CN103317498B - Folding type five-degree-of-freedom parallel connected attitude adjustment platform - Google Patents
Folding type five-degree-of-freedom parallel connected attitude adjustment platform Download PDFInfo
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- CN103317498B CN103317498B CN201310210861.8A CN201310210861A CN103317498B CN 103317498 B CN103317498 B CN 103317498B CN 201310210861 A CN201310210861 A CN 201310210861A CN 103317498 B CN103317498 B CN 103317498B
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Abstract
The invention discloses a folding type five-degree-of-freedom parallel connected attitude adjustment platform. The folding type five-degree-of-freedom parallel connected attitude adjustment platform comprises an upper platform, a lower platform and six branches; the six branches are used for connecting the upper platform and the lower platform; the five branches which are arranged on the periphery are driving branches with identical structures; and the rest one is a middle constraint branch. First universal hinges of the five driving hinges are connected with the lower platform; one ends of lower connecting rods are connected with the first universal hinges; the other ends of the lower connecting rods are connected with one ends of upper connecting rods through revolute pairs; the other ends of the upper connecting rods are connected with the upper platform through spherical hinges; the tail portions of electric cylinders are connected with the lower connecting rods; extensible rods of the electric cylinders are connected with the upper connecting rods; a middle connecting rod of the middle constraint branch is an extensible rod; one end of the middle connecting rod is connected with lower platform through one of the second universal hinges; the other end of the middle connecting rod is connected with the upper platform through one of the spherical hinges. The folding type five-degree-of-freedom parallel connected attitude adjustment platform has the advantages of being simple in structure, small in occupying area, low in self-weight, large in attitude adjustment space, convenient to install and maintain, being capable of achieving spatial three dimensional rotational freedom and two dimensional rotational freedom.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly a kind of posture adjustment platform in parallel.
Background technology
Along with the development of society, science and technology is improving, people start the exploration being not content with land and ocean, then yearn for immense universe, and along with the continuous awareness and understanding to universe, people transfer wide space development of resources to from limited ground, and the space technology of at this moment arising at the historic moment becomes the new focus of Technological research.And in space technology earth observation technology particularly important (main by camera shooting).The change appearance of spacecraft has sextuple coupling, the change in location such as the advance and retreat that spacecraft can occur except attitudes vibration with camera when there is the attitudes vibration such as pitching, driftage, rolling, traversing, heave, if use traditional tandem turntable can the volume of enlarging mechanism and quality, raising delivery cost; Parallel institution have that rigidity is large, Stability Analysis of Structures, bearing capacity are strong, precision is high, movement inertia is little, normal solution is difficult relative to serial mechanism and instead to separate easily, cumulative errors are little, fast response time, be easy to realize the feature of multiaxis coupled motions, and to be widely used.Current most study be Six Degree-of-Freedom Parallel Platform, but real work great majority do not need six-freedom degree.Space minority carrier generation lifetime is compared with traditional six-degree-of-freedom parallel connection mechanism, has driving element few, and structure is simple, and working space is large, manufactures and designs and all relatively low feature of controlling cost.But the research of minority carrier generation lifetime is extremely uneven, wherein two, the parallel institution research of Three Degree Of Freedom is mature on the whole, and four, the research of the parallel institution of five degree of freedom is more complicated is still in the starting stage, limits development and the application of such parallel institution to a certain extent.And four, few especially very few in posture adjustment of five-freedom parallel structure, its performance need to improve, and posture adjustment platform in parallel has broad application prospects.
Patent CN102773855A proposes a kind of four-degree-of-freedom posture adjustment vibration-isolating platform in parallel, and this invention has the advantages that structure is simple, posture adjustment space is large, dynamic response is fast and be easy to control.Its weak point is: take volume comparatively large, own wt is not suitable for space environment more greatly; The high rigidity four-freedom parallel mechanism with posture adjustment ability that patent CN102601794A proposes, this invention has that rigidity is large, mechanism responds fast feature.Its deficiency is: complex structure, posture adjustment space is little, precision is poor and wayward; Patent CN1462672A proposes parallel decoupling mechanism with 5 degree of freedom, and this invention can realize the unconditional decoupling zero of Three Degree Of Freedom translation and two-freedom rotates decoupling zero of having ready conditions, and has the advantages that structure is simple, working space is large and be easy to control.Its weak point is: mechanism's rigidity is little, takies volume larger under equal working space.
Summary of the invention
The object of the present invention is to provide that a kind of structure is simple, volume is little, collapsible, posture adjustment space is large, can the implementation space Three dimensional rotation free degree and two to the collapsible five degree of freedom posture adjustment platform in parallel of one-movement-freedom-degree.
Technical scheme of the present invention is as follows:
The present invention mainly comprises upper mounting plate, lower platform and connects six branches of these two platforms, and five that are wherein distributed in surrounding branch into the identical URS driving branch of structure, and one is US intermediate restraint branch.Article five, drive branch by ball pivot, upper connecting rod, revolute pair, electric cylinder, lower link and the first universal hinge composition, it drives branch drives form to be that electric cylinder drives revolute pair to rotate.One end of lower link in this driving branch is connected with lower platform by the first universal hinge, its other end is connected by revolute pair one end with upper connecting rod, on this, the other end of connecting rod is connected with upper mounting plate by ball pivot, the afterbody of electric cylinder is connected with above-mentioned lower link by driving lower revolute pair, and the expansion link of this electric cylinder is connected with above-mentioned upper connecting rod by driving upper revolute pair.Five the first universal hinges are arranged in pentagon on lower platform, the center of rotation of five the first universal hinges is distributed on a circle, second is parallel with the line of the mid point of the first universal hinge of the third and fourth branch with the line of the point of the first universal hinge of quintafurcation, and being symmetrically distributed in the vertical line in the center of circle, the point of the first universal hinge of the first branch is not on vertical line; Five ball pivot dot center are that the pentagon that hinge universal with first is identical is arranged on upper mounting plate; The center of rotation of five ball pivots, is distributed on a circle, and second is parallel with the line of the point of third and fourth branch's ball pivot with the line of the point of quintafurcation ball pivot, and be symmetrically distributed in the vertical line in the center of circle, and the point of first branch's ball pivot is not on vertical line.The intermediate connecting rod of intermediate restraint branch is telescopic rod, and its one end is connected with lower platform by the second universal hinge, and its other end is connected with upper mounting plate by ball pivot.Can be compressed to lowest order when being in off working state, after time in running order, intermediate connecting rod is elongated to working position, length no longer changes.
Five drive the second connected mode of branch: five drive one end of the lower link of branch to be connected with lower platform by the first universal hinge, its other end is connected by revolute pair one end with upper connecting rod, on this, the other end of connecting rod is connected with upper mounting plate by ball pivot, and above-mentioned first universal hinge is arranged in the inner circle of lower platform; The afterbody of electric cylinder is connected with lower platform by the 3rd universal hinge, and the expansion link of this electric cylinder is connected with above-mentioned upper connecting rod by driving upper revolute pair, and above-mentioned 3rd universal hinge and above-mentioned first universal hinge are vertically set on the cylindrical of lower platform.
Intermediate restraint branch the second connected mode: intermediate restraint branches into RPS branch, it is made up of the second revolute pair, moving sets guide rail, slide block, intermediate connecting rod and medial fascicle ball pivot.Second revolute pair is that a rotating disk is located at lower platform center, rotating disk is fixed the moving sets guide rail that is parallel to lower platform, this guide rail is provided with slide block, and intermediate connecting rod is telescopic rod, its one end is fixed on perpendicular to guide rail on slide block, and its other end is connected with upper mounting plate by ball pivot.
The present invention compared with prior art tool has the following advantages:
1, mechanism structure is simple, and posture adjustment space is large, can three, implementation space independently rotational freedom and two one-movement-freedom-degrees with Z axis movement.
2, medial fascicle is compressible shaft, during inoperative position, the compressible mechanism that makes of medial fascicle is in folding lowest order, takies volume little, no longer changes after when being in working position, intermediate connecting rod is elongated to working position, certain effect of contraction is played to mechanism, improves the bearing capacity of mechanism.
3, the present invention is that electric cylinder drives, and stable performance in its posture adjustment space, still having higher dynamic response when bearing load, being easy to installation and maintenance.
4, five-freedom parallel structure, meets the demand of great majority work, has wide practical use in a lot of field.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 1;
Fig. 2 is that the embodiment of the present invention 1 compresses lowest order schematic diagram;
Fig. 3 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 2;
Fig. 4 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 3.
Detailed description of the invention
Embodiment 1
In the posture adjustment platform in parallel of the five degree of freedom shown in Fig. 1 schematic diagram, article five, the URS that structure is identical drives the first universal hinge 6 in branch to be connected with lower platform 7, one end of lower link 5 and first is universally hinged, its other end is connected with one end of upper connecting rod 3 by revolute pair 11, on this, the other end of connecting rod is connected with upper mounting plate 1 by ball pivot 2, upper and lower strut is hollow structure, the afterbody of electric cylinder 4 is connected in lower link by driving lower revolute pair 13, and the expansion link of this electric cylinder is connected with upper connecting rod by driving upper revolute pair 12.Five the first universal hinges are arranged in pentagon on lower platform, and the center of rotation of five the first universal hinges is distributed on a circle, the some A of the first universal hinge of the second branch
2with the some A of the first universal hinge of quintafurcation
5line and the mid point A of the first universal hinge of the 3rd branch
3with the mid point A of the first universal hinge of the 4th branch
4line parallel, and be symmetrically distributed in the vertical line in the center of circle, the some A of the first universal hinge of the first branch
1not on vertical line; Five ball pivot dot center are that the pentagon that hinge universal with first is identical is arranged on upper mounting plate; The center of rotation of five ball pivots, is distributed on a circle, the some B of second branch's ball pivot
2with the some B of quintafurcation ball pivot
5line and the some B of the 3rd branch's ball pivot
3with the some B of the 4th branch's ball pivot
4line parallel, and be symmetrically distributed in the vertical line in the center of circle, the some B of first branch's ball pivot
1not on vertical line.The intermediate connecting rod 9 of medial fascicle is telescopic rod, and its one end is connected with lower platform by the second universal hinge 8, and its other end is connected with upper mounting plate by ball pivot 10.In Fig. 1, round dot O is positioned at upper mounting plate center, and Z axis is perpendicular to upper mounting plate, and X-axis is parallel with A3A4 line and A2A5 line in upper mounting plate plane, and Y-axis meets right-hand rule.As shown in Figure 2, can be compressed to lowest order when being in off working state, after time in running order, intermediate connecting rod is elongated to working position, length no longer changes.
Embodiment 2
In a kind of five degree of freedom posture adjustment platform in parallel schematic diagram shown in Fig. 3, five drive the first universal hinge 6 of branch to be connected with lower platform 7, one end of lower link 5 and first is universally hinged, its other end is connected with one end of upper connecting rod 3 by revolute pair 11, on this, the other end of connecting rod is connected with upper mounting plate 1 by ball pivot 2, and above-mentioned first universal hinge is arranged in the inner circle of lower platform; The afterbody of electric cylinder 4 is connected with lower platform by the 3rd universal hinge 14, and the expansion link of this electric cylinder is connected with upper connecting rod by driving upper revolute pair, and above-mentioned 3rd universal hinge and above-mentioned first universal hinge are vertically set on the cylindrical of lower platform.Other component is identical with embodiment 1 with annexation.
Embodiment 3
In a kind of five degree of freedom posture adjustment platform in parallel schematic diagram shown in Fig. 4, medial fascicle is RPS branch, second revolute pair 15 is that a rotating disk is located at lower platform center, rotating disk is fixed the moving sets guide rail 16 that is parallel to lower platform, this guide rail is provided with slide block 17, intermediate connecting rod 9 is telescopic rod, and its one end is fixed on perpendicular to guide rail on slide block, and its other end is connected with upper mounting plate by ball pivot 10.Other component is identical with embodiment 1 with annexation.
Claims (3)
1. a collapsible five degree of freedom posture adjustment platform in parallel, comprise upper mounting plate, six branches of lower platform and connection upper mounting plate and lower platform, five that are wherein distributed in surrounding branch into the identical URS driving branch of structure, article one, be US intermediate restraint branch, it is characterized in that: it drives one end of the lower link in branch to be connected with lower platform by the first universal hinge, its other end is connected by revolute pair one end with upper connecting rod, on this, the other end of connecting rod is connected with upper mounting plate by ball pivot, the afterbody of electric cylinder is connected with above-mentioned lower link by driving lower revolute pair, the expansion link of this electric cylinder is connected with above-mentioned upper connecting rod by driving upper revolute pair, above-mentioned five the first universal hinges are arranged in pentagon on lower platform, the center of rotation of five the first universal hinges is distributed on a circle, second is parallel with the line of the center of rotation of the first universal hinge of the third and fourth branch with the line of the center of rotation of the first universal hinge of quintafurcation, and be symmetrically distributed in the vertical line in the center of circle, this vertical line is positioned at lower platform, and the center of rotation of the first universal hinge of the first branch is not on vertical line, the center of rotation of five ball pivots is that the pentagon that hinge universal with first is identical is arranged on upper mounting plate, five URS drive the center of rotation of branch's ball pivot to be distributed on a circle, second is parallel with the line of the center of rotation of third and fourth branch's ball pivot with the line of the center of rotation of quintafurcation ball pivot, and be symmetrically distributed in the vertical line in the center of circle, this vertical line is positioned at upper mounting plate, and the center of rotation of first branch's ball pivot is not on vertical line, the intermediate connecting rod of medial fascicle is telescopic rod, and its one end is connected with lower platform by the second universal hinge, and its other end is connected with upper mounting plate by ball pivot.
2. a collapsible five degree of freedom posture adjustment platform in parallel, comprise upper mounting plate, lower platform and connect six branches of upper mounting plate and lower platform, five that are wherein distributed in surrounding branch into the identical URS driving branch of structure, article one, be US intermediate restraint branch, it is characterized in that: it drives one end of the lower link of branch to be connected with lower platform by the first universal hinge, its other end is connected by revolute pair one end with upper connecting rod, on this, the other end of connecting rod is connected with upper mounting plate by ball pivot, and above-mentioned first universal hinge is arranged in the inner circle of lower platform; The afterbody of electric cylinder is connected with lower platform by the 3rd universal hinge, and the expansion link of this electric cylinder is connected with above-mentioned upper connecting rod by driving upper revolute pair, and above-mentioned 3rd universal hinge and above-mentioned first universal hinge are vertically set on the cylindrical of lower platform; The universal hinge of above-mentioned five branches is arranged in pentagon on lower platform, the center of rotation of its universal hinge is distributed on inside and outside two circles, second is parallel with the line of the center of rotation of the first universal hinge of the third and fourth branch with the line of the center of rotation of the first universal hinge of quintafurcation, and be symmetrically distributed in the vertical line in the center of circle, this vertical line is positioned at lower platform, and the center of rotation of the first universal hinge of the first branch is not on vertical line; The center of rotation of five ball pivots is that the pentagon that hinge universal with first is identical is arranged on upper mounting plate; Five URS drive the center of rotation of branch's ball pivot to be distributed on a circle, second is parallel with the line of the center of rotation of third and fourth branch's ball pivot with the line of the center of rotation of quintafurcation ball pivot, and be symmetrically distributed in the vertical line in the center of circle, this vertical line is positioned at upper mounting plate, and the center of rotation of first branch's ball pivot is not on vertical line; The intermediate connecting rod of medial fascicle is telescopic rod, and its one end is connected with lower platform by the second universal hinge, and its other end is connected with upper mounting plate by ball pivot.
3. a collapsible five degree of freedom posture adjustment platform in parallel, comprise upper mounting plate, six branches of lower platform and connection upper mounting plate and lower platform, five that are wherein distributed in surrounding branch into the identical URS driving branch of structure, article one, be RPS intermediate restraint branch, it is characterized in that: it drives one end of the lower link in branch to be connected with lower platform by the first universal hinge, its other end is connected by revolute pair one end with upper connecting rod, on this, the other end of connecting rod is connected with upper mounting plate by ball pivot, the afterbody of electric cylinder is connected with above-mentioned lower link by driving lower revolute pair, the expansion link of this electric cylinder is connected with above-mentioned upper connecting rod by driving upper revolute pair, above-mentioned five the first universal hinges are arranged in pentagon on lower platform, the center of rotation of five the first universal hinges is distributed on a circle, second is parallel with the line of the center of rotation of the first universal hinge of the third and fourth branch with the line of the center of rotation of the first universal hinge of quintafurcation, and be symmetrically distributed in the vertical line in the center of circle, this vertical line is positioned at lower platform, and the center of rotation of the first universal hinge of the first branch is not on vertical line, the center of rotation of above-mentioned five ball pivots is that the pentagon that hinge universal with first is identical is arranged on upper mounting plate, five URS drive the center of rotation of branch's ball pivot to be distributed on a circle, second is parallel with the line of the center of rotation of third and fourth branch's ball pivot with the line of the center of rotation of quintafurcation ball pivot, and be symmetrically distributed in the vertical line in the center of circle, this vertical line is positioned at upper mounting plate, and the center of rotation of first branch's ball pivot is not on vertical line, the second revolute pair in intermediate restraint branch is that a rotating disk is located at lower platform center, rotating disk is fixed the moving sets guide rail that is parallel to lower platform, this guide rail is provided with slide block, intermediate connecting rod is telescopic rod, its one end is fixed on perpendicular to guide rail on slide block, and its other end is connected with upper mounting plate by ball pivot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310210861.8A CN103317498B (en) | 2013-05-31 | 2013-05-31 | Folding type five-degree-of-freedom parallel connected attitude adjustment platform |
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| CN201310210861.8A CN103317498B (en) | 2013-05-31 | 2013-05-31 | Folding type five-degree-of-freedom parallel connected attitude adjustment platform |
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| CN103317498A CN103317498A (en) | 2013-09-25 |
| CN103317498B true CN103317498B (en) | 2015-04-29 |
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| CN201310210861.8A Expired - Fee Related CN103317498B (en) | 2013-05-31 | 2013-05-31 | Folding type five-degree-of-freedom parallel connected attitude adjustment platform |
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Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103753520A (en) * | 2014-01-17 | 2014-04-30 | 广州中国科学院先进技术研究所 | High-precision heavy-load hexapod parallel robot |
| CN103895004B (en) * | 2014-04-04 | 2016-08-17 | 浙江钱江摩托股份有限公司 | A kind of middle shaft structure of delta robot |
| CN104175318A (en) * | 2014-09-12 | 2014-12-03 | 江苏南方雄狮建设工程有限公司 | Parallel-connection platform moving mechanism of construction robot for curtain wall installation |
| CN105171717B (en) * | 2015-08-03 | 2017-04-19 | 电子科技大学 | Foldable six-freedom-degree parallel motion platform |
| CN105033988B (en) * | 2015-08-25 | 2017-02-01 | 中国农业大学 | Two-dimensional rotation and three-dimensional movement five-freedom-degree parallel robot mechanism |
| CN105196304B (en) * | 2015-11-11 | 2017-03-08 | 哈尔滨工业大学 | A kind of telescopic mechanical palms |
| CN105500348A (en) * | 2016-01-28 | 2016-04-20 | 燕山大学 | Six-degree-of-freedom parallel posture adjustment and vibration isolation platform containing tower-shaped telescopic branches |
| CN106005278B (en) * | 2016-06-23 | 2018-01-26 | 江苏科技大学 | Dinning-table for ship and compensation method with six degree of freedom wave Active Compensation function |
| CN109454635B (en) * | 2018-10-15 | 2020-09-25 | 山东中衡光电科技有限公司 | Steel wire flexible cable parallel mirror surface machining device based on lever principle |
| CN110510143B (en) * | 2019-08-15 | 2020-12-29 | 燕山大学 | Omnidirectional movement large-scale airplane horizontal assembly butt joint 13-degree-of-freedom hybrid attitude adjusting platform |
| CN112483786B (en) * | 2020-11-12 | 2022-01-07 | 华中科技大学 | Six-degree-of-freedom platform and application thereof |
| CN112677139B (en) * | 2020-12-23 | 2022-10-14 | 南京全控航空科技有限公司 | Three-degree-of-freedom parallel motion platform and control method thereof |
| CN113633363A (en) * | 2021-07-07 | 2021-11-12 | 北京工业大学 | Parallel external fixator for large-amplitude ankle deformity requiring five correction degrees of freedom |
| CN114027988B (en) * | 2021-12-07 | 2023-07-07 | 临沂大学 | Main manipulator of three-degree-of-freedom continuum robot and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3642250A (en) * | 1969-12-16 | 1972-02-15 | Us Air Force | Bomblift trailer lifting mechanism |
| US4988244A (en) * | 1989-09-01 | 1991-01-29 | Kearney & Trecker | Six-axis machine tool |
| JP2000020128A (en) * | 1998-07-07 | 2000-01-21 | Seiko Seiki Co Ltd | Parallel mechanism applied with piezoelectric element |
| CN201300417Y (en) * | 2008-10-30 | 2009-09-02 | 无锡职业技术学院 | Four-freedom pneumatic manipulator |
| CN103029120B (en) * | 2012-12-11 | 2015-03-25 | 燕山大学 | Folding static load balance adjusting parallel platform |
| CN103050047B (en) * | 2012-12-11 | 2014-12-24 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
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