CN103302510A - Parallel mechanism with two floatable staggered spindles - Google Patents
Parallel mechanism with two floatable staggered spindles Download PDFInfo
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- CN103302510A CN103302510A CN2013102778978A CN201310277897A CN103302510A CN 103302510 A CN103302510 A CN 103302510A CN 2013102778978 A CN2013102778978 A CN 2013102778978A CN 201310277897 A CN201310277897 A CN 201310277897A CN 103302510 A CN103302510 A CN 103302510A
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Abstract
The invention discloses a parallel mechanism with two floatable staggered spindles, which belongs to the technical field of machine tools, is provided with a revolute pair, and comprises a moving platform, wherein the moving platform is formed by three braches, a first rack, a second rack and a third rack in a connecting manner; the first branch comprises a first upper sliding pair, a first universal pair, a first lower sliding pair and a first revolute pair sequentially connected through a connecting rod; the second branch comprises a second upper revolute pair, a second lower revolute pair and a second universal pair sequentially connected through another connecting rod; the third branch comprises a third upper revolute pair, a third lower revolute pair and a third universal pair sequentially connected through another connecting rod. According to the invention, the positions of two rotary characteristic axes of the moving platform can be changed, so the load requirement of a power unit can be lowered.
Description
Technical field
What the present invention relates to is a kind of device that has the machine tool technology field of revolute pair, specifically is a kind of parallel institution that contains two staggered rotating shafts of can floating.
Background technology
Parallel institution be moving platform with fixed platform by at least two independently kinematic chain be connected, mechanism has two or more frees degree, and a kind of closed loop mechanism that drives with parallel way.The people compares with serial machine, and parallel robot has the following advantages: (1) no accumulated error, and precision is higher; (2) drive unit can place on the fixed platform or near the position of fixed platform, motion parts is in light weight like this, the speed height, and dynamic response is good; (3) compact conformation, the rigidity height, bearing capacity is big; According to these characteristics, parallel robot need not obtain extensive use in the field of very big working space in the high rigidity of needs, high accuracy or big load.
And the lower-mobility parallel institution is with respect to the 6DOF parallel institution, have again simple in structure, cost is low, kinematics solution is simple relatively, input less and the easy characteristics such as realization of control.Therefore the lower-mobility parallel institution is with a wide range of applications in fields such as industrial robot, imaginary axis Digit Control Machine Tool, airplane motion simulator and Medical Robots.
For parallel institution, its kinematics of mechanism coupling is all more intense, and as famous Delta mechanism, this mechanism is made up of 12 ball pivots, three revolute pairs and 14 rod members, and structure is comparatively complicated, and kinematics solution is loaded down with trivial details.For other three-freedom degree spatial parallel structures, particularly one move two parallel institution such as the parallel institutions such as 3-PRS, 3-RPS, 3-RRS that rotate, it can not realize the pure rotation output of moving platform, in certain rotation, certainly leading to the movement of following, so its coupling is stronger, motion is found the solution complicated, and design processing is also complicated.
Find through the retrieval to prior art, Chinese patent literature CN202292114, open day 2012-07-04 has put down in writing a kind of 3-freedom parallel mechanism with two vertical interlaced rotating shafts, comprises moving platform, frame and three branches; It is characterized in that first branch and second branch are serially connected with universal hinge, moving sets, connecting rod and revolute pair; The 3rd branch is serially connected with revolute pair, moving sets, connecting rod and universal hinge; The outside shaft axis conllinear of the universal hinge of first branch and second branch and be parallel to the revolute pair axis of the 3rd branch; The inside shaft axis of the universal hinge of the inside shaft axis of the universal hinge of first branch, revolute pair axis and second branch, revolute pair axis are parallel to each other and perpendicular to the outside shaft axis of the universal hinge of first branch and second branch; In the 3rd branch, first shaft axis of universal hinge is parallel to the revolute pair axis; Second shaft axis of universal hinge is parallel to the revolute pair axis of first branch and second branch.But in the prior art, the a certain rotation feature of moving platform (i.e. the rotation feature of the outside rotating shaft of universal hinge in first branch and second branch), its locus is changeless, when moving platform departs from the distance of this pivot center when far away, its desired input power or torque ratio are bigger, thereby have increased the load request of power set; Simultaneously, prior art requires the necessary conllinear of a certain rotating shaft of certain two universal pair, thereby makes installation difficulty increase; , increased the required inertia force of mechanism kinematic, thereby made the input power of mechanism or moment increase as driving pair with the moving sets that directly do not link to each other with frame.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of parallel institution that contains two staggered rotating shafts of can floating is provided.
The present invention is achieved by the following technical solutions, the present invention relates to a kind of parallel institution that contains two staggered rotating shafts of can floating, and comprising: the moving platform that is connected with first frame, second frame, the 3rd frame by three branches respectively.
Described first branch comprises: successively by connecting rod link to each other first on moving sets, the first universal pair, first time moving sets and first revolute pair, wherein: moving sets is linked to each other with first frame by connecting rod on first, and first revolute pair is linked to each other with moving platform by connecting rod;
The one or two rotating shaft of the first universal pair and the first revolute pair axis are parallel to each other in described first branch, and first time moving sets is vertical with the first revolute pair axis;
Described second branch comprises: by connecting rod link to each other successively second on revolute pair, second time revolute pair and the second universal pair, wherein: revolute pair is linked to each other with second frame by connecting rod on second, the second universal pair is linked to each other with moving platform by connecting rod;
The two or two rotating shaft of revolute pair on described second, second time revolute pair axis and the second universal pair is parallel to each other;
Described the 3rd branch adopts any one realization in following two kinds of structures:
A) the 3rd branch comprises: by connecting rod link to each other successively the 3rd on revolute pair, the 3rd time revolute pair and the 3rd universal pair, wherein: revolute pair is linked to each other with second frame by connecting rod on the 3rd, the 3rd universal pair is linked to each other with moving platform by connecting rod;
B) the 3rd branch comprises: by first typed ball bearing pair, three moving sets and second typed ball bearing pair that connecting rod links to each other successively, wherein: first typed ball bearing pair is linked to each other with the 3rd frame by connecting rod, and second typed ball bearing pair is linked to each other with moving platform by connecting rod.
When the scheme of employing a:
The three or two pivot center of revolute pair on the described the 3rd, the 3rd time revolute pair axis and the 3rd universal pair is parallel to each other;
Described second branch and the 3rd branch branch into the benchmark symmetric arrangement with first;
The 21 pivot center of the first revolute pair axis and the second universal pair, the 31 pivot center of the 3rd universal pair are parallel to each other in described first branch;
In described second and third branch in revolute pair, first branch the one one pivot center of the first universal pair be parallel to each other.
The 31 pivot center conllinear of the 3rd universal pair in the 21 pivot center of the second universal pair and the 3rd branch in described second branch.
Technique effect
The position of two pivot centers of moving platform all can change in first scheme of the present invention, thereby can reduce the load request of power set; Certain pivot center must conllinear two universal pairs all be positioned on the moving platform, make installation difficulty reduce, provide cost savings (status requirement of easier realization two universal pairs namely in this case); With the revolute pair that directly links to each other with frame as driving pair, thereby the required inertia force of reducing mechanism motion.
The position of two of moving platform pivot centers all can change in the alternative plan of the present invention, thereby can reduce the load request of power set; Simultaneously, this mechanism does not require the necessary conllinear of certain pivot center of certain two universal pair, thereby has reduced the installation difficulty of mechanism greatly, provides cost savings; With the revolute pair that directly links to each other with frame as driving pair, thereby the required inertia force of reducing mechanism motion.
Description of drawings
Fig. 1 is the structure chart of embodiment 1;
Fig. 2 is the structure chart of embodiment 2.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the moving platform M of present embodiment is respectively by three branches and the first frame F
1, the second frame F
2, the 3rd frame F
3Connect:
Among first A1 of branch, moving sets P on first
1aConnect the first frame F
1With first on connecting rod 11, the first universal secondary U
112, the first times moving sets P of connecting rod in the connecting rod 11 and first in the connection first
1bConnect connecting rod 12 and first lower link, 13, the first revolute pair R in first
1Connect first lower link 13 and moving platform M;
Among second A2 of branch, revolute pair R on second
2aConnect the second frame F
2With second on 21, the second times revolute pair R of connecting rod
2bConnect connecting rod 21 and second lower link, 22, the second universal secondary U on second
2Connect connecting rod 22 and moving platform M in first;
Among the 3rd A3 of branch, revolute pair R on the 3rd
3aConnect the 3rd frame F
3With the 3rd on 31, the three times revolute pair R of connecting rod
3bConnect connecting rod 31 and the 3rd lower link 32, the three universal secondary U on the 3rd
3Connect the 3rd lower link 32 and moving platform M;
Wherein, the kinematic pair of each branch satisfies following relation:
The first universal secondary U among first A1 of branch
1The one or two pivot center L12 and the first revolute pair R
1Axis is parallel to each other, first time moving sets P
1bWith the first revolute pair R
1Axis normal;
Revolute pair R on second among second A2 of branch
2a, second time revolute pair R
2bRevolute pair axis and the second universal secondary U
2In the two or two pivot center L22 be parallel to each other;
Revolute pair R on the 3rd among the 3rd A3 of branch
3a, the 3rd time revolute pair R
3bRevolute pair axis and the 3rd universal secondary U
3In the three or two pivot center L32 be parallel to each other;
Second A2 of branch and the 3rd A3 of branch are the benchmark symmetric arrangement with first A1 of branch;
The first universal secondary U among first A1 of branch
1The one one pivot center L11 respectively with second and third branch in revolute pair R on second
2a, revolute pair R on the 3rd
3aAxis be parallel to each other;
The first revolute pair R among first A1 of branch
1Axis and the second universal secondary U
2The 21 pivot center L21, the 3rd universal secondary U
3The 31 pivot center L31 be parallel to each other;
Revolute pair R on second in second and third branch
2a, revolute pair R on the 3rd
3aThe revolute pair axis is parallel to each other.
The second universal secondary U in described second branch
2The 21 pivot center L21 and the 3rd branch in the 3rd universal secondary U
3The 31 pivot center L31 conllinear.
First time moving sets P of the described first branch road A1
1b, the second branch road A2 second on revolute pair R
2aAnd the 3rd branch road A3 the 3rd on revolute pair R
3aBe driving pair; Initiatively the driving of moving sets is motor screw body or hydraulic mechanism, and the driving of active rotation pair is servomotor.In addition, moving sets P on first of the first branch road A1
1aBe additional driving pair, be used for regulating the locus of L11, its driving is motor screw body or hydraulic mechanism.
But two rotational freedoms and an one-movement-freedom-degree in the moving platform implementation space; Wherein two rotational freedoms are respectively that moving platform can rotate around the one one pivot center L11 of the first universal pair of first branch road, are called first rotation feature; Moving platform can rotate around the 21 pivot center L21 of the second universal pair of second branch road, is called second rotation feature; One-movement-freedom-degree is that moving platform can be along the first revolute pair R of first branch road
1Axis and second branch road second on revolute pair R
2aThe common vertical line direction of axis move.
Work as P
1aDuring the moving sets input, can regulate the locus of L11, thereby realize the change of the moving platform first rotation feature position.Therefore two rotation feature positions of this mechanism's moving platform, namely the position of L11 and L21 can change (position that prior art then can only change moving platform pivot center L21) thus but the size of reducing mechanism input torque or power.
As shown in Figure 2, the moving platform M of present embodiment is respectively by three branches and the first frame F
1, the second frame F
2, the 3rd frame F
3Connect:
Among first A1 of branch, moving sets P on first
1aConnect the first frame F
1With first on connecting rod 11, the first universal secondary U
112, the first times moving sets P of connecting rod in the connecting rod 11 and first in the connection first
1bConnect connecting rod 12 and first lower link, 13, the first revolute pair R in first
1Connect first lower link 13 and moving platform M;
Among second A2 of branch, revolute pair R on second
2aConnect the second frame F
2With second on 21, the second times revolute pair R of connecting rod
2bConnect connecting rod 21 and second lower link, 22, the second universal secondary U on second
2Connect connecting rod 12 and moving platform M in first;
Among the 3rd A3 of branch, the first typed ball bearing pair S
1Connect the 3rd frame F
3With the 3rd on connecting rod 31, the three moving sets P
3Connecting rod 31 and the 3rd lower link 32, the second typed ball bearing pair S on the 3rd in succession
2Connect the 3rd lower link 32 and moving platform M;
Wherein, the kinematic pair of each branch satisfies following relation:
The first universal secondary U among first A1 of branch
1The one or two pivot center L12 and the first revolute pair R
1Axis is parallel to each other, first time moving sets P
1bWith the first revolute pair R
1Axis normal;
Revolute pair R on second among second A2 of branch
2a, second time revolute pair R
2bAxis and the second universal secondary U
2The two or two pivot center L22 be parallel to each other;
The first universal secondary U among first A1 of branch
1The one one pivot center L11 and second on revolute pair R
2aAxis be parallel to each other;
The first revolute pair R among first A1 of branch
1Axis and the second universal secondary U
2The 21 pivot center L21 be parallel to each other.
First time moving sets P of the described first branch road A1
1b, the second branch road A2 second on revolute pair R
2aAnd the three moving sets P of the 3rd branch road A3
3Be driving pair; Initiatively the driving of moving sets is motor screw body or hydraulic mechanism, and the driving of active rotation pair is servomotor.In addition, moving sets P on first of the first branch road A1
1aBe additional driving pair, be used for regulating the locus of L11, its driving is motor screw body or hydraulic mechanism.
But two rotational freedoms and an one-movement-freedom-degree in the moving platform implementation space; Wherein two rotational freedoms are respectively that moving platform can rotate around the one one pivot center L11 of the first universal pair of first branch road, are called first rotation feature; Moving platform can rotate around the 21 pivot center L21 of the second universal pair of second branch road, is called second rotation feature; One-movement-freedom-degree is that moving platform can be along the first revolute pair R of first branch road
1Axis and second branch road second on revolute pair R
2aThe common vertical line direction of axis move.
Work as P
1aDuring the moving sets input, can regulate the locus of L11, thereby realize the change of the moving platform first rotation feature position.Therefore two rotation feature positions of this mechanism's moving platform, namely the position of L11 and L21 can change (position that prior art then can only change moving platform pivot center L21) thus but the size of reducing mechanism input torque or power.
Claims (3)
1. a parallel institution that contains two staggered rotating shafts of can floating is characterized in that, comprising: the moving platform that is connected with first frame, second frame, the 3rd frame by three branches respectively;
First branch comprises: successively by connecting rod link to each other first on moving sets, the first universal pair, first time moving sets and first revolute pair, wherein: moving sets is linked to each other with first frame by connecting rod on first, and first revolute pair is linked to each other with moving platform by connecting rod;
The one one pivot center of the first universal pair and the first revolute pair axis are parallel to each other in first branch, and first time moving sets is vertical with the first revolute pair axis;
Second branch comprises: by connecting rod link to each other successively second on revolute pair, second time revolute pair and the second universal pair, wherein: revolute pair is linked to each other with second frame by connecting rod on second, the second universal pair is linked to each other with moving platform by connecting rod;
The two or two pivot center is parallel to each other in revolute pair on second, second time revolute pair axis and the second universal pair.
2. want 1 described mechanism according to right, it is characterized in that, described the 3rd branch adopts any one realization in following two kinds of structures:
A) the 3rd branch comprises: by connecting rod link to each other successively the 3rd on revolute pair, the 3rd time revolute pair and the 3rd universal pair, wherein: revolute pair is linked to each other with second frame by connecting rod on the 3rd, the 3rd universal pair is linked to each other with moving platform by connecting rod;
B) the 3rd branch comprises: by first typed ball bearing pair, three moving sets and second typed ball bearing pair that connecting rod links to each other successively, wherein: first typed ball bearing pair is linked to each other with the 3rd frame by connecting rod, and second typed ball bearing pair is linked to each other with moving platform by connecting rod.
3. mechanism according to claim 2 is characterized in that, when the scheme of employing a:
Second branch and the 3rd branch branch into the benchmark symmetric arrangement with first;
In first branch the one one pivot center of the first universal pair respectively with second and third branch on second on the revolute pair, the 3rd axis of revolute pair be parallel to each other;
The 21 pivot center of the first revolute pair axis and the second universal pair, the 31 pivot center of the 3rd universal pair are parallel to each other in first branch;
In second and third branch in revolute pair, first branch the one one pivot center of the first universal pair be parallel to each other;
The 31 pivot center conllinear of the 3rd universal pair in the 21 pivot center of the second universal pair and the 3rd branch in second branch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310277897.8A CN103302510B (en) | 2013-07-03 | 2013-07-03 | Can be floated containing two the parallel institution of staggered rotating shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310277897.8A CN103302510B (en) | 2013-07-03 | 2013-07-03 | Can be floated containing two the parallel institution of staggered rotating shaft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103302510A true CN103302510A (en) | 2013-09-18 |
| CN103302510B CN103302510B (en) | 2015-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310277897.8A Expired - Fee Related CN103302510B (en) | 2013-07-03 | 2013-07-03 | Can be floated containing two the parallel institution of staggered rotating shaft |
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|---|---|
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107825402A (en) * | 2017-12-08 | 2018-03-23 | 山东科技大学 | A kind of Three Degree Of Freedom high speed conveying robot |
| CN107838910A (en) * | 2017-12-08 | 2018-03-27 | 山东科技大学 | A kind of two degrees of freedom carries at a high speed shift mechanism |
| CN108172997A (en) * | 2018-02-13 | 2018-06-15 | 河南科技大学 | Based on the antenna attitude adjusting apparatus without three branch of coupling, two one-rotation parallel mechanism |
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
| CN114269520A (en) * | 2019-08-19 | 2022-04-01 | 康格尼博提克斯股份公司 | Parallel sports equipment with multifunctional cutter orientation |
| CN113246099B (en) * | 2021-05-14 | 2024-05-03 | 江南大学 | Three-degree-of-freedom parallel mechanism with continuous rotating shaft |
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| CN103144097A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Asymmetric parallel robot mechanism with two rotations and one movement |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825402A (en) * | 2017-12-08 | 2018-03-23 | 山东科技大学 | A kind of Three Degree Of Freedom high speed conveying robot |
| CN107838910A (en) * | 2017-12-08 | 2018-03-27 | 山东科技大学 | A kind of two degrees of freedom carries at a high speed shift mechanism |
| CN107838910B (en) * | 2017-12-08 | 2024-03-26 | 山东科技大学 | Two-degree-of-freedom high-speed carrying shifting mechanism |
| CN108172997A (en) * | 2018-02-13 | 2018-06-15 | 河南科技大学 | Based on the antenna attitude adjusting apparatus without three branch of coupling, two one-rotation parallel mechanism |
| CN108172997B (en) * | 2018-02-13 | 2023-08-15 | 河南科技大学 | Antenna attitude adjusting device based on uncoupled three-branch two-rotation parallel mechanism |
| CN114269520A (en) * | 2019-08-19 | 2022-04-01 | 康格尼博提克斯股份公司 | Parallel sports equipment with multifunctional cutter orientation |
| CN114269520B (en) * | 2019-08-19 | 2024-02-06 | 康格尼博提克斯股份公司 | Parallel sports equipment with multifunctional tool orientation |
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
| CN113246099B (en) * | 2021-05-14 | 2024-05-03 | 江南大学 | Three-degree-of-freedom parallel mechanism with continuous rotating shaft |
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