CN102211333A - Double-freedom-degree spatial parallel mechanism capable of realizing one-dimensional rotation and one-dimensional movement - Google Patents
Double-freedom-degree spatial parallel mechanism capable of realizing one-dimensional rotation and one-dimensional movement Download PDFInfo
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- CN102211333A CN102211333A CN201110160345XA CN201110160345A CN102211333A CN 102211333 A CN102211333 A CN 102211333A CN 201110160345X A CN201110160345X A CN 201110160345XA CN 201110160345 A CN201110160345 A CN 201110160345A CN 102211333 A CN102211333 A CN 102211333A
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Abstract
The invention relates to a double-freedom-degree spatial parallel mechanism capable of realizing one-dimensional rotation and one-dimensional movement, and the mechanism provided by the invention comprises a fixed platform, a moveable platform and three branched chains connected between the two platforms, wherein a first branched chain and a second branched chain are in a same connecting combination mode; in the first branched chain/the second branched chain, a universal hinge, a moveable pair and a ball pair are connected in turn from the fixed platform to the moveable platform; and in a third branched chain, a moving pair and a rotating pair are connected in turn from the fixed platform to the moveable platform. The double-freedom-degree spatial parallel manipulator has a simple structure and fewer moveable components, so that the possibility of generating interference between the components in a moving process can be greatly reduced and the working stability and safety are increased.
Description
Technical field
The present invention relates to a kind of two-degree-of-freedom parallel mechanism, especially realize the two-freedom space parallel mechanism that one dimension rotates and one dimension moves.
Background technology
Along with the rise that the lower-mobility parallel institution is learned, the lower-mobility parallel institution has been used more and more wider in fields such as Digit Control Machine Tool, robot, medical science, food processings.The free degree of at present most widely used parallel institution mostly is Three Degree Of Freedom and six degree of freedom, four, the parallel institution of five degree of freedom also has more application, and the application of two-degree-of-freedom parallel mechanism also seldom, in the patent of publishing, the parallel institution of two-freedom is mostly realized is moving or the rotation of bidimensional of bidimensional, realizes that one dimension moves the two-degree-of-freedom parallel mechanism that rotates with one dimension also seldom.The number of constrained branched chain is more in the mechanism that publishes, and has not only increased manufacturing cost, and is easy to interfere phenomenon in motion process, has dwindled working space.
Because the number of components of two-degree-of-freedom parallel mechanism is few, motion is found the solution simple, demarcate easily, be easy to realize modularization, in addition many occasions as automatic production lines such as medicine, food processing, microelectronics assemblings on some automatics only need less freedom of motion to meet the demands, therefore, the parallel institution of two-freedom has development prospect more widely.
Summary of the invention
The objective of the invention is to design a kind of two-freedom space parallel mechanism of realizing that one dimension rotates and one dimension moves, this mechanism structure is simple, the moving link number is few, can reduce the possibility of interference between components during moving widely, improve the stability and the security of work.
As above design, technical scheme of the present invention is: a kind of two-freedom space parallel mechanism of realizing that one dimension rotates and one dimension moves, comprise fixed platform and moving platform, it is characterized in that: between fixed platform and moving platform, connect three side chains; Article one side chain and second side chain to be connected compound mode identical, the order of connection from the fixed platform to the moving platform is followed successively by universal hinge, moving sets and ball pair, the order of connection of the 3rd side chain from the fixed platform to the moving platform is followed successively by moving sets and revolute pair.
Above-mentioned article one side chain and second side chain are for driving side chain, and what drives structure adopted is the expansion link structure that upper and lower connecting rod connects by moving sets.
Above-mentioned article one side chain and second side chain are no constrained branched chain, the universal hinge that connects connecting rod on fixed platform and the moving sets is symmetrically distributed on the end face of fixed platform, and the ball pair that connects moving sets lower link and moving platform is symmetrically distributed on two peripheries of moving platform.
Above-mentioned the 3rd side chain is constrained branched chain, and it is made up of upper and lower connecting rod, and lower link links to each other with last connecting rod by moving sets, and lower link is vertical with fixed platform and be rigidly connected, and last connecting rod links to each other with moving platform by revolute pair.
Above-mentioned revolute pair axis in the moving platform plane and perpendicular with the line of ball sub-center, the ball pair in the moving platform plane axis and the axis of revolute pair be parallel to each other.
Above-mentioned article one side chain is connected by feather key with lower link with last connecting rod in the second side chain, and feather key is connected with last connecting rod interference fit, and feather key moves in the gathering sill of lower link.
The drive unit of above-mentioned article one side chain and second side chain adopts motor to add feed screw nut transmission or rectilinear motion driver module or hydraulic transmission.
The present invention has following advantage:
1, this mechanism kinematic number of components is few, greatly reduces the possibility of interference between components during moving.
2, this mechanism structure is simple, can be so that the ineffective activity of motion that manufacturing and rigging error cause significantly reduces.
3, this mechanism's rigidity height, working space are big.
4, this mechanism controls is simple, is easy to make module, is convenient to can realize many common operations of mechanism by fixed platform and the combination of other mechanisms.
Description of drawings:
Fig. 1 is a structural representation of the present invention;
Among the figure: 1. article one side chain; 2. second side chain; 3. the 3rd side chain; 4. fixed platform; 5. moving platform; U. universal hinge; S. ball pair; R. revolute pair; 11. side chain moving sets lower link article one; 12. connecting rod on side chain moving sets article one; 21. second side chain moving sets lower link; 22. connecting rod on the second side chain moving sets; 31. side chain moving sets lower link the 3rd; 32. connecting rod on the side chain moving sets the 3rd bar; A. feather key.
The specific embodiment:
Below in conjunction with drawings and embodiments two-freedom space parallel mechanism of the present invention is described in further detail.
The two-freedom space parallel mechanism that realization one dimension of the present invention rotates and one dimension moves is made up of fixed platform (4), moving platform (5) and three side chains connecting between two platforms.Lower link (11) in described article one side chain links to each other with fixed platform by universal hinge (U), and the first axle of universal hinge is in the fixed platform plane and perpendicular to the end face of fixed platform, the other end of lower link (11) links to each other with last connecting rod (12) by moving sets; Last connecting rod (12) links to each other with moving platform by the ball pair, and the ball pair replaces with the revolute pair of three equivalences, and an axis of ball pair is along the axis of last connecting rod, and axis is in the moving platform plane and parallel with a periphery of moving platform.The connected mode of described second side chain is identical with the connected mode of article one side chain, and the order of connection from the fixed platform to the moving platform is followed successively by universal hinge (U), moving sets and ball pair (S).Universal hinge in first, second side chain is symmetrically distributed on the end face of fixed platform, and the first axle of universal hinge is parallel to each other, and the ball pair is evenly distributed on an end of moving platform; First, second side chain constitutes a plane.Lower link (31) in described the 3rd side chain is vertical with fixed platform and be rigidly connected, lower link (31) links to each other with last connecting rod (32) by moving sets, last connecting rod (32) links to each other with moving platform by revolute pair (R), and the revolute pair axis is in the moving platform plane and perpendicular with the line of ball sub-center.The ball pair in the moving platform plane axis and the axis of revolute pair be parallel to each other.
In this mechanism, article one side chain and second side chain adopt drive motors to add the feed screw nut auxiliary driving for driving side chain.Wherein, last connecting rod is connected by feather key with lower link, and feather key is connected with last connecting rod interference fit, and feather key moves in the gathering sill of lower link.By regulating the output parameter of drive motors, regulate the pose of moving platform, make it have that one dimension rotates and one dimension moves output.
Claims (7)
1. the two-freedom space parallel mechanism that can realize that one dimension rotates and one dimension moves comprises fixed platform and moving platform, it is characterized in that: connect three side chains between fixed platform and moving platform; Article one side chain and second side chain to be connected compound mode identical, the order of connection from the fixed platform to the moving platform is followed successively by universal hinge, moving sets and ball pair, the order of connection of the 3rd side chain from the fixed platform to the moving platform is followed successively by moving sets and revolute pair.
2. the two-freedom space parallel mechanism of realizing that one dimension rotates and one dimension moves according to claim 1, it is characterized in that: above-mentioned article one side chain and second side chain are for driving side chain, what drives structure adopted is the expansion link structure that upper and lower connecting rod connects by moving sets, and drive unit is connected with drives structure.
3. the two-freedom space parallel mechanism of realizing that one dimension rotates and one dimension moves according to claim 1 and 2, it is characterized in that: above-mentioned article one side chain and second side chain are no constrained branched chain, the universal hinge that connects connecting rod on fixed platform and the moving sets is symmetrically distributed on the end face of fixed platform, and the ball pair that connects moving sets lower link and moving platform is symmetrically distributed on two peripheries of moving platform.
4. the two-freedom space parallel mechanism of realizing that one dimension rotates and one dimension moves according to claim 1, it is characterized in that: above-mentioned the 3rd side chain is constrained branched chain, it is made up of upper and lower connecting rod, lower link links to each other with last connecting rod by moving sets, lower link is vertical with fixed platform and be rigidly connected, and last connecting rod links to each other with moving platform by revolute pair.
5. according to claim 1 or the 3 or 4 described two-freedom space parallel mechanisms of realizing that one dimension rotates and one dimension moves, it is characterized in that: above-mentioned revolute pair axis in the moving platform plane and perpendicular with the line of ball sub-center, the ball pair in the moving platform plane axis and the axis of revolute pair be parallel to each other.
6. the two-freedom space parallel mechanism of realizing that one dimension rotates and one dimension moves according to claim 1 and 2, it is characterized in that: above-mentioned article one side chain is connected by feather key with lower link with last connecting rod in the second side chain, and feather key is connected with last connecting rod interference fit, and feather key moves in the gathering sill of lower link.
7. the two-freedom space parallel mechanism of realizing that one dimension rotates and one dimension moves according to claim 2 is characterized in that: the drive unit of above-mentioned article one side chain and second side chain adopts motor to add feed screw nut transmission or rectilinear motion driver module or hydraulic transmission.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110160345XA CN102211333A (en) | 2011-06-15 | 2011-06-15 | Double-freedom-degree spatial parallel mechanism capable of realizing one-dimensional rotation and one-dimensional movement |
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| CN201110160345XA CN102211333A (en) | 2011-06-15 | 2011-06-15 | Double-freedom-degree spatial parallel mechanism capable of realizing one-dimensional rotation and one-dimensional movement |
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Cited By (7)
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| CN102389635A (en) * | 2011-11-08 | 2012-03-28 | 上海恒润数码影像科技有限公司 | Double-cylinder multi-freedom degree movement platform |
| CN102581848A (en) * | 2012-03-21 | 2012-07-18 | 天津大学 | Parallel positioning platform with three-rotation one-translation freedom degree |
| CN102615644A (en) * | 2012-03-29 | 2012-08-01 | 天津大学 | Novel posture adjustment mechanism capable of achieving three-rotation one-translation degree of freedom |
| CN104511783A (en) * | 2013-09-30 | 2015-04-15 | 上银科技股份有限公司 | Mechanical arm used for machining device |
| CN106737603A (en) * | 2017-01-19 | 2017-05-31 | 北京工业大学 | A kind of moving platform mechanism of ball-screw series connection pinion and-rack |
| CN106737599A (en) * | 2017-01-16 | 2017-05-31 | 安徽工业大学 | A kind of moving platform mechanism for being provided with ball-screw |
| CN107246971A (en) * | 2017-06-15 | 2017-10-13 | 集美大学 | A kind of suspension system test equipment |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102389635A (en) * | 2011-11-08 | 2012-03-28 | 上海恒润数码影像科技有限公司 | Double-cylinder multi-freedom degree movement platform |
| CN102389635B (en) * | 2011-11-08 | 2014-04-02 | 上海恒润数码影像科技有限公司 | Double-cylinder multi-freedom degree movement platform |
| CN102581848A (en) * | 2012-03-21 | 2012-07-18 | 天津大学 | Parallel positioning platform with three-rotation one-translation freedom degree |
| CN102581848B (en) * | 2012-03-21 | 2014-04-30 | 天津大学 | Parallel positioning platform with three-rotation one-translation freedom degree |
| CN102615644A (en) * | 2012-03-29 | 2012-08-01 | 天津大学 | Novel posture adjustment mechanism capable of achieving three-rotation one-translation degree of freedom |
| CN102615644B (en) * | 2012-03-29 | 2014-06-11 | 天津大学 | Novel posture adjustment mechanism capable of achieving three-rotation one-translation degree of freedom |
| CN104511783A (en) * | 2013-09-30 | 2015-04-15 | 上银科技股份有限公司 | Mechanical arm used for machining device |
| CN104511783B (en) * | 2013-09-30 | 2016-09-07 | 上银科技股份有限公司 | Mechanical arm for processing machine |
| CN106737599A (en) * | 2017-01-16 | 2017-05-31 | 安徽工业大学 | A kind of moving platform mechanism for being provided with ball-screw |
| CN106737599B (en) * | 2017-01-16 | 2019-03-05 | 安徽工业大学 | A kind of moving platform mechanism equipped with ball-screw |
| CN106737603A (en) * | 2017-01-19 | 2017-05-31 | 北京工业大学 | A kind of moving platform mechanism of ball-screw series connection pinion and-rack |
| CN106737603B (en) * | 2017-01-19 | 2019-03-22 | 北京工业大学 | A kind of moving platform mechanism of ball-screw series connection pinion and-rack |
| CN107246971A (en) * | 2017-06-15 | 2017-10-13 | 集美大学 | A kind of suspension system test equipment |
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Application publication date: 20111012 |