CN102581848B - Parallel positioning platform with three-rotation one-translation freedom degree - Google Patents
Parallel positioning platform with three-rotation one-translation freedom degree Download PDFInfo
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- CN102581848B CN102581848B CN201210076253.8A CN201210076253A CN102581848B CN 102581848 B CN102581848 B CN 102581848B CN 201210076253 A CN201210076253 A CN 201210076253A CN 102581848 B CN102581848 B CN 102581848B
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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
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of three rotation-translation frees degree parallel connection locating platforms that have of realizing Three dimensional rotation and one-dimensional translation operation function.
Background technology
Known 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 arranged on servomotor in active branched chain by adjusting and realizes the position of mechanism's moving platform and locate; Yaw is electric main axle structure, is fixedly installed on moving platform and produces the rotation around self axis, realizes the attitude location of end effector.This type of robot, because servomotor and decelerator etc. is arranged in active yaw, its deficiency is: the weight of moving platform is excessive, affects fast forward capability and the dynamic property of mechanism.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of moving platform quality little, there is advantage direction of feed, the space three rotation-translation parallel manipulators that dynamic property is good.
Of the present invention have a three rotation-translation frees degree locating platforms in parallel, it comprises fixed mount, driven side chain is positioned at the central openings of fixed mount and is connected with described fixed mount by the first hinge, on described fixed mount, about driven chain axis, be symmetrically arranged with first, second, the 3rd, the 4th active branched chain, described first, second, the 3rd, the 4th active branched chain is respectively by the 3rd, the 4th, the 5th, the 6th hinge and described fixed mount are rotatedly connected, described the first hinge comprises outer ring and inner ring, described outer ring is rotatedly connected by outer ring rotating shaft and fixed mount, described inner ring is connected with described outer ring rotating by inner ring rotating shaft, the rotating shaft of described outer ring and inner ring rotating shaft have angle, described inner ring is connected with the upper and lower slippage of described driven side chain by the second hinge, the second described hinge adopts guide rail slide block structure, described first, second, the 3rd, the 4th active branched chain structure is identical, each active branched chain includes by the 3rd of rotating shaft and relative set, the 4th, the 5th, the outer tube that the 6th hinge is rotatedly connected, inner tube is inserted in described outer tube, between described outer tube and inner tube, by the first guide rail slide block structure, be connected, the first described slide block can be slidably matched with the first described guide rail under the driving of drive unit, the lower end of described driven side chain and shell roof are fixedly linked, described first, second, the 3rd, the inner tube lower end of the 4th active branched chain is respectively by having the 7th of the three revolution frees degree, the 8th, the 9th, the tenth hinge is connected with second slide block separately, described in each the second slide block be arranged on side wall of outer shell on and second guide rail that arrange corresponding to one one slide and be connected, the second described guide rail is along arranging perpendicular to shell roof direction, with described first, the 3rd active branched chain respectively bottom of corresponding the second slide block arranging is fixedly connected with second nut separately, with described second, the 4th active branched chain respectively bottom of corresponding the second slide block arranging is fixedly connected with the 3rd nut separately, each second nut is threaded mutually with corresponding one end that second leading screw is in the enclosure set, described in each, the 3rd nut is threaded mutually with corresponding one end that the 3rd leading screw is in the enclosure set, described the second leading screw, the other end of the 3rd leading screw is all installed on the interior also edge of the bearing being arranged on shell perpendicular to the setting of shell roof direction, the hand of spiral of two described the second leading screws is consistent, the hand of spiral of two described the 3rd leading screws is consistent, described the second leading screw is contrary with the hand of spiral of the 3rd leading screw, on each leading screw, by key, be connected with a gear respectively, in the centre of four gears, be provided with one and can distinguish the central gear of engagement fit with four described gears, the gear shaft of described central gear is installed in the centre bearing being arranged on shell, gear shaft lower end at described central gear is fixedly connected with an end effector.
Compared with prior art, its advantage is in the present invention: moving platform adopts the form of screw pair and gear engagement.The variable movement of screw pair is for rotating, for gear provides power.Gear engagement adopts the form of four identical gears and the engagement of center gear wheel, only have four gears to turn to and unanimously just can make central gear rotate, thereby location, active branched chain position is independent of each other with end effector pose location.Moving platform does not need to settle servomotor and decelerator, can effectively alleviate its quality, is conducive to manipulator and promotes fast forward capability and dynamic property.This manipulator has advantage direction of feed, and rigidity/mass ratio is large, dynamic property good, positioning precision and repetitive positioning accuracy advantages of higher.
Accompanying drawing explanation
Fig. 1 is the structural representation with three rotation-translation frees degree locating platform in parallel of the present invention;
Fig. 2 is the top view of mechanism shown in Fig. 1;
Fig. 3 is the active branched chain structural representation of mechanism shown in Fig. 1;
Fig. 4 is the schematic diagram of the moving platform internal structure of mechanism shown in Fig. 1;
Fig. 5 is the structural representation of the Application Example of mechanism shown in Fig. 1.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Of the present invention as shown in drawings have a three rotation-translation frees degree locating platforms in parallel, it comprises fixed mount 1, driven side chain 6 is positioned at the central openings of fixed mount and is connected with described fixed mount by the first hinge, on described fixed mount, about driven chain axis, be symmetrically arranged with first, second, the 3rd, the 4th active branched chain 2, 3, 4, 5, described first, second, the 3rd, the 4th active branched chain is respectively by the 3rd, the 4th, the 5th, the 6th hinge 11, 12, 13, 14 are rotatedly connected with described fixed mount, described the first hinge has double rotation freedom degrees, can comprise outer ring 8 and inner ring 9, described outer ring is rotatedly connected by outer ring rotating shaft and fixed mount, described inner ring is connected with described outer ring rotating by inner ring rotating shaft, the rotating shaft of described outer ring and inner ring rotating shaft have angle (not conllinear), described inner ring is connected with the upper and lower slippage of described driven side chain by the second hinge.The first hinge also can adopt other to have the version of same movement function.Described the second hinge has an one-movement-freedom-degree, can adopt sliding block guide track structure form to realize, and described inner ring fixed installation slide block, is slidably connected with the guide rail being fixed on driven side chain.Described first, second, third, fourth active branched chain structure is identical, each active branched chain includes by an outer tube that hinge is rotatedly connected in the 3rd, the 4th, the 5th, the 6th hinge of rotating shaft and relative set, inner tube is inserted in outer tube, between described outer tube and inner tube, by the first guide rail slide block structure, be connected, the first described slide block can be slidably matched with the first described guide rail under the driving of drive unit.Described drive unit can be: at the top of described outer tube 16, servomotor 17 is housed, described servomotor 17 output shafts are fixedly linked by one end of decelerator 18 and the first leading screw 19, be fixedly connected in inner tube 21 with the first nut 20 of described the first leading screw 19 threaded engagement, described inner tube 21 is inserted in outer tube 16, between described outer tube 16 and inner tube 21, by the first guide rail slide block structure 22, is connected.Certain described 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 described driven side chain and described shell roof are fixedly linked, described first, second, the 3rd, the inner tube lower end of the 4th active branched chain is respectively by having the 7th of the three revolution frees degree, the 8th, the 9th, the tenth hinge 24, 25, 26, 27 are rotatedly connected with second slide block separately, described in each the second slide block be arranged on side wall of outer shell on and second guide rail 29 that arrange corresponding to one one slide and be connected, the second described guide rail is along arranging perpendicular to shell roof direction, with described first, the 3rd active branched chain respectively bottom of corresponding the second slide block arranging is fixedly connected with second nut 30 separately, with described second, the 4th active branched chain respectively bottom of corresponding the second slide block arranging is fixedly connected with the 3rd nut 31 separately, each second nut is threaded mutually with corresponding one end that second leading screw 32 is in the enclosure set, described in each, the 3rd nut is threaded mutually with corresponding one end that the 3rd leading screw 33 is in the enclosure set, described the second leading screw, the other end of the 3rd leading screw is all installed on the interior also edge of the bearing being arranged on shell perpendicular to the setting of shell roof direction, the hand of spiral of two described the second leading screws is consistent, the hand of spiral of two described the 3rd leading screws is consistent, described the second leading screw 32 is contrary with the hand of spiral of the 3rd leading screw 33, on each leading screw, by key, be connected with a gear respectively, in the centre of four gears, be provided with one and can distinguish the central gear 35 of engagement fit with four described gears, the gear shaft 36 of described central gear is installed in the centre bearing being arranged on shell, gear shaft lower end at described central gear is fixedly connected with an end effector, as cutter, paw etc.
In conjunction with each width figure, the present invention is further described more below:
As shown in Figure 1 of the present invention has three rotation-translation frees degree locating platforms in parallel, and by the identical active branched chain 2,3,4,5 of 1, four structure of fixed mount, driven side chain 6 and moving platform 7 form.
As depicted in figs. 1 and 2, described driven side chain 6 is connected with described fixed mount 1 by the first hinge, described the first hinge has two revolution frees degree, comprise outer ring 8 and inner ring 9, described outer ring 8 is rotatedly connected by outer ring rotating shaft and described fixed mount, described inner ring 9 is rotatedly connected by inner ring rotating shaft and described outer ring 8, and outer ring rotating shaft and inner ring rotating shaft have angle (not conllinear).Described inner ring 9 is connected with described driven side chain 6 by the second hinge 10, described the second hinge 10 has an one-movement-freedom-degree, can adopt sliding block guide track structure form to realize, described inner ring fixed installation slide block, is slidably connected with the guide rail being fixed on driven side chain.Described 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 described the 3rd, the 4th, the 5th, the 6th hinge 11,12,13,14 and described fixed mount 1 are rotatedly connected.
As shown in figures 1 and 3, described 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 nut 19,20 and inner tubes 21.Described outer tube 16 is rotatedly connected with the 3rd, the 4th, the 5th, the 6th hinge 11,12,13,14 respectively by rotating shaft 15, at the top of described outer tube 16, servomotor 17 is housed, described servomotor 17 output shafts are fixedly linked by one end of decelerator 18 and the first leading screw 19, be fixedly connected in inner tube 21 with the first nut 20 of described the first leading screw 19 threaded engagement, described inner tube 21 is inserted in outer tube 16, by the first guide rail slide block structure 22, is connected.
As shown in Figure 1 and Figure 4, moving platform 7 comprises shell 23, the second guide rail slide block 28,29, the second feed screw nut 32,30, the three feed screw nuts 33,31, four identical gears 34, central gear 35 and gear shafts 36.Lower end and the shell of described driven side chain 6 are fixedly linked, and described first, second, third, fourth active branched chain 2,3,4,5 lower ends are connected with second slide block 28 separately by the 7th, the 8th, the 9th, the tenth hinge 24,25,26,27 respectively.Described 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 the forms such as the axis of rotation, spherical hinge or other have the hinge of same movement function.
As shown in Figure 4, described housing 23 is connecting second leading screw 32 by bearing respectively along C direction of principal axis correspondence first, the 3rd active branched chain 2,4 and corresponding the second, the 4th active branched chain 3,5 connects the 3rd leading screw 33 by bearing respectively.The lower end of two the second leading screws 32, two the 3rd leading screws 33 is connected with gear 34 keys respectively, on each second slide block 28, be provided with guide-track groove, shell 23 is separately installed with the second guide rail 29 along the position of corresponding each guide-track groove on C direction of principal axis, and each second guide rail 29 is slidably connected with the guide-track groove of corresponding setting.Under the drive of first, second, third, fourth active branched chain 2,3,4,5, each second slide block 28 can move along C direction of principal axis, the second nut 30 being simultaneously arranged on two the second slide blocks 28 forms screw pair with corresponding the second leading screw 32 arranging respectively, and the 3rd nut 31 being arranged on two other second slide block 28 forms screw pair with corresponding the 3rd leading screw 33 arranging respectively.Described the second leading screw 32 is left hand thread, and the 3rd leading screw is 33 right-handed threads.The second slide block 28 moves and drives respectively the second nut 30, the 3rd nut 31 to move along C direction of principal axis along C axle, and the second leading screw 32, the 3rd leading screw 33 rotate around C axle, thereby is arranged on the rotation that the gear 34 on the second leading screw 32, the 3rd leading screw 33 produces around C axle.On shell by gear shaft 36 be provided with can with four leading screws on the central gear 35 of gear 34 common engagement fit.
In technical scheme of the present invention: described first, second, third, fourth active branched chain 2,3,4,5 is rotatedly connected by having the 3rd, the 4th, the 5th, the 6th hinge 11,12,13,14 and the fixed mount 1 of the two revolution frees degree; Described each active branched chain can move along self axis, forms an one-movement-freedom-degree; Described first, second, third, fourth active branched chain 2,3,4,5 is connected by having the 7th, the 8th, the 9th, the tenth hinge 24,25,26,27 of the three revolution frees degree with moving platform 7, thus described each active branched chain to moving platform 7 without effect of contraction.First hinge with two rotational freedoms is connected with fixed mount 1, described driven side chain 6 is connected with moving platform 7 by having the second hinge 10 of an one-movement-freedom-degree, therefore 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, around the rotation of A axle, B axle (A, B axle are mutually vertical between two with C axle respectively) with along the translation of C axle.If the affixed end effector of the gear shaft 36 of moving platform 7 central gears, the rotation around C axle of end effector in addition, robot can realize four-degree-of-freedom, and space three-dimensional rotates and one-dimensional translation.
End effector is shown in Fig. 4 and Fig. 5 around the rotation of C axle.The screw thread of the second leading screw 32 is left hand thread, and the screw thread of the 3rd leading screw 33 is right-handed thread.When the second slide block 28 of the first, the 3rd active branched chain 2,4 correspondences moves upward with identical speed simultaneously, corresponding gear 34 produces clockwise rotation; When the second, the second slide block 28 of the 4th active branched chain 3,5 correspondences moves downward with same speed simultaneously, corresponding gear 34 also produces clockwise rotation.Simultaneously and 34 engagements of four gears, when four gears 34 produce same clockwise rotating, central gear 35 is produced and is clockwise rotated by engagement, thereby drives end effector generation clockwise rotating around C axle for central gear 35.Similarly, when the second slide block 28 of the first, the 3rd active branched chain 2,4 correspondences moves downward with identical speed simultaneously, when the second, the second slide block 28 of the 4th active branched chain 3,5 correspondences moves upward with same speed simultaneously, central gear 35 produces and rotates counterclockwise, thereby drive end effector to produce, around C axle, rotates counterclockwise.The first, the movement velocity of the second slide block 28 corresponding to the movement velocity and second of 2,4 correspondence the second slide blocks 28 of the 3rd active branched chain, the 4th active branched chain 3,5 etc. is oppositely large, can guarantee that the pose of moving platform does not change, and only has the rotation of end effector.
Only have the movement velocity etc. of the second slide block 28 corresponding to movement velocity and second, the 4th active branched chain 3,5 of 2,4 correspondence the second slide blocks 28 of the first, the 3rd active branched chain oppositely large, four gears 34 rotate turns to when consistent, just can make central gear 35 rotate.The first, the movement velocity of the second slide block 28 corresponding to the movement velocity and second of 2,4 correspondence the second slide blocks 28 of the 3rd active branched chain, the 4th active branched chain 3,5 is not etc. in large 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 service condition general introduction of the present invention: as shown in Fig. 5 embodiment 1, using space symmetr three rotation-translation parallel robots of the present invention as a module, integrated with the long stroke guide rail unit of three directions, realize the working ability in larger working space.
The above description of this invention is only schematically, rather than restrictive, so embodiments of the present invention are not limited to the above-mentioned specific embodiment.If those of ordinary skill in the art is enlightened by it, in the situation that not departing 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. there is three rotation-translation frees degree locating platform in parallel, it is characterized in that: it comprises fixed mount, driven side chain is positioned at the central openings of fixed mount and is connected with described fixed mount by the first hinge, on described fixed mount, about driven chain axis, be symmetrically arranged with first, second, the 3rd, the 4th active branched chain, described first, second, the 3rd, the 4th active branched chain is respectively by the 3rd, the 4th, the 5th, the 6th hinge and described fixed mount are rotatedly connected, described the first hinge comprises outer ring and inner ring, described outer ring is rotatedly connected by outer ring rotating shaft and fixed mount, described inner ring is connected with described outer ring rotating by inner ring rotating shaft, the rotating shaft of described outer ring and inner ring rotating shaft have angle, described inner ring is connected with the upper and lower slippage of described driven side chain by the second hinge, the second described hinge adopts guide rail slide block structure, described first, second, the 3rd, the 4th active branched chain structure is identical, each active branched chain includes by the 3rd of rotating shaft and relative set, the 4th, the 5th, the outer tube that the 6th hinge is rotatedly connected, inner tube is inserted in described outer tube, between described outer tube and inner tube, by the first guide rail slide block structure, be connected, the first slide block can be slidably matched with the first guide rail under the driving of drive unit, the lower end of described driven side chain and shell roof are fixedly linked, described first, second, the 3rd, the inner tube lower end of the 4th active branched chain is respectively by having the 7th of the three revolution frees degree, the 8th, the 9th, the tenth hinge is rotatedly connected with second slide block separately, described in each the second slide block be arranged on side wall of outer shell on and second guide rail that arrange corresponding to one one slide and be connected, the second described guide rail is along arranging perpendicular to shell roof direction, with described first, the 3rd active branched chain respectively bottom of corresponding the second slide block arranging is fixedly connected with second nut separately, with described second, the 4th active branched chain respectively bottom of corresponding the second slide block arranging is fixedly connected with the 3rd nut separately, each second nut is threaded mutually with corresponding one end that second leading screw is in the enclosure set, described in each, the 3rd nut is threaded mutually with corresponding one end that the 3rd leading screw is in the enclosure set, described the second leading screw, the other end of the 3rd leading screw is all installed on the interior also edge of the bearing being arranged on shell perpendicular to the setting of shell roof direction, the hand of spiral of two described the second leading screws is consistent, the hand of spiral of two described the 3rd leading screws is consistent, described the second leading screw is contrary with the hand of spiral of the 3rd leading screw, on each leading screw, by key, be connected with a gear respectively, in the centre of four gears, be provided with one and can distinguish the central gear of engagement fit with four described gears, the gear shaft of described central gear is installed in the centre bearing being arranged on shell, gear shaft lower end at described central gear is fixedly connected with an end effector.
2. according to claim 1 have a three rotation-translation frees degree locating platforms in parallel, it is characterized in that: described drive unit comprises the servomotor that is arranged on described outer tube top, described servomotor output shaft is fixedly linked by one end of decelerator and the first leading screw, and the first nut coordinating with described the first threads of lead screw is fixedly connected in inner tube.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210076253.8A CN102581848B (en) | 2012-03-21 | 2012-03-21 | Parallel positioning platform with three-rotation one-translation freedom degree |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210076253.8A CN102581848B (en) | 2012-03-21 | 2012-03-21 | Parallel positioning platform with three-rotation one-translation freedom degree |
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| CN102581848A CN102581848A (en) | 2012-07-18 |
| CN102581848B true CN102581848B (en) | 2014-04-30 |
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| CN201210076253.8A Active CN102581848B (en) | 2012-03-21 | 2012-03-21 | Parallel positioning platform with three-rotation one-translation freedom degree |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029122B (en) * | 2012-12-11 | 2015-03-11 | 北京交通大学 | Redundant-drive three-degree-of-freedom translation-type parallel-connection robot mechanism |
| CN104526684B (en) * | 2014-12-30 | 2016-09-28 | 天津大学 | A kind of high rigidity series-parallel robot realizing gravity self-balancing |
| CN109079757B (en) * | 2018-08-24 | 2020-07-03 | 北京机械设备研究所 | Three-degree-of-freedom parallel mechanism applied to teleoperation master hand |
| CN109079756B (en) * | 2018-08-24 | 2020-07-24 | 北京机械设备研究所 | Three-degree-of-freedom parallel mechanism applied to force feedback equipment |
| CN109176497B (en) * | 2018-10-25 | 2021-03-09 | 北京机械设备研究所 | Rope-driven three-degree-of-freedom teleoperation master hand |
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| US4790718A (en) * | 1985-03-27 | 1988-12-13 | The English Electric Company Plc | Manipulators |
| EP1062154B1 (en) * | 1998-03-19 | 2003-09-17 | Saab Aktiebolag | Assembly robot for wing |
| CN1491775A (en) * | 2002-10-23 | 2004-04-28 | 陈政雄 | Parallel mechanism device of multiple shaft type machine tool |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1110575A (en) * | 1997-06-26 | 1999-01-19 | Toshiba Mach Co Ltd | Parallel link mechanism |
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2012
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| US4790718A (en) * | 1985-03-27 | 1988-12-13 | The English Electric Company Plc | Manipulators |
| EP1062154B1 (en) * | 1998-03-19 | 2003-09-17 | Saab Aktiebolag | Assembly robot for wing |
| CN1491775A (en) * | 2002-10-23 | 2004-04-28 | 陈政雄 | Parallel mechanism device of multiple shaft type machine tool |
| 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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