CN102990674B - A/B shaft parallel mechanism - Google Patents
A/B shaft parallel mechanism Download PDFInfo
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- CN102990674B CN102990674B CN201210514824.1A CN201210514824A CN102990674B CN 102990674 B CN102990674 B CN 102990674B CN 201210514824 A CN201210514824 A CN 201210514824A CN 102990674 B CN102990674 B CN 102990674B
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- revolute pair
- branch
- master arm
- axis
- platform
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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 many employings gear drive, series-mode frame realize, its complex structure, be difficult to install, manufacturing cost is high.
Two degrees of freedom rotary head as machine tool accessories mostly also is cascade, and its moving-mass is large, and rigidity is poor.Patent CN100464946C proposes a kind of parallel A/B shaft mainshaft head structure, overcomes the deficiency of tandem rotary head, but its structure is asymmetric, and needed for mechanism, installing space is larger.
Summary of the invention
For above-mentioned prior art, the invention provides a kind of simple structure, compact conformation, A/B axle parallel institution without associated movement.
In order to solve the problems of the technologies described above, the technical scheme that a kind of A/B of the present invention axle parallel institution is achieved is: comprise fixed platform, moving platform and the first branch of connecting between described fixed platform and moving platform and the second branch; Described moving platform comprises main platform and four connecting rods, and described four connecting rods connect and compose a planar parallelogram structure by revolute pair, and four revolute pair axis are perpendicular to the plane at this planar parallelogram place; Described main platform is connected by the revolute pair of axes normal in described parallelogram plane side rod with one group of described planar parallelogram respectively, and on main platform, the line at two revolute pair centers is parallel to another group of described planar parallelogram structure to side rod; Described first branch comprises first master arm and two isometric the first slave arms, and described first master arm is connected by revolute pair with described fixed platform, and as driving pair for mechanism provides power; One end of two the first slave arms is connected by revolute pair with described first master arm, and between two the first slave arms and the first master arm, the axis of rotation of revolute pair is coplanar with the axis of rotation of revolute pair between described first master arm and fixed platform; The other end of two the first slave arms is respectively by one group of opposite side rod hinge connection of Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge and described planar parallelogram; In first branch, described first master arm, two the first slave arms and moving platform form one group of planar parallelogram structure, thus restriction moving platform is along the revolute pair axis direction translational on described master arm; Described second branch comprises second master arm and two isometric the second slave arms; Described second master arm is connected by revolute pair with described fixed platform, and as driving pair for mechanism provides power; One end of two the second slave arms is connected by revolute pair with described second master arm respectively, and between two the second slave arms and the second master arm, the axis of rotation of revolute pair is coplanar with the axis of rotation of revolute pair between described second master arm and fixed platform; The other end of two the second slave arms organizes opposite side rod hinge connection respectively by another of Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge and described planar parallelogram; In second branch, described second master arm, two the second slave arms and moving platform form another group planar parallelogram structure, thus restriction moving platform is along the revolute pair axis direction translational on described second master arm; The Plane intersects at the planar parallelogram structure place in the plane at the planar parallelogram structure place in described first branch and described second branch; Four hinge centres on described moving platform are coplanar; Be subject to the restriction of the planar parallelogram structure in the first branch and the second branch, to two hinge centres lines on side rod and another group, the position of intersecting point to two hinge centres lines on side rod is fixing to a group of described moving platform; 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:
The advantage that the present invention has and good effect are: moving platform adopts parallelogram sturcutre, is got up by the planar parallelogram anatomical connectivity in first and second Liang Ge branch, limits the translational degree of freedom of moving platform, and the centering that can realize moving platform is rotated.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.
Accompanying drawing explanation
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.
In figure: 1-fixed platform, 2-moving platform, the main platform of 2a-, 2b ~ 2e-connecting rod, 3-first branch, 3a-first master arm, 3b, 3c-first slave arm, 4-second branch, 4a-second master arm, 4b, 4c-second slave arm.
Detailed description of the invention
Below in conjunction with detailed description of the invention, 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 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 planar parallelogram structure by revolute pair, and four revolute pair axis are perpendicular to the plane at this planar parallelogram place; Described main platform 2a is connected by the revolute pair of axes normal in described parallelogram plane side rod 2b, 2d with one group of described planar parallelogram respectively, and the line at the upper two revolute pair centers of main platform 2a is parallel to another group of described planar parallelogram structure to side rod 2c, 2e.
As shown in Figure 3, described first branch 3 comprises a first master arm 3a and two first isometric slave arm 3b, 3c, and described first master arm 3a is connected by revolute pair with described fixed platform 1, and as driving pair for mechanism provides power; One end of two first slave arms 3b, 3c is connected by revolute pair with described first master arm 3a, and between two first slave arms 3b, 3c and the first master arm 3a, the axis of rotation of revolute pair is coplanar with the axis of rotation of revolute pair between described first master arm 3a and fixed platform 1; The other end of two first slave arms 3b, 3c is hinged to side rod 2b, 2d respectively by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge and described planar parallelogram one group, if two first slave arms 3b, 3c are hinged to side rod 2b, 2d respectively by a two degrees of freedom hook hinge and described planar parallelogram one group; The axis that each two degrees of freedom hook hinge is connected with one of them connecting rod (namely, the nearly frame axis of this two degrees of freedom hook hinge) by the center of another connecting rod upper hinge, and the axis that each two degrees of freedom hook hinge is connected 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 first branch 3, described first master arm 3a, two first slave arm 3b, 3c and moving platform 2 form one group of planar parallelogram structure, thus restriction moving platform 2 is along the revolute pair axis direction translational on described master arm 3a.
As shown in Figure 4, described second branch 4 comprises a second master arm 4a and two second isometric slave arm 4b, 4c; Described second master arm 4a is connected by revolute pair with described fixed platform 1, and as driving pair for mechanism provides power; One end of two second slave arms 4b, 4c is connected by revolute pair with described second master arm 4a respectively, and between two second slave arms 4b, 4c and the second master arm 4a, the axis of rotation of revolute pair is coplanar with the axis of rotation of revolute pair between described second master arm 4a and fixed platform 1; The other end of two second slave arms 4b, 4c is hinged to side rod 2c, 2e respectively by another group of Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge and described planar parallelogram, if two second slave arms 4b, 4c are hinged to side rod 2c, 2e respectively by another group of a two degrees of freedom hook hinge and described planar parallelogram; The axis (the nearly frame axis of this two degrees of freedom hook hinge) that each two degrees of freedom hook hinge is connected with one of them connecting rod is by the center of another connecting rod upper hinge, and the axis (the frame axis far away of this two degrees of freedom hook hinge) that each two degrees of freedom hook hinge is connected with one of them second slave arm is parallel to the revolute pair axis of this second slave arm one end; In second branch 4, described second master arm 4a, two second slave arm 4b, 4c and moving platform 2 form another group planar parallelogram structure, thus restriction moving platform 2 is along the revolute pair axis direction translational on described second master arm.
The Plane intersects at the planar parallelogram structure place in the plane at the planar parallelogram structure place in described first branch 3 and described second branch 4; Four hinge centres on described moving platform 2 are coplanar; Be subject to the restriction of the planar parallelogram structure in the first branch 3 and the second branch 4, to two hinge centres lines on side rod 2b, 2d and another group, the position of intersecting point to two hinge centres lines on side rod 2c, 2e is fixing to a group of described moving platform 2; 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.
Compared with prior art, its difference is in the present invention:
Moving platform in the present invention adopts parallelogram sturcutre, is got up by the planar parallelogram anatomical connectivity in two branches, limits the translational degree of freedom of moving platform.By two groups of parallelogram sturcutre transmissions, the centering realizing moving platform is rotated.The present invention can be arranged symmetrically with branch's side chain, simple structure, compact conformation, and moving-mass is little, is convenient to assembling, is easy to control.
Although invention has been described for composition graphs above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; instead of it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; when not departing from present inventive concept, can also make a lot of distortion, these all belong within protection of the present invention.
Claims (2)
1. an A/B axle parallel institution, comprises fixed platform (1), moving platform (2) and the first branch (3) connected between described fixed platform (1) and moving platform (2) and the second branch (4);
It is characterized in that:
Described moving platform (2) comprises main platform (2a) and four connecting rods (2b ~ 2e), described four connecting rods (2b ~ 2e) connect and compose a planar parallelogram structure by revolute pair, and four revolute pair axis are perpendicular to the plane at this planar parallelogram place;
Described main platform (2a) is connected by the revolute pair of axes normal in described planar parallelogram side rod (2b, 2d) with one group of described planar parallelogram respectively, and the line at the upper two revolute pair centers of main platform (2a) is parallel to another group of described planar parallelogram structure to side rod (2c, 2e);
Described first branch (3) comprises first master arm (3a) and two isometric the first slave arms (3b, 3c), described first master arm (3a) is connected by revolute pair with described fixed platform (1), and as driving pair for mechanism provides power; One end of two the first slave arms (3b, 3c) is connected by revolute pair with described first master arm (3a), and between two the first slave arms (3b, 3c) and the first master arm (3a), the axis of rotation of revolute pair is coplanar with the axis of rotation of revolute pair between described first master arm (3a) and fixed platform (1); The other end of two the first slave arms (3b, 3c) is hinged to side rod (2b, 2d) respectively by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge and described planar parallelogram one group; In first branch (3), described first master arm (3a), two the first slave arms (3b, 3c) and moving platform (2) form one group of planar parallelogram structure, thus restriction moving platform (2) is along the revolute pair axis direction translational on described master arm (3a);
Described second branch (4) comprises second master arm (4a) and two isometric the second slave arms (4b, 4c); Described second master arm (4a) is connected by revolute pair with described fixed platform (1), and as driving pair for mechanism provides power; One end of two the second slave arms (4b, 4c) is connected by revolute pair with described second master arm (4a) respectively, and between two the second slave arms (4b, 4c) and the second master arm (4a), the axis of rotation of revolute pair is coplanar with the axis of rotation of revolute pair between described second master arm (4a) and fixed platform (1); The other end of two the second slave arms (4b, 4c) is hinged to side rod (2c, 2e) respectively by another group of Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge and described planar parallelogram; In second branch (4), described second master arm (4a), two the second slave arms (4b, 4c) and moving platform (2) form another group planar parallelogram structure, thus restriction moving platform (2) is along the revolute pair axis direction translational on described second master arm;
The Plane intersects at the planar parallelogram structure place in the plane at the planar parallelogram structure place in described first branch (3) and described second branch (4); Four hinge centres on described moving platform (2) are coplanar; Be subject to the restriction of the planar parallelogram structure in the first branch (3) and the second branch (4), to two hinge centres lines on side rod (2b, 2d) and another group, the position of intersecting point to two hinge centres lines on side rod (2c, 2e) is fixing to a group of described moving platform (2); 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. 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) are hinged to side rod (2b, 2d) respectively by a two degrees of freedom hook hinge and described planar parallelogram one group; The axis that each two degrees of freedom hook hinge is connected with one of them connecting rod is by the center of another connecting rod upper hinge, and the axis being parallel that each two degrees of freedom hook hinge is connected with one of them first slave arm is in 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) respectively by another group of a two degrees of freedom hook hinge and described planar parallelogram; The axis that each two degrees of freedom hook hinge is connected with one of them connecting rod is by the center of another connecting rod upper hinge, and the axis being parallel that each two degrees of freedom hook hinge is connected with one of them second slave arm is in 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 |
|---|---|
| CN102990674A CN102990674A (en) | 2013-03-27 |
| CN102990674B true CN102990674B (en) | 2015-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210514824.1A Expired - Fee Related CN102990674B (en) | 2012-12-04 | 2012-12-04 | A/B shaft parallel mechanism |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459092B (en) * | 2016-01-08 | 2017-04-12 | 天津大学 | Multi-closed-loop two-degree-of-freedom rotation catching and releasing mechanism |
| CN105500340B (en) * | 2016-01-08 | 2017-04-12 | 天津大学 | Multi-closed-loop three-rotation fetching and releasing mechanism with reconfigurable platform |
| CN112629384B (en) * | 2020-12-18 | 2022-08-02 | 中国科学院光电技术研究所 | Hooke inclined disc type ball joint posture detection device |
| CN112894874B (en) * | 2021-01-25 | 2022-04-05 | 江西炫智教育科技有限公司 | Device for improving flexibility of intelligent robot manipulator |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2124180B (en) * | 1982-07-24 | 1985-09-11 | Marconi Co Ltd | Hand-like mechanisms |
| KR100334902B1 (en) * | 1999-12-06 | 2002-05-04 | 윤덕용 | 6 Degree-of-freedom Parallel Mechanism for Micro-positioning Task |
| ES2258917B1 (en) * | 2005-02-17 | 2007-12-01 | Fundacion Fatronik | PARALLEL ROBOT WITH FOUR DEGREES OF HIGH SPEED FREEDOM. |
| ES2333930B1 (en) * | 2007-10-24 | 2010-12-28 | Universidad Del Pais Vasco Euskal Herriko Unibertsitatea | PARALLEL ROBOT WITH FOUR DEGREES OF FREEDOM. |
| CN102441889A (en) * | 2010-09-30 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Parallel-connection robot |
| KR101244462B1 (en) * | 2010-12-21 | 2013-03-18 | 한국기계연구원 | Parallel Manipulator with Variable Length Links |
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