CN101249653A - Space three-translational parallel connection mechanism with far-rack single-lever - Google Patents
Space three-translational parallel connection mechanism with far-rack single-lever Download PDFInfo
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- CN101249653A CN101249653A CNA2008100525593A CN200810052559A CN101249653A CN 101249653 A CN101249653 A CN 101249653A CN A2008100525593 A CNA2008100525593 A CN A2008100525593A CN 200810052559 A CN200810052559 A CN 200810052559A CN 101249653 A CN101249653 A CN 101249653A
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Abstract
The invention discloses a space three-parallel-movement parallel mechanism with a far-erecting single rod. The two ends of the far erecting single rod are hinged with a near-erecting rod and a moving platform; a driven branch chain for restricting three rotary degrees of freedom of the moving platform is connected between a fixed frame and a movable platform. The driven branch chain comprises a moving rod group which is combined with the fixed frame to form a vertical moving pair, and a length equality rod group, of which the two ends are respectively hinged with the moving rod group and the moving platform. The length equality rod group comprises one center rod and at least three length equality side rods all around. The two ends of the center rod are respectively connected with the end of the moving rod group and the moving platform using hook joints, and the two ends of the length equality side rod are respectively connected with the end of the moving rod group and the moving platform using ball joints. The mechanism simplifies the driving branch chain, adds the driven branch chain, and restricts the three rotary degrees of freedom, so that the moving platform only has three-parallel-movement degrees of freedom relative to the fixed frame.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of space three-translational parallel connection mechanism with far-rack single-lever.
Background technology
U.S. Pat 4976572 (or WO7703527, EP0250470, CH672079, EP0250470, JP63501760T) discloses a kind of space symmetry three-translational parallel connection mechanism, comprise three active branched chain, every side chain comprises nearly hack lever and hack lever two parts far away.The form of this type of mechanism's hack lever far away is divided into two kinds, and a kind of is the single pole form, and the two ends of bar are connected with moving platform with nearly hack lever respectively by Hooke's hinge; A kind of is the parallelogram that two bars constitute, every bar two ends are connected with moving platform with nearly hack lever respectively by spherical hinge, wherein near hack lever one end only has one with respect to fixed frame and moves or rotational freedom, the other end is connected by the end of ball pivot with hack lever far away, thereby the restriction moving platform is with respect to three revolution frees degree of fixed frame.The attitude of this type of mechanism's end effector is difficult for guaranteeing on the raising control accuracy very big difficulty is arranged.
Summary of the invention
Purpose of the present invention provides a kind of space three-translational parallel connection mechanism with far-rack single-lever that can improve mechanism's attitude accuracy just in order to overcome above-mentioned deficiency of the prior art.
For solving the problems of the technologies described above, basic design of the present invention is: by the positional precision of active branched chain assurance moving platform, guaranteed the attitude accuracy of moving platform by driven side chain.
As the first kind of technical scheme that realizes that the present invention conceives substantially, a kind of space three-translational parallel connection mechanism with far-rack single-lever comprises fixed mount, moving platform and is arranged on three active branched chain that structure is identical between described fixed mount and the moving platform respectively symmetrically and evenly; Described active branched chain comprises the drive unit that is fixed in fixed mount, the output of described drive unit is connected with nearly hack lever, described nearly hack lever is connected with the far-rack single-lever that is connected with described moving platform, it is characterized in that, the two ends of described far-rack single-lever ball pivot respectively are connected to described nearly hack lever and moving platform; Also be connected with a driven side chain of three rotational freedoms of restriction moving platform between described fixed mount and the moving platform, described driven side chain comprise with described fixed mount form the carriage release lever group of moving sets and two ends respectively with described carriage release lever group, moving platform hinged etc. the stock group, the described stock group that waits comprises a center-pole and at least three isometric side levers on every side, described center-pole two ends adopt Hooke's hinge to be connected with moving platform with described carriage release lever group end respectively, and described isometric side lever two ends adopt ball pivot to be connected with moving platform with carriage release lever group end respectively.
Described isometric side lever has three.
As the second kind of technical scheme that realizes that the present invention conceives substantially, a kind of space three-translational parallel connection mechanism with far-rack single-lever comprises fixed mount, moving platform and is arranged on three active branched chain that structure is identical between described fixed mount and the moving platform respectively symmetrically and evenly; Described active branched chain comprises the drive unit that is fixed in fixed mount, the output of described drive unit is connected with nearly hack lever, described nearly hack lever is connected with the far-rack single-lever that is connected with described moving platform, and the two ends of described far-rack single-lever ball pivot respectively are connected to described nearly hack lever and moving platform; Also be connected with a driven side chain of three rotational freedoms of restriction moving platform between described fixed mount and the moving platform, described driven side chain comprises the local side chain group by the secondary connection of full circle swinging that is connected successively with described fixed mount, the vertical platform of translation and wait the stock group, wherein the secondary local side chain that connects of full circle swinging adopts the side chain symmetric arrangement that two-strip structure is identical at least, every side chain comprises first rod member and second rod member of series connection, between first rod member and the fixed mount, all adopt rotary pair to be connected between first rod member and second rod member and between the platform of second rod member and vertically translation; The described stock group that waits comprises a center-pole and at least three isometric side levers on every side, described center-pole two ends adopt Hooke's hinge to be connected with moving platform with the platform of described vertically translation respectively, and described isometric side lever two ends adopt ball pivot to be connected with moving platform with the platform of vertically translation respectively.
Described isometric side lever has three.
As the third technical scheme that realizes that the present invention conceives substantially, a kind of space three-translational parallel connection mechanism with far-rack single-lever comprises fixed mount, moving platform and is arranged on three active branched chain that structure is identical between described fixed mount and the moving platform respectively symmetrically and evenly; Described active branched chain comprises the drive unit that is fixed in fixed mount, the output of described drive unit is connected with nearly hack lever, described nearly hack lever is connected with the far-rack single-lever that is connected with described moving platform, and the two ends of described far-rack single-lever ball pivot respectively are connected to described nearly hack lever and moving platform; Also be connected with a driven side chain of three rotational freedoms of restriction moving platform between described fixed mount and the moving platform, described driven side chain comprises that three centres are the expansion link group that moving sets and two ends adopt Hooke's hinge and fixed mount to be connected with moving platform respectively, wherein the axis of the nearly frame rotating shaft of the Hooke's hinge at every expansion link two ends is parallel, and the axis of the nearly frame rotating shaft of the Hooke's hinge at the expansion link two ends that the rotation of every nearly hack lever is corresponding with it is parallel.
Described drive unit adopts the linear electric motors drives structure.
Described drive unit adopts the torque motor drives structure.
Described drive unit adopts servomotor-reducer structure.
The invention has the beneficial effects as follows: simplify active branched chain, increase driven side chain, limited three revolution frees degree of moving platform, make moving platform relative fixed frame only have three translational degree of freedom.Guarantee the positional precision of moving platform by active branched chain, guarantee the attitude accuracy of moving platform, discern the geometric error source easily, and driven side chain can provide the rotary freedom of end effector, thereby reduce the manufacturing cost of mechanism by driven side chain.
Description of drawings
Fig. 1-the 1st, the structural representation of first kind of technical scheme of the present invention;
Fig. 1-2 is the structural representation of the driven side chain of first kind of technical scheme of the present invention;
Fig. 1-the 3rd, the I portion enlarged drawing of Fig. 1-2;
Fig. 1-the 4th, the II portion enlarged drawing of Fig. 1-2;
Fig. 2-the 1st, the structural representation of second kind of technical scheme of the present invention;
Fig. 2-the 2nd, the structural representation of the driven side chain of second kind of technical scheme of the present invention;
Fig. 3-the 1st, the structural representation of the third technical scheme of the present invention;
Fig. 3-the 2nd, the structural representation of the driven side chain of the third technical scheme of the present invention;
Fig. 3-the 3rd, the I portion enlarged drawing of Fig. 3-2;
Fig. 3-the 4th, the II portion enlarged drawing of Fig. 3-2;
Fig. 4 is the structural representation of active branched chain of the present invention.
Reference numeral: 1, fixed mount, 1-1, gathering sill, 1-2, contiguous block, 1-3, Connection Block, 2, drive unit, 3, nearly hack lever, 4, hack lever far away, 5, carriage release lever group, 5-1, first rod member, 5-2, second rod member, 5-3, the vertical platform of translation, 5-4, etc. the stock group, 5a, bottom contiguous block, 5b, 6b, nearly frame rotating shaft, 6, side lever, 7, center-pole, 8, moving platform, 9, the bar group, 10, the guide rod group.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is further described:
Shown in Fig. 1-1, Fig. 2-1, Fig. 3-1, a kind of space three-translational parallel connection mechanism with far-rack single-lever, by fixed mount 1, moving platform 8, a driven side chain that is arranged on described fixed mount 1 active branched chain identical with three structures between the moving platform 8 and Connection Bracket 1 and moving platform 8 constitutes, driven side chain between described fixed mount and the moving platform, three that can limit moving platform 8 are turned round the frees degree.
See also Fig. 4, described three active branched chain are respectively by drive unit 2, and nearly hack lever 3 and hack lever far away 4 constitute; One of described three active branched chain with the connected mode of described fixed mount 1 and moving platform 8 are: as shown in Figure 4, and described drive unit 2 fixedly connected fixed mounts 1; One end of described nearly hack lever 3 connects the output of described drive unit 2, its other end (end) and described hack lever 4 one end ball-joints far away; One end of described hack lever far away 4 and nearly hack lever 3 terminal ball-joints, its other end and moving platform 8 ball-joints.
Described drive unit 2 is fixedlyed connected with fixed mount 1, can make its output provide one to move or rotational freedom for connected nearly hack lever 3; Drive unit 2 has adopted the version of servomotor-decelerator, for connected nearly hack lever 3 provides a rotational freedom, in order to reach same purpose, can also adopt torque motor to drive, for connected nearly hack lever 3 provides a rotational freedom.Under certain application feature, also can adopt the type of drive of linear electric motors, for connected nearly hack lever 3 provides an one-movement-freedom-degree.Certainly, in the specific implementation, adopt other any one can realize that the version of same movement function all is fine as type of drive.
Described driven side chain has three kinds of configurations: first kind of configuration, see also Fig. 1-1, Fig. 1-2, Fig. 1-3, Fig. 1-4, by with fixed mount 1 form the carriage release lever group 5 of moving sets and two ends respectively with the bottom contiguous block 5a of carriage release lever group 5 and moving platform 8 hinged etc. the stock group constitute, gathering sill 1-1 is fixed on the fixed mount 1, carriage release lever group 5 can longitudinal sliding motion in gathering sill 1-1, the visual concrete condition of the number of guide rod is freely determined, as long as form moving sets, three guide rods have been adopted in the legend, the affixed bottom contiguous block 5a in the bottom of carriage release lever group 5; Connected mode Deng the stock group: an end of center-pole 7 adopts Hooke's hinge to be connected with bottom contiguous block 5a, and the other end adopts Hooke's hinge to be connected with moving platform 8; With center-pole 7 isometric be no less than three 6 groups of side levers be arranged on center-pole 7 around and 6 groups of side levers parallel to each other with center-pole 7, every side lever one end and bottom contiguous block 5a ball-joint, the other end and moving platform ball-joint.Center-pole 7 has constituted the described stock group that waits with 6 groups of side levers.
Second kind of configuration of driven side chain, see also Fig. 2-1, Fig. 2-2, adopt the first rod member 5-1 of rotary pair connection respectively by two ends, the second rod member 5-2, vertically the platform 5-3 of translation and etc. stock group 5-4 constitute, contiguous block 1-2 is fixed on the fixed mount 1, the first rod member 5-1 adopts rotary pair to be connected with contiguous block 1-2, the other end of the first rod member 5-1 adopts rotary pair to be connected with the end of the second rod member 5-2, the other end of the second rod member 5-2 adopts rotary pair to be connected with the platform 5-3 of vertically translation, the first rod member 5-1 and the second rod member 5-2 form local side chain, the number of this part side chain is two at least, and local side chain is symmetrically distributed, local side chain makes platform 5-3 have only a vertical translational degree of freedom, platform 5-3 with it below the connected mode that waits stock group 5-4 and etc. the configuration and the connected mode of the medium stock group of driven side chain of the same first kind of configuration of connected mode of stock group 5-4 and moving platform 8 identical.
The third configuration of driven side chain, see also Fig. 3-1, Fig. 3-2, Fig. 3-3, Fig. 3-4, the third is configured as UPU side chain (U represents Hooke's hinge, and P represents moving sets), is that moving sets and two ends adopt Hooke's hinge to constitute with the expansion link group that fixed mount 1 is connected with moving platform 8 respectively by the centre.Connection Block 1-3 is fixed on the fixed mount 1, one end of guide rod group 10 adopts Hooke's hinge to be connected with Connection Block 1-3, bar group 9 adopts moving sets to be connected with guide rod group 10, and the other end of bar group 9 adopts Hooke's hinge to be connected with moving platform 8, and guide rod group 10 is 3 with the bar number average of bar group 9.Guide rod group 10 forms the expansion link group with bar group 9, the nearly frame rotating shaft 5b of the Hooke's hinge at every expansion link two ends wherein, the axis of 6b is parallel, and the nearly frame rotating shaft 5b of the Hooke's hinge at (space length is nearest) expansion link two ends that the rotation of every nearly hack lever is corresponding with it, the axis of 6b is parallel.
The present invention compared with prior art, its difference is:
(1) hack lever 4 far away is reduced to the connected mode of a bar and two ends employing ball-joint;
(2) utilize driven side chain to limit the revolution free degree of moving platform 8;
The present invention is with the difference of prior art: the hack lever far away that adopts two ends to be provided with spherical hinge is connected nearly hack lever and moving platform, three nearly hack levers cooperate the position of determining moving platform, adopt three rotational freedoms of driven side chain restriction moving platform simultaneously, thereby constitute a kind of brand-new space three-translational parallel connection mechanism.The beneficial effect of this mechanism is: the positional precision that is guaranteed moving platform by active branched chain, guarantee the attitude accuracy of moving platform by driven side chain, easy identification geometric error source, thereby and driven side chain the rotary freedom of end effector can be provided simultaneously easily. reduced the manufacturing cost of mechanism.
The present invention utilizes the new-type structure of simplifying active branched chain, increasing driven side chain, has limited three revolution frees degree of moving platform 8, makes moving platform 8 relative fixed framves 1 only have three translational degree of freedom.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing is one of embodiments of the present invention also, and practical structure is not limited thereto.So; if those of ordinary skill in the art is enlightened by it; under the situation that does not break away from the invention aim; that adopts other form limits the revolution free degree method of moving platform by driven side chain; without creationary frame mode similar and the embodiment of designing, all should belong to protection scope of the present invention to this technical scheme.
Claims (8)
1. space three-translational parallel connection mechanism with far-rack single-lever comprises fixed mount, moving platform and is arranged on three active branched chain that structure is identical between described fixed mount and the moving platform respectively symmetrically and evenly; Described active branched chain comprises the drive unit that is fixed in fixed mount, the output of described drive unit is connected with nearly hack lever, described nearly hack lever is connected with the far-rack single-lever that is connected with described moving platform, it is characterized in that, the two ends of described far-rack single-lever ball pivot respectively are connected to described nearly hack lever and moving platform; Also be connected with a driven side chain of three rotational freedoms of restriction moving platform between described fixed mount and the moving platform, described driven side chain comprise with described fixed mount form the carriage release lever group of moving sets and two ends respectively with described carriage release lever group, moving platform hinged etc. the stock group, the described stock group that waits comprises a center-pole and at least three isometric side levers on every side, described center-pole two ends adopt Hooke's hinge to be connected with moving platform with described carriage release lever group end respectively, and described isometric side lever two ends adopt ball pivot to be connected with moving platform with carriage release lever group end respectively.
2. the space three-translational parallel connection mechanism with far-rack single-lever according to claim 1 is characterized in that, described isometric side lever has three.
3. space three-translational parallel connection mechanism with far-rack single-lever comprises fixed mount, moving platform and is arranged on three active branched chain that structure is identical between described fixed mount and the moving platform respectively symmetrically and evenly; Described active branched chain comprises the drive unit that is fixed in fixed mount, the output of described drive unit is connected with nearly hack lever, described nearly hack lever is connected with the far-rack single-lever that is connected with described moving platform, it is characterized in that, the two ends of described far-rack single-lever ball pivot respectively are connected to described nearly hack lever and moving platform; Also be connected with a driven side chain of three rotational freedoms of restriction moving platform between described fixed mount and the moving platform, described driven side chain comprises the local side chain group by the secondary connection of full circle swinging that is connected successively with described fixed mount, the vertical platform of translation and wait the stock group, wherein the secondary local side chain that connects of full circle swinging adopts the side chain symmetric arrangement that two-strip structure is identical at least, every side chain comprises first rod member and second rod member of series connection, between first rod member and the fixed mount, all adopt rotary pair to be connected between first rod member and second rod member and between the platform of second rod member and vertically translation; The described stock group that waits comprises a center-pole and at least three isometric side levers on every side, described center-pole two ends adopt Hooke's hinge to be connected with moving platform with the platform of described vertically translation respectively, and described isometric side lever two ends adopt ball pivot to be connected with moving platform with the platform of vertically translation respectively.
4. the space three-translational parallel connection mechanism with far-rack single-lever according to claim 3 is characterized in that, described isometric side lever has three.
5. space three-translational parallel connection mechanism with far-rack single-lever comprises fixed mount, moving platform and is arranged on three active branched chain that structure is identical between described fixed mount and the moving platform respectively symmetrically and evenly; Described active branched chain comprises the drive unit that is fixed in fixed mount, the output of described drive unit is connected with nearly hack lever, described nearly hack lever is connected with the far-rack single-lever that is connected with described moving platform, it is characterized in that, the two ends of described far-rack single-lever ball pivot respectively are connected to described nearly hack lever and moving platform; Also be connected with a driven side chain of three rotational freedoms of restriction moving platform between described fixed mount and the moving platform, described driven side chain comprises that three centres are the expansion link group that moving sets and two ends adopt Hooke's hinge and fixed mount to be connected with moving platform respectively, wherein the axis of the nearly frame rotating shaft of the Hooke's hinge at every expansion link two ends is parallel, and the axis of the nearly frame rotating shaft of the Hooke's hinge at the expansion link two ends that the rotation of every nearly hack lever is corresponding with it is parallel.
6. according to claim 1 or 2 or 3 described space three-translational freedom degree parallel connection mechanisms, it is characterized in that described drive unit adopts servomotor-reducer structure with far-rack double lever.
7. according to claim 1 or 2 or 3 described space three-translational freedom degree parallel connection mechanisms, it is characterized in that described drive unit adopts the torque motor drives structure with far-rack double lever.
8. according to claim 1 or 2 or 3 described space three-translational freedom degree parallel connection mechanisms, it is characterized in that described drive unit adopts the linear electric motors drives structure with far-rack double lever.
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| CN200810052559A CN100581752C (en) | 2008-03-28 | 2008-03-28 | Space three-translational parallel connection mechanism with far-rack single-lever |
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| CN200810052559A CN100581752C (en) | 2008-03-28 | 2008-03-28 | Space three-translational parallel connection mechanism with far-rack single-lever |
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| CN101249653A true CN101249653A (en) | 2008-08-27 |
| CN100581752C CN100581752C (en) | 2010-01-20 |
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Cited By (9)
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| CN101913146A (en) * | 2010-08-05 | 2010-12-15 | 安徽工业大学 | Concurrent parallelogram-containing three-translational freedom robot mechanism |
| CN101961869A (en) * | 2010-10-13 | 2011-02-02 | 天津大学 | Three-translational-degree-of-freedom robot mechanism |
| CN102059696A (en) * | 2009-11-18 | 2011-05-18 | 鸿富锦精密工业（深圳）有限公司 | Parallel mechanism |
| CN103240729A (en) * | 2013-04-23 | 2013-08-14 | 天津大学 | Telescopic space triple-translation parallel manipulator |
| CN103264386A (en) * | 2013-04-19 | 2013-08-28 | 南京理工大学 | High-speed translational movement parallel mechanism with three degrees of freedom |
| CN103802094A (en) * | 2014-02-14 | 2014-05-21 | 青岛汇智机器人有限公司 | Parallel robot |
| CN103934822A (en) * | 2014-03-28 | 2014-07-23 | 哈尔滨博强机器人技术有限公司 | Delta robot fourth shaft transmission mechanism with overhead spherical hinge clamping square shaft rod |
| CN104626110A (en) * | 2014-12-30 | 2015-05-20 | 中国矿业大学 | Electric-drive and high-rigidity 6-DOF parallel platform |
| CN105598950A (en) * | 2016-03-12 | 2016-05-25 | 芜湖瑞思机器人有限公司 | Three-degree-of-freedom full-rotation parallelism keeping mechanism |
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- 2008-03-28 CN CN200810052559A patent/CN100581752C/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102059696A (en) * | 2009-11-18 | 2011-05-18 | 鸿富锦精密工业（深圳）有限公司 | Parallel mechanism |
| CN102059696B (en) * | 2009-11-18 | 2013-11-20 | 鸿富锦精密工业（深圳）有限公司 | Parallel mechanism |
| CN101913146B (en) * | 2010-08-05 | 2012-05-16 | 安徽工业大学 | Concurrent parallelogram-containing three-translational freedom robot mechanism |
| CN101913146A (en) * | 2010-08-05 | 2010-12-15 | 安徽工业大学 | Concurrent parallelogram-containing three-translational freedom robot mechanism |
| CN101961869A (en) * | 2010-10-13 | 2011-02-02 | 天津大学 | Three-translational-degree-of-freedom robot mechanism |
| CN103264386A (en) * | 2013-04-19 | 2013-08-28 | 南京理工大学 | High-speed translational movement parallel mechanism with three degrees of freedom |
| CN103264386B (en) * | 2013-04-19 | 2015-09-30 | 南京理工大学 | Three Degree Of Freedom high-speed translation motion parallel connection mechanism |
| CN103240729A (en) * | 2013-04-23 | 2013-08-14 | 天津大学 | Telescopic space triple-translation parallel manipulator |
| CN103802094A (en) * | 2014-02-14 | 2014-05-21 | 青岛汇智机器人有限公司 | Parallel robot |
| CN103934822A (en) * | 2014-03-28 | 2014-07-23 | 哈尔滨博强机器人技术有限公司 | Delta robot fourth shaft transmission mechanism with overhead spherical hinge clamping square shaft rod |
| CN104626110A (en) * | 2014-12-30 | 2015-05-20 | 中国矿业大学 | Electric-drive and high-rigidity 6-DOF parallel platform |
| CN105598950A (en) * | 2016-03-12 | 2016-05-25 | 芜湖瑞思机器人有限公司 | Three-degree-of-freedom full-rotation parallelism keeping mechanism |
| CN105598950B (en) * | 2016-03-12 | 2017-06-20 | 芜湖瑞思机器人有限公司 | Parallel mechanism is protected in Three Degree Of Freedom full circle swinging |
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