CN102990674A - A/B shaft parallel mechanism - Google Patents
A/B shaft parallel mechanism Download PDFInfo
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- CN102990674A CN102990674A CN2012105148241A CN201210514824A CN102990674A CN 102990674 A CN102990674 A CN 102990674A CN 2012105148241 A CN2012105148241 A CN 2012105148241A CN 201210514824 A CN201210514824 A CN 201210514824A CN 102990674 A CN102990674 A CN 102990674A
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- revolute pair
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- master arm
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- plane parallel
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Abstract
The invention discloses an A/B shaft parallel mechanism, comprising a fixed platform, a movable platform, a first branch and a second branch, wherein the first branch and the second branch are connected between the fixed platform and the movable platform; the movable platform comprises a main platform and four connecting rods; four connecting rods are connected through a revolute pair to form a plane parallelogram structure; a first driving arm, two first driven arms and the movable platform form a group of plane parallelogram structures inside the first branch, so as to prevent the movable platform from translating along the axis direction of the revolute pair on the driving arm; a second driving arm, two second driven arms and the movable platform form another group of plane parallelogram structures inside the second branch, so as to prevent the movable platform from translating along the axis direction of the revolute pair on the second driving arm; and the two-dimensional rotation of the movable platform is achieved by controlling rotation of the first driving arm and the second driving arm. The A/B shaft parallel mechanism is simple in construction, compact in structure, small in motion mass, convenient to assemble, and easy to control, and can be used for robot joints or machine tool accessories.
Description
Technical field
The invention belongs to mechanical field, particularly a kind of double rotation freedom degrees parallel institution without associated movement that can be applicable to joint of robot or machine tool accessories.
Background technology
At present, joint of robot particularly wrist joint adopts gear drive, series-mode frame to realize more, its complex structure, be difficult to install, manufacturing cost is high.
Two degrees of freedom rotary head as machine tool accessories also mostly is the series connection form, and its moving-mass is large, and rigidity is relatively poor.Patent CN100464946C proposes a kind of parallel A/B shaft mainshaft head structure, overcome the deficiency of tandem rotary head, but its structure is asymmetric, and the required installing space of mechanism is larger.
Summary of the invention
For above-mentioned prior art, the invention provides a kind of simple structure, compact conformation, without the A/B axle parallel institution of associated movement.
In order to solve the problems of the technologies described above, the technical scheme that a kind of A/B axle of the present invention parallel institution is achieved is: comprise fixed platform, moving platform and connect the first branch and the second branch between described fixed platform and the moving platform; Described moving platform comprises main platform and four connecting rods, and described four connecting rods connect and compose a plane parallel quadrilateral structure by revolute pair, and four revolute pair axis are perpendicular to the plane at this plane parallel quadrangle place; Described main platform is connected by the revolute pair of axis perpendicular to described parallelogram plane side rod with tetragonal one group of described plane parallel respectively, and the line at two revolute pair centers is parallel to another group of described plane parallel quadrilateral structure to side rod on the main platform; Described the first branch comprises first master arm and two the first isometric slave arms, and described the first master arm is connected by revolute pair with described fixed platform, and provides power as driving pair for mechanism; One end of two the first slave arms is connected by revolute pair with described the first master arm, and between two the first slave arms and the first master arm axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the first master arm and the fixed platform; The other end of two the first slave arms is respectively by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge and the tetragonal one group of opposite side rod hinge connection of described plane parallel; In the first branch, described the first master arm, two the first slave arms and moving platform consist of one group of plane parallel quadrilateral structure, thereby the restriction moving platform is along the revolute pair axis direction translational on the described master arm; Described the second branch comprises second master arm and two the second isometric slave arms; Described the second master arm is connected by revolute pair with described fixed platform, and provides power as driving pair for mechanism; One end of two the second slave arms is connected by revolute pair with described the first master arm respectively, and between two the second slave arms and the second master arm axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the second master arm and the fixed platform; The other end of two the second slave arms is respectively by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge and tetragonal another group opposite side rod hinge connection of described plane parallel; In the second branch, described the second master arm, two the second slave arms and moving platform consist of another group plane parallel quadrilateral structure, thereby the restriction moving platform is along the revolute pair axis direction translational on described the second master arm; The plane at the plane parallel quadrilateral structure place in described the first branch and the Plane intersects at the plane parallel quadrilateral structure place in described the second branch; Four hinge centers on the described moving platform are coplanar; Be subject to the restriction of the plane parallel quadrilateral structure in the first branch and the second branch, a group of described moving platform is fixed the position of intersecting point of the two hinge lines of centres on the side rod the two hinge lines of centres on the side rod and another group; By controlling the rotation of the first master arm and the second master arm, realize the two-dimensional rotary of moving platform.
Compared with prior art, the invention has the beneficial effects as follows:
Advantage and good effect that the present invention has are: moving platform adopts parallelogram sturcutre, and the plane parallel quadrilateral structure in first and second two branches is coupled together, and has limited the translational degree of freedom of moving platform, and can realize the centering rotation of moving platform.Simple structure of the present invention, compact conformation, moving-mass is little, is convenient to assembling, is easy to control, can be used for joint of robot or machine tool accessories.
Description of drawings
Fig. 1 is the overall structure schematic diagram of a kind of A/B axle of the present invention parallel institution;
Fig. 2 is moving platform mechanism schematic diagram of the present invention;
Fig. 3 is first branch's schematic diagram of the present invention;
Fig. 4 is second branch's schematic diagram of the present invention.
Among the figure: 1-fixed platform, 2-moving platform, 2a-master's platform, 2b ~ 2e-connecting rod, 3-the first branch, 3a-the first master arm, 3b, 3c-the first slave arm, 4-the second branch, 4a-the second master arm, 4b, 4c-the second slave arm.
The specific embodiment
Below in conjunction with the specific embodiment the present invention is described in further detail.
As shown in Figure 1, a kind of A/B axle of the present invention parallel institution comprises fixed platform 1, moving platform 2 and connects the first branch 3 and the second branch 4 between described fixed platform 1 and the moving platform 2.
As shown in Figure 2, described moving platform 2 comprises main platform 2a and four connecting rod 2b ~ 2e, and described four connecting rod 2b ~ 2e connect and compose a plane parallel quadrilateral structure by revolute pair, and four revolute pair axis are perpendicular to the plane at this plane parallel quadrangle place; Described main platform 2a is connected by the revolute pair of axis perpendicular to described parallelogram plane side rod 2b, 2d with tetragonal one group of described plane parallel respectively, and the line at the upper two revolute pair centers of main platform 2a is parallel to another group of described plane parallel quadrilateral structure to side rod 2c, 2e.
As shown in Figure 3, described the first branch 3 comprises first a master arm 3a and two isometric the first slave arm 3b, 3c, and described the first master arm 3a and described fixed platform 1 are connected by revolute pair, and provide power as driving pair for mechanism; The end of two the first slave arm 3b, 3c is connected by revolute pair with described the first master arm 3a, and between two the first slave arm 3b, 3c and the first master arm 3a axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the first master arm 3a and the fixed platform 1; The other end of two the first slave arm 3b, 3c respectively by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge and described plane parallel tetragonal one group hinged to side rod 2b, 2d, if two the first slave arm 3b, 3c pass through respectively a two degrees of freedom hook hinge and described plane parallel tetragonal one group hinged to side rod 2b, 2d; The axis that each two degrees of freedom hook hinge links to each other with one of them connecting rod (namely, the nearly frame axis of this two degrees of freedom hook hinge) center by another connecting rod upper hinge, and the axis that each two degrees of freedom hook hinge links to each other with one of them first slave arm (that is, the frame axis far away of this two degrees of freedom hook hinge) is parallel to the revolute pair axis of this first slave arm one end; In the first branch 3, described the first master arm 3a, two the first slave arm 3b, 3c and moving platform 2 consist of one group of plane parallel quadrilateral structure, thereby restriction moving platform 2 is along the revolute pair axis direction translational on the described master arm 3a.
As shown in Figure 4, described the second branch 4 comprises second a master arm 4a and two isometric the second slave arm 4b, 4c; Described the second master arm 4a and described fixed platform 1 are connected by revolute pair, and provide power as driving pair for mechanism; The end of two the second slave arm 4b, 4c is connected by revolute pair with described the first master arm 4a respectively, and between two the second slave arm 4b, 4c and the second master arm 4a axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the second master arm 4a and the fixed platform 1; It is hinged to side rod 2c, 2e that the other end of two the second slave arm 4b, 4c passes through respectively Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge and tetragonal another group of described plane parallel, if two the second slave arm 4b, 4c are hinged to side rod 2c, 2e by a two degrees of freedom hook hinge and tetragonal another group of described plane parallel respectively; The axis that each two degrees of freedom hook hinge links to each other with one of them connecting rod (the nearly frame axis of this two degrees of freedom hook hinge) is by the center of another connecting rod upper hinge, and the axis that each two degrees of freedom hook hinge links to each other with one of them second slave arm (the frame axis far away of this two degrees of freedom hook hinge) is parallel to the revolute pair axis of this second slave arm one end; In the second branch 4, described the second master arm 4a, two the second slave arm 4b, 4c and moving platform 2 consist of another group plane parallel quadrilateral structure, thereby restriction moving platform 2 is along the revolute pair axis direction translational on described the second master arm.
The Plane intersects at the plane parallel quadrilateral structure place in the plane at the plane parallel quadrilateral structure place in described the first branch 3 and described the second branch 4; Four hinge centers on the described moving platform 2 are coplanar; Be subject to the restriction of the plane parallel quadrilateral structure in the first branch 3 and the second branch 4, a group of described moving platform 2 is fixed the position of intersecting point of the two hinge lines of centres on side rod 2c, the 2e the two hinge lines of centres on side rod 2b, the 2d and another group; By controlling the rotation of the first master arm 3a and the second master arm 4a, realize the two-dimensional rotary of moving platform 2.
The present invention compared with prior art, its difference is:
Moving platform among the present invention adopts parallelogram sturcutre, and the plane parallel quadrilateral structure in two branches is coupled together, and has limited the translational degree of freedom of moving platform.By two groups of parallelogram sturcutre transmissions, realize that the centering of moving platform is rotated.
The present invention can be arranged symmetrically with branch's side chain, simple structure, and compact conformation, moving-mass is little, is convenient to assembling, is easy to control.
Although top invention has been described in conjunction with figure; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present invention; in the situation that does not break away from aim of the present invention, can also make a lot of distortion, these all belong within the protection of the present invention.
Claims (2)
1. A/B axle parallel institution, comprise fixed platform (1), moving platform (2) and connect described fixed platform (1) and moving platform (2) between the first branch (3) and the second branch (4);
It is characterized in that:
Described moving platform (2) comprise main platform (2a) and four connecting rods (2b ~ 2e), described four connecting rods (2b ~ 2e) connect and compose a plane parallel quadrilateral structure by revolute pair, four revolute pair axis are perpendicular to the plane at this plane parallel quadrangle place;
Described main platform (2a) is connected by the revolute pair of axis perpendicular to described parallelogram plane side rod (2b, 2d) with tetragonal one group of described plane parallel respectively, and the line at the upper two revolute pair centers of main platform (2a) is parallel to another group of described plane parallel quadrilateral structure to side rod (2c, 2e);
Described the first branch (3) comprises first master arm (3a) and two the first isometric slave arms (3b, 3c), and described the first master arm (3a) is connected by revolute pair with described fixed platform (1), and provides power as driving pair for mechanism; One end of two the first slave arms (3b, 3c) is connected by revolute pair with described the first master arm (3a), and between two the first slave arms (3b, 3c) and the first master arm (3a) axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the first master arm (3a) and the fixed platform (1); The other end of two the first slave arms (3b, 3c) respectively by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge and described plane parallel tetragonal one group hinged to side rod (2b, 2d); In the first branch (3), described the first master arm (3a), two the first slave arms (3b, 3c) and moving platform (2) consist of one group of plane parallel quadrilateral structure, thereby restriction moving platform (2) is along the revolute pair axis direction translational on the described master arm (3a);
Described the second branch (4) comprises second master arm (4a) and two the second isometric slave arms (4b, 4c); Described the second master arm (4a) is connected by revolute pair with described fixed platform (1), and provides power as driving pair for mechanism; One end of two the second slave arms (4b, 4c) is connected by revolute pair with described the first master arm (4a) respectively, and between two the second slave arms (4b, 4c) and the second master arm (4a) axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the second master arm (4a) and the fixed platform (1); It is hinged to side rod (2c, 2e) that the other end of two the second slave arms (4b, 4c) passes through respectively Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge and tetragonal another group of described plane parallel; In the second branch (4), described the second master arm (4a), two the second slave arms (4b, 4c) and moving platform (2) consist of another group plane parallel quadrilateral structure, thereby restriction moving platform (2) is along the revolute pair axis direction translational on described the second master arm;
The plane at the plane parallel quadrilateral structure place in described the first branch (3) and the Plane intersects at the plane parallel quadrilateral structure place in described the second branch (4); Four hinge centers on the described moving platform (2) are coplanar; Be subject to the restriction of the plane parallel quadrilateral structure in the first branch (3) and the second branch (4), a group of described moving platform (2) is fixed the position of intersecting point of the two hinge lines of centres on the side rod (2c, 2e) the two hinge lines of centres on the side rod (2b, 2d) and another group; By controlling the rotation of the first master arm (3a) and the second master arm (4a), realize the two-dimensional rotary of moving platform (2).
2. described A/B axle parallel institution according to claim 1 when adopting hook hinge to connect slave arm and moving platform, is characterized in that:
Two the first slave arms (3b, 3c) respectively by a two degrees of freedom hook hinge and described plane parallel tetragonal one group hinged to side rod (2b, 2d); The center of the axis that each two degrees of freedom hook hinge links to each other with one of them connecting rod by another connecting rod upper hinge, and the axis that links to each other with one of them first slave arm of each two degrees of freedom hook hinge is parallel to the revolute pair axis of this first slave arm one end;
Two the second slave arms (4b, 4c) are hinged to side rod (2c, 2e) by a two degrees of freedom hook hinge and tetragonal another group of described plane parallel respectively; The axis that each two degrees of freedom hook hinge links to each other with one of them connecting rod is by the center of another connecting rod upper hinge, and the axis that each two degrees of freedom hook hinge links to each other with one of them second slave arm is parallel to the revolute pair axis of this second slave arm one end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210514824.1A CN102990674B (en) | 2012-12-04 | 2012-12-04 | A/B shaft parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210514824.1A CN102990674B (en) | 2012-12-04 | 2012-12-04 | A/B shaft parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
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| CN102990674A true CN102990674A (en) | 2013-03-27 |
| CN102990674B CN102990674B (en) | 2015-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210514824.1A Expired - Fee Related CN102990674B (en) | 2012-12-04 | 2012-12-04 | A/B shaft parallel mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459092A (en) * | 2016-01-08 | 2016-04-06 | 天津大学 | Novel multi-closed-loop two-degree-of-freedom rotation catching and releasing mechanism |
| CN105500340A (en) * | 2016-01-08 | 2016-04-20 | 天津大学 | Multi-closed-loop three-rotation fetching and releasing mechanism with reconfigurable platform |
| CN112629384A (en) * | 2020-12-18 | 2021-04-09 | 中国科学院光电技术研究所 | Hooke inclined disc type ball joint posture detection device |
| CN112894874A (en) * | 2021-01-25 | 2021-06-04 | 江西炫智教育科技有限公司 | Device for improving flexibility of intelligent robot manipulator |
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| GB2124180A (en) * | 1982-07-24 | 1984-02-15 | Marconi Co Ltd | Hand-like mechanisms |
| DE10060032B4 (en) * | 1999-12-06 | 2004-07-22 | Korea Advanced Institute Of Science And Technology | Parallel mechanism with six degrees of freedom for micropositioning tasks |
| US7735390B2 (en) * | 2005-02-17 | 2010-06-15 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| EP2221153A1 (en) * | 2007-10-24 | 2010-08-25 | Universidad Del Pais Vasco-Euskal Herriko Unibersitatea | Parallel robot with four degrees of free movement |
| US20120079908A1 (en) * | 2010-09-30 | 2012-04-05 | Hon Hai Precision Industry Co., Ltd. | Parallel robot |
| KR20120070458A (en) * | 2010-12-21 | 2012-06-29 | 한국기계연구원 | Parallel manipulator with variable length links |
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2012
- 2012-12-04 CN CN201210514824.1A patent/CN102990674B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2124180A (en) * | 1982-07-24 | 1984-02-15 | Marconi Co Ltd | Hand-like mechanisms |
| DE10060032B4 (en) * | 1999-12-06 | 2004-07-22 | Korea Advanced Institute Of Science And Technology | Parallel mechanism with six degrees of freedom for micropositioning tasks |
| US7735390B2 (en) * | 2005-02-17 | 2010-06-15 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| EP2221153A1 (en) * | 2007-10-24 | 2010-08-25 | Universidad Del Pais Vasco-Euskal Herriko Unibersitatea | Parallel robot with four degrees of free movement |
| US20120079908A1 (en) * | 2010-09-30 | 2012-04-05 | Hon Hai Precision Industry Co., Ltd. | Parallel robot |
| KR20120070458A (en) * | 2010-12-21 | 2012-06-29 | 한국기계연구원 | Parallel manipulator with variable length links |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459092A (en) * | 2016-01-08 | 2016-04-06 | 天津大学 | Novel multi-closed-loop two-degree-of-freedom rotation catching and releasing mechanism |
| CN105500340A (en) * | 2016-01-08 | 2016-04-20 | 天津大学 | Multi-closed-loop three-rotation fetching and releasing mechanism with reconfigurable platform |
| CN105500340B (en) * | 2016-01-08 | 2017-04-12 | 天津大学 | Multi-closed-loop three-rotation fetching and releasing mechanism with reconfigurable platform |
| CN105459092B (en) * | 2016-01-08 | 2017-04-12 | 天津大学 | Multi-closed-loop two-degree-of-freedom rotation catching and releasing mechanism |
| CN112629384A (en) * | 2020-12-18 | 2021-04-09 | 中国科学院光电技术研究所 | Hooke inclined disc type ball joint posture detection device |
| CN112894874A (en) * | 2021-01-25 | 2021-06-04 | 江西炫智教育科技有限公司 | Device for improving flexibility of intelligent robot manipulator |
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