CN104626100B - A kind of containing plane branch and middle passive branch 3-freedom parallel mechanism - Google Patents
A kind of containing plane branch and middle passive branch 3-freedom parallel mechanism Download PDFInfo
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- CN104626100B CN104626100B CN201410764773.7A CN201410764773A CN104626100B CN 104626100 B CN104626100 B CN 104626100B CN 201410764773 A CN201410764773 A CN 201410764773A CN 104626100 B CN104626100 B CN 104626100B
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Abstract
A kind of containing plane branch and middle passive branch 3-freedom parallel mechanism, it comprises the passive branch of straight line in the middle of moving platform, support, upper transverse axis, lower transverse axis, 2 RPR (revolute pair-moving sets-revolute pair) type linear drives branch, 1 SPS (ball pair-moving sets-ball pair) type linear drives branch and 1 SP (ball pair-moving sets) type. Upper and lower transverse axis connects with moving platform and support revolute pair respectively, and 2 RPR type branch upper and lower ends connect with upper and lower transverse axis two ends revolute pair respectively, and 4 revolute pair axis are parallel to each other, and form 1 plane closed loop Dual Drive side chain; SPS type branch upper and lower end connects with support and moving platform ball duplicate invoice respectively; Be connected vertical with moving platform of cylindrical bar upper end of SP type branch, cylindrical bar middle part is slidably matched with ball centre hole, and spheroid and support astrosphere duplicate invoice connect. The present invention is simple in structure, bearing capacity is large, rigidity is high, and cylindrical bar lower end connects from different instruments, can construct multiple equipment.
Description
Technical field
The invention belongs to robot field, particularly a kind of parallel institution.
Background technology
Over nearly 20 years, 3-freedom parallel mechanism becomes the focus of domestic and international robot field research and front alwaysEdge. (containing the passive branch of UP) 3SPS+UP type of Sweden at present, (containing the parallel subchain of 4U) of GermanyDelta type, the three translation 3UPU types of Tsai, the 3RPS type of Hunt, 2SPS+UP type and the 3PRS in yellow fieldType, some 3-freedom parallel mechanisms such as the 3SPR type that University On The Mountain Of Swallows road is virtuous are successful for the manufacture of parallel connectionLathe, Medical Devices, micro-electromechanical device, multi-dimensional force parallel sensor etc. Relevant Three Degree Of Freedom in recent yearsThe China of parallel institution authorizes patent of invention as follows: CN101844307A has announced a kind of driving redundancy three certainlyBy degree parallel institution; CN102069393A has announced for the Three Degree Of Freedom of virtual axis machine and robot alsoOnline structure; CN102366896A has announced a kind of three-freedom parallel with two vertical interlaced rotating shaftsStructure; CN102380771A has announced high rigidity redundant-drive three-degree-of-freedom parallel mechanism;CN102366896B has announced the 3-freedom parallel mechanism with two vertical interlaced rotating shafts. More than announceMechanism comprise three drive branches, without middle passive branch. CN101025247 announces a kind of mobile decouplingSpace three-freedom connection-in-parallel mechanism; CN101791804A announces a kind of symmetrical two and turns a shift three degrees of freedom alsoOnline structure; Above-mentioned two mechanisms comprise three space branches. CN102962848A is open a kind of for robotThe 3-freedom parallel mechanism of wrist, shoulder, this mechanism is without plane branch.
Above-mentioned 3-freedom parallel mechanism differs from one another, and drives but do not use it for manufacture helicopter screw propellerMoving device, ship propeller drive unit, steel-making Cinder Machine, mining equipment and Xiu Ya robot. AsIt is fast flexibly what utilizes 3-freedom parallel mechanism just can realize the relative fuselage of helicopter screw propeller drive shaftSpeed switch and stretching motion, and bear large live load; Realize steel-making and take off slag pawl at ladle opening partSwitch and flexible slagging-off motion fast flexibly, and bear large live load; Realize the grinding tool of Xiu Ya robotFlexible, quick, the accurate switch in oral cavity place people and flexible.
Summary of the invention:
The object of the invention be to provide a kind of simple in structure, take-off lever switch and stretching motion flexibly, workSpace is large, rigidity is high, it is simple containing plane branch and middle passive branch 3-freedom parallel mechanism to control.
The present invention includes moving platform, support, upper transverse axis, lower transverse axis, 2 RPR (rotations that structure is identicalPair-moving sets-revolute pair) type linear drives branch, 1 SPS (ball pair-moving sets-ball pair) type straight lineDrive the passive branch of the middle straight line of branch and 1 SP (ball pair-moving sets) type. Wherein, 2 RPR typesLinear drives branch is plane symmetry and arranges between moving platform and support, and divides with SPS type linear drivesProp up and be circumference uniform distribution between moving platform and support; The passive branch of SP type straight line is just being positioned at moving platform and supportMiddle. Lower transverse axis rotates and connects with a side of support, a side of the moving platform of upper transverse axis and support the same sideRotate and connect. Each RPR type linear drives branch comprise upper end revolute pair, middle moving sets electric cylinder andLower end revolute pair; The upper end of 2 RPR type branches connects with upper transverse axis two ends by revolute pair respectively, itsAxis is parallel to each other, and the lower end of 2 RPR type branches connects with lower transverse axis two ends by revolute pair respectively,Its axis and upper end turns auxiliary shaft line parallel; 2 RPR type branches and upper and lower transverse axis form a planeClosed loop Dual Drive side chain, 4 revolute pair axis are wherein parallel to each other. SPS type rectilinear branches comprisesEnd ball pair, middle moving sets electric cylinder and lower end ball pair, its upper and lower end ball pair respectively with moving platform and machineSeat connects. SP type rectilinear branches comprises cylindrical bar and ball cover, and one end of cylindrical bar is vertical with moving platform to be connected,The other end of this cylindrical bar is free end through the centre bore that is located at the spheroid at support center by ball cover, circleMast middle part is slidably matched with ball cover centre bore, and the free end of its cylindrical bar can connect from different instruments,Can construct multiple equipment.
The present invention compared with prior art tool has the following advantages:
1, the topological diagram of mechanism of the present invention topological diagram and existing 3-freedom parallel mechanism is non-isomorphic, soTopological diagram gained of the present invention mechanism is certain has essential distinction with existing 3-freedom parallel mechanism.
2, the kinematic pair in plane Dual Drive branch is all revolute pair and moving sets, has carrying and draws and pressureLarge advantage, can eliminate revolute pair gap by firmly beforehand means, improves kinematic accuracy.
3, medial fascicle can effectively eliminate that the structure Coupling of existing 3-freedom parallel mechanism causes from micro-Moving.
4, overall structure is simple, and support bearing capacity is large relatively, rigidity is high, and output cylindrical bar is with Three Degree Of FreedomForm realizes not only flexible but also swingable compound motion, and flexibility is good, and working space is large.
5, take-off lever end can connect with different instruments, can meet rise machine screw, ship propeller,Slag skim paw, mining drill bit, milling cutter, repair tooth grinding tool, scalpel and sewing needle etc. three freelySpend the requirement of stretching and waving compound varying motion, be easy to improve its kinematic dexterity energy, contribute to improveIts motion stress.
6, all drivings and control module are all positioned at the opposite side of machine seat board, are easy to man-machine mutual security protection.
Brief description of the drawings
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is mechanism of the present invention topological diagram.
In figure: transverse axis under 1-support, 2-moving platform, 3-, the upper transverse axis of 4-, 5-RPR type linear drives branch,6-SPS type linear drives branch, 7-cylindrical bar, 8-spheroid, 9-screw.
Detailed description of the invention
In containing in plane branch and middle passive branch 3-freedom parallel mechanism schematic diagram shown in Fig. 1,2The RPR type linear drives branch 5 that individual structure is identical is plane symmetry cloth between moving platform 2 and support 1Put, and and SPS type linear drives branch 6 between moving platform and support, be circumference uniform distribution; SP type straight linePassive branch is positioned at moving platform and support middle. Lower transverse axis 3 rotates and connects with a side of support, top railAxle 4 rotates and connects with a side of the moving platform of support the same side. Each RPR type linear drives branch comprisesUpper end revolute pair, middle moving sets electric cylinder and lower end revolute pair; The upper end of 2 RPR type branches respectivelyConnect with upper transverse axis two ends by revolute pair, its axis is parallel to each other, and the lower end of 2 RPR type branches is dividedDo not connect its axis and upper end turns auxiliary shaft line parallel with lower transverse axis two ends by revolute pair; 2 RPRType branch and upper and lower transverse axis form a plane closed loop Dual Drive side chain, 4 revolute pair axis whereinBe parallel to each other. SPS type rectilinear branches comprises upper end ball pair, middle moving sets electric cylinder and lower end ball pair,Its upper and lower end ball pair connects with moving platform and support respectively. One of cylindrical bar 7 in SP type rectilinear branchesHold be connected vertical with moving platform, this cylindrical bar other end is through the spheroid 8 that is located at support center by ball coverCentre bore be free end, cylindrical bar middle part is slidably matched with ball cover centre bore, the free end of its cylindrical barCan connect with screw 9, can form helicopter or naval vessel and drive equipment.
Mechanism of the present invention topological diagram comprises 4 three secondary bars, and 4 side chains and 13 binary links, as Fig. 2 instituteShow. 4 three secondary bars corresponding upper mounting plate respectively, support, upper transverse axis and lower transverse axis; Individual containing (2,3,6)Respectively corresponding (RPR, SP, SPS) type linear drives of the side chain of binary link branch.
Claims (1)
1. containing plane branch and a middle passive branch 3-freedom parallel mechanism, mainly comprise moving platform,Support, upper transverse axis, lower transverse axis, 2 RPR type linear drives branches, 1 SPS type linear drives branchWith the passive branch of straight line in the middle of 1 SP type, it is characterized in that: 2 RPR type linear drives branches are moving flatBetween platform and support, be plane symmetry arrange, and and SPS type linear drives branch between moving platform and supportBe circumference uniform distribution, the passive branch of SP type straight line is positioned at moving platform and support middle, one of lower transverse axis and supportSide is rotated and is connected, and upper transverse axis rotates and connects with a side of the moving platform of support the same side; Each RPR type straight lineDrive branch to comprise upper end revolute pair, middle moving sets electric cylinder and lower end revolute pair, 2 RPR type straight linesDrive the upper end of branch to connect with upper transverse axis two ends by revolute pair respectively, two rotations that are connected with upper transverse axisSecondary axis is parallel to each other, and the lower end of 2 RPR type linear drives branches is respectively by revolute pair and lower transverse axisTwo ends connect, the axis of two revolute pairs that are connected with lower transverse axis and upper end turns auxiliary shaft line parallel; 2 RPRType linear drives branch and upper and lower transverse axis form a plane closed loop Dual Drive side chain; SPS type linear drivesBranch comprises upper end ball pair, middle moving sets electric cylinder and lower end ball pair, and its upper and lower end ball pair is respectively with movingPlatform and support connect; SP type linear drives branch comprises cylindrical bar and ball cover, and one end of cylindrical bar is with moving flatPlatform is vertically connected, the other end of this cylindrical bar is free end, and this end is through be located at support center by ball coverThe centre bore of spheroid, cylindrical bar middle part is slidably matched with ball cover centre bore, and the free end of described cylindrical bar canConnect from different instruments, can construct multiple equipment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410764773.7A CN104626100B (en) | 2014-12-12 | 2014-12-12 | A kind of containing plane branch and middle passive branch 3-freedom parallel mechanism |
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| CN201410764773.7A CN104626100B (en) | 2014-12-12 | 2014-12-12 | A kind of containing plane branch and middle passive branch 3-freedom parallel mechanism |
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| CN104626100A CN104626100A (en) | 2015-05-20 |
| CN104626100B true CN104626100B (en) | 2016-05-18 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106134859A (en) * | 2016-07-06 | 2016-11-23 | 巩莉 | A kind of agricultural product growing vegetables Intelligent watering manipulator |
| CN106112979B (en) * | 2016-07-25 | 2018-06-08 | 燕山大学 | One kind contains two orthogonal plane branch four-freedom parallel mechanisms |
| CN106112978B (en) * | 2016-07-25 | 2018-04-06 | 燕山大学 | A kind of humanoid shoulder and big forearm serial-parallel mirror mechanism |
| CN107939408A (en) * | 2017-10-26 | 2018-04-20 | 燕山大学 | A kind of tunnelling parallel drive unit |
| CN107972018A (en) * | 2018-01-24 | 2018-05-01 | 天津工业大学 | A kind of four side chain parallel institutions |
| CN109648543B (en) * | 2018-11-28 | 2020-06-12 | 燕山大学 | Three-degree-of-freedom parallel mechanism comprising plane dual-drive branches and SP drive branches |
Citations (7)
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| DE19955520A1 (en) * | 1999-11-18 | 2001-05-31 | Variomatic Gmbh & Co Kg | Processing head for processing of free-form surfaces has carrier connected in movable fashion with base plate by ball joint or Cardan joint and struts have computer-controlled actuators |
| CN1647890A (en) * | 2005-02-06 | 2005-08-03 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
| CN101444892A (en) * | 2008-10-17 | 2009-06-03 | 电子科技大学 | Reconstructable hybrid machine tool of mechanical system and fault tolerance correcting method |
| CN201841545U (en) * | 2010-05-26 | 2011-05-25 | 汕头大学 | Three-rotation one-movement freedom parallel robot with driving telescopic rod |
| CN103538062A (en) * | 2013-09-26 | 2014-01-29 | 燕山大学 | Four-freedom-degree three-finger operating parallel mechanism |
| CN103895009A (en) * | 2014-04-22 | 2014-07-02 | 四川大学 | Three-freedom-degree sphere-center adjustable spherical surface parallel mechanism |
| EP2540454B1 (en) * | 2011-06-28 | 2015-08-26 | CAE Consulting & Engineering GmbH | Hybrid robot on the basis of three linear actuators with intersecting axles, a parallelism maintainer, a multifunctional pivotal link, a multi-axle pivotal link and a spatial orientation unit |
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2014
- 2014-12-12 CN CN201410764773.7A patent/CN104626100B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19955520A1 (en) * | 1999-11-18 | 2001-05-31 | Variomatic Gmbh & Co Kg | Processing head for processing of free-form surfaces has carrier connected in movable fashion with base plate by ball joint or Cardan joint and struts have computer-controlled actuators |
| CN1647890A (en) * | 2005-02-06 | 2005-08-03 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
| CN101444892A (en) * | 2008-10-17 | 2009-06-03 | 电子科技大学 | Reconstructable hybrid machine tool of mechanical system and fault tolerance correcting method |
| CN201841545U (en) * | 2010-05-26 | 2011-05-25 | 汕头大学 | Three-rotation one-movement freedom parallel robot with driving telescopic rod |
| EP2540454B1 (en) * | 2011-06-28 | 2015-08-26 | CAE Consulting & Engineering GmbH | Hybrid robot on the basis of three linear actuators with intersecting axles, a parallelism maintainer, a multifunctional pivotal link, a multi-axle pivotal link and a spatial orientation unit |
| CN103538062A (en) * | 2013-09-26 | 2014-01-29 | 燕山大学 | Four-freedom-degree three-finger operating parallel mechanism |
| CN103895009A (en) * | 2014-04-22 | 2014-07-02 | 四川大学 | Three-freedom-degree sphere-center adjustable spherical surface parallel mechanism |
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| CN104626100A (en) | 2015-05-20 |
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