CN103101050B - Novel plane two-degree-of-freedom redundant drive parallel moving platform - Google Patents
Novel plane two-degree-of-freedom redundant drive parallel moving platform Download PDFInfo
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- CN103101050B CN103101050B CN201310070456.0A CN201310070456A CN103101050B CN 103101050 B CN103101050 B CN 103101050B CN 201310070456 A CN201310070456 A CN 201310070456A CN 103101050 B CN103101050 B CN 103101050B
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Abstract
The invention discloses a novel plane two-degree-of-freedom redundant drive parallel moving platform, and belongs to the technical field of mechanical manufacturing. The novel plane two-degree-of-freedom redundant drive parallel moving platform comprises a moving platform, parallel guide rails, three equal-length branch chains, a telescopic branch chain and slide blocks; the positions of the slide blocks on the corresponding guide rails and the lengths of the telescopic branch chains are controlled under driving of a servo motor; and the moving platform has two translation degrees of freedom in the plane. Because a parallel mechanism is adopted, the moving platform has the advantages of high rigidity and good dynamic performance; the telescopic branch chains are taken as the redundant drive branch chains, a pull pressure sensor is installed close to the connection point of the telescopic branch chains and the moving platform, preset pull pressure force can be applied to the moving platform by utilizing the servo motor at the point along the directions of the telescopic branch chains through force enclosed loop control. Through optimizing the size and direction of applied load of the redundant drive branch chains, the rigidity and dynamic performance of the mechanism can be improved further.
Description
Technical field
The invention belongs to machinery manufacturing technology field, particularly a kind of novel planar two-freedom redundant drive parallel mobile platform.
Background technology
Mobile platform, as the stronger device of a kind of versatility, can be used for carrying, location, carrying, is widely used in industries such as lathe, automobile, aviation, medical treatment.Along with science and technology constantly towards at a high speed, the future development of efficient, accurate and automation, the rapidity, Position location accuracy, bearing capacity etc. of each relevant industries to mobile platform propose more and more higher requirement.
Planar movement platform common is at present mainly in series by the linear feeding system of single-degree-of-freedom, and the mode of transmission has ball-screw, worm and gear, rack pinion etc.Single-degree-of-freedom rectilinear system have structure simple, control the features such as easy, with low cost, therefore use comparatively extensive.But the mobile platform using single-degree-of-freedom rectilinear system to be in series still also exists inevitably some shortcomings in the application.As used the series connection mobile platform of ball-screw-transmission, under severe duty, can be out of shape not because of rigidity; In high-speed cruising situation, its positioning precision can be affected because ball-screw elastic deformation causes vibration.Use the mobile platform of Worm Wheel System, dynamic characteristic is poor, and operational efficiency is lower, and is difficult to reach higher positioning precision.
The novel mechanism that parallel institution occurred as nearly decades, has that rigidity is high, dynamic property good, degree of modularity high, therefore obtains the extensive concern of people.Redundantly actuated parallel mechanism is as a kind of special parallel institution, by the conservative control to redundant drive side chain, rigidity, dynamic property, the positioning precision of mechanism can be improved further, therefore redundantly actuated parallel mechanism can be used to design mobile platform, solve series connection mobile platform Problems existing.
Summary of the invention
In order to solve series connection mobile platform Problems existing, the present invention proposes a kind of novel two-freedom redundant drive parallel mobile platform.
Novel two-freedom redundant drive parallel mobile platform of the present invention is made up of nonredundancy parallel institution and redundant drive side chain:
The structure of described nonredundancy parallel institution is:
The driving mechanism of the first sliding shoe 24 is furnished with in one end, left side of base plate 1; The driving mechanism of the second sliding shoe 27 is furnished with in same one end of the driving mechanism of the right side of base plate 1 and the first sliding shoe 24;
Wherein, the structure of the driving mechanism of the first sliding shoe 24 is as follows:
The first motor supporting base 2 is fixed with in one end, left side of described base plate 1; First servomotor 3 is fixed on the first described motor supporting base 2; First ball-screw 4 is connected with the rotating shaft of the first described servomotor 3 by the first shaft coupling 5; First ball-screw 4 is in the one end near the first described shaft coupling 5, carry out support rotating by the first ball-screw stiff end 6 be fixed on the first described motor supporting base 2, the other end carries out support rotating by the first ball-screw support end 7 be fixed on described base plate 1; The first described ball-screw 4 is socketed without flanged first feed screw nut 8; Parallel and be equidistantly furnished with the first line slideway 9 and the second line slideway 10 respectively in the both sides of the first described ball-screw 4; The first slide block 11 and the second slide block 12 is mounted with respectively in the same lateral attitude of the first described line slideway 9 and the second line slideway 10;
The structure of the driving mechanism of the second sliding shoe 27 is:
Being fixed with the second motor supporting base 13, second servomotor 14 on the right side of described base plate 1 and the first servomotor 3 with one end is fixed on the second described motor supporting base 13; Second ball-screw 15 is connected with the rotating shaft of the second described servomotor 14 by the second shaft coupling 16; Second ball-screw 15 is in the one end near the second described shaft coupling 16, carry out support rotating by the second ball-screw stiff end 17 be fixed on the second described motor supporting base 13, the other end carries out support rotating by the second ball-screw support end 18 be fixed on described base plate 1; The second described ball-screw 15 is socketed without flanged second feed screw nut 19; Parallel and be equidistantly furnished with the 3rd line slideway 20 and the 4th line slideway 21 respectively in the both sides of the second described ball-screw 15, be mounted with the 3rd slide block 22 and Four-slider 23 respectively in the same lateral attitude of the 3rd described line slideway 20 and the 4th line slideway 21;
The form that the first described feed screw nut 8 is connected by key has been fixedly connected with the first sliding shoe 24, and the first described sliding shoe 24 is fixed on the first described slide block 11 and the second slide block 12 simultaneously; On the first described sliding shoe 24, be connected with first connecting rod 25 and second connecting rod 26 by articulated form, and the axis being parallel of the line of two hinge points and the first described ball-screw 4;
The second described feed screw nut 19 has been fixedly connected with the second sliding shoe 27 by key type of attachment, and described the second sliding shoe 27 is fixed on the 3rd described slide block 22 and Four-slider 23 simultaneously; On described the second sliding shoe 27, be connected with third connecting rod 28 by articulated form;
Described first connecting rod 25, second connecting rod 26 are equal with third connecting rod 28 length, and are connected to the bottom surface of moving platform 29 by hinged form simultaneously; Distance between the hinge point that described moving platform 29 connects first connecting rod 25 and second connecting rod 26 with two hinge points on the first described sliding shoe 24 apart from equal, thus the first sliding shoe 24, first connecting rod 25, second connecting rod 26 and moving platform 29 define a parallel-crank mechanism, limit the rotation of moving platform 29;
The structure of described redundant drive side chain is:
Be furnished with the driving mechanism of the 3rd sliding shoe 41 at the other end that the right side of described base plate 1 is relative with the second servomotor 14, the structure of described driving mechanism is as follows:
Being fixed with the 3rd motor supporting base the 30, three servomotor 31 at the other end that the right side of described base plate 1 is relative with the second servomotor 14 is fixed on the 3rd described motor supporting base 30; 3rd ball-screw 32 is connected with the rotating shaft of the 3rd described servomotor 31 by the 3rd shaft coupling 33; 3rd ball-screw 32 is in the one end near the 3rd described shaft coupling 33, carry out support rotating by the 3rd ball-screw stiff end 34 be fixed on the 3rd described motor supporting base 30, the other end carries out support rotating by the 3rd ball-screw support end 35 be fixed on described base plate 1; The 3rd described ball-screw 32 is socketed without flanged 3rd feed screw nut 36; Parallel and be equidistantly furnished with the 5th line slideway 37 and the 6th line slideway 38 respectively in the both sides of the 3rd described ball-screw 32; The 5th slide block 39 and the 6th slide block 40 is mounted with respectively in the same lateral attitude of the 5th described line slideway 37 and the 6th line slideway 38;
3rd feed screw nut 36 has been fixedly connected with the 3rd sliding shoe 41 by key type of attachment, and the 3rd described sliding shoe 41 is fixed on the 5th slide block 39 and the 6th slide block 40 simultaneously; The 3rd described sliding shoe 41 is connected with gripper shoe 42 by articulated form, and described gripper shoe 42 is furnished with the axial actuating mechanism of the 4th sliding shoe 54, and the structure of described driving mechanism is as follows:
The 3rd described sliding shoe 41 is fixed with the 4th motor supporting base the 43, four servomotor 44 to be fixed on the 4th described motor supporting base 43; 4th ball-screw 45 is connected with the rotating shaft of the 4th described servomotor 44 by the 4th shaft coupling 46; 4th ball-screw 45 is in the one end near the 4th described shaft coupling 46, carry out support rotating by the 4th ball-screw stiff end 47 be fixed on the 4th described motor supporting base 43, the other end carries out support rotating by the 4th ball-screw support end 48 be fixed on the 3rd described sliding shoe 41; The 4th described ball-screw 45 is socketed without flanged 4th feed screw nut 49; Parallel and be equidistantly furnished with the 7th line slideway 50 and the 8th line slideway 51 respectively in the both sides of the 4th described ball-screw 45; The 7th slide block 52 and the 8th slide block 53 is mounted with respectively in the same lateral attitude of the 7th described line slideway 50 and the 8th line slideway 51;
The 4th described feed screw nut 49 has been fixedly connected with the 4th sliding shoe 54 by key type of attachment, and the 4th described sliding shoe 54 is fixed on the 7th slide block 52 and the 8th slide block 53 simultaneously; One end of double leval jib 55 is fixedly connected with the 4th described sliding shoe 54, and the other end is connected with tension-compression sensor 56; One end of 5th connecting rod 57 is connected with tension-compression sensor 56, and the other end is connected to the upper surface of described moving platform 29 by articulated form; Described double leval jib 55, tension-compression sensor 56 and the 5th connecting rod 57 are on same axis, apply predetermined pressure to described moving platform 29 by the 4th servomotor 44.
Beneficial effect of the present invention is:
Redundant drive parallel mobile platform provided by the invention has the advantages that rigidity is high, dynamic property good, running precision is high; Redundant drive side chain is realized by two driving mechanisms, can control the pressure size and Orientation put on moving platform simultaneously, better can improve moving platform precision in running; The tension-compression sensor that redundant drive side chain is installed, can by the accurate control of closed-loop control realization to loading force size; The drive unit of whole mechanism all carries out transmission by ball-screw, and transmission accuracy is higher.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of mobile platform of the present invention;
Fig. 2 is the structural representation of the driving mechanism of mobile platform of the present invention;
Fig. 3 is the axial drives structure schematic diagram of the redundant drive side chain of mobile platform of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, the present invention will be further described in detail:
Embodiment 1:
Details are as follows for the course of work of plane two-freedom redundant drive parallel mobile platform of the present invention:
As shown in Figure 1, this redundant drive parallel mobile platform is required, and what control is the position of moving platform 29, behind its position given, by the position-based routing of mechanism, the first sliding shoe 24 and the position of the second sliding shoe 27 on corresponding first ball-screw 4 and the second ball-screw 15 can be obtained respectively, utilize the position of driving mechanism to the first sliding shoe 24 and the second sliding shoe 27 to control, thus the position of required moving platform 29 can be obtained.Redundant drive side chain is the dynamic operation precision of rigidity in order to improve mechanism further and moving platform, optimum loading force size and Orientation on moving platform 29 is put on by can obtain this side chain to the dynamic analysis of mechanism, the position of the 3rd sliding shoe 41 on the 3rd ball-screw 32 can be determined further, and along double leval jib 55 axial direction needed for the pressure size that applies, thus the 3rd servomotor 31 and the 4th servomotor 44 can be utilized to control, to improve the dynamic operation performance of mechanism.
As shown in Figure 2, the position of the first sliding shoe 24, the second sliding shoe 27 and the 3rd sliding shoe 41 is controlled by corresponding driving mechanism, and the course of work is all the same; Here its course of work is described in detail for the driving mechanism of the first sliding shoe 24: after separating the position of acquisition first sliding shoe 24 by mechanism position is inverse, this position is converted to the position control instruction of the first servomotor 3, first servomotor 3 rotates according to position control command value drive motors axle, the first ball-screw 4 is driven to rotate by the first shaft coupling 5, the rotation of the first ball-screw 4 is converted to moving axially of the first feed screw nut 8, thus can move to desired position with affixed the first sliding shoe 24 thereon; First servomotor 3 by the half-closed loop control of encoder realization to position of self, or can realize the full closed loop control of position by the linear displacement measurement device that outside is connected with the first sliding shoe 24.
As shown in figures 1 and 3, redundant drive side chain is controlled by the 4th servomotor 44 the loading force size of moving platform 29, obtain redundant drive side chain along double leval jib 55 axial direction needed for after the pressure size that applies, its axial actuating mechanism needs the position of control the 4th sliding shoe 54 on the one hand, also need to load moving platform 29 according to this pressure size simultaneously, therefore power-position Hybrid mode is adopted to the 4th servomotor 44.The position control process of the 4th servomotor 44 and the driving mechanisms control process of the first sliding shoe 24 similar, its power control procedure is: the 4th servomotor 44 loads moving platform 29 according to the tension and compression force value of required applying, measured tension and compression force value is fed back by pressure sensor 56, by comparing with the loading force size of required applying, deviate is compensated, thus forms the closed-loop control of loading force.The control of servomotor is flexible, and running precision is high, therefore can apply accurate, controlled pressure load to moving platform according to demand.
Claims (3)
1. a two-freedom redundant drive parallel mobile platform, is characterized in that, described two-freedom redundant drive parallel mobile platform is made up of nonredundancy parallel institution and redundant drive side chain;
The structure of described nonredundancy parallel institution is: the driving mechanism being furnished with the first sliding shoe (24) in one end, left side of base plate (1); The driving mechanism of the second sliding shoe (27) is furnished with in same one end of the driving mechanism of the right side of base plate (1) and the first sliding shoe (24);
The structure of the driving mechanism of described the first sliding shoe (24) is as follows: be fixed with the first motor supporting base (2) in one end, left side of described base plate (1); First servomotor (3) is fixed on described the first motor supporting base (2); First ball-screw (4) is connected by the rotating shaft of the first shaft coupling (5) with described the first servomotor (3); First ball-screw (4) is in the one end near described the first shaft coupling (5), carry out support rotating by the first ball-screw stiff end (6) be fixed on described the first motor supporting base (2), the other end carries out support rotating by the first ball-screw support end (7) be fixed on described base plate (1); Described the first ball-screw (4) is socketed without flanged first feed screw nut (8); Parallel and be equidistantly furnished with the first line slideway (9) and the second line slideway (10) respectively in the both sides of described the first ball-screw (4); Described the first line slideway (9) is mounted with the first slide block (11), is mounted with the second slide block (12) in the same lateral attitude of the second line slideway (10);
The structure of the driving mechanism of described the second sliding shoe (27) is: be fixed with the second motor supporting base (13) on the right side of described base plate (1) and the first servomotor (3) with one end, and the second servomotor (14) is fixed on described the second motor supporting base (13); Second ball-screw (15) is connected by the rotating shaft of the second shaft coupling (16) with described the second servomotor (14); Second ball-screw (15) is in the one end near described the second shaft coupling (16), carry out support rotating by the second ball-screw stiff end (17) be fixed on described the second motor supporting base (13), the other end carries out support rotating by the second ball-screw support end (18) be fixed on described base plate (1); Described the second ball-screw (15) is socketed without flanged second feed screw nut (19); Parallel and be equidistantly furnished with the 3rd line slideway (20) and the 4th line slideway (21) respectively in the both sides of described the second ball-screw (15), the 3rd described line slideway (20) is mounted with the 3rd slide block (22), is mounted with Four-slider (23) in the same lateral attitude of the 4th line slideway (21);
The form that described the first feed screw nut (8) is connected by key has been fixedly connected with the first sliding shoe (24), and described the first sliding shoe (24) is fixed on the first slide block (11) and the second slide block (12) simultaneously; On described the first sliding shoe (24), be connected with first connecting rod (25) and second connecting rod (26) by articulated form, and the axis being parallel of the line of two hinge points and described the first ball-screw (4);
Described the second feed screw nut (19) has been fixedly connected with the second sliding shoe (27) by key type of attachment, and described the second sliding shoe (27) is fixed on the 3rd described slide block (22) and Four-slider (23) simultaneously; On described the second sliding shoe (27), be connected with third connecting rod (28) by articulated form;
Described first connecting rod (25), second connecting rod (26) are equal with third connecting rod (28) length, and are connected to the bottom surface of moving platform (29) by hinged form simultaneously; Distance between the hinge point that described moving platform (29) connects first connecting rod (25) and second connecting rod (26) is with two hinge points on described the first sliding shoe (24) apart from equal, thus the first sliding shoe (24), first connecting rod (25), second connecting rod (26) and moving platform (29) define a parallel-crank mechanism;
The structure of described redundant drive side chain is:
The driving mechanism of the 3rd sliding shoe (41) is furnished with at the other end that the right side of base plate (1) is relative with the second servomotor (14); The driving mechanism of the 3rd described sliding shoe (41) is furnished with the axial actuating mechanism of the 4th sliding shoe (54);
The 5th connecting rod (57) on described redundant drive side chain is fixed on the 4th sliding shoe (54), is connected with the moving platform (29) of nonredundancy parallel institution by revolute.
2. two-freedom redundant drive parallel mobile platform according to claim 1, is characterized in that, the structure of the driving mechanism of the 3rd described sliding shoe (41) is as follows:
Be fixed with the 3rd motor supporting base (30) at the other end that the right side of described base plate (1) is relative with the second servomotor (14), the 3rd servomotor (31) is fixed on the 3rd described motor supporting base (30); 3rd ball-screw (32) is connected by the rotating shaft of the 3rd shaft coupling (33) with the 3rd described servomotor (31); 3rd ball-screw (32) is in the one end near the 3rd described shaft coupling (33), carry out support rotating by the 3rd ball-screw stiff end (34) be fixed on the 3rd described motor supporting base (30), the other end carries out support rotating by the 3rd ball-screw support end (35) be fixed on described base plate (1); The 3rd described ball-screw (32) is socketed without flanged 3rd feed screw nut (36); Parallel and be equidistantly furnished with the 5th line slideway (37) and the 6th line slideway (38) respectively in the both sides of the 3rd described ball-screw (32); The 5th described line slideway (37) is mounted with the 5th slide block (39), is mounted with the 6th slide block (40) in the same lateral attitude of the 6th line slideway (38); 3rd feed screw nut (36) has been fixedly connected with the 3rd sliding shoe (41) by key type of attachment, and the 3rd described sliding shoe (41) is fixed on the 5th slide block (39) and the 6th slide block (40) simultaneously; The 3rd described sliding shoe (41) is connected with gripper shoe (42) by articulated form, described gripper shoe (42) is furnished with the axial actuating mechanism of the 4th sliding shoe (54).
3. two-freedom redundant drive parallel mobile platform according to claim 2, is characterized in that, the structure of the axial actuating mechanism of the 4th described sliding shoe (54) is as follows:
Described gripper shoe (42) is fixed with the 4th motor supporting base (43), and the 4th servomotor (44) is fixed on the 4th described motor supporting base (43); 4th ball-screw (45) is connected by the rotating shaft of the 4th shaft coupling (46) with the 4th described servomotor (44); 4th ball-screw (45) is in the one end near the 4th described shaft coupling (46), carry out support rotating by the 4th ball-screw stiff end (47) be fixed on the 4th described motor supporting base (43), the other end carries out support rotating by the 4th ball-screw support end (48) be fixed on the 3rd described sliding shoe (41); The 4th described ball-screw (45) is socketed without flanged 4th feed screw nut (49); Parallel and be equidistantly furnished with the 7th line slideway (50) and the 8th line slideway (51) respectively in the both sides of the 4th described ball-screw (45); The 7th described line slideway (50) is mounted with the 7th slide block (52), is mounted with the 8th slide block (53) in the same lateral attitude of the 8th line slideway (51);
The 4th described feed screw nut (49) has been fixedly connected with the 4th sliding shoe (54) by key type of attachment, and the 4th described sliding shoe (54) is fixed on the 7th slide block (52) and the 8th slide block (53) simultaneously; One end of double leval jib (55) is fixedly connected with the 4th described sliding shoe (54), and the other end is connected with tension-compression sensor (56); One end of 5th connecting rod (57) is connected with tension-compression sensor (56), and the other end is connected to the upper surface of described moving platform (29) by articulated form; Described double leval jib (55), tension-compression sensor (56) and the 5th connecting rod (57) are on same axis, apply predetermined pressure by the 4th servomotor (44) to described moving platform (29).
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| CN201310070456.0A CN103101050B (en) | 2013-03-05 | 2013-03-05 | Novel plane two-degree-of-freedom redundant drive parallel moving platform |
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| CN201310070456.0A CN103101050B (en) | 2013-03-05 | 2013-03-05 | Novel plane two-degree-of-freedom redundant drive parallel moving platform |
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| CN103101050B true CN103101050B (en) | 2015-06-10 |
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| WO2022263151A1 (en) * | 2021-06-15 | 2022-12-22 | Physik Instrumente (Pi) Gmbh & Co. Kg | Planar positioning apparatus and workbench |
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