CN105328693B - A kind of three side chain of seven freedom parallel connection symmetrical mechanism for plate splicing - Google Patents

A kind of three side chain of seven freedom parallel connection symmetrical mechanism for plate splicing Download PDF

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Publication number
CN105328693B
CN105328693B CN201510626821.0A CN201510626821A CN105328693B CN 105328693 B CN105328693 B CN 105328693B CN 201510626821 A CN201510626821 A CN 201510626821A CN 105328693 B CN105328693 B CN 105328693B
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chain
revolute
platform
mounting plate
plate
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CN105328693A (en
Inventor
曾令斌
付成龙
冯瑞
秦礼
张玲瑄
刘天明
彭福军
陈萌
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Shanghai Aerospace System Engineering Institute
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Shanghai Aerospace System Engineering Institute
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Abstract

The invention provides a kind of three side chain of seven freedom parallel connection symmetrical mechanism for plate splicing, the upper mounting plate 1 of the parallel institution is identical with lower platform 2, and its center normal direction is respectively equipped with by motor-driven upper revolute and lower revolute;Connected by tri- side chains of 2SPS+RRRRR between upper mounting plate and lower platform, two of which 2SPS side chain is secondary by the ball at two ends and the motor-driven translation pair of middle straight line is constituted;3rd article RRRRR side chains are made up of 5 revolutes, and the first, the 3rd and the 5th revolute of the 3rd side chain is by Motor drive.Between the upper mounting plate and lower platform of the mechanism, three side chains be respectively provided with mirror symmetrical feature in itself, three side chains in parallel realize that high accuracy and high rigidity are positioned, pass through mirror symmetrical feature between upper mounting plate, lower platform again, realize under conditions of system complexity is not increased continuous, efficient mobile.

Description

A kind of-three side chain of seven freedom parallel connection symmetrical mechanism for plate splicing
Technical field
The present invention relates to parallel institution field, more particularly to a kind of-three side chain of seven freedom for plate splicing is simultaneously Connection symmetrical mechanism.
Background technology
For in ground or space tasks by a large amount of plate units be spliced into the plane of large area-large span, parabola or The mission requirements of other target surfaces, the current general pickup that plate is realized using special tooling, mechanical arm or multi-arm robot Adjust with positioning.(1) high accuracy can be realized using special tooling, the positioning of high rigidity is adjusted, but is needed with splicing process not It is disconnected to repeat " Mobile tool-reposition frock in new splicing station " this operation, or assembled overall structure weight Newly carry out pose to adjust to replace the movement of frock, said process that splicing efficiency obviously can be caused low, reposition frock is System complex structure.(2) robot body can be realized in different splicing works using the mechanical arm or multi-arm robot of particular design The movement of position, but the precision due to serial mechanism, rigidity are poor compared with parallel institution, it is difficult to it is simultaneously full on the premise of light-weight design The high accuracy of sufficient submillimeter level, high rigidity splicing are required.(3) using existing diversified parallel institution (as steward puts down Platform, delta mechanisms etc.) high accuracy can be realized, the positioning of high rigidity is adjusted, but there is following weakness:On the one hand its moving platform Little pickup, movement and the positioning action for being difficult to meet large-area sheet block structure (with diameter greater than 3 meters) of motion envelope, on the other hand Do not possess the function being movably walking between different plates yet.
Do not integrate movement-positioning function in current document and product, be capable of achieving high accuracy-high rigidity-height The actuator of efficiency plate splicing.
The content of the invention
It is an object of the invention to provide a kind of-three side chain of seven freedom parallel connection symmetrical mechanism for plate splicing, with Solve the problems, such as that the little one-level of existing plate splicing body motion envelope does not possess locomotive function between different plates.
For achieving the above object, the invention provides a kind of-three side chain of seven freedom for plate splicing is in parallel symmetrical Mechanism, including upper mounting plate, lower platform, three side chains for connecting the upper mounting plate and lower platform;
Three side chain includes the first side chain, the second side chain and the 3rd side chain, the two ends of the 3rd side chain respectively with it is in parallel The two ends of the first side chain and the second side chain are connected, wherein, the first side chain is by the first ball pair, translation pair, the second ball being sequentially connected Secondary composition, the structure of the second side chain are identical with the first side chain, and the 3rd side chain is by the first revolute being sequentially connected, the second rotation Pair, the 3rd revolute, the 4th revolute and the 5th revolute composition, wherein, the first ball is secondary, the second ball auxiliary structure is identical, and first Revolute, the second revolute, the 3rd revolute, the 4th revolute and the 5th rotation auxiliary structure are identical;
The upper mounting plate and lower platform are located at the two ends of the first side chain and the second side chain, the upper mounting plate and lower platform respectively With regard to the central cross-section specular of three side chain, the centre normal direction of the upper mounting plate is provided with revolute, described The centre normal direction of lower platform is provided with lower revolute;
Wherein, the upper revolute and lower revolute are provided with for picking up the end-of-arm tooling of plate.
It is preferred that the translation pair is connected with linear electric motors, driven by linear electric motors;First revolute, the 3rd rotation Turn secondary, the 5th revolute is connected with electric rotating machine respectively, driven by electric rotating machine;The upper revolute and lower revolute respectively with Electric rotating machine is connected, and is driven by electric rotating machine.
It is preferred that the plane that first side chain, the second side chain are constituted with lower rotation secondary axis with regard to upper revolute axis Specular.
It is preferred that center of the upper revolute axis extended line through the second revolute, lower rotation secondary axis extended line Through the center of the 4th revolute.
It is preferred that the end-of-arm tooling is magnetic-type end-of-arm tooling, negative-pressure type end-of-arm tooling ,/tetra- finger clamps of/tri- finger of two fingers Formula end-of-arm tooling.
There is following technology effect provided by the present invention for-three side chain of the seven freedom parallel connection symmetrical mechanism of plate splicing Really:
1) realize that high accuracy and high rigidity are required by three side chain parallel institutions;
2) by the double specular design between upper mounting plate, lower platform, under conditions of system complexity is not increased Realize continuous, efficient mobile and position.
Description of the drawings
- three side chain of the seven freedom parallel connection symmetrical mechanism oblique view that Fig. 1 is provided for the preferred embodiment of the present invention;
The geometrical relationship of-three side chain of the seven freedom parallel connection symmetrical mechanism that Fig. 2 is provided for the preferred embodiment of the present invention is illustrated Figure.
Specific embodiment
For the present invention is better described, hereby with a preferred embodiment, and accompanying drawing is coordinated to elaborate the present invention, specifically It is as follows:
It is as shown in figure 1 ,-three side chain of the seven freedom parallel connection symmetrical mechanism that the present embodiment is provided including upper mounting plate 1, lower flat Three side chains 3 of platform 2, connection upper mounting plate 1 and lower platform 2.Wherein, upper mounting plate 1 and lower platform 2 adopt the three of 2SPS+RRRRR forms Side chain 3 connects.Specifically, three side chains include the first side chain 31, the second side chain 32 and the 3rd side chain 33.First side chain 31, second 32 structure of side chain is identical and is arranged in parallel, and which is 2SPS side chains, and the first side chain 31 is secondary by the ball pair 311, translation being sequentially connected 312nd, 313 (not shown)s of ball pair composition, the second side chain 32 include ball pair 321, translation pair 322, ball pair 323 respectively;3rd Side chain 33 be RRRRR side chains, and the two ends of the 3rd side chain 33 respectively with the first side chain 31 in parallel and the two ends of the second side chain 32 It is connected, specifically by the first revolute 331, the second revolute 332, the 3rd revolute 333, the 4th revolute 334 being sequentially connected And the 5th revolute 335 constitute.Further, as shown in figure 1, the two ends of translation secondary 312 are respectively by a connecting rod and ball pair 311st, ball secondary 313 is connected, and similarly, the two ends of translation secondary 322 are connected with ball pair 321, ball secondary 323 by a connecting rod respectively; It is connected by a connecting rod between second revolute 332 and the 3rd revolute 333, the 3rd revolute 333 and the 4th revolute 334 Between also by a connecting rod be connected.Wherein, ball pair 311, ball pair 313, ball pair 321, ball pair 323 structure it is identical, translation is secondary 312nd, the structure for translating pair 322 is identical, the first revolute 331, the second revolute 332, the 3rd revolute 333, the 4th revolute 334 and 335 structure of the 5th revolute it is identical.
As shown in figure 1, the centre normal direction of upper mounting plate 1 is provided with revolute 11, the centre normal direction of lower platform 2 It is provided with lower revolute 21;The end-of-arm tooling 12,22 of pickup plate is respectively provided with upper revolute 11 and lower revolute 21. For magnetic-type end-of-arm tooling, negative-pressure type end-of-arm tooling, two, the end-of-arm tooling 12,22 can refer to that/tri- refer to that/tetra- refer to clamp type end work Any one in tool, or picking up for other forms is set to according to plate structure and interface features by those skilled in the art The end-of-arm tooling of splicing block.
As shown in Fig. 2 the structure of upper mounting plate 1 and lower platform 2 is identical, upper mounting plate 1 and lower platform 2 are located at the first side chain respectively 31 and second side chain 32 two ends, and with regard to the central cross-section specular of three side chains 3, the first side chain 31, the second side chain 32 are closed In the plane specular that the axis of upper revolute 11 is constituted with the axis of lower revolute 21.11 axis extended line of upper revolute is worn Cross the center of the second revolute 332, center of the 21 axis extended line of lower revolute through the 4th revolute 334.Above-mentioned geometry is closed The setting of system, can preferably simplify the inverse arithmetic of parallel institution, be easy to controller to carry out plate splicing operation.
In-three side chain of seven freedom parallel connection symmetrical mechanism, the translation pair 312, translation secondary 322 in three side chains 3 respectively with Linear electric motors be connected, by linear electric motors drive, the first revolute 331, the 3rd revolute 333 and the 5th revolute 335 respectively with Electric rotating machine is connected, and is driven by electric rotating machine, therefore three side chains 3 have 5 degree of freedom;The upper rotation of upper mounting plate 1 and lower platform 2 Pair 11 and lower revolute 21 are also connected with electric rotating machine respectively, are driven by electric rotating machine, with 2 degree of freedom.In sum, should - three side chain of seven freedom parallel connection symmetrical mechanism can flexibly, rapidly realize the regulation of pose altogether with 7 degree of freedom.
Due to having symmetry between the upper mounting plate 1 of the parallel institution, lower platform 2, three side chain therein 3 also has itself Symmetry, so having interchangeability, i.e. upper mounting plate 1, lower platform 2 can alternately undertake positioning base between upper mounting plate 1, lower platform 2 The role of seat and end handgrip.For example when n-th plate is spliced, upper mounting plate 1 is fixed on to have spliced as silent flatform and finishes The N-1 plate on, lower platform 2 picked up as moving platform, mobile and position n-th plate;When the splicing of n-th plate is finished When splicing N+1 plate again, lower platform 2 just switchs to silent flatform and continues to be fixed on spliced on the n-th plate for finishing, on Platform 1 then unclamps N-1 plate and switchs to moving platform pickup, mobile and position the N+1 plate ... and circulate successively and complete The splicing of multiple plates.So upper mounting plate 1, lower platform 2 are completed successively alternately as silent flatform and moving platform and constantly repetition Locomotive function of the parallel institution sheet between different plate units is realized while the pickup of plate unit, movement and positioning, And whole process continuous high-efficient, and without external system.
- three side chain of the seven freedom parallel connection symmetrical mechanism, three side chains realize high accuracy in parallel, the positioning of high rigidity is adjusted Section function, then by the mirror symmetric design between upper mounting plate, lower platform, the company of realization under conditions of system complexity is not increased Continuous, efficient locomotive function, is capable of achieving high accuracy-high rigidity-efficient plate unit and continuously splices.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any Those skilled in the art the invention discloses technical scope in, to the deformation done of the present invention or replacement, should all cover Within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by described scope of the claims.

Claims (4)

1. it is a kind of for plate splicing-three side chain of seven freedom parallel connection symmetrical mechanism, it is characterised in that including upper mounting plate, under Platform, three side chains for connecting the upper mounting plate and lower platform;
Three side chain includes the first side chain, the second side chain and the 3rd side chain, and the two ends of the 3rd side chain are respectively with parallel first The two ends of side chain and the second side chain are connected, wherein, the first side chain is by the first ball pair, translation pair, the second ball pair group being sequentially connected Into, the structure of the second side chain is identical with the first side chain, the 3rd side chain by the first revolute, the second revolute being sequentially connected, Three revolutes, the 4th revolute and the 5th revolute composition, wherein, the first ball is secondary, the second ball auxiliary structure is identical, the first rotation Pair, the second revolute, the 3rd revolute, the 4th revolute and the 5th rotation auxiliary structure are identical;
The upper mounting plate and lower platform are located at the two ends of the first side chain and the second side chain respectively, the upper mounting plate and lower platform with regard to The central cross-section specular of three side chain, the centre normal direction of the upper mounting plate are provided with revolute, described lower flat The centre normal direction of platform is provided with lower revolute;
Wherein, the upper revolute and lower revolute are provided with for picking up the end-of-arm tooling of plate;
The plane specular that first side chain, the second side chain are constituted with lower rotation secondary axis with regard to upper revolute axis.
2.-three side chain of the seven freedom parallel connection symmetrical mechanism for plate splicing according to claim 1, its feature exists In the translation pair is connected with linear electric motors, is driven by linear electric motors;First revolute, the 3rd revolute, the 5th rotation Pair is connected with electric rotating machine respectively, is driven by electric rotating machine;The upper revolute and lower revolute are connected with electric rotating machine respectively, Driven by electric rotating machine.
3.-three side chain of the seven freedom parallel connection symmetrical mechanism for plate splicing according to claim 1, its feature exists In, center of the upper revolute axis extended line through the second revolute, lower rotation secondary axis extended line is through the 4th rotation Secondary center.
4.-three side chain of the seven freedom parallel connection symmetrical mechanism for plate splicing according to claim 1, its feature exists In the end-of-arm tooling is magnetic-type end-of-arm tooling, negative-pressure type end-of-arm tooling ,/tetra- finger clamp type end-of-arm toolings of/tri- finger of two fingers.
CN201510626821.0A 2015-09-28 2015-09-28 A kind of three side chain of seven freedom parallel connection symmetrical mechanism for plate splicing Active CN105328693B (en)

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Publication number Priority date Publication date Assignee Title
CN107009354B (en) * 2017-04-24 2020-05-12 上海宇航系统工程研究所 2SPS + RRPRR robot grabbing mechanism for plate splicing

Citations (5)

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Publication number Priority date Publication date Assignee Title
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CN1861328A (en) * 2005-10-10 2006-11-15 燕山大学 Adjustable 3,4,5-SPS type parallel mechanism experiment bench
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CN1644312A (en) * 2005-02-06 2005-07-27 燕山大学 Four freedom parallel robot mechanism with passive bound branch
CN1861328A (en) * 2005-10-10 2006-11-15 燕山大学 Adjustable 3,4,5-SPS type parallel mechanism experiment bench
CN201799861U (en) * 2010-09-07 2011-04-20 上海工程技术大学 High-load three-rotation parallel connection mechanism
CN104889978A (en) * 2015-07-01 2015-09-09 北京工业大学 Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism

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