CN103286777B - A kind of Novel spatial three-freedom-degreeparallel parallel connection mechanism - Google Patents
A kind of Novel spatial three-freedom-degreeparallel parallel connection mechanism Download PDFInfo
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- CN103286777B CN103286777B CN201310195843.7A CN201310195843A CN103286777B CN 103286777 B CN103286777 B CN 103286777B CN 201310195843 A CN201310195843 A CN 201310195843A CN 103286777 B CN103286777 B CN 103286777B
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Abstract
The invention discloses a kind of Novel spatial three-freedom-degreeparallel parallel connection mechanism, it comprises frame, a moving platform is provided with above described frame, described frame is that equilateral triangle is arranged symmetrically with structure, each triangle edges of described frame is provided with a directive slide track, first, second, 3rd active branched chain space three is symmetrically distributed between described frame and moving platform, described first, second, 3rd active branched chain has identical structure, each active branched chain comprises being connected with directive slide track and forms the secondary saddle that moves linearly, one end of described saddle and connecting rod is movably connected, the other end of described connecting rod is connected with described moving platform by the hinge with three-rotational-freedom.Parallel institution structure of the present invention is simple, is convenient to making and installation, and orientation capability is strong, and dynamic property is good.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly relate to a kind of can the parallel institution of implementation space three rotation operation function.
Background technology
Known according to patent ZL200910054381, ZL201210182195.7 etc., existing space three-freedom connection-in-parallel mechanism mainly contains two kinds of ways of realization: one, be connected without constrained motion side chain and a proper constrained branched chain of Three Degree Of Freedom by two (or three) bar between frame with end moving platform, side chain all arranges drive unit, every bar side chain can move separately under the driving of drive unit, makes moving platform produce space three rotation relative to frame; Its two, adopt the two-degree-of-freedom parallel mechanism form of connecting with single-degree-of-freedom rotary head.
The deficiency of this type of mechanism existence is: each branched structure composition is complicated, and in side chain, each kinematic pair is arranged more difficult, to processing and matching requirements harshness, manufacturing cost is high, the inertia of end effector is comparatively large, differs greatly, affect the dynamic property etc. of mechanism without constrained branched chain and proper constrained branched chain load.
Summary of the invention
The object of the invention is to the shortcoming overcoming prior art, provide that a kind of structure is simple, easy for installation, bearing capacity is high and working space is large, a kind of Novel spatial three-freedom-degreeparallel parallel connection mechanism that end effector space three is rotated can be realized.
A kind of Novel spatial three-freedom-degreeparallel parallel connection mechanism of the present invention, it comprises frame, a moving platform is provided with above described frame, described frame is that equilateral triangle is arranged symmetrically with structure, each triangle edges of described frame is provided with a directive slide track, first, second, 3rd active branched chain space symmetr is distributed between described frame and moving platform, described first, second, 3rd active branched chain has identical structure, each active branched chain comprises being connected with directive slide track and forms the secondary saddle that moves linearly, described saddle is connected by revolute pair with one end of connecting rod, the axis of described revolute pair is consistent with the described directive slide track direction corresponding to revolute pair, the other end of described connecting rod is connected with described moving platform by the hinge with three-rotational-freedom.
A kind of Novel spatial three-freedom-degreeparallel parallel connection mechanism of the present invention, it comprises frame, a moving platform is provided with above described frame, described frame is that equilateral triangle is arranged symmetrically with structure, each triangle edges of described frame is provided with a directive slide track, first, second, 3rd active branched chain space symmetr is distributed between described frame and moving platform, described first, second, 3rd active branched chain has identical structure, each active branched chain comprises being connected with directive slide track and forms the secondary saddle that moves linearly, described saddle is fixedly connected with a slide rail, one end of connecting rod is slide block, described slide block and slide rail slide formation first moving sets that is connected, described slide block mobile axis and connecting rod axis collinear, the other end of described connecting rod is connected 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: Modular Structure Design, and structure is simple, is convenient to making and installation, and orientation capability is strong, and dynamic property is good.When drive unit drives first, second, third active branched chain to produce identical motion, moving platform realizes holding concurrently perpendicular to the rotation of moving platform normal direction the coupled motions of translation, when drive unit drives three active branched chain to produce different inputs, described moving platform can realize the rotation around two other direction.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of Novel spatial three-freedom-degreeparallel parallel connection mechanism of the present invention;
Fig. 2 is the work structuring schematic diagram of the parallel institution shown in Fig. 1;
Fig. 3 is the drive unit partial schematic diagram in the work structuring of the parallel institution shown in Fig. 2.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
A kind of Novel spatial three-freedom-degreeparallel parallel connection mechanism of the present invention as shown in the figure, it comprises frame 7, a moving platform 1 is provided with above described frame, described frame is that equilateral triangle is arranged symmetrically with structure, each triangle edges of described frame is provided with a directive slide track, first, second, 3rd active branched chain space symmetr namely each other space symmetr be distributed between described frame and moving platform, described first, second, 3rd active branched chain has identical structure, each active branched chain comprises being connected with directive slide track and forms the secondary saddle that moves linearly, described saddle is flexibly connected with one end of connecting rod, the other end of described connecting rod is connected with described moving platform by the hinge with three-rotational-freedom.
Preferred described saddle is connected by revolute pair with one end of connecting rod, and the axis of described revolute pair is consistent with the described directive slide track direction corresponding to revolute pair.Can certainly be fixedly connected with a slide rail on saddle, one end of connecting rod is slide block, and described slide block and slide rail slide formation first moving sets that is connected, and described slide block mobile axis and connecting rod axis collinear, can realize space three rotation of end effector equally.
The preferred described hinge with three-rotational-freedom is spherical hinge.
In conjunction with each width figure, the present invention is described in detail more below:
Fig. 1 mid frame 7 is arranged symmetrically with structure in equilateral triangle, described first active branched chain, the second active branched chain, the 3rd active branched chain space symmetr are distributed between described frame 7 and described moving platform 1, and described frame 7 is connected by the parafacies that moves linearly with described first active branched chain, the second active branched chain, the 3rd active branched chain.Described rectilinear movement pair can adopt the structure of guide rail slide block shown in accompanying drawing, and namely frame 7 is fixedly connected with directive slide track, one end of active branched chain arranges saddle, and described directive slide track coordinates with described saddle and forms the pair that moves linearly.Described rectilinear movement pair can adopt linear electric motors, the forms such as screw-nut structure.
Described first active branched chain, the second active branched chain, the 3rd active branched chain have identical frame for movement, by saddle, revolute pair, connecting rod, spherical hinge composition.Described spherical hinge also can adopt other to have the hinge format of three turning powers, the hinge etc. that the revolute pair as three pairwise orthogonals forms.
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.First saddle 6A and frame directive slide track form the pair that moves linearly, first saddle 6A is connected with one end of first connecting rod 4A by the first revolute pair 5A, first revolute pair 5A axis is consistent with respective straight moving sets direction, and the first connecting rod 4A other end is connected 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, the second spherical hinge.Second saddle 6B and frame directive slide track form the pair that moves linearly, second saddle 6B is connected with one end of second connecting rod 4B by the second revolute pair 5B, second revolute pair 5B axis is consistent with respective straight moving sets direction, and the second connecting rod 4B other end is connected with moving platform 1 by the second spherical hinge.
Described 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.3rd saddle 6C and frame directive slide track form the pair that moves linearly, 3rd saddle 6C is connected with one end of third connecting rod 4C by the 3rd revolute pair 5C, 3rd revolute pair 5C axis is consistent with respective straight moving sets direction, and the third connecting rod 4C other end is connected with moving platform 1 by the 3rd spherical hinge 3C.
The motion process of this device is:
As shown in Figures 2 and 3, the secondary drive unit as mechanism of rectilinear movement, this space three one-rotation parallel mechanism adopts servomotor to add the type of drive of feed screw nut.First feed screw nut 10A is connected with saddle, rotation is passed to the first feed screw nut 10A via the first leading screw 9A by servomotor 8, first feed screw nut 10A drives saddle translation, then reaches the first saddle 6A through the first feed screw nut 10A, thus realizes the driving of the first active branched chain.In the same way, the driving of the second active branched chain, the 3rd active branched chain can be realized.
The secondary drive unit as mechanism of described rectilinear movement, when described drive unit drive the first active branched chain, the second active branched chain, the 3rd active branched chain produce identical input time, the rotation that moving platform 1 realizes moving platform normal direction Z axis is held concurrently along the coupled motions of Z axis translation, when described drive unit drives described three active branched chain to produce different inputs, described moving platform can realize the rotation around X, Y-axis, therefore mechanism of the present invention has space three-rotation freedom.
The above description of this invention is only schematic, instead of restrictive, so embodiments of the present invention are not limited to above-mentioned detailed description of the invention.If those of ordinary skill in the art enlightens by it, when not departing from present inventive concept and claim institute protection domain, making other change or modification, all belonging to protection scope of the present invention.
Claims (4)
1. a Novel spatial three-freedom-degreeparallel parallel connection mechanism, it comprises frame, a moving platform is provided with above described frame, it is characterized in that: described frame is that equilateral triangle is arranged symmetrically with structure, each triangle edges of described frame is provided with a directive slide track, first, second, 3rd active branched chain space symmetr is distributed between described frame and moving platform, described first, second, 3rd active branched chain has identical structure, each active branched chain comprises being connected with directive slide track and forms the secondary saddle that moves linearly, described saddle is connected by revolute pair with one end of connecting rod, the axis of described revolute pair is consistent with the described directive slide track direction corresponding to revolute pair, the other end of described connecting rod is connected with described moving platform by the hinge with three-rotational-freedom.
2. Novel spatial three-freedom-degreeparallel parallel connection mechanism according to claim 1, is characterized in that: the described hinge with three-rotational-freedom is spherical hinge.
3. a Novel spatial three-freedom-degreeparallel parallel connection mechanism, it comprises frame, a moving platform is provided with above described frame, it is characterized in that: described frame is that equilateral triangle is arranged symmetrically with structure, each triangle edges of described frame is provided with a directive slide track, first, second, 3rd active branched chain space symmetr is distributed between described frame and moving platform, described first, second, 3rd active branched chain has identical structure, each active branched chain comprises being connected with directive slide track and forms the secondary saddle that moves linearly, described saddle is fixedly connected with a slide rail, one end of connecting rod is slide block, described slide block and slide rail slide formation first moving sets that is connected, described slide block mobile axis and connecting rod axis collinear, the other end of described connecting rod is connected with described moving platform by the hinge with three-rotational-freedom.
4. Novel spatial three-freedom-degreeparallel parallel connection mechanism according to claim 2, is characterized in that: the described hinge with three-rotational-freedom is spherical hinge.
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| 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 |
| 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 |
| 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 |
| 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 |
| 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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| CN102626920A (en) * | 2012-03-22 | 2012-08-08 | 燕山大学 | Non-concurrent axis symmetric three-dimensional-rotation parallel mechanism with two-degree of freedom planar subchains |
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| CN102848380A (en) * | 2012-03-22 | 2013-01-02 | 燕山大学 | Symmetric three-freedom-degree rotary parallel mechanism without intersecting axes |
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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 |
| CN102626920A (en) * | 2012-03-22 | 2012-08-08 | 燕山大学 | Non-concurrent axis symmetric three-dimensional-rotation parallel mechanism with two-degree of freedom planar subchains |
| CN102626919A (en) * | 2012-03-22 | 2012-08-08 | 燕山大学 | Symmetrical two-rotation one-moving parallel connection mechanism without concurrent axes |
| CN102848380A (en) * | 2012-03-22 | 2013-01-02 | 燕山大学 | Symmetric three-freedom-degree rotary parallel mechanism without intersecting axes |
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