6-UPS tri-translational parallel robot disclosed by the invention, and three pairs of linear drives branches are equilateral triangle and are symmetrically distributed between upper mounting plate 1 and support 2; Every pair of linear drives branch comprises that all identical UPS type hydraulic pressure synchronization telescope of two versions and size drives branch, there is a ball pair each UPS type branch upper end, there is a moving sets centre, the lower end has a universal pair to connect with support 2, moving sets constitutes hydraulic pressure synchronization telescope driving mechanism by hydraulic cylinder 14 and piston 15, hydraulic cylinder 14 connects with upper mounting plate 1 usefulness ball secondary 3, two bearing pins 6 of two hydraulic cylinders 14 and connecting rod 5 usefulness connect, piston rod 15 rotates with trunnion axis 8 and connects, trunnion axis 8 rotates to connect with vertical axis 9 quadratures and constitutes universal pair, and vertical axis 9 vertical support are on support 2.Guarantee two relative two piston rod synchronization telescopes of hydraulic cylinder with the hydro-cushion control-driven system, this geometrical constraint and hydraulic cylinder 14 and piston 15 synchronization telescope driving mechanisms are in conjunction with having guaranteed that every pair of hydraulic pressure driven in synchronism linear drives branch collapsing length equates and is parallel to each other, and has realized that the Three Degree Of Freedom of 6-UPS parallel robot upper mounting plate 1 moves.
Claims (5)
1. 3-degree-of-freedom 6-UPS tri-translational parallel robot, three pairs of linear drives branches with support (2) form by upper mounting plate (1), support (2) and connection upper mounting plate (1), it is characterized in that: three pairs of linear drives branches are equilateral triangle and are symmetrically distributed between upper mounting plate (1) and support (2); Every pair of linear drives branch comprises that two identical UPS type synchronization telescopes of structure drive branch, there is a ball pair each UPS type branch upper end, there is a moving sets centre, the lower end has a universal pair to connect with support (2), moving sets is a synchronization telescope driving mechanism, and the distance of two ball pairs (3) of every pair of linear drives branch equals the distance of two universal secondary vertical axises (9).
2. 3-degree-of-freedom 6-UPS tri-translational parallel robot according to claim 1 is characterized in that: each nut sleeve (4) upper end connects with ball pair (3) with upper mounting plate (1), and two nut sleeves (4) lower end side connects with two bearing pins (6) with connecting rod (5); Two ball pairs (3) on the upper mounting plate (1), two nut sleeves (4), connecting rod (5) constitute a parallel four-bar linkage with two bearing pins (6); Two leading screws (7) upper end connects with two nut sleeves (4) spiral, and its lower end is rotated with two trunnion axis (8) and connected, and two trunnion axis (8) rotate to connect with two vertical axises (9) quadrature and constitute two universal pairs; Two vertical axises (9) vertical support on support (2), and with coaxial connection of two gear wheels (10); Motor (12) vertical support support (2) go up and with coaxial connection of pinion (11), pinion (11) and two gear wheels (10) are engaged transmission directly.
3. 3-degree-of-freedom 6-UPS tri-translational parallel robot according to claim 2 is characterized in that: pinion (11), two gear wheels (10) and the indirect engaged transmission of synchronous cog belt (13).
4. 3-degree-of-freedom 6-UPS tri-translational parallel robot according to claim 1, it is characterized in that: the hydraulic cylinder of synchronization telescope driving mechanism (14) connects with ball pair (3) with upper mounting plate (1), piston rod (15) rotates with trunnion axis (8) and connects, and trunnion axis (8) rotates to connect with vertical axis (9) quadrature and constitutes universal pair; Vertical axis (9) vertical support is on support (2).
5. 3-degree-of-freedom 6-UPS tri-translational parallel robot according to claim 4 is characterized in that: two hydraulic cylinders (14) connect with two bearing pins (6) with connecting rod (5).
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