CN102211329A - Five-degree-of-freedom spatial series-parallel operating platform - Google Patents
Five-degree-of-freedom spatial series-parallel operating platform Download PDFInfo
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- CN102211329A CN102211329A CN201110146312XA CN201110146312A CN102211329A CN 102211329 A CN102211329 A CN 102211329A CN 201110146312X A CN201110146312X A CN 201110146312XA CN 201110146312 A CN201110146312 A CN 201110146312A CN 102211329 A CN102211329 A CN 102211329A
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- China
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- side chain
- moving sets
- bar
- slide plate
- direction slide
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Abstract
The invention discloses a five-degree-of-freedom spatial series-parallel operating platform, which comprises an upper movable platform, a Y-directional sliding plate, an X-directional sliding plate, a machine frame, a branched chain I, a branched chain II and a branched chain III, wherein the branched I, the branched chain II and the branched chain III are connected in parallel between the upper movable platform and the Y-directional sliding plate; the upper end of a rod I in the branched chain I is connected with the upper movable platform through a sphere pair I, and the lower end of the rod I and the Y-directional sliding plate form a movable pair I; after the upper end of a rod II in the branched chain II is connected with the upper movable platform through a sphere pair II, the lower end of the rod II is connected with a rod III through a movable pair II, and the other end of the rod III is connected with the Y-directional sliding plate through the movable pair I; after the upper end of a rod IV in the branched chain III is connected with the upper movable platform through a sphere pair III, the other end of the rod IV is connected with a rod V through a movable pair III, and the rod V is connected with the Y-directional sliding plate through a sphere pair IV; the branched chain I and the branched chain II form a plane loop; and further, the Y-directional sliding plate and a Y-directional guide rail which is fixed on the X-directional sliding plate form a movable pair IV, and the X-directional sliding plate and an X-directional guide rail which is fixed on the machine frame form a movable pair V. The operating platform can be used for multiple kinds of operation such as detection, machining and the like.
Description
Technical field
The present invention relates to a kind of five degree of freedom space series-parallel connection operating platform, specifically provide a kind of new and effective multiple degrees of freedom series parallel type motion platform for product detection, processing and spatial movement operation.
Background technology
At present, domestic optical detection at photovoltaic such as LCD liquid crystal panel, solar module, flat-panel monitor, printed circuit board (PCB)s, adopt manual type to detect mostly, it is testing staff's product that holds in the palm, from different orientation and angle, assist just can detect with lighting, waste time and energy, detection efficiency is low, and accuracy is not high.External photovoltaic detects, and such as German Graphikon company, often adopts the robot of Cartesian robot or a plurality of cradle heads to drive area array cameras, assembly is scanned, but because camera motion, it demarcates complicated difficulty, and detection efficiency is low.Simultaneously, the machining in the modern manufacturing industry or other technological operations also often need the platform of clamping workpiece to produce position, attitude, and the spatial movement of various variations, to reduce auxiliary clamping process and time, improve processing, operating efficiency.
Therefore, for product detection, processing and spatial movement operation provide a kind of new and effective multiple degrees of freedom series parallel type and the motion platform of control decoupling zero, very necessary.
Summary of the invention
A kind of Five-degree-of-freedom spatial series-parallel operating platform provided by the invention, its technical scheme is: it comprises moving platform (1), Y-direction slide plate (2), X-direction slide plate (3), frame (0), side chain one (S
2P
6), side chain two (S
3P
7R
8), side chain three (S
7P
8S
8), side chain one (S
2P
6), side chain two (S
3P
7R
8) and side chain three (S
3P
7R
8) be connected in parallel between moving platform (1) and the Y-direction slide plate (2); Side chain one (S
2P
6) by ball pair one (S
2), bar one (4), moving sets one (P
6) form, the upper end of bar one (4) is with ball pair one (S
2) be connected with upper moving platform (1), and lower end and Y-direction slide plate (2) consist of moving sets one (P
6); Side chain two (S
3P
7R
8) by ball pair two (S
1), bar two (5), moving sets two (P
7), bar three (6), revolute pair one (R
8) form, the upper end of bar two (5) is with ball pair two (S
3) with after upper moving platform (1) is connected, the lower end again with bar three (6) with moving sets two (P
7) connect, and the other end of bar three (6) is again with revolute pair one (R
8) be connected with Y-direction slide plate (2); Side chain three (S
7P
8S
8) by ball pair three (S
7), bar four (7), moving sets three (P
8), ball pair four (S
8) form, the upper end of bar four (7) is with ball pair three (S
7) with after upper moving platform (1) is connected, the other end again with bar five (8) with moving sets three (P
8) connect, and bar five (8) is again with ball pair four (S
8) be connected with Y-direction slide plate (2); Side chain one (S
2P
6) and side chain two (S
3P
7R
8) composition one planar loop; Further, Y-direction slide plate (2) consists of moving sets four (P with the Y-direction guide rail (9) that is fixed on the X-direction slide plate (3)
4), and X-direction slide plate (3) consists of moving sets five (P with the X-direction guide rail (10) that is fixed on the frame (0)
5).
Simultaneously, side chain two (S
3P
7R
8) in moving sets two (P
7) and revolute pair one (R
8) the position can exchange; Side chain three (S
7P
8S
8) in moving sets three (P
8) and ball pair four (S
8) the position can exchange and ball pair four (S
8) can substitute with a universal joint; The traveling priority direction of Y-direction slide plate (2), X-direction slide plate (3) can be mutually vertical, also can be any angle.Further, moving sets one (P
6), moving sets two (P
7), moving sets three (P
8), moving sets four (P
4), moving sets five (P
5) secondary for driving, their type of drive can be that band driving synchronously, leading screw driving, rack drives or steel wire rope drive.
Advantages such as this platform has that job area is big, accurate positioning, good rigidity, easily manufactured, control decoupling zero, the positioning function when both can be used for operation such as various detections, processing also can be used for the spatial movement operation of variable freedom.
Description of drawings
Accompanying drawing 1 is a structural representation of the present invention.
The specific embodiment
Fig. 1 is an embodiment of Five-degree-of-freedom spatial series-parallel operating platform of the present invention, and its technical scheme is: a kind of Five-degree-of-freedom spatial series-parallel operating platform, it comprises moving platform 1, Y-direction slide plate 2, X-direction slide plate 3, frame 0, side chain one S
2P
6, side chain two S
3P
7R
8, the side chain Three S's
7P
8S
8, side chain one S
2P
6, side chain two S
3P
7R
8With the side chain Three S's
7P
8S
8Be connected in parallel between moving platform 1 and the Y-direction slide plate 2; Side chain one S
2P
6By the secondary S of ball
2, bar 1, moving sets one P
6Form, the upper end of bar 1 is with the secondary S of ball
2Be connected with upper moving platform 1, and lower end and Y-direction slide plate 2 consist of moving sets one P
6Side chain two S
3P
7R
8By secondary two S of ball
1, bar 25, moving sets two P
7, bar 36, revolute pair one R
8Form, the upper end of bar 25 is with secondary two S of ball
3After upper moving platform 1 is connected, the lower end again with bar 36 with moving sets two P
7Connect, and the other end of bar 36 is again with revolute pair one R
8Be connected with Y-direction slide plate 2; The side chain Three S's
7P
8S
8By the secondary Three S's of ball
7, bar 47, moving sets three P
8, secondary four S of ball
8Form, the upper end of bar 47 is with the secondary Three S's of ball
7After upper moving platform 1 is connected, the other end again with bar 58 with moving sets three P
8Connect, and bar 58 is again with secondary four S of ball
8Be connected with Y-direction slide plate 2; Side chain one S
2P
6With side chain two S
3P
7R
8Form a planar loop; Further, Y-direction slide plate 2 consists of moving sets four P with the Y-direction guide rail 9 that is fixed on the X-direction slide plate 3
4, and X-direction slide plate 3 consists of moving sets five P with the X-direction guide rail 10 that is fixed on the frame 0
5
Wherein, side chain two S
3P
7R
8In moving sets two P
7With revolute pair one R
8The position can exchange the side chain Three S's
7P
8S
8In moving sets three P
8With secondary four S of ball
8The position can exchange and secondary four S of ball
8Can substitute with a universal joint; Y-direction slide plate 2 is mutually vertical with the traveling priority direction of X-direction slide plate 3.
Moving sets one P
6, moving sets two P
7, moving sets three P
8, moving sets four P
4, moving sets five P
5For driving pair, concrete type of drive can be that band driving synchronously, leading screw driving, rack drives or steel wire rope drive.
Its operation principle is: detected, processing, operand are fixing with upper moving platform 1, and when driving secondary motion for above-mentioned five, moving platform 1 produces along the movement of X, Y, Z-axis direction with around the rotation of X, Y-axis, thereby satisfies the needs that maximum five degree of freedom move.
This platform job area is big, accurate positioning, good rigidity, easily manufactured, control decoupling zero, and the positioning function when both can be used for operation such as various detections, processing also can be used for the spatial movement operation of variable freedom.
Claims (3)
1. Five-degree-of-freedom spatial series-parallel operating platform, it comprises moving platform (1), Y-direction slide plate (2), X-direction slide plate (3), frame (0), side chain one (S
2P
6), side chain two (S
3P
7R
8), side chain three (S
7P
8S
8), it is characterized in that side chain one (S
2P
6), side chain two (S
3P
7R
8) and side chain three (S
7P
8S
8) be connected in parallel between moving platform (1) and the Y-direction slide plate (2); Side chain one (S
2P
6) by ball pair one (S
2), bar one (4), moving sets one (P
6) form, the upper end of bar one (4) is with ball pair one (S
2) be connected with upper moving platform (1), and lower end and Y-direction slide plate (2) consist of moving sets one (P
6); Side chain two (S
3P
7R
8) by ball pair two (S
1), bar two (5), moving sets two (P
7), bar three (6), revolute pair one (R
8) form, the upper end of bar two (5) is with ball pair two (S
3) with after upper moving platform (1) is connected, the lower end again with bar three (6) with moving sets two (P
7) connect, and the other end of bar three (6) is again with revolute pair one (R
8) be connected with Y-direction slide plate (2); Side chain three (S
7P
8S
8) by ball pair three (S
7), bar four (7), moving sets three (P
8), ball pair four (S
8) form, the upper end of bar four (7) is with ball pair three (S
7) with after upper moving platform (1) is connected, the other end again with bar five (8) with moving sets three (P
8) connect, and bar five (8) is again with ball pair four (S
8) be connected with Y-direction slide plate (2); Side chain one (S
2P
6) and side chain two (S
3P
7R
8) composition one planar loop; Further, Y-direction slide plate (2) consists of moving sets four (P with the Y-direction guide rail (9) that is fixed on the X-direction slide plate (3)
4), and X-direction slide plate (3) consists of moving sets five (P with the X-direction guide rail (10) that is fixed on the frame (0)
5).
2. by the described Five-degree-of-freedom spatial series-parallel operating platform of claim 1, it is characterized in that side chain two (S
3P
7R
8) in moving sets two (P
7) and revolute pair one (R
8) the position can exchange; Side chain three (S
7P
8S
8) in moving sets three (P
8) and ball pair four (S
8) the position can exchange and ball pair four (S
8) can substitute with a universal joint; The traveling priority direction of Y-direction slide plate (2), X-direction slide plate (3) can be mutually vertical, also can be any angle.
3. by claim 1,2 described five degree of freedom space series-parallel connection operating platforms, it is characterized in that moving sets one (P
6), moving sets two (P
7), moving sets three (P
8), moving sets four (P
4), moving sets five (P
5) secondary for driving, their type of drive can be that band driving synchronously, leading screw driving, rack drives or steel wire rope drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110146312XA CN102211329A (en) | 2011-06-02 | 2011-06-02 | Five-degree-of-freedom spatial series-parallel operating platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110146312XA CN102211329A (en) | 2011-06-02 | 2011-06-02 | Five-degree-of-freedom spatial series-parallel operating platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102211329A true CN102211329A (en) | 2011-10-12 |
Family
ID=44742982
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110146312XA Pending CN102211329A (en) | 2011-06-02 | 2011-06-02 | Five-degree-of-freedom spatial series-parallel operating platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102211329A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626123A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | 1R, (1T1R) and 1R decoupling series-parallel robot |
| CN109955049A (en) * | 2019-03-20 | 2019-07-02 | 燕山大学 | A kind of vertical posture adjusting system can be used for large-scale assembly |
| CN110683479A (en) * | 2019-09-23 | 2020-01-14 | 广西电网有限责任公司电力科学研究院 | Five-degree-of-freedom motion platform |
| CN111331551A (en) * | 2020-02-29 | 2020-06-26 | 沈阳中车轨道交通装备有限公司 | Five-degree-of-freedom equipment mounting platform |
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| CN1267587A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial three-freedom parallel robot mechanism |
| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| CN1375379A (en) * | 2001-03-15 | 2002-10-23 | 四川大学 | New-type mixed-coupled five-freedom virtual shaft machine tool |
| CN2559457Y (en) * | 2002-08-09 | 2003-07-09 | 哈尔滨工程大学 | Parallel robot mechanism with less free-space |
| DE10202795A1 (en) * | 2002-01-19 | 2003-07-31 | Rainer Foerster | Work bench, in particular suitable for metal work and welding, comprising three specifically arranged individually adjustable legs |
| CN1788899A (en) * | 2005-12-28 | 2006-06-21 | 哈尔滨工业大学 | Five freedom degree numerically controlled fraise machine |
| CN101148021A (en) * | 2007-10-26 | 2008-03-26 | 吉林大学 | Blade polishing integral processing machine tool with curve surface adaptive |
| CN101244560A (en) * | 2008-03-22 | 2008-08-20 | 燕山大学 | Three freedom parallel robot mechanism with different structure drive branches |
| CN202071067U (en) * | 2011-06-02 | 2011-12-14 | 常州大学 | Hybrid operating platform with five freedom space |
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2011
- 2011-06-02 CN CN201110146312XA patent/CN102211329A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| CN1267587A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial three-freedom parallel robot mechanism |
| CN1375379A (en) * | 2001-03-15 | 2002-10-23 | 四川大学 | New-type mixed-coupled five-freedom virtual shaft machine tool |
| DE10202795A1 (en) * | 2002-01-19 | 2003-07-31 | Rainer Foerster | Work bench, in particular suitable for metal work and welding, comprising three specifically arranged individually adjustable legs |
| CN2559457Y (en) * | 2002-08-09 | 2003-07-09 | 哈尔滨工程大学 | Parallel robot mechanism with less free-space |
| CN1788899A (en) * | 2005-12-28 | 2006-06-21 | 哈尔滨工业大学 | Five freedom degree numerically controlled fraise machine |
| CN101148021A (en) * | 2007-10-26 | 2008-03-26 | 吉林大学 | Blade polishing integral processing machine tool with curve surface adaptive |
| CN101244560A (en) * | 2008-03-22 | 2008-08-20 | 燕山大学 | Three freedom parallel robot mechanism with different structure drive branches |
| CN202071067U (en) * | 2011-06-02 | 2011-12-14 | 常州大学 | Hybrid operating platform with five freedom space |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626123A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | 1R, (1T1R) and 1R decoupling series-parallel robot |
| CN109955049A (en) * | 2019-03-20 | 2019-07-02 | 燕山大学 | A kind of vertical posture adjusting system can be used for large-scale assembly |
| CN110683479A (en) * | 2019-09-23 | 2020-01-14 | 广西电网有限责任公司电力科学研究院 | Five-degree-of-freedom motion platform |
| CN111331551A (en) * | 2020-02-29 | 2020-06-26 | 沈阳中车轨道交通装备有限公司 | Five-degree-of-freedom equipment mounting platform |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20111012 |