CN103286777A - Novel spatial three-freedom-degree parallel connection mechanism - Google Patents
Novel spatial three-freedom-degree parallel connection mechanism Download PDFInfo
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- CN103286777A CN103286777A CN2013101958437A CN201310195843A CN103286777A CN 103286777 A CN103286777 A CN 103286777A CN 2013101958437 A CN2013101958437 A CN 2013101958437A CN 201310195843 A CN201310195843 A CN 201310195843A CN 103286777 A CN103286777 A CN 103286777A
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Abstract
The invention discloses a novel spatial three-freedom-degree parallel connection mechanism which comprises a frame. A movable platform is disposed above the frame. The frame is of a regular triangle symmetrical structure. A guide slide rail is disposed on each triangle edge of the frame. A first drive support chain, a second drive support chain and a third drive support chain are spatially symmetrically disposed between the frame and the movable platform. The first drive support chain, the a second drive support chain and the third drive support chain are of the same structure. Each drive support chain comprises a slide saddle which is connected with the corresponding guide slide rail to form a liner motion pair, the slide saddle is movably connected with one end of a connecting rod, and the other end of the connecting rod is provided with a three-rotation-freedom-degree hinge connected with the movable platform. The parallel connection mechanism is simple in structure, convenient to manufacture and mount, high in gesture ability and good in dynamic performance.
Description
Technical field
The present invention relates to a kind of parallel institution, but particularly relate to the parallel institution of a kind of implementation space three rotation operation functions.
Background technology
According to patent ZL200910054381, ZL201210182195.7 etc. as can be known, the existing space 3-freedom parallel mechanism mainly contains 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, the inertia of end effector is bigger, and no constrained branched chain differs greatly with proper constrained branched chain load, influences the dynamic property of mechanism etc.
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 new spatial 3-freedom parallel mechanism that rotate in end effector space three.
A kind of new spatial 3-freedom parallel mechanism of the present invention, it comprises frame, above described frame, be provided with a moving platform, described frame is equilateral triangle symmetric arrangement structure, each bar triangle edges in described frame is provided with a 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 straight line 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 perpendicular to the hold concurrently coupled motions of translation of the rotation of moving platform normal direction, when three active branched chain of drive unit driving produced different inputs, described moving platform can be realized the rotation around two other direction.
Description of drawings
Fig. 1 is the structural representation of a kind of new spatial 3-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 new spatial 3-freedom parallel mechanism of the present invention as shown in the figure, it comprises frame 7, above described frame, be provided with a moving platform 1, described frame is equilateral triangle symmetric arrangement structure, each bar triangle edges in described frame is provided with a 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 straight line 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 axis of described revolute pair is consistent with described directive slide track direction.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 is equilateral triangle symmetric arrangement structure, described first active branched chain, second active branched chain, the 3rd active branched chain space three are symmetrically distributed between described frame 7 and the described moving platform 1, and described frame 7 links to each other by the straight line moving sets with described first active branched chain, second active branched chain, the 3rd active branched chain.Described straight line moving sets can adopt the slide block structure of guide rail shown in the accompanying drawing, i.e. fixedly connected directive slide track on the frame 7, and an end of active branched chain arranges saddle, and described directive slide track cooperates with described saddle and forms the straight line moving sets.Described straight line moving sets can adopt forms such as linear electric motors, screw-nut structure.
Described first active branched chain, second active branched chain, the 3rd active branched chain have identical frame for movement, form by saddle, revolute pair, connecting rod, spherical hinge.Described spherical hinge 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 first saddle 6A and frame directive slide track constitute the straight line 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 is consistent with respective straight moving sets direction, and the first connecting rod 4A other end 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 second saddle 6B and frame directive slide track constitute the straight line 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 is consistent with respective straight moving sets direction, and the second connecting rod 4B other end 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 3rd saddle 6C and frame directive slide track constitute the straight line 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 is consistent with respective straight moving sets direction, and the third connecting rod 4C other end 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, the straight line 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 feed screw nut.The first feed screw nut 10A links to each other with saddle, servomotor 8 passes to the first feed screw nut 10A via the first leading screw 9A with rotation, the first feed screw nut 10A drives the saddle translation, reaches the first saddle 6A through the first feed screw nut 10A again, thereby realizes the driving of first active branched chain.In the same way, can realize the driving of second active branched chain, the 3rd active branched chain.
Described straight line 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, moving platform 1 is realized the double coupled motions along the translation of Z axle of rotation of moving platform normal direction Z axle, when described drive unit drives described three active branched chain and produces different inputs, described moving platform can be realized the rotation around X, Y-axis, so mechanism of the present invention has space three-rotation freedom.
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. new spatial 3-freedom parallel mechanism, it comprises frame, above described frame, be provided with a moving platform, it is characterized in that: described frame is equilateral triangle symmetric arrangement structure, each bar triangle edges in described frame is provided with a 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 straight line 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. new spatial 3-freedom 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 axis of described revolute pair is consistent with described directive slide track direction.
3. new spatial 3-freedom 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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| CN201310195843.7A CN103286777B (en) | 2013-05-23 | 2013-05-23 | A kind of Novel spatial three-freedom-degreeparallel parallel connection mechanism |
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| CN201310195843.7A CN103286777B (en) | 2013-05-23 | 2013-05-23 | A kind of Novel spatial three-freedom-degreeparallel parallel connection mechanism |
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| CN103286777B CN103286777B (en) | 2015-12-09 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106076808A (en) * | 2016-06-16 | 2016-11-09 | 安徽旺达铜业发展有限公司 | A kind of multiple degrees of freedom copper powder screening machine |
| CN106695759A (en) * | 2016-12-13 | 2017-05-24 | 九江精密测试技术研究所 | Three DOF (Degree of Freedom) parallel stable platform provided with symmetrical hybrid branches |
| CN107066078A (en) * | 2016-11-28 | 2017-08-18 | 歌尔股份有限公司 | A kind of control system of virtual reality experience platform |
| CN109499009A (en) * | 2018-12-12 | 2019-03-22 | 深圳先进技术研究院 | A kind of robot for implantation radiation particle |
| CN112720424A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Double-layer three-section guide rail type planar robot with parallelogram |
| CN112720423A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Single-layer three-section guide rail type planar robot with double parallelograms |
| CN117226459A (en) * | 2023-11-08 | 2023-12-15 | 之江实验室 | Installation fixture for connecting rod of transmission system |
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| EP0263627A1 (en) * | 1986-09-30 | 1988-04-13 | Dilip Kohli | Robotic manipulators and rotary linear actuators for use in such manipulators |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106076808A (en) * | 2016-06-16 | 2016-11-09 | 安徽旺达铜业发展有限公司 | A kind of multiple degrees of freedom copper powder screening machine |
| CN107066078A (en) * | 2016-11-28 | 2017-08-18 | 歌尔股份有限公司 | A kind of control system of virtual reality experience platform |
| WO2018094923A1 (en) * | 2016-11-28 | 2018-05-31 | 歌尔股份有限公司 | Control system for virtual reality experience platform |
| CN107066078B (en) * | 2016-11-28 | 2019-05-07 | 歌尔股份有限公司 | A kind of control system of virtual reality experience platform |
| CN106695759B (en) * | 2016-12-13 | 2023-04-11 | 九江精密测试技术研究所 | Three-degree-of-freedom parallel stable platform with symmetrical parallel-serial branches |
| CN106695759A (en) * | 2016-12-13 | 2017-05-24 | 九江精密测试技术研究所 | Three DOF (Degree of Freedom) parallel stable platform provided with symmetrical hybrid branches |
| CN109499009A (en) * | 2018-12-12 | 2019-03-22 | 深圳先进技术研究院 | A kind of robot for implantation radiation particle |
| CN112720424A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Double-layer three-section guide rail type planar robot with parallelogram |
| CN112720424B (en) * | 2021-01-12 | 2022-03-25 | 山东理工大学 | Double-layer three-section guide rail type planar robot with parallelogram |
| CN112720423B (en) * | 2021-01-12 | 2022-03-25 | 山东理工大学 | Single-layer three-section guide rail type planar robot with double parallelograms |
| CN112720423A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Single-layer three-section guide rail type planar robot with double parallelograms |
| CN117226459A (en) * | 2023-11-08 | 2023-12-15 | 之江实验室 | Installation fixture for connecting rod of transmission system |
| CN117226459B (en) * | 2023-11-08 | 2024-02-09 | 之江实验室 | Installation fixture for connecting rod of transmission system |
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