CN102581848A - Parallel positioning platform with three-rotation one-translation freedom degree - Google Patents

Parallel positioning platform with three-rotation one-translation freedom degree Download PDF

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Publication number
CN102581848A
CN102581848A CN2012100762538A CN201210076253A CN102581848A CN 102581848 A CN102581848 A CN 102581848A CN 2012100762538 A CN2012100762538 A CN 2012100762538A CN 201210076253 A CN201210076253 A CN 201210076253A CN 102581848 A CN102581848 A CN 102581848A
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China
Prior art keywords
branched chain
hinge
leading screw
slide block
active branched
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CN2012100762538A
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Chinese (zh)
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CN102581848B (en
Inventor
宋轶民
连宾宾
孙涛
董罡
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Tianjin University
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Tianjin University
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Abstract

The invention discloses a parallel positioning platform with a three-rotation one-translation freedom degree, which comprises a fixing frame. A driven branched chain is positioned in an opening at the center of the fixing frame and is connected with the fixing frame by a first hinge. First to fourth driving branched chains are respectively and rotationally connected with the fixing frame by third to sixth hinges. The lower end of the driven branched chain is fixedly connected with the top wall of a housing. The lower ends of inner pipes of the first to fourth driving branched chains are respectively connected with one second sliding block by seventh to tenth hinges. The second sliding blocks are connected with a second guide rail in a sliding mode. Nuts on the second sliding blocks are connected with screw rods. Gears on the screw rods are meshed with a center gear. The structure is beneficial for promoting the fast-forward capacity and the dynamic performance of a manipulator.

Description

Has three rotation-translation frees degree parallel connection locating platform
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of realize Three dimensional rotation and one-dimensional translation operation function have three a rotation-translation frees degree parallel connections locating platform.
Background technology
Can know that according to patent US6431802, ZL200610013608.3 existing three rotation-translation DOF parallel robots are generally the hybrid connected structure form that space two rotation-translation parallel institution is aided with yaw.Wherein, two rotation-translation parallel institution in space is installed in the location, position that the servomotor on the active branched chain is realized mechanism's moving platform through adjusting; Yaw is electric main axle structure, is fixedly installed in the rotation that produces on the moving platform around self axis, realizes the attitude location of end effector.This robotlike, because servomotor and decelerator etc. are installed in the active yaw, its deficiency is: the weight of moving platform is excessive, influences the fast forward capability and the dynamic property of mechanism.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, provide a kind of moving platform quality little, have the advantage direction of feed, the space three rotation-translation parallel manipulator hands that dynamic property is good.
Of the present invention have three a rotation-translation frees degree parallel connections locating platform; It comprises fixed mount; Driven side chain is positioned at the central openings of fixed mount and links to each other with said fixed mount through first hinge; On said fixed mount, be symmetrically arranged with first, second, third, fourth active branched chain about driven chain axis; Described first, second, third, fourth active branched chain is rotatedly connected through the 3rd, the 4th, the 5th, the 6th hinge and said fixed mount respectively; Said first hinge comprises outer ring and inner ring, and said outer ring is rotatedly connected through outer ring rotating shaft and fixed mount, and said inner ring is rotatedly connected through inner ring rotating shaft and said outer ring; Rotating shaft of said outer ring and inner ring rotating shaft have angle; Said inner ring connects through second hinge and said driven side chain slide down phase shift, and described second hinge adopts the guide rail slide block structure, and said first, second, third, fourth active branched chain structure is identical; Each active branched chain includes the outer tube that links to each other with the 3rd, the 4th, the 5th, the 6th hinge through of relative set through rotating shaft; Interior pipe is inserted in the described outer tube, links to each other through the first guide rail slide block structure between said outer tube and the interior pipe, and described first slide block can be slidingly matched with described first guide rail under the driving of drive unit; The lower end of said driven side chain and shell roof are fixedly linked; The interior pipe lower end of said first, second, third, fourth active branched chain links to each other with one second slide block through the 7th, the 8th, the 9th, the tenth hinge with three revolution frees degree respectively separately, each said second slide block be installed in side wall of outer shell on and link to each other with the slip of second guide rail of one of which one corresponding setting, described second guide rail edge is provided with perpendicular to shell roof direction; Be fixedly connected with one second nut separately with the bottom of second slide block of the corresponding respectively setting of described the first, the 3rd active branched chain; Be fixedly connected with one the 3rd nut separately with the bottom of second slide block of the corresponding respectively setting of described the second, the 4th active branched chain, each second nut is threaded with the corresponding end that one second leading screw in the enclosure is set mutually, and each said the 3rd nut is threaded with an end of corresponding setting one the 3rd leading screw in the enclosure mutually; The other end of said second leading screw, the 3rd leading screw all is installed on the interior also edge of the bearing that is arranged on the shell perpendicular to the setting of shell roof direction; The hand of spiral of two said second leading screws is consistent, and the hand of spiral of two said the 3rd leading screws is consistent, and the hand of spiral of said second leading screw and the 3rd leading screw is opposite; On each leading screw, be connected with a gear through key respectively; Be provided with one in the centre of four gears and can distinguish the central gear of engagement fit with described four gears, the gear shaft of described central gear is installed in the centre bearing that is arranged on the shell, is fixedly connected with an end effector in the gear shaft lower end of described central gear.
The present invention compared with prior art, its advantage is: moving platform adopts the form of screw pair and gears engaged.Screw pair is variable to be moved for rotating, for gear provides power.Gears engaged adopts the form of four identical gears and the engagement of center gear wheel, has only four gear rotation to unanimity central gear is rotated, thereby location, active branched chain position is independent of each other with end effector pose location.Moving platform need not settled servomotor and decelerator, can effectively alleviate its quality, helps manipulator and promotes fast forward capability and dynamic property.This manipulator has the advantage direction of feed, and rigidity/mass ratio is big, dynamic property good, positioning accuracy and repetitive positioning accuracy advantages of higher.
Description of drawings
Fig. 1 is the structural representation with three rotation-translation frees degree parallel connection locating platform of the present invention;
Fig. 2 is the vertical view of mechanism shown in Figure 1;
Fig. 3 is the active branched chain structural representation of mechanism shown in Figure 1;
Fig. 4 is the sketch map of mechanism shown in Figure 1 moving platform internal structure;
Fig. 5 is the structural representation of mechanism shown in Figure 1 application implementation example.
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 shown in accompanying drawing have three a rotation-translation frees degree parallel connections locating platform; It comprises fixed mount 1; Driven side chain 6 is positioned at the central openings of fixed mount and links to each other with said fixed mount through first hinge; On said fixed mount, be symmetrically arranged with first, second, third, fourth active branched chain 2,3,4,5 about driven chain axis; Described first, second, third, fourth active branched chain is rotatedly connected through the 3rd, the 4th, the 5th, the 6th hinge 11,12,13,14 and said fixed mount respectively, and said first hinge has double rotation freedom degrees, can comprise outer ring 8 and inner ring 9; Said outer ring is rotatedly connected through outer ring rotating shaft and fixed mount; Said inner ring is rotatedly connected through inner ring rotating shaft and said outer ring, and rotating shaft of said outer ring and inner ring rotating shaft have angle (not conllinear), and said inner ring connects through second hinge and said driven side chain slide down phase shift.First hinge also can adopt other to have the version of same movement function.Said second hinge has an one-movement-freedom-degree, can adopt the sliding block guide track structure form to realize, promptly said inner ring fixed installation slide block is slidingly connected with the guide rail that is fixed on the driven side chain.Said first, second, third, fourth active branched chain structure is identical; Each active branched chain includes through an outer tube that hinge through links to each other in the 3rd, the 4th, the 5th, the 6th hinge of rotating shaft and relative set; Interior pipe is inserted in the outer tube; Link to each other through the first guide rail slide block structure between said outer tube and the interior pipe, described first slide block can be slidingly matched with described first guide rail under the driving of drive unit.Described drive unit can for: at the top of said outer tube 16 servomotor 17 is housed; Said servomotor 17 output shafts are fixedly linked through an end of the decelerator 18 and first leading screw 19; Be fixedly connected on the interior pipe 21 with first nut 20 of said first leading screw, 19 threaded engagement; Pipe 21 is inserted in the outer tube 16 in said, links to each other through the first guide rail slide block structure 22 between said outer tube 16 and the interior pipe 21.Certain said drive unit can also be able to adopt hydraulic push rod, pneumatic etc. other any one can realize the version of same movement function.
The lower end of said driven side chain and said shell roof are fixedly linked; The interior pipe lower end of said first, second, third, fourth active branched chain is rotatedly connected with one second slide block through the 7th, the 8th, the 9th, the tenth hinge 24,25,26,27 with three revolution frees degree respectively separately; Each said second slide block be installed in side wall of outer shell on and corresponding second guide rail 29 that is provided with one of which one slide and link to each other; Described second guide rail is along being provided with perpendicular to shell roof direction; Be fixedly connected with one second nut 30 separately with the bottom of second slide block of the corresponding respectively setting of described the first, the 3rd active branched chain; Be fixedly connected with one the 3rd nut 31 separately with the bottom of second slide block of the corresponding respectively setting of described the second, the 4th active branched chain; Each second nut is threaded with the corresponding end that one second leading screw 32 in the enclosure is set mutually; Each said the 3rd nut is threaded with the corresponding end that one the 3rd leading screw 33 in the enclosure is set mutually, and the other end of said second leading screw, the 3rd leading screw all is installed on the interior also edge of the bearing that is arranged on the shell perpendicular to the setting of shell roof direction, and the hand of spiral of two said second leading screws is consistent; The hand of spiral of two said the 3rd leading screws is consistent; The hand of spiral of said second leading screw 32 and the 3rd leading screw 33 is opposite, on each leading screw, is connected with a gear through key respectively, is provided with one in the centre of four gears and can distinguishes the central gear 35 of engagement fit with described four gears; The gear shaft 36 of described central gear is installed in the centre bearing that is arranged on the shell; Gear shaft lower end at described central gear is fixedly connected an end effector, like cutter, and paw etc.
Combine each width of cloth figure that the present invention is further specified below again:
The three rotation-translation frees degree parallel connection locating platform that has of the present invention as shown in Figure 1, by the identical active branched chain 2,3,4,5 of 1, four structure of fixed mount, driven side chain 6 constitutes with moving platform 7.
As depicted in figs. 1 and 2; Said driven side chain 6 links to each other with said fixed mount 1 through first hinge; Said first hinge has two revolution frees degree, comprises outer ring 8 and inner ring 9, and said outer ring 8 is rotatedly connected through outer ring rotating shaft and said fixed mount; Said inner ring 9 is rotatedly connected through inner ring rotating shaft and said outer ring 8, and outer ring rotating shaft and inner ring rotating shaft have angle (not conllinear).Said inner ring 9 links to each other with said driven side chain 6 through second hinge 10; Said second hinge 10 has an one-movement-freedom-degree; Can adopt the sliding block guide track structure form to realize, promptly said inner ring fixed installation slide block is slidingly connected with the guide rail that is fixed on the driven side chain.Said first, second, third, fourth active branched chain 2,3,4,5 and the 3rd, the 4th, the 5th, the 6th hinge 11,12,13,14 with a rotational freedom are rotatedly connected, and said the 3rd, the 4th, the 5th, the 6th hinge 11,12,13,14 and said fixed mount 1 are rotatedly connected.
As shown in figures 1 and 3, said first, second, third, fourth active branched chain 2,3,4,5 has identical version, includes rotating shaft 15, outer tube 16, servomotor 17, decelerator 18, the first feed screw nuts 19,20 and interior pipe 21.Said outer tube 16 is rotatedly connected with the 3rd, the 4th, the 5th, the 6th hinge 11,12,13,14 respectively through rotating shaft 15; At the top of said outer tube 16 servomotor 17 is housed; Said servomotor 17 output shafts are fixedly linked through an end of the decelerator 18 and first leading screw 19; Be fixedly connected on the interior pipe 21 with first nut 20 of said first leading screw, 19 threaded engagement, said interior pipe 21 is inserted in the outer tube 16, links to each other through the first guide rail slide block structure 22.
Like Fig. 1 and shown in Figure 4, moving platform 7 comprises shell 23, the second guide rail slide block 28,29, the second feed screw nuts, 32,30, the three feed screw nuts 33,31, four identical gears 34, central gear 35 and gear shafts 36.The lower end and the shell of said driven side chain 6 are fixedly linked, and said first, second, third, fourth active branched chain 2,3,4,5 lower ends link to each other with one second slide block 28 through the 7th, the 8th, the 9th, the tenth hinge 24,25,26,27 respectively separately.Said the 7th, the 8th, the 9th, the tenth hinge 24,25,26,27 has the three revolution frees degree, can adopt Hooke's hinge to be aided with form such as the axis of rotation, spherical hinge or other have the hinge of same movement function.
As shown in Figure 4, said housing 23 is connecting the 3rd leading screw 33 through bearing respectively through one second leading screw 32 of bearing connection and corresponding the second, the 4th active branched chain 3,5 respectively along corresponding the first, the 3rd active branched chain 2,4 of C direction of principal axis.The lower end of two second leading screws 32, two the 3rd leading screws 33 is connected with a gear 34 keys respectively; Each second slide block 28 is provided with guide-track groove; Shell 23 is separately installed with second guide rail 29 along the position of corresponding each guide-track groove on the C direction of principal axis, and each second guide rail 29 is slidingly connected with the guide-track groove of corresponding setting.Each second slide block 28 can move along the C direction of principal axis under the drive of first, second, third, fourth active branched chain 2,3,4,5; Second nut 30 that is installed in simultaneously on two second slide blocks 28 forms screw pair with corresponding second leading screw 32 that is provided with respectively, and the 3rd nut 31 that is installed on two other second slide block 28 forms screw pair with corresponding the 3rd leading screw 33 that is provided with respectively.Said second leading screw 32 is a left hand thread, and the 3rd leading screw is 33 right-handed threads.Second slide block 28 moves along the C axle and drives second nut 30 respectively, the 3rd nut 31 moves along the C direction of principal axis, and then second leading screw 32, the 3rd leading screw 33 rotate around the C axle, thereby is installed in the rotation that the gear 34 on second leading screw 32, the 3rd leading screw 33 produces around the C axle.Be equipped with through gear shaft 36 on the shell can with the central gear 35 of gear 34 common engagement fit on four leading screws.
In technical scheme of the present invention: said first, second, third, fourth active branched chain 2,3,4,5 is rotatedly connected through the 3rd, the 4th, the 5th, the 6th hinge 11,12,13,14 and the fixed mount 1 with two revolution frees degree; Said each active branched chain can move along self axis, forms an one-movement-freedom-degree; Said first, second, third, fourth active branched chain 2,3,4,5 links to each other through the 7th, the 8th, the 9th, the tenth hinge 24,25,26,27 with three revolution frees degree with moving platform 7, so said each active branched chain is to moving platform 7 no effect of contractions.First hinge with two rotational freedoms links to each other with fixed mount 1; Said driven side chain 6 links to each other with moving platform 7 through second hinge 10 with an one-movement-freedom-degree; So 6 pairs of moving platforms 7 of driven side chain provide two translation constraints and a rotational restraint; Thereby moving platform 7 can produce the two rotation-translation free degree, promptly around the rotation of A axle, B axle (A, B axle are vertical each other in twos with the C axle respectively) with along the translation of C axle.If the gear shaft of moving platform 7 central gears 36 affixed end effectors, the then rotation around the C axle of end effector in addition, robot can realize four-degree-of-freedom, promptly space three-dimensional rotates and one-dimensional translation.
End effector is seen Fig. 4 and Fig. 5 around the rotation of C axle.The screw thread of second leading screw 32 is a left hand thread, and the screw thread of the 3rd leading screw 33 is a right-handed thread.When the first, the 3rd active branched chain 2, the 4 second corresponding slide blocks 28 moved upward with identical speed simultaneously, corresponding gear 34 produced clockwise rotation; When the second, the 4th active branched chain 3, the 5 second corresponding slide blocks 28 moved downward with same speed simultaneously, pairing gear 34 also produced clockwise rotation.Central gear 35 meshes with four gears 34 simultaneously, and when then four gears 34 produced same clockwise rotating, central gear 35 produced through engagement and clockwise rotates, and produced clockwise rotating around the C axle thereby drive end effector.Similarly; When the first, the 3rd active branched chain 2, the 4 second corresponding slide blocks 28 move downward with identical speed simultaneously; When the second, the 4th active branched chain 3, the 5 second corresponding slide blocks 28 move upward with same speed simultaneously; Central gear 35 produces and rotates counterclockwise, and rotates counterclockwise around the C axle thereby drive the end effector generation.The first, the movement velocity of corresponding second slide block 28 of the movement velocity and second of 2,4 correspondence second slide blocks 28 of the 3rd active branched chain, the 4th active branched chain 3,5 etc. is big reverse, can guarantee that the pose of moving platform does not change, and the rotation of end effector is only arranged.
Have only the movement velocity etc. of the second corresponding slide block 28 of movement velocity and second, the 4th active branched chain 3,5 of 2,4 correspondence second slide blocks 28 of the first, the 3rd active branched chain big reverse; Four gears 34 rotate when turning to unanimity, and central gear 35 is rotated.The first, the movement velocity of corresponding second slide block 28 of the movement velocity and second of 2,4 correspondence second slide blocks 28 of the 3rd active branched chain, the 4th active branched chain 3,5 is not etc. under the big reverse situation; It is inconsistent that four gears 34 turn to, and retrained the rotation of central gear 35.
Novel four-freedom parallel mechanical hand operating position general introduction of the present invention: shown in Fig. 5 embodiment 1; With space of the present invention symmetry three rotation-translation parallel robots 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. has three rotation-translation frees degree parallel connection locating platform; It is characterized in that: it comprises fixed mount; Driven side chain is positioned at the central openings of fixed mount and links to each other with said fixed mount through first hinge; On said fixed mount, be symmetrically arranged with first, second, third, fourth active branched chain about driven chain axis; Described first, second, third, fourth active branched chain is rotatedly connected through the 3rd, the 4th, the 5th, the 6th hinge and said fixed mount respectively; Said first hinge comprises outer ring and inner ring, and said outer ring is rotatedly connected through outer ring rotating shaft and fixed mount, and said inner ring is rotatedly connected through inner ring rotating shaft and said outer ring; Rotating shaft of said outer ring and inner ring rotating shaft have angle; Said inner ring connects through second hinge and said driven side chain slide down phase shift, and described second hinge adopts the guide rail slide block structure, and said first, second, third, fourth active branched chain structure is identical; Each active branched chain includes the outer tube that links to each other with the 3rd, the 4th, the 5th, the 6th hinge through of relative set through rotating shaft; Interior pipe is inserted in the described outer tube, links to each other through the first guide rail slide block structure between said outer tube and the interior pipe, and described first slide block can be slidingly matched with described first guide rail under the driving of drive unit; The lower end of said driven side chain and shell roof are fixedly linked; The interior pipe lower end of said first, second, third, fourth active branched chain is rotatedly connected with one second slide block through the 7th, the 8th, the 9th, the tenth hinge with three revolution frees degree respectively separately, each said second slide block be installed in side wall of outer shell on and link to each other with the slip of second guide rail of one of which one corresponding settings, described second guide rail edge is provided with perpendicular to shell roof direction; Be fixedly connected with one second nut separately with the bottom of second slide block of the corresponding respectively setting of described the first, the 3rd active branched chain; Be fixedly connected with one the 3rd nut separately with the bottom of second slide block of the corresponding respectively setting of described the second, the 4th active branched chain, each second nut is threaded with the corresponding end that one second leading screw in the enclosure is set mutually, and each said the 3rd nut is threaded with an end of corresponding setting one the 3rd leading screw in the enclosure mutually; The other end of said second leading screw, the 3rd leading screw all is installed on the interior also edge of the bearing that is arranged on the shell perpendicular to the setting of shell roof direction; The hand of spiral of two said second leading screws is consistent, and the hand of spiral of two said the 3rd leading screws is consistent, and the hand of spiral of said second leading screw and the 3rd leading screw is opposite; On each leading screw, be connected with a gear through key respectively; Be provided with one in the centre of four gears and can distinguish the central gear of engagement fit with described four gears, the gear shaft of described central gear is installed in the centre bearing that is arranged on the shell, is fixedly connected with an end effector in the gear shaft lower end of described central gear.
2. according to claim 1 have three a rotation-translation frees degree parallel connections locating platform; It is characterized in that: described drive unit comprises the servomotor that is installed in said outer tube top; Said servomotor output shaft is fixedly linked through an end of the decelerator and first leading screw, manages in first nut that cooperates with said first threads of lead screw is fixedly connected on.
CN201210076253.8A 2012-03-21 2012-03-21 Parallel positioning platform with three-rotation one-translation freedom degree Active CN102581848B (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
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
CN104526684A (en) * 2014-12-30 2015-04-22 天津大学 High-rigidity hybrid robot capable of achieving gravity self balancing
CN109079757A (en) * 2018-08-24 2018-12-25 北京机械设备研究所 A kind of 3-freedom parallel mechanism applied to the main hand of remote operating
CN109079756A (en) * 2018-08-24 2018-12-25 北京机械设备研究所 A kind of 3-freedom parallel mechanism applied to force feedback equipment
CN109176497A (en) * 2018-10-25 2019-01-11 北京机械设备研究所 A kind of main hand of rope drive Three Degree Of Freedom remote operating

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CN102211333A (en) * 2011-06-15 2011-10-12 天津职业技术师范大学 Double-freedom-degree spatial parallel mechanism capable of realizing one-dimensional rotation and one-dimensional movement
CN102366896A (en) * 2011-11-11 2012-03-07 浙江理工大学 Three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts

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US4790718A (en) * 1985-03-27 1988-12-13 The English Electric Company Plc Manipulators
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Cited By (6)

* Cited by examiner, † Cited by third party
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
CN104526684A (en) * 2014-12-30 2015-04-22 天津大学 High-rigidity hybrid robot capable of achieving gravity self balancing
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CN109079757A (en) * 2018-08-24 2018-12-25 北京机械设备研究所 A kind of 3-freedom parallel mechanism applied to the main hand of remote operating
CN109079756A (en) * 2018-08-24 2018-12-25 北京机械设备研究所 A kind of 3-freedom parallel mechanism applied to force feedback equipment
CN109176497A (en) * 2018-10-25 2019-01-11 北京机械设备研究所 A kind of main hand of rope drive Three Degree Of Freedom remote operating

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