CN103143940B - Passive gravity compensation branched chain of spatial parallel mechanism - Google Patents
Passive gravity compensation branched chain of spatial parallel mechanism Download PDFInfo
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- CN103143940B CN103143940B CN201310064015.XA CN201310064015A CN103143940B CN 103143940 B CN103143940 B CN 103143940B CN 201310064015 A CN201310064015 A CN 201310064015A CN 103143940 B CN103143940 B CN 103143940B
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Abstract
A passive gravity compensation branched chain of a spatial parallel mechanism comprises a balance weight, a bisynchronous telescope branched chain, a middle Hooker hinge and a spherical hinge, wherein the middle section of an external bar of the bisynchronous telescope branched chain is connected with a fixed platform of the spatial parallel mechanism through the middle Hooker hinge; the rotating center of the middle Hooker hinge coincides with the geometric center of the fixed platform; the balance weight is fixedly connected with one end of the bisynchronous telescope branched chain; the other end of the bisynchronous telescope branched chain is connected with a movable platform of the spatial parallel mechanism through the spherical hinge; the centroid of the middle Hooker hinge, the rotating center of the middle Hooker hinge and the rotating center of the spherical hinge are collinear; and the distance between the centroid of the balance weight and the rotating center of the middle Hooker hinge is the same as that between the rotating center of the spherical hinge and the rotating center of the middle Hooker hinge. Through the adoption of the passive gravity compensation branched chain, the branched chain static driving force generated by the gravity is eliminated, and the passive gravity compensation branched chain is simple in structure, reasonable in layout, and convenient to use, does not need a driving unit, reduces the branched chain driving force of the spatial parallel mechanism, improves the efficiency and the dynamic characteristics of the mechanism, and is favorable for fully giving play to the advantage of the potential performance of the spatial parallel mechanism.
Description
Technical field
The present invention relates to the gravity compensation technical field of space parallel mechanism, be specifically related to a kind of passive gravity compensation side chain of space parallel mechanism.
Background technology
Parallel institution has the advantage of heavy load mass ratio and high rigidity, is widely used in severe duty.The side chain static drive power produced by gravity is comparatively large, causes the problems such as the heavy and driver element power consumption of mechanism structure is higher.Complete gravity compensation can eliminate static drive power completely, effectively reduces side chain driving force, improves the dynamic property of mechanism.
At present, the method of the complete gravity compensation of parallel institution mainly contains three kinds: (1) place one's entire reliance upon adjustment parallel institution Mass Distribution or change the gravitational compensation method of branched structure: the method proposes strict requirement to the quality of mechanism or branched structure, be difficult to practical application, and cannot adjust accordingly according to load.(2) active gravity compensation side chain: the method needs additionally to increase driving element, and there is redundant drive problem, controls complicated.(3) based on the passive compensation side chain of parallel four limit type structures: the complex structure of this passive compensation arrangement, making and installation cost is high, and space stiffness is limited.
Summary of the invention
In order to solve above-mentioned prior art Problems existing, the object of the present invention is to provide a kind of passive gravity compensation side chain of space parallel mechanism, the present invention is arranged on the center of space parallel mechanism, by bidirectional synchronous telescopic side chain, Hooke hinge and ball pivot, realize balance weight mechanism contrary with the motion of parallel institution moving platform, static to ensure the barycenter of mechanism, do not change with pose, namely complete gravity compensation.
For reaching above object, the present invention adopts following technical scheme:
A kind of passive gravity compensation side chain of space parallel mechanism, comprise counterweight 1, bidirectional synchronous telescopic side chain 2, middle Hooke hinge 3 and ball pivot 4, the outer bar stage casing of described bidirectional synchronous telescopic side chain 2 is connected with the silent flatform of space parallel mechanism by middle Hooke hinge 3, the middle Hooke hinge center of rotation of 3 overlaps with the geometric center of silent flatform, described counterweight 1 is fixedly connected on one end of bidirectional synchronous telescopic side chain 2, and the other end of bidirectional synchronous telescopic side chain 2 is connected with the moving platform of parallel institution by ball pivot 4; The barycenter of counterweight 1, the middle Hooke hinge center of rotation of 3 and the center of rotation three point on a straight line of ball pivot 4, and the center of rotation of the barycenter of counterweight 1 and ball pivot 4 is equal to the distance of the center of rotation of Hooke hinge 3, the concrete drive mechanism of described bidirectional synchronous telescopic side chain 2 has the following two kinds:
The first: bidirectional synchronous telescopic side chain 2 comprises the outer bar 2-8 of both ends open, outside bar 2-8 side inwall installs line slideway 2-3, opposite side inwall is installed shaft coupling 2-2, rotation direction the first contrary ball-screw 2-6 and the second ball-screw 2-10 is connected with at the two ends of shaft coupling 2-2, the the first feed screw nut 2-7 be arranged on the first ball-screw 2-6 is fixedly connected with the first guide rail slide block 2-4 be arranged on line slideway 2-3, the the second feed screw nut 2-9 be arranged on the second ball-screw 2-10 is fixedly connected with the second guide rail slide block 2-1 be arranged on line slideway 2-3, be arranged on the first ball-screw 2-6 outside first in bar 2-5 one end be fixedly connected with the first feed screw nut 2-7, the other end stretches out the one end open of outer bar 2-8, be arranged on the second ball-screw 2-10 outside second in bar 2-11 one end be fixedly connected with the second feed screw nut 2-9, the other end stretches out the other end opening of outer bar 2-8, when by ball pivot 4, moving platform drags that in second, bar 2-11 stretches out, rectilinear motion is converted to the rotation of the second ball-screw 2-10 relative to outer bar 2-8 by the second feed screw nut 2-9, rotate through shaft coupling 2-2 and pass to the first ball-screw 2-6, first feed screw nut 2-7 releases by the first ball-screw 2-6, again change rotation into rectilinear motion, namely bar 2-5 synchronously stretches out in first, contrary, when moving platform drags bar 2-11 retraction in second by ball pivot 4, athletic meeting is transmitted step by step, finally shows as the synchronous retraction of bar 2-5 in first,
The second: bidirectional synchronous telescopic side chain 2 comprises the outer bar 2-18 of both ends open, outside bar 2-18 side inwall installs line slideway 2-13, installation first slide block 2-12 and the second slide block 2-14 on line slideway 2-13, in first, bar 2-21 one end is fixedly connected with the first slide block 2-12, the other end stretches out the one end open of outer bar 2-18, in second, bar 2-16 one end is fixedly connected with the second slide block 2-14, the other end stretches out the other end opening of outer bar 2-18, rope 2-19 one end is consolidated on the outer bar 2-18 inwall at bar 2-16 end place in second, the other end walks around bar pulley 2-17 in second successively, bar pulley 2-20 in outer bar pulley 2-15 and first, finally be consolidated on the outer bar 2-18 inwall of bar 2-16 in second, when externally bar 2-18 stretches out bar 2-21 phase in moving platform dragging first, rope 2-19 tightens up, and in second, bar 2-16 synchronously stretches out, on the contrary, when externally bar 2-18's bar 2-21 phase in moving platform dragging first retracts, rope 2-19 loosens, and in second, bar 2-16 connection balance weight mechanism relies on gravity synchronously to retract.
The quality of described counterweight 1 can regulate according to mechanism load.
In described the first structure of bidirectional synchronous telescopic side chain 2, bar 2-8 inwall installs line slideway 2-3 outside, and guide pad is installed at bar both ends open place outside.
In described bidirectional synchronous telescopic side chain 2 the second structure, bar 2-18 inwall installs line slideway 2-13 outside, and guide pad is installed at bar both ends open place outside.
Compared to the prior art, tool has the following advantages in the present invention:
(1) the present invention is arranged in the center of space parallel mechanism, makes full use of its inner space, avoids movement interference;
(2) structure of bidirectional synchronous telescopic side chain is simply convenient to processing and is installed, and space stiffness is high;
(3) being passive compensation arrangement, without the need to additionally adding driver part, avoiding redundant drive problem;
(4) applicability is wide, can be used for the complete gravity compensation realizing all Spatial Parallel configurations.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention is applied to Stewart parallel institution.
Fig. 2 is the schematic diagram of the first drive mechanism of bidirectional synchronous telescopic side chain in the present invention.
Fig. 3 is the schematic diagram of bidirectional synchronous telescopic side chain the second drive mechanism in the present invention.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
As shown in Figure 1, the passive gravity compensation side chain of a kind of space parallel mechanism of the present invention, comprise counterweight 1, bidirectional synchronous telescopic side chain 2, middle Hooke hinge 3 and ball pivot 4, the outer bar stage casing of described bidirectional synchronous telescopic side chain 2 is connected with the silent flatform of space parallel mechanism by middle Hooke hinge 3, the middle Hooke hinge center of rotation of 3 overlaps with the geometric center of silent flatform, described counterweight 1 is fixedly connected on one end of bidirectional synchronous telescopic side chain 2, and the other end of bidirectional synchronous telescopic side chain 2 is connected with the moving platform of parallel institution by ball pivot 4; The barycenter of counterweight 1, the middle Hooke hinge center of rotation of 3 and the center of rotation three point on a straight line of ball pivot 4, and the center of rotation of the barycenter of counterweight 1 and ball pivot 4 is equal to the distance of the center of rotation of Hooke hinge 3, the Mass Distribution of ball pivot 4 in the fixed position of moving platform according to moving platform is determined, to reach complete gravity compensation effect.The quality of the present embodiment counterweight 1 can regulate according to mechanism load.
As shown in Figure 2, for the schematic diagram of the first drive mechanism of bidirectional synchronous telescopic side chain of the present invention, bidirectional synchronous telescopic side chain 2 comprises the outer bar 2-8 of both ends open, outside bar 2-8 side inwall installs line slideway 2-3, opposite side inwall is installed shaft coupling 2-2, rotation direction the first contrary ball-screw 2-6 and the second ball-screw 2-10 is connected with at the two ends of shaft coupling 2-2, the the first feed screw nut 2-7 be arranged on the first ball-screw 2-6 is fixedly connected with the first guide rail slide block 2-4 be arranged on line slideway 2-3, the the second feed screw nut 2-9 be arranged on the second ball-screw 2-10 is fixedly connected with the second guide rail slide block 2-1 be arranged on line slideway 2-3, be arranged on the first ball-screw 2-6 outside first in bar 2-5 one end be fixedly connected with the first feed screw nut 2-7, the other end stretches out the one end open of outer bar 2-8, be arranged on the second ball-screw 2-10 outside second in bar 2-11 one end be fixedly connected with the second feed screw nut 2-9, the other end stretches out the other end opening of outer bar 2-8, when by ball pivot 4, moving platform drags that in second, bar 2-11 stretches out, rectilinear motion is converted to the rotation of the second ball-screw 2-10 relative to outer bar 2-8 by the second feed screw nut 2-9, rotate through shaft coupling 2-2 and pass to the first ball-screw 2-6, first feed screw nut 2-7 releases by the first ball-screw 2-6, again change rotation into rectilinear motion, namely bar 2-5 synchronously stretches out in first, contrary, when moving platform drags bar 2-11 retraction in second by ball pivot 4, athletic meeting is transmitted step by step, finally shows as the synchronous retraction of bar 2-5 in first.
As the preferred embodiment of the first drive mechanism of bidirectional synchronous telescopic side chain, the outer bar 2-8 inwall of described bidirectional synchronous telescopic side chain 2 installs two line slideway 2-3, and guide pad is installed at outer bar 2-8 both ends open place, the space stiffness of bar in improving.
As shown in Figure 3, for the schematic diagram of bidirectional synchronous telescopic side chain the second drive mechanism of the present invention, bidirectional synchronous telescopic side chain 2 comprises the outer bar 2-18 of both ends open, outside bar 2-18 side inwall installs line slideway 2-13, installation first slide block 2-12 and the second slide block 2-14 on line slideway 2-13, in first, bar 2-21 one end is fixedly connected with the first slide block 2-12, the other end stretches out the one end open of outer bar 2-18, in second, bar 2-16 one end is fixedly connected with the second slide block 2-14, the other end stretches out the other end opening of outer bar 2-18, rope 2-19 one end is consolidated on the outer bar 2-18 inwall at bar 2-16 end place in second, the other end walks around bar pulley 2-17 in second successively, bar pulley 2-20 in outer bar pulley 2-15 and first, finally be consolidated on the outer bar 2-18 inwall of bar 2-16 in second, when externally bar 2-18 stretches out bar 2-21 phase in moving platform dragging first, rope 2-19 tightens up, and in second, bar 2-16 synchronously stretches out, on the contrary, when externally bar 2-18's bar 2-21 phase in moving platform dragging first retracts, rope 2-19 loosens, and in second, bar 2-16 connection balance weight mechanism relies on gravity synchronously to retract.
As the preferred embodiment of bidirectional synchronous telescopic side chain the second drive mechanism, the outer bar 2-18 inwall of described bidirectional synchronous telescopic side chain 2 installs two line slideway 2-13, and guide pad is installed at outer bar 2-18 both ends open place, the space stiffness of bar in improving.
Claims (4)
1. the passive gravity compensation side chain of a space parallel mechanism, it is characterized in that: comprise counterweight (1), bidirectional synchronous telescopic side chain (2), middle Hooke hinge (3) and ball pivot (4), the outer bar stage casing of described bidirectional synchronous telescopic side chain (2) is connected with the silent flatform of space parallel mechanism by middle Hooke hinge (3), the middle Hooke hinge center of rotation of (3) overlaps with the geometric center of silent flatform, described counterweight (1) is fixedly connected on one end of bidirectional synchronous telescopic side chain (2), the other end of bidirectional synchronous telescopic side chain (2) is connected with the moving platform of parallel institution by ball pivot (4), the barycenter of counterweight (1), the middle Hooke hinge center of rotation of (3) and the center of rotation three point on a straight line of ball pivot (4), and the center of rotation of the barycenter of counterweight (1) and ball pivot (4) is equal to the distance of the center of rotation of Hooke hinge (3), the concrete drive mechanism of described bidirectional synchronous telescopic side chain (2) has the following two kinds:
The first: bidirectional synchronous telescopic side chain (2) comprises the outer bar (2-8) of both ends open, outside bar (2-8) side inwall installs line slideway (2-3), opposite side inwall is installed shaft coupling (2-2), contrary the first ball-screw (2-6) of rotation direction and the second ball-screw (2-10) is connected with at the two ends of shaft coupling (2-2), the first feed screw nut (2-7) be arranged on the first ball-screw (2-6) is fixedly connected with the first guide rail slide block (2-4) be arranged on line slideway (2-3), the second feed screw nut (2-9) be arranged on the second ball-screw (2-10) is fixedly connected with the second guide rail slide block (2-1) be arranged on line slideway (2-3), be arranged on the first ball-screw (2-6) outside first in bar (2-5) one end be fixedly connected with the first feed screw nut (2-7), the other end stretches out the one end open of outer bar (2-8), be arranged on the second ball-screw (2-10) outside second in bar (2-11) one end be fixedly connected with the second feed screw nut (2-9), the other end stretches out the other end opening of outer bar (2-8), when moving platform is by when in ball pivot (4) dragging second, bar (2-11) stretches out, rectilinear motion is converted to the rotation of the second ball-screw (2-10) relative to outer bar (2-8) by the second feed screw nut (2-9), rotate through shaft coupling (2-2) and pass to the first ball-screw (2-6), first feed screw nut (2-7) is released by the first ball-screw (2-6), again change rotation into rectilinear motion, namely bar (2-5) synchronously stretches out in first, contrary, when moving platform is by when in ball pivot (4) dragging second, bar (2-11) is retracted, athletic meeting is transmitted step by step, finally shows as the synchronous retraction of bar in first (2-5),
The second: bidirectional synchronous telescopic side chain (2) comprises the outer bar (2-18) of both ends open, outside bar (2-18) side inwall installs line slideway (2-13), upper installation first slide block (2-12) of line slideway (2-13)
With the second slide block (2-14), in first, bar (2-21) one end is fixedly connected with the first slide block (2-12), the other end stretches out the one end open of outer bar (2-18), in second, bar (2-16) one end is fixedly connected with the second slide block (2-14), the other end stretches out the other end opening of outer bar (2-18), rope (2-19) one end is consolidated on outer bar (2-18) inwall at bar in second (2-16) end place, the other end walks around bar pulley (2-17) in second successively, bar pulley (2-20) in outer bar pulley (2-15) and first, finally be consolidated on outer bar (2-18) inwall of bar (2-16) in second, when externally bar (2-18) stretches out bar (2-21) in moving platform dragging first mutually, rope (2-19) tightens up, and in second, bar (2-16) synchronously stretches out, on the contrary, when moving platform drags bar (2-21) in first externally bar (2-18) is retracted mutually, rope (2-19) loosens, and in second, bar (2-16) connects balance weight mechanism and relies on gravity synchronously to retract.
2. the passive gravity compensation side chain of a kind of space parallel mechanism according to claim 1, is characterized in that: the quality of described counterweight (1) regulates according to mechanism load.
3. the passive gravity compensation side chain of a kind of space parallel mechanism according to claim 1 and 2, it is characterized in that: in described the first structure of bidirectional synchronous telescopic side chain (2), bar (2-8) inwall installs line slideway (2-3) outside, and guide pad is installed at bar both ends open place outside.
4. the passive gravity compensation side chain of a kind of space parallel mechanism according to claim 1 and 2, it is characterized in that: in described bidirectional synchronous telescopic side chain (2) the second structure, bar (2-18) inwall installs line slideway (2-13) outside, and guide pad is installed at bar both ends open place outside.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310064015.XA CN103143940B (en) | 2013-02-28 | 2013-02-28 | Passive gravity compensation branched chain of spatial parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310064015.XA CN103143940B (en) | 2013-02-28 | 2013-02-28 | Passive gravity compensation branched chain of spatial parallel mechanism |
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| CN103143940A CN103143940A (en) | 2013-06-12 |
| CN103143940B true CN103143940B (en) | 2014-12-24 |
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| CN201310064015.XA Expired - Fee Related CN103143940B (en) | 2013-02-28 | 2013-02-28 | Passive gravity compensation branched chain of spatial parallel mechanism |
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| CN107617890B (en) * | 2017-10-18 | 2019-11-19 | 北京交通大学 | It is a kind of with the redundantly driven parallel bed executing agency for evading Strange properties |
| CN117836204A (en) * | 2021-08-24 | 2024-04-05 | 韩方元 | Method and device for reducing positive pressure of universal hinged actuator cylinder |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1627811A1 (en) * | 1988-12-19 | 1991-02-15 | Предприятие П/Я А-7650 | Coordinate measuring machine |
| CN1375379A (en) * | 2001-03-15 | 2002-10-23 | 四川大学 | New-type mixed-coupled five-freedom virtual shaft machine tool |
| CN201534508U (en) * | 2009-11-19 | 2010-07-28 | 北京明航技术研究所 | Automatic balancing corona-protective chair |
| DE102010051480A1 (en) * | 2010-11-15 | 2012-05-16 | Jürgen Bock | Universal three-dimensional lifting table has table plate and two or multiple hinge joint systems with hinge segment on base plate, rack frame or base |
| CN202712431U (en) * | 2012-08-27 | 2013-01-30 | 中国电子科技集团公司第五十四研究所 | Antenna sub-reflector system comprising fixed adjusting mechanism |
-
2013
- 2013-02-28 CN CN201310064015.XA patent/CN103143940B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1627811A1 (en) * | 1988-12-19 | 1991-02-15 | Предприятие П/Я А-7650 | Coordinate measuring machine |
| CN1375379A (en) * | 2001-03-15 | 2002-10-23 | 四川大学 | New-type mixed-coupled five-freedom virtual shaft machine tool |
| CN201534508U (en) * | 2009-11-19 | 2010-07-28 | 北京明航技术研究所 | Automatic balancing corona-protective chair |
| DE102010051480A1 (en) * | 2010-11-15 | 2012-05-16 | Jürgen Bock | Universal three-dimensional lifting table has table plate and two or multiple hinge joint systems with hinge segment on base plate, rack frame or base |
| CN202712431U (en) * | 2012-08-27 | 2013-01-30 | 中国电子科技集团公司第五十四研究所 | Antenna sub-reflector system comprising fixed adjusting mechanism |
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| CN103143940A (en) | 2013-06-12 |
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