CN103286771A - Spatial three-rotational-freedom parallel connecting mechanism - Google Patents
Spatial three-rotational-freedom parallel connecting mechanism Download PDFInfo
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- CN103286771A CN103286771A CN201310195848XA CN201310195848A CN103286771A CN 103286771 A CN103286771 A CN 103286771A CN 201310195848X A CN201310195848X A CN 201310195848XA CN 201310195848 A CN201310195848 A CN 201310195848A CN 103286771 A CN103286771 A CN 103286771A
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Abstract
The invention discloses a spatial three-rotational-freedom parallel connecting mechanism which comprises a rack. A moving platform is arranged above the rack which is of a round arrangement structure. A round guide sliding rail is arranged on the rack. A first active branched chain, a second active branched chain and a third active branched chain are distributed between the rack and the moving platform in a spatial three-symmetry manner, and have same structures. Each active branched chain comprises a sliding saddle, and each sliding saddle and the guide sliding rail are connected to form a moving pair. Each sliding saddle is connected with one end of each connecting rod. The other ends of the connecting rods are connected with the moving platform through three-rotational-freedom hinges. The spatial three-rotational-freedom parallel connecting mechanism is simple in structure, convenient to manufacture and mount, high in posture capability and good in dynamic property.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly relate to a kind of parallel institution of realizing the three-rotational-freedom operation function.
Background technology
According to patent ZL200910054381, ZL201210182195.7 etc. as can be known, the existing space three-rotation freedom parallel mechanism, mainly contain two kinds of ways of realization: one, there is not the constrained motion side chain by two (or three) bar between frame and the terminal moving platform and the proper constrained branched chain of Three Degree Of Freedom links to each other, drive unit all is set on the side chain, every side chain can move under the driving of drive unit separately, makes moving platform produce space three rotations with respect to frame; Its two, the form that adopts two-degree-of-freedom parallel mechanism to connect with the single-degree-of-freedom rotary head.
The deficiency that this type of mechanism exists is: each branched structure is formed complicated, and each kinematic pair is arranged difficulty in the side chain, to processing and matching requirements harshness, the manufacturing cost height, end effector inertia is big, and no constrained branched chain differs greatly with proper constrained branched chain load, influences the dynamic property of mechanism.
Summary of the invention
The objective of the invention is to overcome the shortcoming of prior art, provide a kind of simple in structure, easy for installation, bearing capacity is high and working space is big, can realize a kind of space three-rotation freedom parallel mechanism that rotate in end effector space three.
A kind of space three-rotation freedom parallel mechanism of the present invention, it comprises frame, above described frame, be provided with a moving platform, the rounded arrangement of described frame, described frame is provided with circular directive slide track, first, second, the 3rd active branched chain space three is symmetrically distributed between described frame and the moving platform, described first, second, the 3rd active branched chain has identical structure, each active branched chain comprises linking to each other with directive slide track and constitutes the saddle of moving sets, one end of described saddle and connecting rod is movably connected, and the other end of described connecting rod links to each other with described moving platform by the hinge with three-rotational-freedom.
Space three-freedom connection-in-parallel mechanism beneficial effect of the present invention is: the modular construction design, and simple in structure, to be convenient to make and to install, orientation capability is strong, and dynamic property is good.When drive unit drives first, second, third active branched chain and produces identical motion, moving platform is realized the rotation perpendicular to the moving platform normal direction, and hard-over can reach 360 °, when three active branched chain of drive unit driving produce different inputs, moving platform can be realized the rotation of two other direction, so mechanism of the present invention has space three-rotation freedom, and has bigger attitude working space.
Description of drawings
Fig. 1 is the structural representation of a kind of space three-rotation freedom parallel mechanism of the present invention;
Fig. 2 is the work structuring schematic diagram of parallel institution shown in Figure 1;
Fig. 3 is the drive unit part schematic diagram in the work structuring of parallel institution shown in Figure 2.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in detail.
A kind of space three-rotation freedom parallel mechanism of the present invention as shown in drawings, it comprises frame 7, above described frame, be provided with a moving platform 1, described frame is rounded, described frame is provided with circular directive slide track, first, second, the 3rd active branched chain space three symmetries i.e. being distributed between described frame and the moving platform of space symmetry each other, described first, second, the 3rd active branched chain has identical structure, each active branched chain comprises linking to each other with directive slide track and constitutes the saddle of moving sets, one end of described saddle and connecting rod is movably connected, and the other end of described connecting rod links to each other with described moving platform by the hinge with three-rotational-freedom.
Preferred described saddle links to each other by revolute pair with an end of connecting rod, and the described revolute pair axis instantaneous axis direction with moving sets all the time is consistent.Can certainly be on saddle a fixedly connected slide rail, an end of connecting rod is slide block, described slide block and slide rail formation first moving sets that links to each other that slides, described slide block axis and connecting rod axis conllinear can be realized space three rotations of end effector equally.
Preferred described hinge with three-rotational-freedom is spherical hinge.
Described in detail in conjunction with the present invention of each width of cloth figure more below:
Fig. 1 mid frame 7 rounded arrangements, described circular frame 7 is provided with circular directive slide track, described first active branched chain, second active branched chain, the 3rd active branched chain are distributed between described frame 7 and the moving platform 1, and described frame 7 links to each other by moving sets with described first active branched chain, second active branched chain, the 3rd active branched chain.Described moving sets can adopt the slide block structure of guide rail shown in the accompanying drawing, i.e. fixedly connected circular directive slide track on the frame 7, and an end of active branched chain 2 arranges saddle, and described circular directive slide track cooperates with described saddle and forms moving sets.The type of drive of described moving sets can adopt servomotor to add little/large bevel gear also can adopt structures such as hydraulic pressure as type of drive.
Described hinge with three-rotational-freedom also can adopt other hinge forms with three turning powers, the hinge of forming as the revolute pair of three pairwise orthogonals etc.
Described first active branched chain is made up of the first saddle 6A, the first revolute pair 5A, first connecting rod 4A, the first spherical hinge 3A.The circular directive slide track of the first saddle 6A and frame constitutes moving sets, the first saddle 6A links to each other with the end of first connecting rod 4A by the first revolute pair 5A, the first revolute pair 5A axis instantaneous axis direction with described moving sets all the time is consistent, and the other end of first connecting rod 4A links to each other with moving platform 1 by the first spherical hinge 3A.
Described second active branched chain is made up of the second saddle 6B, the second revolute pair 5B, second connecting rod 4B, second spherical hinge.The circular directive slide track of the second saddle 6B and frame constitutes moving sets, the second saddle 6B links to each other with the end of second connecting rod 4B by the second revolute pair 5B, the second revolute pair 5B axis instantaneous axis direction with described moving sets all the time is consistent, and the other end of second connecting rod 4B links to each other with moving platform 1 by second spherical hinge.
Described the 3rd active branched chain is made up of the 3rd saddle 6C, the 3rd revolute pair 5C, third connecting rod 4C, the 3rd spherical hinge 3C.The circular directive slide track of the 3rd saddle 6C and frame constitutes moving sets, the 3rd saddle 6C links to each other with the end of third connecting rod 4C by the 3rd revolute pair 5C, the 3rd revolute pair 5C axis instantaneous axis direction with described moving sets all the time is consistent, and the other end of third connecting rod 4C links to each other with moving platform 1 by the 3rd spherical hinge 3C.
The motion process of this device is:
Shown in Fig. 2 and 3, moving sets is as the drive unit of mechanism, and these space three one-rotation parallel mechanisms adopt servomotor to add the type of drive of little/large bevel gear.First bevel gear 10A and saddle are fixedly linked, servomotor 8 reaches first bevel gear 10A via the first cone pinion 9A with rotation, the first bevel gear 10A of first bevel gear 10A(and saddle are fixedly linked) drive the first saddle 6A translation, thus realize the driving of first active branched chain.Second largest bevel gear 10B and saddle are fixedly linked, and servomotor reaches second largest bevel gear 10B via second cone pinion with rotation, and second largest bevel gear 10B drives the second saddle 6B translation, thereby realize the driving of second active branched chain.The third-largest bevel gear 10C and saddle are fixedly linked, and servomotor reaches the third-largest bevel gear 10C via the 3rd cone pinion with rotation, and the third-largest bevel gear 10C drives the 3rd saddle 6C translation, thereby realize the driving of the 3rd active branched chain.
Described moving sets is as the drive unit of mechanism, when described drive unit drives first active branched chain, second active branched chain, the 3rd active branched chain and produces identical input, described moving platform 1 can be realized the rotation of moving platform normal Z axle, hard-over can reach 360 °, when described drive unit drove first active branched chain, second active branched chain, the 3rd active branched chain and produces different inputs, described moving platform 1 can be realized rotating around X, Y-axis.
The above description of this invention only is schematically, rather than restrictive, so embodiments of the present invention are not limited to the above-mentioned specific embodiment.If those of ordinary skill in the art is enlightened by it, under the situation that does not break away from aim of the present invention and claim institute protection domain, make other variations or modification, all belong to protection scope of the present invention.
Claims (4)
1. space three-freedom connection-in-parallel mechanism, it comprises frame, above described frame, be provided with a moving platform, it is characterized in that: the rounded arrangement of described frame, described frame is provided with circular directive slide track, first, second, the 3rd active branched chain space three is symmetrically distributed between described frame and the moving platform, described first, second, the 3rd active branched chain has identical structure, each active branched chain comprises linking to each other with directive slide track and constitutes the saddle of moving sets, one end of described saddle and connecting rod is movably connected, and the other end of described connecting rod links to each other with described moving platform by the hinge with three-rotational-freedom.
2. space three-freedom connection-in-parallel mechanism according to claim 1, it is characterized in that: described saddle links to each other by revolute pair with an end of connecting rod, and the described revolute pair axis instantaneous axis direction with moving sets all the time is consistent.
3. space three-freedom connection-in-parallel mechanism according to claim 1, it is characterized in that: be fixedly connected with a slide rail at described saddle, one end of connecting rod is slide block, and described slide block slides to link to each other with slide rail and constitutes first moving sets, described slide block axis and connecting rod axis conllinear.
4. according to the described new spatial 3-freedom parallel mechanism of one of claim 1-3, it is characterized in that: described hinge with three-rotational-freedom is spherical hinge.
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| CN201310195848XA CN103286771A (en) | 2013-05-23 | 2013-05-23 | Spatial three-rotational-freedom parallel connecting mechanism |
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| CN201310195848XA CN103286771A (en) | 2013-05-23 | 2013-05-23 | Spatial three-rotational-freedom parallel connecting mechanism |
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Cited By (9)
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| CN103831819A (en) * | 2014-03-12 | 2014-06-04 | 合肥工业大学 | Modularized reconstructible soft rope parallel mechanism experiment platform |
| CN104308834A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Symmetric three-rotation parallel mechanism |
| CN104325457A (en) * | 2014-10-24 | 2015-02-04 | 天津大学 | Novel symmetric three-rotation parallel mechanism |
| CN106125770A (en) * | 2016-07-22 | 2016-11-16 | 西安电子科技大学 | A kind of azimuth pitch moves two axle bed framves |
| CN108000176A (en) * | 2018-01-12 | 2018-05-08 | 西南石油大学 | A kind of six-degree-of-freedom parallel bed |
| CN109318186A (en) * | 2018-10-16 | 2019-02-12 | 中国矿业大学 | It is a kind of can continuous rotary four-degree-of-freedom workbench |
| CN110502024A (en) * | 2019-07-23 | 2019-11-26 | 北京控制工程研究所 | A kind of universal posture executing agency of standard based on space parallel mechanism |
| CN113501477A (en) * | 2021-06-24 | 2021-10-15 | 国网山东省电力公司邹城市供电公司 | Leveling operation platform and operation method for line maintenance |
| CN113876432A (en) * | 2021-12-09 | 2022-01-04 | 北方工业大学 | Redundant parallel femoral fracture reduction robot |
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| CN1730235A (en) * | 2005-08-29 | 2006-02-08 | 北京航空航天大学 | Redundant parallel mechanism with six degrees of freedom |
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| CN103831819B (en) * | 2014-03-12 | 2015-11-18 | 合肥工业大学 | A kind of modular reconfigurable flexible cable parallel mechanism experiment porch |
| CN103831819A (en) * | 2014-03-12 | 2014-06-04 | 合肥工业大学 | Modularized reconstructible soft rope parallel mechanism experiment platform |
| CN104308834A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Symmetric three-rotation parallel mechanism |
| CN104325457A (en) * | 2014-10-24 | 2015-02-04 | 天津大学 | Novel symmetric three-rotation parallel mechanism |
| CN104325457B (en) * | 2014-10-24 | 2016-05-04 | 天津大学 | A kind of symmetric form three one-rotation parallel mechanisms |
| CN106125770B (en) * | 2016-07-22 | 2019-06-07 | 西安电子科技大学 | A kind of two axle bed frame of orientation-pitching movement |
| CN106125770A (en) * | 2016-07-22 | 2016-11-16 | 西安电子科技大学 | A kind of azimuth pitch moves two axle bed framves |
| CN108000176A (en) * | 2018-01-12 | 2018-05-08 | 西南石油大学 | A kind of six-degree-of-freedom parallel bed |
| CN109318186A (en) * | 2018-10-16 | 2019-02-12 | 中国矿业大学 | It is a kind of can continuous rotary four-degree-of-freedom workbench |
| CN110502024A (en) * | 2019-07-23 | 2019-11-26 | 北京控制工程研究所 | A kind of universal posture executing agency of standard based on space parallel mechanism |
| CN110502024B (en) * | 2019-07-23 | 2020-10-20 | 北京控制工程研究所 | Quasi-universal attitude executing mechanism based on space parallel mechanism |
| CN113501477A (en) * | 2021-06-24 | 2021-10-15 | 国网山东省电力公司邹城市供电公司 | Leveling operation platform and operation method for line maintenance |
| CN113876432A (en) * | 2021-12-09 | 2022-01-04 | 北方工业大学 | Redundant parallel femoral fracture reduction robot |
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Application publication date: 20130911 |