CN102490179A - Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom - Google Patents
Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom Download PDFInfo
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- CN102490179A CN102490179A CN2011104148343A CN201110414834A CN102490179A CN 102490179 A CN102490179 A CN 102490179A CN 2011104148343 A CN2011104148343 A CN 2011104148343A CN 201110414834 A CN201110414834 A CN 201110414834A CN 102490179 A CN102490179 A CN 102490179A
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Abstract
The invention discloses a parallel mechanism with three rotational degrees of freedom and one translational degree of freedom, which comprises a holder. A first driving branched chain seat, a second driving branched chain seat, a third driving branched chain seat and a fourth driving branched chain seat are evenly and rotatably connected into a central hole of the holder along the same circumferential direction at intervals through rotating shafts respectively, a hole is arranged in the middle of each driving branched chain seat, each driving branched chain can be matched with the inner wall of the corresponding driving branched chain seat in a slidably connected manner through a guide rail slider structure, a first moving platform and a second moving platform are arranged below the holder, the lower ends of the first driving branched chain and the third driving branched chain are respectively rotatably connected with the first moving platform through hinges, the lower ends of the second driving branched chain and the fourth driving branched chain are respectively rotatably connected with the second moving platform through hinges, and the first moving platform and the second moving platform are connected through a lead screw nut pair. The parallel mechanism has an advantageous feeding direction, and the moving platforms and moving branched chains are small in inertia and fine in dynamic performance.
Description
Technical field
The present invention relates to a kind of four-freedom parallel mechanism, particularly relate to a kind of parallel institution of realizing a three-rotational-freedom and a translational degree of freedom operation function.
Background technology
Can know that according to patent US6431802, ZL200610013608.3 existing space three is rotated and a translational freedom degree parallel connection mechanism, adopts three identical side chains of structure to be symmetrically distributed in fixed mount, a chain end connects the form of moving platform.Drive unit is set on the side chain, and each side chain can move under the driving of drive unit separately, makes moving platform produce two with respect to fixed mount and rotates and translational degree of freedom.Moving platform is installed electric main shaft, makes it produce the rotation around self axis.
This type of mechanism is because moving platform is installed electric main shaft, and the deficiency of its existence is: the weight of moving platform is excessive, influences the fast forward capability and the dynamic property of mechanism; Movement branched chain inertia is big, is difficult for realizing light-weight design.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, a kind of effective minimizing moving platform and moving link quality are provided, can realize a kind of parallel institution of end effector pose adjustment with three rotations and a translational degree of freedom.
A kind of parallel institution of the present invention with three rotations and a translational degree of freedom; It comprises fixed mount; In the centre bore of described fixed mount, be rotatably connected to the first active branched chain seat, the second active branched chain seat, the 3rd active branched chain seat and the 4th active branched chain seat respectively through rotating shaft along same circumferencial direction is evenly spaced; Wherein the first active branched chain seat and the 3rd active branched chain seat are oppositely arranged; The second active branched chain seat and the 4th active branched chain seat are oppositely arranged; The centre of each active branched chain seat is provided with perforate; Each active branched chain can with the inwall of the active branched chain seat of relative set through the cooperation that is slidingly connected mutually of guide rail slide block structure, below described fixed mount, be disposed with first moving platform and second moving platform from bottom to up, the lower end of first active branched chain and the 3rd active branched chain is rotatedly connected through hinge and described first moving platforms with three revolution frees degree respectively; The lower end of second active branched chain and the 4th active branched chain is rotatedly connected through hinge and described second moving platform with three revolution frees degree respectively; Described first, second moving platform connects through screw pair, and the leading screw vertical fixing in the described screw pair is connected on second moving platform, and the nut that is connected with described threads of lead screw is installed on first moving platform and with end effector through bearing and links to each other.
Three rotation-translation parallel institution beneficial effects of the present invention are: the modular construction design, have the advantage direction of feed, and moving platform and movement branched chain inertia are little, and dynamic property is good.
Description of drawings
Fig. 1 is the structural representation of three rotation-translation parallel institutions of the present invention;
Fig. 2 is the structural representation of the active branched chain in the mechanism shown in Figure 1;
Fig. 3 is the structural representation of the moving platform in the mechanism shown in Figure 1;
Fig. 4 is the routine structural representation of mechanism's application implementation shown in Figure 1.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done to describe in detail.
Of the present invention a kind of parallel institution as shown in the figure with three rotations and a translational degree of freedom; It comprises fixed mount 5; In the centre bore of described fixed mount 5, be rotatably connected to the first active branched chain seat 3, the second active branched chain seat 4, the 3rd active branched chain seat 14 and the 4th active branched chain seat 15 respectively through rotating shaft along same circumferencial direction is evenly spaced; Wherein the first active branched chain seat and the 3rd active branched chain seat are oppositely arranged; The second active branched chain seat and the 4th active branched chain seat are oppositely arranged; The centre of each active branched chain seat is provided with perforate; Each active branched chain can with the inwall of the active branched chain seat of relative set through the cooperation that is slidingly connected mutually of guide rail slide block structure; Below described fixed mount, be disposed with first moving platform 10 and second moving platform 7 from bottom to up; The lower end of first active branched chain 1 and the 3rd active branched chain 13 is rotatedly connected through hinge 8,11 and described first moving platform with three revolution frees degree respectively, and the lower end of second active branched chain 2 and the 4th active branched chain 16 is rotatedly connected through hinge 6,12 and described second moving platform 7 with three revolution frees degree respectively, and described first, second moving platform connects through screw pair; Wherein 22 vertical fixing of the leading screw in the screw pair are connected on second moving platform, and the nut 23 that is connected with described threads of lead screw is installed on first moving platform and with end effector 9 through bearing 24 and links to each other.Described each hinge has three revolution frees degree, can adopt spherical hinge, also can adopt any one to realize the hinge of three rotating functions.Adopt the spherical hinge structure shown in Fig. 4, the hinge seat of spherical hinge is installed in respectively on first moving platform and second moving platform.
Each described active branched chain preferably comprises servomotor 17, is installed in the ball-screw 19 on the connecting plate 20; The feed screw nut that is meshed and cooperates with described ball-screw 19 is installed in each described active branched chain seat, and the output shaft of described servomotor is connected with ball-screw 19 through decelerator 18.Guide rail 21 in the described guide rail slide block structure is installed on the two side of described connecting plate 20, in each described active branched chain seat the symmetry be equipped with can with two slide blocks that guide rail is slidingly fitted of each active branched chain.Described active branched chain also can adopt hydraulic push rod slide block, structure such as pneumatic.
Three rotation-translation parallel institutions of the present invention can be realized the motion of four-degree-of-freedom.When first active branched chain 1, second active branched chain 2, the 3rd active branched chain 13, when the 4th active branched chain 16 has identical input, end effector 9 can be realized moving along the C axle.When not input of first kinematic chain (constituting) by first active branched chain 1, second active branched chain 2; Second active branched chain 2 of second kinematic chain, when the 4th active branched chain 16 has different inputs, second moving platform 7 can drive the rotation that terminal moving platform 9 is realized around the B axle.When the not input of second kinematic chain, first active branched chain 1 of first kinematic chain, when the 3rd active branched chain 13 has different inputs, first moving platform 10 can drive the rotation that terminal moving platform 9 is realized around the A axle.When second active branched chain 2, the 4th active branched chain 16 of second kinematic chain has identical input; When first kinematic chain keeps static with respect to second kinematic chain; Leading screw 22 on second moving platform 7 moves along the C axle, drives nut 23 and rotates, thereby make end effector realize the rotation around the C axle.
Three rotation-translation parallel institutions of the present invention adopt four active branched chain to drive the version of two moving platforms, produce the rotation of end effector around the C axle through screw pair, reach the purpose of adjustment attitude.
Three rotation-translation parallel institution operating positions general introduction of the present invention: shown in Fig. 4 embodiment 1; With five-freedom parallel tool hand of the present invention as a module; Integrated with the long stroke guide rail unit of three directions, realize the working ability in the bigger working space.
The above description of this invention only is schematically, rather than restrictive, so embodiment of the present invention is not limited to the above-mentioned specific embodiment.If those of ordinary skill in the art is enlightened by it, under the situation that does not break away from aim of the present invention and claim institute protection domain, make other variations or modification, all belong to protection scope of the present invention.
Claims (2)
1. one kind has three and rotates and the parallel institution of a translational degree of freedom; It is characterized in that: it comprises fixed mount; In the centre bore of described fixed mount, be rotatably connected to the first active branched chain seat, the second active branched chain seat, the 3rd active branched chain seat and the 4th active branched chain seat respectively through rotating shaft along same circumferencial direction is evenly spaced; Wherein the first active branched chain seat and the 3rd active branched chain seat are oppositely arranged; The second active branched chain seat and the 4th active branched chain seat are oppositely arranged; The centre of each active branched chain seat is provided with perforate; Each active branched chain can with the inwall of the active branched chain seat of relative set through the cooperation that is slidingly connected mutually of guide rail slide block structure, below described fixed mount, be disposed with first moving platform and second moving platform from bottom to up, the lower end of first active branched chain and the 3rd active branched chain is rotatedly connected through hinge and described first moving platforms with three revolution frees degree respectively; The lower end of second active branched chain and the 4th active branched chain is rotatedly connected through hinge and described second moving platform with three revolution frees degree respectively; Described first, second moving platform connects through screw pair, and the leading screw vertical fixing in the described screw pair is connected on second moving platform, and the nut that is connected with described threads of lead screw is installed on first moving platform and with end effector through bearing and links to each other.
2. the parallel institution with three rotations and a translational degree of freedom according to claim 1; It is characterized in that: each described active branched chain comprises servomotor, is installed in the ball-screw on the connecting plate; The feed screw nut that is meshed and cooperates with described ball-screw is installed in each described active branched chain seat; The output shaft of described servomotor links to each other with ball-screw through decelerator; Guide rail in the described guide rail slide block structure is installed on the two side of described connecting plate, in each described active branched chain seat the symmetry be equipped with can with two slide blocks that guide rail is slidingly fitted of each active branched chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104148343A CN102490179A (en) | 2011-12-13 | 2011-12-13 | Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104148343A CN102490179A (en) | 2011-12-13 | 2011-12-13 | Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom |
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| CN2011104148343A Pending CN102490179A (en) | 2011-12-13 | 2011-12-13 | Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029122A (en) * | 2012-12-11 | 2013-04-10 | 北京交通大学 | Redundant-drive three-degree-of-freedom translation-type parallel-connection robot mechanism |
| CN103350418A (en) * | 2013-07-25 | 2013-10-16 | 天津大学 | High-speed five-freedom-degree parallel mechanical arm |
| CN104625767A (en) * | 2015-01-08 | 2015-05-20 | 清华大学 | Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space |
| CN107139162A (en) * | 2017-06-12 | 2017-09-08 | 清华大学 | Sorting machine people in parallel with double acting platform structure |
| CN108544475A (en) * | 2018-06-05 | 2018-09-18 | 清华大学 | A kind of big stroke force control machining robot based on plane two-freedom series-parallel mechanical arm |
| CN108748086A (en) * | 2018-06-05 | 2018-11-06 | 清华大学 | It is a kind of towards complex-curved big stroke series-parallel connection machining robot device |
| CN108789358A (en) * | 2018-06-05 | 2018-11-13 | 清华大学 | A kind of mobile series-parallel connection machining robot based on Three Degree Of Freedom power control parallel module |
| CN108789357A (en) * | 2018-06-05 | 2018-11-13 | 清华大学 | A kind of large-sized structural parts processing unit (plant) based on power control series-parallel robot |
| CN112061770A (en) * | 2020-09-21 | 2020-12-11 | 黄冬丽 | Annular contact structure for multi-angle transmission of product transmission |
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2011
- 2011-12-13 CN CN2011104148343A patent/CN102490179A/en active Pending
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| DE19952423A1 (en) * | 1999-10-30 | 2001-05-10 | Hueller Hille Gmbh | Processing machine for multi-axis movement of a tool or workpiece |
| CN1843709A (en) * | 2006-04-30 | 2006-10-11 | 天津大学 | Parallel mechanism having two rotational and one translational motion freedom |
| CN101049699A (en) * | 2007-04-20 | 2007-10-10 | 天津大学 | Parallel mechanism capable of implementing two degrees of freedom in rotation, and one degree of freedom in translation |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029122A (en) * | 2012-12-11 | 2013-04-10 | 北京交通大学 | Redundant-drive three-degree-of-freedom translation-type parallel-connection robot mechanism |
| CN103350418A (en) * | 2013-07-25 | 2013-10-16 | 天津大学 | High-speed five-freedom-degree parallel mechanical arm |
| CN103350418B (en) * | 2013-07-25 | 2015-06-03 | 天津大学 | High-speed five-freedom-degree parallel mechanical arm |
| CN104625767A (en) * | 2015-01-08 | 2015-05-20 | 清华大学 | Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space |
| CN107139162A (en) * | 2017-06-12 | 2017-09-08 | 清华大学 | Sorting machine people in parallel with double acting platform structure |
| CN107139162B (en) * | 2017-06-12 | 2019-11-22 | 清华大学 | Sorting machine people in parallel with double acting platform structure |
| CN108544475A (en) * | 2018-06-05 | 2018-09-18 | 清华大学 | A kind of big stroke force control machining robot based on plane two-freedom series-parallel mechanical arm |
| CN108748086A (en) * | 2018-06-05 | 2018-11-06 | 清华大学 | It is a kind of towards complex-curved big stroke series-parallel connection machining robot device |
| CN108789358A (en) * | 2018-06-05 | 2018-11-13 | 清华大学 | A kind of mobile series-parallel connection machining robot based on Three Degree Of Freedom power control parallel module |
| CN108789357A (en) * | 2018-06-05 | 2018-11-13 | 清华大学 | A kind of large-sized structural parts processing unit (plant) based on power control series-parallel robot |
| CN112061770A (en) * | 2020-09-21 | 2020-12-11 | 黄冬丽 | Annular contact structure for multi-angle transmission of product transmission |
| CN112061770B (en) * | 2020-09-21 | 2022-08-23 | 苏州市东挺河智能科技发展有限公司 | Annular contact structure for multi-angle transmission of product transmission |
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Application publication date: 20120613 |