CN102672714B - High-rigidity high-precision five-coordinate parallel power head - Google Patents
High-rigidity high-precision five-coordinate parallel power head Download PDFInfo
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- CN102672714B CN102672714B CN201210076187.4A CN201210076187A CN102672714B CN 102672714 B CN102672714 B CN 102672714B CN 201210076187 A CN201210076187 A CN 201210076187A CN 102672714 B CN102672714 B CN 102672714B
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Abstract
The invention discloses a high-rigidity high-precision five-coordinate parallel power head which comprises a fixing frame. A first hinge is connected into a central hole, and a driven branch hinge is connected with the first hinge through a second hinge. A first driving branch hinge, a second driving branch hinge, a third driving branch hinge, a fourth driving branch hinge and a fifth driving branch hinge are connected with the fixing frame through a third hinge, a fourth hinge, a fifth hinge, a sixth hinge and a seventh hinge respectively. A movable platform comprising a first platform and a second platform is disposed below the fixing frame, the lower end of the driven branch hinge is fixedly connected with the top wall of the first platform, and the lower end of an inner pipe of the first driving branch hinge is rotatably connected with the first platform through an eighth hinge. The second driving branch hinge and the third driving branch hinge are connected with a ninth hinge and a tenth hinge respectively. The fourth driving branch hinge and the fifth driving branch hinge are rotatably connected with an eleventh hinge and a twelfth hinge. When the fourth driving branch hinge and the fifth driving branch hinge are provided with drives of different input values, a fifth rotary shaft can rotate around a shaft A. When the second driving branch hinge and the third driving branch hinge are different in input value, a third rotary shaft and the lower platform rotate around a shaft C. The high-rigidity high-precision five-coordinate parallel power head can not only realize one-translation two-rotation positioning movement but also realize posture adjustment around the shaft A/C.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of spatial parallel manipulator of realizing five degree of freedom operation function.
Background technology
Known according to patent US4732525, ZL200510015095.5, existing multi-coordinate manipulator, its way of realization is generally the hybrid connected structure form that lower-mobility parallel institution is aided with positioning head.Wherein, lower-mobility parallel institution is arranged on by adjusting the location, position that the servomotor in active branched chain is realized mechanism's moving platform, and positioning head is arranged on by adjusting the attitude location that the servomotor on Double swing head is realized end effector.Existing parallel manipulator with five freedom degrees is two and turns the hybrid connected structure that a flat parallel institution is aided with A/C Double swing head, the deficiency of this type of manipulator is: A/C Double swing head is installed the equipment such as servomotor, decelerator, weight is excessive, affects fast forward capability and the dynamic property of mechanism; The bearing capacity of mechanism is born by the side chain of lower-mobility parallel institution completely, and bearing capacity is poor, is unfavorable for pursuing the high rigidity/mass ratio of mechanism.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, the high rigidity high-precision five coordinate unit head in parallel that a kind of fast forward capability and dynamic property are good, rigidity/mass ratio large, positioning precision is high with repetitive positioning accuracy, have advantage direction of feed is provided.
High rigidity high-precision five coordinates of the present invention unit head in parallel, comprise fixed mount, there is a central openings in the central authorities of described fixed mount, in described central openings, connect first hinge with the two revolution frees degree, described the first hinge comprises outer ring and inner ring, described outer ring is rotatedly connected by outer ring rotating shaft and central openings inwall, 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 shaft axis have angle, a driven side chain is connected along the slippage of driven side chain axis direction phase with described the first hinge inner ring by second hinge with an one-movement-freedom-degree, the first active branched chain is as the first kinematic chain, second, the 3rd active branched chain is as the second kinematic chain, the 4th, the 5th active branched chain is as the 3rd kinematic chain, described first, second, the 3rd, the the 4th and the 5th active branched chain is respectively by the 3rd, the 4th, the 5th, the 6th is connected with described fixed mount with the 7th hinge, the first active branched chain is positioned at the 3rd hinge that is arranged on fixed mount the first perforate, second and the 3rd active branched chain lay respectively at and be arranged on the 4th in fixed mount the second perforate, in the 5th hinge, the the 4th and the 5th active branched chain lays respectively at and is arranged on the 6th in fixed mount the 3rd perforate, in the 7th hinge, the described the 3rd, the 4th, the 5th, the the 6th and the 7th hinge comprises respectively hinge loop, described hinge loop is rotatedly connected by hinge loop rotating shaft and fixed mount, described first, second, the 3rd, the the 4th and the 5th active branched chain includes outer tube, described outer tube is rotatedly connected by outer tube rotating shaft and described hinge loop, described hinge loop rotating shaft and outer tube rotating shaft have angle, in described outer tube, be fitted with inner tube, between described outer tube and inner tube, be connected by the second guide rail slide block structure, described inner tube can move along outer tube axis direction under the driving of drive unit, below described fixed mount, be provided with a moving platform, described moving platform comprises the first platform and the second platform, described the first platform and the second platform are rotatedly connected by bearing, the lower end of described driven side chain is fixedly connected with described the first platform top wall, described the first active branched chain inner tube lower end is rotationally connected by the 8th hinge and the first platform, described the 8th hinge has three rotational freedoms, described second, the inner tube lower end of the 3rd active branched chain respectively with have one revolution the free degree the 9th, the tenth hinge is rotatedly connected, the described the 9th, the tenth hinge respectively with the first cross axle, a rotating shaft of the second cross axle is rotatedly connected, described the first cross axle, another rotating shaft of the second cross axle is rotatedly connected with the first balance staff coaxial line respectively, described the first balance staff is fixedly connected with the first hinge axis, the axis of the axis of described the first balance staff and described the first hinge axis is orthogonal, described the first hinge axis is rotationally connected with the first hinge seat that is fixedly connected on the first platform, the described the 4th, the 5th active branched chain inner tube lower end with have one revolution the free degree the 11, the tenth two hinge is rotatedly connected, the described the 11, the tenth two hinge respectively with the 3rd cross axle, a rotating shaft of the 4th cross axle is rotatedly connected, the described the 3rd, another rotating shaft of the 4th cross axle is rotatedly connected with the second balance staff coaxial line respectively, described the second balance staff is fixedly connected with the second hinge axis, the axis of described the second balance staff is mutually vertical with the axis of the second hinge axis, described the second hinge axis is rotationally connected with the second hinge seat that is fixedly connected on the first platform, in described the first platform, be dynamically connected first by bearing rotary, the second rotating shaft, described first, the second rotating shaft arranges along driven side chain axis direction, described first, one end of the second hinge axis is connected with the drive bevel gear being arranged in the first platform separately, the first drive bevel gear and the first driven wheel of differential engagement fit, the second drive bevel gear and the second driven wheel of differential engagement fit, the the first rotating shaft lower end that connects the first driven wheel of differential is connected with the first driving pulley by key, the first described driving pulley is connected by belt with the first driven pulley being arranged in the 3rd rotating shaft, described the 3rd rotating shaft is fixedly connected on the second platform, connect in the second rotating shaft of the second driven wheel of differential and connect the second driving pulley by key, the second driving pulley is connected by belt with the second driven pulley being arranged in the 4th rotating shaft, be connected with the 3rd drive bevel gear in the 4th described rotating shaft lower end, described the 4th rotating shaft and the second platform are rotatedly connected, the 3rd described drive bevel gear be located at the cooperation that is meshed of the 3rd driven wheel of differential in the 5th rotating shaft of the second platform by bearing bracket stand, described first, second, the 3rd, the 4th shaft axis is parallel to each other and is perpendicular to one another setting with the 5th described rotating shaft.
High rigidity high-precision five coordinates of the present invention unit head beneficial effect in parallel is: mechanism can realize the setting movement that a translation two is rotated, and can realize again the attitude adjustment around A/C axle, effectively reduces positioning head quality, realizes Modular Structure Design.Kinematic chain adopts two active branched chain forms can add great institutions integral rigidity, makes mechanism have good dynamic characteristics, improves positioning precision and repetitive positioning accuracy.
Accompanying drawing explanation
Fig. 1 is the structural representation of high rigidity high-precision five coordinates of the present invention unit head in parallel;
Fig. 2 is the top view of unit head in parallel shown in Fig. 1;
Fig. 3 is the structural representation of the active branched chain of unit head in parallel shown in Fig. 1;
Fig. 4 is the moving platform outside drawing of unit head in parallel shown in Fig. 1;
Fig. 5 is the 4th, the 5th active branched chain and the moving platform attaching parts structure chart of unit head in parallel shown in Fig. 1;
Fig. 6 is the cut-away view after the moving platform of unit head in parallel shown in Fig. 4 is cut open;
Fig. 7 is the structural representation of the Application Example of unit head in parallel shown in Fig. 1.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
High rigidity high-precision five coordinates unit head in parallel as shown in drawings, by fixed mount 1, first, second, third, fourth and fifth active branched chain 2,3,4,5,6, driven side chain 7, moving platform 8 forms.There is a central openings in the central authorities of described fixed mount 1, in central openings, connect first hinge 9 with the two revolution frees degree, described the first hinge 9 comprises outer ring and inner ring, described outer ring is rotatedly connected by outer ring rotating shaft and central openings inwall, described inner ring is connected with described outer ring rotating by inner ring rotating shaft, the rotating shaft of described outer ring and not conllinear of inner ring shaft axis, described the first hinge 9 also can adopt other versions with same movement function.Described driven side chain 7 is connected with described the first hinge 9 inner rings by second hinge 10 with an one-movement-freedom-degree, described the second hinge 10 can adopt sliding block guide track structure, on described inner ring, fixedly mount the first slide block, be slidingly fitted with the first guide rail that is fixed in driven side chain, realize the slippage along driven side chain axis direction, described the second hinge 10 also can adopt other to have the version of same movement function.Described the first active branched chain 2 is as the first kinematic chain, and second, third active branched chain 3,4 is as the second kinematic chain, and the 4th, the 5th active branched chain 5,6 is as the 3rd kinematic chain.As optimal way, described first, second, third kinematic chain is placed with respect to driven side chain circumference is symmetrical, and phase place is each other 120 °, and described symmetrical structure can improve mechanism's integral rigidity.Described first, second, the 3rd, the the 4th and the 5th active branched chain 2, 3, 4, 5, 6 respectively by the 3rd, the 4th, the 5th, the the 6th and the 7th hinge 11, 12, 13, 14, 15 are connected with described fixed mount 1, and the first active branched chain 2 is positioned at the 3rd hinge 11, the second and the 3rd active branched chain 3 that are arranged on fixed mount the first perforate, 4 lay respectively at and are arranged on the 4th in fixed mount the second perforate, the 5th hinge 12, in 13, the 4th and the 5th active branched chain 5, 6 lay respectively at and are arranged on the 6th in fixed mount the 3rd perforate, the 7th hinge 14, in 15, the described the 3rd, the 4th, the 5th, the 6th hinge 11, 12, 13, 14, 15 have double rotation freedom degrees, and the described the 3rd, the 4th, the 5th, the 6th, the 7th hinge includes hinge loop, and described hinge loop is rotatedly connected by hinge loop rotating shaft and fixed mount, and described each active branched chain has identical frame for movement, and described first, second, the 3rd, the the 4th and the 5th active branched chain includes outer tube 16, and described outer tube is rotatedly connected by outer tube rotating shaft and described hinge loop, and described hinge loop rotating shaft and outer tube rotating shaft have angle, and described angle is 90 degree preferably.Described the 3rd, the 4th, the 5th, the 6th and the 7th hinge also can adopt other to have the hinge form of same movement function.In described outer tube, be fitted with inner tube 21, between described outer tube and inner tube, be connected by the second guide rail slide block structure 22, described inner tube can move along outer tube axis direction under the driving of drive unit.Described drive unit preferably comprises servomotor 17, decelerator 18, ball-screw 19 and nut 20.Described servomotor 17 is housed at the top of described outer tube 16, the output shaft of described servomotor 17 is fixedly connected with one end of ball-screw 19 by decelerator 18, on described ball-screw 19, be equipped with and the nut 20 of its threaded engagement, described nut 20 is fixedly connected with the inner tube 21 being inserted in described outer tube 16.
The below of described fixed mount 1 is provided with a moving platform 8, comprises the first platform 23 and the second platform 24, and described the first platform 23 and the second platform 24 are rotatedly connected by bearing.The lower end of described driven side chain 7 is fixedly connected with described the first platform 23 roofs.Described the first active branched chain 2 inner tube lower ends are rotationally connected by the 8th hinge 25 and the first platform 23, and described the 8th hinge 25 has three rotational freedoms, can adopt Hooke's hinge to be aided with the form such as the axis of rotation, spherical hinge.Described second, the 3rd active branched chain 3, 4 inner tube lower end respectively with have one revolution the free degree the 9th, the tenth hinge 26, 27 are rotatedly connected, the described the 9th, the tenth hinge 26, 27 respectively with the first cross axle 28, a rotating shaft of the second cross axle 29 is rotatedly connected, described the first cross axle 28, another rotating shaft of the second cross axle 29 is rotatedly connected with the first balance staff 30 coaxial lines respectively, described the first balance staff 30 is fixedly connected with the first hinge axis 31, the axis of the axis of described the first balance staff 30 and described the first hinge axis 31 is orthogonal, described the first hinge axis 31 is rotationally connected with the first hinge seat 32 that is fixedly connected on the first platform 23.Described the four, five active branched chain 5,6 is similar with being connected of the first platform 23 with second, third active branched chain 3,4 with being connected of the first platform 23.The described the 4th, the 5th active branched chain 5, 6 inner tube lower ends with have one revolution the free degree the 11, the tenth two hinge 33, 34 are rotatedly connected, the described the 11, the tenth two hinge 33, 34 respectively with the 3rd cross axle, the 4th cross axle 35, a rotating shaft of 36 is rotatedly connected, the described the 3rd, the 4th cross axle 35, another rotating shaft of 36 is rotatedly connected with the second balance staff 37 coaxial lines respectively, described the second balance staff 37 is fixedly connected with the second hinge axis 38, the axis of described the second balance staff 37 is mutually vertical with the axis of the second hinge axis 38, described the second hinge axis 38 is rotationally connected with the second hinge seat 39 that is fixedly connected on the first platform 23.In described the first platform 23, by bearing rotary first, second rotating shaft 40,41 that is dynamically connected, described first, second rotating shaft 40,41 arranges along driven side chain axis direction.Described first, the second hinge axis 31, one end of 38 separately with the drive bevel gear 42 being arranged in the first platform 23, 43 are connected, drive bevel gear described in each respectively with the driven wheel of differential 44 being arranged in the first platform, 45 cooperations that are meshed, i.e. the first drive bevel gear and the first driven wheel of differential engagement fit, the second drive bevel gear and the second driven wheel of differential engagement fit, the first rotating shaft 40 lower ends that connect the first driven wheel of differential 44 are connected with the first driving pulley 46 by key, the first driving pulley 46 is connected by belt with the first driven pulley 48 being arranged in the 3rd rotating shaft 47, described the 3rd rotating shaft 47 is fixedly connected on the second platform 24.Connect in the second rotating shaft 41 of described the second driven wheel of differential 45 and connect the second driving pulley 49 by key, the second driving pulley 49 is connected by belt with the second driven pulley 51 being arranged in the 4th rotating shaft 50, be connected with the 3rd drive bevel gear 52 in the 4th described rotating shaft 50 lower ends, the 3rd described drive bevel gear 52 be located at the cooperation that is meshed of the 3rd driven wheel of differential 54 in the 5th rotating shaft 53 of the second platform by bearing bracket stand.Described the 4th rotating shaft and the second platform are rotatedly connected, described first, second, third and the 4th rotating shaft 40,41,47,50 axis be parallel to each other and be perpendicular to one another setting with the 5th described rotating shaft 53.
Below in conjunction with each width figure, the present invention is further described:
As depicted in figs. 1 and 2, high rigidity high-precision five coordinates of the present invention unit heads in parallel, by fixed mount 1, moving platform 8, connects five identical active branched chain 2,3,4,5,6 of described fixed mount 1 and moving platform 8, and driven side chain 7 forms.Wherein, the first active branched chain 2 is the first kinematic chain, and the second active branched chain 3 and the 3rd active branched chain 4 form the second kinematic chain, and the 4th active branched chain 5 and the 5th active branched chain 6 form the 3rd kinematic chain.Driven side chain 7 is positioned at the central openings of fixed mount 1, and first, second, third kinematic chain is about symmetrical placement of driven side chain 8 circumference, and phase place is 120 ° each other.In described central openings, connect first hinge 9 with the two revolution frees degree, described the first hinge 9 is connected with described driven side chain 7 by second hinge 10 with an one-movement-freedom-degree.Described the first active branched chain 2, the second active branched chain 3, the 3rd active branched chain 4, the 4th active branched chain 5, the 5th active branched chain 6 are connected by the 3rd hinge 11, the 4th hinge 12, the 5th hinge 13, the 6th hinge 14, the 7th hinge 15 respectively with described fixed mount 1.Described the 3rd hinge 11, the 4th hinge 12, the 5th hinge 13, the 6th hinge 14, the 7th hinge 15 all have double rotation freedom degrees, described the 3rd, the 4th, the 5th, the 6th and the 7th hinge includes hinge loop, described hinge loop is rotatedly connected by hinge loop rotating shaft and fixed mount 1, described first, second, third, fourth and fifth active branched chain includes outer tube 16, described outer tube is rotatedly connected by outer tube rotating shaft and described hinge loop, described hinge loop rotating shaft and outer tube rotating shaft have angle, not conllinear, described angle is 90 degree preferably.
As shown in Figure 3, described each active branched chain has same structure form, described first, second, third, fourth and fifth active branched chain includes outer tube 16, described outer tube is rotatedly connected by outer tube rotating shaft and described hinge loop, described hinge loop rotating shaft and outer tube rotating shaft have angle, in described outer tube, be fitted with inner tube 21, between described outer tube and inner tube, be connected by the second guide rail slide block structure 22, described inner tube can move along outer tube axis direction under the driving of drive unit.Described drive unit preferably comprises servomotor 17, decelerator 18, ball-screw 19 and nut 20.Described servomotor 17 is housed at the top of described outer tube 16, the output shaft of described servomotor 17 is fixedly connected with one end of ball-screw 19 by decelerator 18, on described ball-screw 19, be equipped with and the nut 20 of its threaded engagement, described nut 20 is fixedly connected with the inner tube 21 being inserted in described outer tube 16.Described inner tube 21 can move along outer tube axis direction, and in the present embodiment, inner tube all adopts the type of drive of servomotor-decelerator-ball-screw, but also can adopt hydraulic pressure, the structure such as pneumatic is as type of drive.
As shown in Figure 4, moving platform 8 comprises the first platform 23 and 24 two parts of the second platform, and described the first platform 23 is rotatedly connected by bearing with described the second platform 24.The lower end of described driven side chain 7 is fixedly connected with described the first platform 23, described the first active branched chain 2 is connected with the first platform 23 by the 8th hinge 25, described the 8th hinge 25 has three rotational freedoms, can adopt Hooke's hinge to be aided with the form such as the axis of rotation, spherical hinge.Described second, the 3rd active branched chain 3, 4 lower end with have one revolution the free degree the 9th, the tenth hinge 26, 27 are rotatedly connected by bearing, the described the 9th, the tenth hinge 26, 27 respectively with the first cross axle 28, a rotating shaft of the second cross axle 29 is rotatedly connected by bearing, described the first cross axle 28, another rotating shaft of the second cross axle 29 be rotatedly connected by bearing with the first balance staff 30 respectively and axis on same straight line, described the first balance staff 30 be fixedly connected with the first hinge axis 31 and axis orthogonal, described the first hinge axis 31 and the first hinge seat 32 are rotationally connected, described the first hinge seat 32 is fixedly connected on the first platform 23.
As shown in Figure 5 and Figure 6, described the four, five active branched chain 5,6 is similar with being connected of the first platform 23 with second, third active branched chain 3,4 with being connected of the first platform 23.The described the 4th, the 5th active branched chain 5, 6 lower ends with have one revolution the free degree the 11, the tenth two hinge 33, 34 are rotatedly connected by bearing, the described the 11, the tenth two hinge 33, 34 respectively with the 3rd cross axle, the 4th cross axle 35, a rotating shaft of 36 is rotatedly connected by bearing, the described the 3rd, the 4th cross axle 35, another rotating shaft of 36 be rotatedly connected by bearing with the second balance staff 37 respectively and axis on same straight line, described the second balance staff 37 be fixedly connected with the second hinge axis 38 and axis mutually vertical, described the second hinge axis 38 is rotationally connected with the second hinge seat 39 that is fixedly connected on the first platform 23.
As shown in Figure 6, one end of described the first hinge axis 31 is connected with the first drive bevel gear 42 being arranged in the first platform 23, described the first platform 23 interior along driven side chain axis direction by bearing rotary first rotating shaft 40 that is dynamically connected, described the first rotating shaft 40 is connected with the first driven wheel of differential 44 and the first driving pulley 46 by key.The first driving pulley 46 is connected by belt with the first driven pulley 48, and described the first driven pulley 48 is connected in the 3rd rotating shaft 47 by key, and the 3rd rotating shaft 43 is fixedly connected on the second platform 24.The second kinematic chain, be that the servomotor of second, third active branched chain 3,4 is while having different input value, the first balance staff 30 rotates, drive the first hinge axis around self axis rotation, thereby drive the first drive bevel gear 42 to rotate, reach the first driven wheel of differential 44 by gear engagement, and then reach the first driving pulley 46 by the first rotating shaft 40, thereby the first driven pulley 48 rotates under the effect of belt, drive the 3rd rotating shaft 47 to produce the rotation around C axle with lower platform 24.
One end of described the second hinge axis 38 connects the second drive bevel gear 43 being arranged in the first platform 23 by key, described the first platform 23 interior along driven side chain axis direction by bearing rotary second rotating shaft 41 that is dynamically connected, described the second rotating shaft 41 connects the second driven wheel of differential 45 and the second driving pulley 49 by key.The second driving pulley 49 is connected by belt with the second driven pulley 51, and described the second driven pulley 51 is connected in the 4th rotating shaft 50 by key.The lower end of the 4th rotating shaft 50 connects the 3rd drive bevel gear 52, the 3rd described drive bevel gear 52 be located at the cooperation that is meshed of the 3rd driven wheel of differential 54 in the 5th rotating shaft 53 of the second platform by bearing bracket stand.The 3rd kinematic chain, the 4th, the 5th active branched chain 5, 6 while having the driving of different input values, the second balance staff 37 rotates, drive the second hinge axis 38 to produce the rotation around self axis, and then drive the second drive bevel gear 43 to rotate, the second drive bevel gear 43 engages with the second driven wheel of differential 45, make to rotate and reach the second rotating shaft 41, the second rotating shaft 41 drives the second driving pulley 49 to rotate, reach the second driven pulley 51 by belt, thereby drive the 4th rotating shaft 50 to rotate, and then rotation is reached to the 3rd drive bevel gear 52, gear engagement causes the 3rd driven wheel of differential 54 to rotate, the 5th rotating shaft 53 can realize the rotation around A axle.
High rigidity high-precision five coordinates of the present invention unit head in parallel can be realized the motion of five degree of freedom.When the second active branched chain 3 in the second kinematic chain has identical input value with the servomotor of the 3rd active branched chain 4, and when in the 3rd kinematic chain, the 4th active branched chain 5 has identical input value with the servomotor of the 5th active branched chain 6, because each kinematic chain is connected with fixed mount by having double rotation freedom degrees, described each kinematic chain can be realized and being moved axially by feed screw nut, the second guide rail slide block structure, described each kinematic chain with there are three revolution frees degree being connected of moving platform, described each active branched chain to moving platform without effect of contraction; Driven side chain 7 is connected with fixed mount with second hinge with an one-movement-freedom-degree by first hinge with double rotation freedom degrees, lower end is fixedly connected with moving platform, driven side chain has two translation one rotational restraints to moving platform, therefore the motion that moving platform can implementation space one translation two be rotated under the driving of kinematic chain servomotor, be that mechanism can arrive the arbitrary position in given working space, realize positioning function.In the time that in the second kinematic chain, the second active branched chain 3 has different input value from the servomotor of the 3rd active branched chain 4, can, by two chain ends because the rotation that the changing of the relative positions produces reaches the second platform 24 by bevel gear, Timing Belt, realize the rotation of the second platform 24 around C axle.In the time that in the 3rd kinematic chain, the 4th active branched chain 5 has different input value from the drive unit of the 5th active branched chain 6, can be by two chain ends because the rotation that the changing of the relative positions produces reaches the 5th rotating shaft 53 by bevel gear, Timing Belt, bevel gear, mechanism realizes the rotation of the 5th rotating shaft around A axle, therefore can realize five degree of freedom motion.
High rigidity high-precision five coordinates of the present invention unit head in parallel, second, third kinematic chain adopts the version of two active branched chain.Two active branched chain have identical input, can realize the motion that a translation two is rotated by driving mechanism; Two active branched chain have different inputs, can realize the rotation around A/C axle by driving mechanism, thereby effectively alleviate positioning head quality, and enlarging mechanism integral rigidity, improves positioning head positioning precision and repetitive positioning accuracy, realizes mechanism's fast forward capability and dynamic property and promotes.
High rigidity high-precision five coordinates of the present invention unit head service condition general introduction in parallel: as shown in Fig. 7 embodiment 1, using five-freedom parallel device people 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 (3)
1. high rigidity high-precision five coordinates unit head in parallel, it is characterized in that: comprise fixed mount, there is a central openings in the central authorities of described fixed mount, in described central openings, connect first hinge with the two revolution frees degree, described the first hinge comprises outer ring and inner ring, described outer ring is rotatedly connected by outer ring rotating shaft and central openings inwall, 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 shaft axis have angle, a driven side chain is connected along the slippage of driven side chain axis direction phase with described the first hinge inner ring by second hinge with an one-movement-freedom-degree, the first active branched chain is as the first kinematic chain, second, the 3rd active branched chain is as the second kinematic chain, the 4th, the 5th active branched chain is as the 3rd kinematic chain, described first, second, the 3rd, the the 4th and the 5th active branched chain is respectively by the 3rd, the 4th, the 5th, the 6th is connected with described fixed mount with the 7th hinge, the first active branched chain is positioned at the 3rd hinge that is arranged on fixed mount the first perforate, second and the 3rd active branched chain lay respectively at and be arranged on the 4th in fixed mount the second perforate, in the 5th hinge, the the 4th and the 5th active branched chain lays respectively at and is arranged on the 6th in fixed mount the 3rd perforate, in the 7th hinge, the described the 3rd, the 4th, the 5th, the the 6th and the 7th hinge comprises respectively hinge loop, described hinge loop is rotatedly connected by hinge loop rotating shaft and fixed mount, described first, second, the 3rd, the the 4th and the 5th active branched chain includes outer tube, described outer tube is rotatedly connected by outer tube rotating shaft and described hinge loop, described hinge loop rotating shaft and outer tube rotating shaft have angle, in described outer tube, be fitted with inner tube, between described outer tube and inner tube, be connected by the second guide rail slide block structure, described inner tube can move along outer tube axis direction under the driving of drive unit, below described fixed mount, be provided with a moving platform, described moving platform comprises the first platform and the second platform, described the first platform and the second platform are rotatedly connected by bearing, the lower end of described driven side chain is fixedly connected with described the first platform top wall, described the first active branched chain inner tube lower end is rotationally connected by the 8th hinge and the first platform, described the 8th hinge has three rotational freedoms, described second, the inner tube lower end of the 3rd active branched chain respectively with have one revolution the free degree the 9th, the tenth hinge is rotatedly connected, the described the 9th, the tenth hinge respectively with the first cross axle, a rotating shaft of the second cross axle is rotatedly connected, described the first cross axle, another rotating shaft of the second cross axle is rotatedly connected with the first balance staff coaxial line respectively, described the first balance staff is fixedly connected with the first hinge axis, the axis of the axis of described the first balance staff and described the first hinge axis is orthogonal, described the first hinge axis is rotationally connected with the first hinge seat that is fixedly connected on the first platform, the described the 4th, the 5th active branched chain inner tube lower end with have one revolution the free degree the 11, the tenth two hinge is rotatedly connected, the described the 11, the tenth two hinge respectively with the 3rd cross axle, a rotating shaft of the 4th cross axle is rotatedly connected, the described the 3rd, another rotating shaft of the 4th cross axle is rotatedly connected with the second balance staff coaxial line respectively, described the second balance staff is fixedly connected with the second hinge axis, the axis of described the second balance staff is mutually vertical with the axis of the second hinge axis, described the second hinge axis is rotationally connected with the second hinge seat that is fixedly connected on the first platform, in described the first platform, be dynamically connected first by bearing rotary, the second rotating shaft, described first, the second rotating shaft arranges along driven side chain axis direction, described first, one end of the second hinge axis is connected with the drive bevel gear being arranged in the first platform separately, the first drive bevel gear and the first driven wheel of differential engagement fit, the second drive bevel gear and the second driven wheel of differential engagement fit, the the first rotating shaft lower end that connects the first driven wheel of differential is connected with the first driving pulley by key, the first described driving pulley is connected by belt with the first driven pulley being arranged in the 3rd rotating shaft, described the 3rd rotating shaft is fixedly connected on the second platform, connect in the second rotating shaft of the second driven wheel of differential and connect the second driving pulley by key, the second driving pulley is connected by belt with the second driven pulley being arranged in the 4th rotating shaft, be connected with the 3rd drive bevel gear in the 4th described rotating shaft lower end, described the 4th rotating shaft and the second platform are rotatedly connected, the 3rd described drive bevel gear be located at the cooperation that is meshed of the 3rd driven wheel of differential in the 5th rotating shaft of the second platform by bearing bracket stand, described first, second, the third and fourth shaft axis is parallel to each other and is perpendicular to one another setting with the 5th described rotating shaft.
2. high rigidity high-precision five coordinates according to claim 1 unit head in parallel, it is characterized in that: described drive unit comprises the servomotor that is arranged on described outer tube top, the output shaft of described servomotor is fixedly connected with one end of ball-screw by decelerator, on described ball-screw, be equipped with and the nut of its threaded engagement, described nut is fixedly connected with inner tube.
3. high rigidity high-precision five coordinates according to claim 1 and 2 unit head in parallel, is characterized in that: described first, second, and third kinematic chain is placed with respect to driven side chain circumference is symmetrical, and phase place is each other 120 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN104625767B (en) * | 2015-01-08 | 2017-01-18 | 清华大学 | Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space |
| CN105033988B (en) * | 2015-08-25 | 2017-02-01 | 中国农业大学 | Two-dimensional rotation and three-dimensional movement five-freedom-degree parallel robot mechanism |
| CN105364913B (en) * | 2015-11-25 | 2017-03-22 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| WO2019208652A1 (en) * | 2018-04-25 | 2019-10-31 | 三菱電機株式会社 | Rotary connecting mechanism, robot, robot arm, and robot hand |
| CN108340167B (en) * | 2018-05-11 | 2019-09-17 | 清华大学 | A kind of overhead system processing unit (plant) based on the full parallel module of portable five degree of freedom |
| CN109648600A (en) * | 2019-01-13 | 2019-04-19 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint with independent driving capability |
| CN111267070B (en) * | 2020-01-02 | 2022-04-19 | 南京理工大学 | Six-freedom-degree parallel robot mechanism |
| CN117506871A (en) * | 2023-12-15 | 2024-02-06 | 天津大学 | Three-degree-of-freedom parallel mechanism, parallel robot and machine tool |
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