CN105345811A - Reinforced three-degree-of-freedom (DOF) parallel mechanism with adjustable working space - Google Patents
Reinforced three-degree-of-freedom (DOF) parallel mechanism with adjustable working space Download PDFInfo
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- CN105345811A CN105345811A CN201510937040.3A CN201510937040A CN105345811A CN 105345811 A CN105345811 A CN 105345811A CN 201510937040 A CN201510937040 A CN 201510937040A CN 105345811 A CN105345811 A CN 105345811A
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- hinged bolts
- coupling block
- installing hole
- bracing piece
- ear structure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The invention discloses a reinforced three-degree-of-freedom (DOF) parallel mechanism with an adjustable working space. The mechanism comprises a fixed platform, a movable platform, a reinforcing part and three branched chains, wherein each branched chain comprises an adjusting part, an upright column, a moving pair, a rotating pair, a connecting rod and a sphere pair; the reinforcing part comprises connecting blocks and reinforcing rods; the adjusting parts are horizontally mounted on the fixed platform; the upright columns connected to the moving pairs are mounted on the adjusting parts; the moving pairs are connected to the rotating pairs; one end of each connecting rod is connected to the corresponding rotating pair while the other end of each connecting rod is connected to the corresponding sphere pair; the sphere pairs are mounted on the movable platform; the connecting blocks are mounted on the surfaces, close to the side edge of the fixed platform, of the upright columns; the reinforcing rods are mounted between the connecting blocks. According to the mechanism, the reinforcing part and the adjusting part are separated, so that the working stiffness of the mechanism can be improved while the adjusting flexibility is ensured, and the economic benefits and social benefits are high.
Description
Technical field
The present invention relates to a kind of 3-freedom parallel mechanism, especially a kind of 3-freedom parallel mechanism be made up of moving sets, revolute pair and spherical pair, belongs to robot application technical field.
Background technology
Working space is the important indicator parameter evaluating robot performance, and its shape and size have extremely important impact to the ability to work of robot and range of application.But compared with serial manipulator, the working space of parallel robot is relatively little, therefore, the research of parallel robot/institution staff spatial character is just seemed particularly important.In parallel robot/mechanism's extended familys, 3-PRS parallel institution is as one of the Typical Representative of Limited-DOF Parallel Robot/mechanism, although only have 3 frees degree, but because frame for movement is relative with control section simple, its some particular configuration obtain successful Application in the industrial production.It belongs to a class parallel institution, is made up of 3 branches, and each branch comprises a moving sets (P), a revolute pair (R) and a spherical pair (S).3-PRS parallel institution has a large amount of configurations, and under different configuration, the shape of working space varies; Under different structure size, the difference in size of working space is huge.The operating accuracy of 3-PRS parallel institution changes along with the difference of pose in working space.The factor affecting operating accuracy is a lot, comprises the wearing and tearing in the mismachining tolerance of parts, use procedure, variations in temperature causes expands with heat and contract with cold, stress deformation etc. that gap necessary between kinematic pair various piece, load cause.Due to the coupling in parallel institution between branch, end position and attitude error is not the simple superposition of each error source or simple explicit function relation, and there is very strong correlation between error, theoretic Error Propagation Model is very difficult accurately in foundation.Therefore, need to study under different configuration, different size as much as possible, adopt working space or the adjustable parallel institution of configuration then need not repeat processing equipment part, reduce Experimental Hardware cost and time cost.Patent " 3-freedom parallel mechanism that working space is adjustable and method of adjustment thereof " (application number: 201410618331.1) for the specific class of establishment of one (linkage arrangement form), provide the 3-PRS parallel institution that a kind of working space is adjustable, can adjustment structure size under this specific configuration, be very easy to research.But mechanism is adjustable brings some new problems, such as, adjustment member makes the work rigidity of the major parts such as column reduce, and causes precise decreasing, bearing capacity to reduce; Can increase rigidity by strengthening the method such as adjustment portion and column size, but this result in again mechanism cumbersome, is inconvenient to regulate.
Summary of the invention
The present invention is directed to a class class of establishment, 3-PRS parallel institution that working space is adjustable causes work rigidity to reduce due to adjustment member or increased in size causes the technical problem of mechanism cumbersome, provide the reinforced 3-PRS parallel institution that a kind of working space is adjustable, in adjustment process strengthening part along with the change in location of column dynamically adjustable, while guarantee flexible adjustment, increase the work rigidity of mechanism, efficiently solve above-mentioned technical problem.
To achieve these goals, the technical scheme that the present invention takes is: the reinforced 3-freedom parallel mechanism that a kind of working space is adjustable, comprises fixed platform 1, moving platform 2, first side chain 3, second side chain 4 and the 3rd side chain 5, each side chain in first side chain 3, second side chain 4 and the 3rd side chain 5 includes with lower component: the first adjustment member 31,41,51, first column 32,42,52, first moving sets 33,43,53, first revolute pair 34,44,54, first connecting rod 35,45,55, first spherical pair 36,46,56, the draw bail of parts included in above-mentioned each side chain is: the first adjustment member 31, 41, 51 levels are arranged on fixed platform 1, first adjustment member 31, 41, first column 32 is installed on 51, 42, 52, first column 32, 42, 52 perpendicular to fixed platform 1, first moving sets 33, 43, 53 and first column 32, 42, 52 connect, first moving sets 33, 43, the axis of 53 and the upper plane orthogonal of fixed platform 1, first moving sets 33, 43, 53 and first revolute pair 34, 44, 54 connect, first revolute pair 34, 44, the axis of 54 is parallel with the upper plane of fixed platform 1, first connecting rod 35, 45, one end of 55 and the first revolute pair 34, 44, 54 connect, first connecting rod 35, 45, the other end of 55 and the first spherical pair 36, 46, 56 connect, first spherical pair 36, 46, 56 are arranged on moving platform 2, adjustment member 31,41, the 120 ° of angle distributions of 51 liang of twenty percents,
Described parallel institution also comprises strengthening part 6, and strengthening part 6 comprises coupling block 61 and bracing piece 62, and coupling block 61 comprises the first coupling block 611, second coupling block 612, the 3rd coupling block 613; 3 coupling blocks 611,612, each coupling block in 613 is all provided with 4 biconvex ear structures, each described biconvex ear structure is provided with two identical coaxial hinged bolts installing holes of structure, the axis of the described hinged bolts installing hole on 4 biconvex ear structures is all parallel to each other; The arrangement of 4 on each coupling block described biconvex ear structures is: the left surface be parallel to each other of each coupling block and the upper edge of right flank arrange a described biconvex ear structure respectively, and the lower left corner before all vertical with described right flank with described left surface and the lower right corner arrange a described biconvex ear structure respectively;
Bracing piece 62 comprises 3 little bracing pieces 621 and 3 large bracing pieces 622, above-mentioned 6 bracing pieces are length-adjustable expansion link, the two ends of each bracing piece in 6 bracing pieces are all provided with a described hinged bolts installing hole, and the structure of the described hinged bolts installing hole at two ends is identical and axis is parallel to each other;
First coupling block 611 is arranged on the face at the edge of the close fixed platform 1 of the first column 32, second coupling block 612 is arranged on the face at the edge of the close fixed platform 1 of the second column 42, and the 3rd coupling block 613 is arranged on the face at the edge of the close fixed platform 1 of the 3rd column 52;
One end of first little bracing piece 621 is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described right flank of the first coupling block 611 by hinged bolts, the other end is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described left surface of the second coupling block 612 by hinged bolts;
One end of second little bracing piece 621 is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described right flank of the second coupling block 612 by hinged bolts, the other end is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described left surface of the 3rd coupling block 613 by hinged bolts;
One end of 3rd little bracing piece 621 is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described right flank of the 3rd coupling block 613 by hinged bolts, the other end is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described left surface of the first coupling block 611 by hinged bolts;
One end of first bracing piece 622 is arranged on the described hinged bolts installing hole of the described biconvex ear structure in the lower right corner on before described in the first coupling block 611 by hinged bolts, the other end is arranged on the described hinged bolts installing hole of the described biconvex ear structure in the lower left corner on before described in the second coupling block 612 by hinged bolts;
One end of second largest bracing piece 622 is arranged on the described hinged bolts installing hole of the described biconvex ear structure in the lower right corner on before described in the second coupling block 612 by hinged bolts, the other end is arranged on the described hinged bolts installing hole of the described biconvex ear structure in the lower left corner on before described in the 3rd coupling block 613 by hinged bolts;
One end of the third-largest bracing piece 622 is arranged on the described hinged bolts installing hole of the described biconvex ear structure in the lower right corner on before described in the 3rd coupling block 613 by hinged bolts, the other end is arranged on by hinged bolts on the described hinged bolts installing hole of the described biconvex ear structure in the lower left corner on before described in the first coupling block 611.
Further, the described biconvex ear structure in the described lower left corner above and described before angle be 150 °, be 120 ° with the angle of described left surface; The described biconvex ear structure in the described lower right corner above and described before angle be 150 °, be 120 ° with the angle of described right flank.
Further, 3 little bracing pieces 621 and 3 large bracing pieces 622 are the length-adjustable expansion link of circular arc, and in 6 bracing pieces 62, the axes normal of the described hinged bolts installing hole at the two ends of each bracing piece is in the circular arc place plane of bracing piece.
Further, each bracing piece in bracing piece 62 in 3 little bracing pieces 621 and 3 large bracing pieces 622 includes: chute part 6211,6221 and Slipper 6212,6222; Described chute part 6211,6221 is circular arc, and described chute part 6211, is all provided with arc chute on 6221, and the cross section of chute is rectangle; Described Slipper 6212, is provided with on 6222 and described chute part 6211, the slide rail of the square-section that the arc chute on 6221 matches.
Further, the upper plane of described chute part 6211,6221 is chute part plane of orientation 62111,62211, and the lower plane of described Slipper 6212,6222 is Slipper plane of orientation 62121,62221.
Further, fillet arc-shaped through-hole has been offered in the chute both sides of described chute part 6211,6221, and fillet arc-shaped through-hole has been offered in the slide block both sides of described Slipper 6212,6222.
Further, three columns 32 during described parallel institution adjustment, 42,52 the projection place of the upper plane of fixed platform 1 circle least radius is set to R1, maximum radius is set to R2, the radius R 3=(R1+R2)/2 of the circular arc of 3 little bracing pieces 621, the radius R 4>R3 of the circular arc of 3 large bracing pieces 622.
Further again, the strengthening part 6 that described parallel institution comprises is at least 2.
The useful effect that the present invention has is:
(1) in 3-PRS parallel institution provided by the invention, strengthening part is separated with column, and before the configuration or working space of adjustment parallel institution, unload the bracing piece in strengthening part, the position of independent adjusting post and deflection, institutional adjustment is flexible; After adjustment, then install bracing piece, easy to use.
(2) contain bracing piece and coupling components in parallel institution provided by the invention, the work rigidity of column ensures jointly primarily of himself and reinforcement link rod, increases the integral rigidity of system; And column can design lighter, it is made to regulate more flexible.
(3) in parallel institution provided by the invention, bracing piece adopts length-adjustable expansion link, after the installation length determining bracing piece, according to the length of the installing hole on coupling components apart from adjustment expansion link, after adjustment is complete, by locked for the Telescopic of bracing piece, keep the length of bracing piece to fix, the distance at three columns and fixed platform center can be enable to carry out step-less adjustment; And when bracing piece adopts arc-shaped structure, the interference of moving platform and end effector and bracing piece can be avoided, fully ensure that the size of working space.
(4) in parallel institution provided by the invention, bracing piece and coupling block are installed by the hinged bolts installing hole at two ends, adjust length time, work and be of a size of the distance at hinged bolts installing hole center, in the process of bracing piece length adjustment, only need ensure that pitch-row meets the requirements, convenient adjustment.
(5) reinforcing mechanisms provided by the invention is applicable to a large amount of working spaces or the adjustable parallel institution of configuration, there is very strong versatility and practicality, solving a class class of establishment, 3-PRS parallel institution that working space is adjustable causes work rigidity to reduce due to adjustment member or increased in size causes the technical problem of mechanism cumbersome, has good economic benefit and social benefit.
Accompanying drawing explanation
Fig. 1 is parallel institution scheme of erection provided by the invention;
Fig. 2 is a kind of version sketch of coupling block provided by the invention;
Fig. 3 is the another kind of version sketch of coupling block provided by the invention;
Fig. 4 is the make-up machinery figure of bracing piece provided by the invention;
Fig. 5 is the chute some mechanical figure of bracing piece provided by the invention;
Fig. 6 is the Slipper machine drawing of bracing piece provided by the invention.
In figure: 1, fixed platform 2, moving platform
3, the first side chain 4, second side chain 5, the 3rd side chain 6, strengthening part
31, the first adjustment member 41, second adjustment member 51, the 3rd adjustment member
32, the first column 42, second column 52, the 3rd column
33, the first moving sets 43, second moving sets 53, three moving sets
34, the first revolute pair 44, second revolute pair 54, the 3rd revolute pair
35, first connecting rod 45, second connecting rod 55, third connecting rod
36, the first spherical pair 46, second spherical pair 56, the 3rd spherical pair
61, coupling block 62, bracing piece
611, the first coupling block 612, second coupling block 613, the 3rd coupling block
621, little bracing piece 622, large bracing piece
6211, little bracing piece chute part 6212, little bracing piece Slipper
6221, large bracing piece chute part 6222, large bracing piece Slipper
62111, little bracing piece chute part plane of orientation 62121, little bracing piece Slipper plane of orientation
62211, large bracing piece chute part plane of orientation 62221, large bracing piece Slipper plane of orientation.
Detailed description of the invention
Below in conjunction with accompanying drawing and preferred embodiment, to according to detailed description of the invention provided by the invention, structure, feature and effect thereof, be described in detail as follows.
As shown in Figure 1, the reinforced 3-freedom parallel mechanism that a kind of working space provided by the invention is adjustable, comprises fixed platform 1, moving platform 2, first side chain 3, second side chain 4 and the 3rd side chain 5.The parts that three side chains comprise and draw bail as follows.
First side chain 3: comprise the first adjustment member 31, first column 32, first moving sets 33, first revolute pair 34, first connecting rod 35, first spherical pair 36;
The draw bail of parts included in the first side chain 3 is: the first adjustment member 31 level is arranged on fixed platform 1, first adjustment member 31 is installed the first column 32, first column 32 is perpendicular to fixed platform 1, first moving sets 33 connects with the first column 32, the axis of the first moving sets 33 and the upper plane orthogonal of fixed platform 1, first moving sets 33 connects with the first revolute pair 34, the axis of the first revolute pair 34 is parallel with the upper plane of fixed platform 1, one end of first connecting rod 35 connects with the first revolute pair 34, the other end of first connecting rod 35 connects with the first spherical pair 36, first spherical pair 36 is arranged on moving platform 2.
Second side chain 4: comprise the second adjustment member 41, second column 42, second moving sets 43, second revolute pair 44, second connecting rod 45, second spherical pair 46;
The draw bail of parts included in the second side chain 4 is: the second adjustment member 41 level is arranged on fixed platform 1, second adjustment member 41 is installed the second column 42, second column 42 is perpendicular to fixed platform 1, second moving sets 43 connects with the second column 42, the axis of the second moving sets 43 and the upper plane orthogonal of fixed platform 1, second moving sets 43 connects with the second revolute pair 44, the axis of the second revolute pair 44 is parallel with the upper plane of fixed platform 1, one end of second connecting rod 45 connects with the second revolute pair 44, the other end of second connecting rod 45 connects with the second spherical pair 46, second spherical pair 46 is arranged on moving platform 2.
3rd side chain 5: comprise the 3rd adjustment member 51, the 3rd column 52, three moving sets 53, the 3rd revolute pair 54, third connecting rod 55, the 3rd spherical pair 56;
The draw bail of parts included in the 3rd side chain 5 is: the 3rd adjustment member 51 level is arranged on fixed platform 1, 3rd adjustment member 51 installs the 3rd column 52, 3rd column 52 is perpendicular to fixed platform 1, three moving sets 53 connects with the 3rd column 52, the axis of three moving sets 53 and the upper plane orthogonal of fixed platform 1, three moving sets 53 connects with the 3rd revolute pair 54, the axis of the 3rd revolute pair 54 is parallel with the upper plane of fixed platform 1, one end of third connecting rod 55 connects with the 3rd revolute pair 54, the other end of third connecting rod 55 connects with the 3rd spherical pair 56, 3rd spherical pair 56 is arranged on moving platform 2.
The 120 ° of angle distributions of adjustment member 31,41,51 liang of twenty percents.
Described parallel institution also comprises strengthening part 6, and strengthening part 6 comprises coupling block 61 and bracing piece 62, and coupling block 61 comprises the first coupling block 611, second coupling block 612, the 3rd coupling block 613; As shown in Figure 2 and Figure 3, each coupling block in 3 coupling blocks 611,612,613 is all provided with 4 biconvex ear structures, each described biconvex ear structure is provided with two identical coaxial hinged bolts installing holes of structure, the axis of the described hinged bolts installing hole on 4 biconvex ear structures is all parallel to each other, as axis L1, L2, L3, L4 in figure are parallel to each other; The arrangement of 4 on each coupling block described biconvex ear structures is: the left surface be parallel to each other of each coupling block and the upper edge of right flank arrange a described biconvex ear structure respectively, and the lower left corner before all vertical with described right flank with described left surface and the lower right corner arrange a described biconvex ear structure respectively; Before described in above-mentioned, described left surface, described right flank be that this visual angle, outside of the fixed platform 1 standing in described parallel institution defines;
Bracing piece 62 comprises 3 little bracing pieces 621 and 3 large bracing pieces 622, above-mentioned 6 bracing pieces are length-adjustable expansion link, the two ends of each bracing piece in 6 bracing pieces are all provided with a described hinged bolts installing hole, and the structure of the described hinged bolts installing hole at two ends is identical and axis is parallel to each other;
First coupling block 611 is arranged on the face at the edge of the close fixed platform 1 of the first column 32, second coupling block 612 is arranged on the face at the edge of the close fixed platform 1 of the second column 42, and the 3rd coupling block 613 is arranged on the face at the edge of the close fixed platform 1 of the 3rd column 52;
One end of first little bracing piece 621 is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described right flank of the first coupling block 611 by hinged bolts, the other end is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described left surface of the second coupling block 612 by hinged bolts;
One end of second little bracing piece 621 is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described right flank of the second coupling block 612 by hinged bolts, the other end is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described left surface of the 3rd coupling block 613 by hinged bolts;
One end of 3rd little bracing piece 621 is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described right flank of the 3rd coupling block 613 by hinged bolts, the other end is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described left surface of the first coupling block 611 by hinged bolts;
One end of first bracing piece 622 is arranged on the described hinged bolts installing hole of the described biconvex ear structure in the lower right corner on before described in the first coupling block 611 by hinged bolts, the other end is arranged on the described hinged bolts installing hole of the described biconvex ear structure in the lower left corner on before described in the second coupling block 612 by hinged bolts;
One end of second largest bracing piece 622 is arranged on the described hinged bolts installing hole of the described biconvex ear structure in the lower right corner on before described in the second coupling block 612 by hinged bolts, the other end is arranged on the described hinged bolts installing hole of the described biconvex ear structure in the lower left corner on before described in the 3rd coupling block 613 by hinged bolts;
One end of the third-largest bracing piece 622 is arranged on the described hinged bolts installing hole of the described biconvex ear structure in the lower right corner on before described in the 3rd coupling block 613 by hinged bolts, the other end is arranged on by hinged bolts on the described hinged bolts installing hole of the described biconvex ear structure in the lower left corner on before described in the first coupling block 611.
The deflection of the first column 32, second column 42, the 3rd column 52 and can regulating respectively by the first adjustment member 31, second adjustment member 41, the 3rd adjustment member 51 with the distance at the center of fixed platform 1.As shown in the four-headed arrow in Fig. 1, straight arrows representative can regulate the distance at the center of corresponding column and fixed platform 1, curved arrow to represent each column can to carry out rotation around the axis vertical with fixed platform 1 of oneself and regulate along this rectilinear direction.The regulatory function of the first adjustment member 31, second adjustment member 41, the 3rd adjustment member 51 realizes by a lot of mechanism, such as, usually linear slider sliding track mechanism is adopted to adjust with the governor motion of the distance at fixed platform 1 center, and available ball-screw carries out auxiliary adjustment, to increase the convenience of adjustment.
Wherein, described biconvex ear structure as shown in Figure 2 and Figure 3.Two lugs in each described biconvex ear structure are parallel to each other, and the two structure is identical, and have a groove therebetween, and this groove is used to install bracing piece 62 two ends.
Biconvex ear structure on coupling block 611,612,613 has a variety of arrangement and version, two kinds of versions that Fig. 2 and Fig. 3 gives.
As shown in Figure 2, the described biconvex ear structure in the described lower left corner above and described before angle be 150 °, be 120 ° with the angle of described left surface; The described biconvex ear structure in the described lower right corner above and described before angle be 150 °, be 120 ° with the angle of described right flank.
As shown in Figure 3, the angle of described biconvex ear structure and place plane is 90 °, and this is the difference with the structure shown in Fig. 2.
Little bracing piece 621 can be linear length-adjustable expansion link with large bracing piece 622, also can be the length-adjustable expansion link of circular arc.As shown in Figure 4,3 little bracing pieces 621 and 3 large bracing pieces 622 are the length-adjustable expansion link of circular arc, and in 6 bracing pieces 62, the axes normal of the described hinged bolts installing hole at the two ends of each bracing piece is in the circular arc place plane of bracing piece.
As shown in Fig. 4, Fig. 5 and Fig. 6, each bracing piece in bracing piece 62 in 3 little bracing pieces 621 and 3 large bracing pieces 622 includes: chute part 6211,6221 and Slipper 6212,6222; Described chute part 6211,6221 is circular arc, and described chute part 6211,6221 is all provided with arc chute, and the cross section of chute is rectangle; Described Slipper 6212,6222 is provided with the slide rail of the square-section matched with the arc chute in described chute part 6211,6221.Little bracing piece 621 and large bracing piece 622 except radius is different, other aspects are all identical, so, they are plotted on a figure.
As shown in figs. 5 and 6, the upper plane of described chute part 6211,6221 is chute part plane of orientation 62111,62211, and the lower plane of described Slipper 6212,6222 is Slipper plane of orientation 62121,62221.
Fillet arc-shaped through-hole has been offered in the chute both sides of described chute part 6211,6221, and fillet arc-shaped through-hole has been offered in the slide block both sides of described Slipper 6212,6222.
During the adjustment of described parallel institution three columns 32,42,52 the projection place of the upper plane of fixed platform 1 circle least radius is set to R1, maximum radius is set to R2, the radius R 3=(R1+R2)/2 of the circular arc of 3 little bracing pieces 621, the radius R 4>R3 of the circular arc of 3 large bracing pieces 622.The above-mentioned radius of clean-up refers to: when the projection of three columns 32,42 and 52 on fixed platform 1 forms an equilateral triangle, the external radius of a circle of this equilateral triangle.
The strengthening part 6 that described parallel institution comprises is at least 2.Each strengthening part is parallel to each other, and is all parallel to fixed platform 1 and installs, and that is all installs up and down along 3 columns.
Bracing piece group 62 is the member structure of adjustable-length, and that is, each bracing piece can electrodeless adjustment length, after being adjusted to predetermined length, is locked by retaining mechanism.The needs of the different configuration of the 3-PRS parallel institution that the electrodeless control characteristic of the length of bracing piece can adapt to provide in the present invention, different operating space allocation.
The described parallel institution method of adjustment provided in the present invention comprises the steps:
S1: unload 6 bracing pieces 62;
S2: regulate 3 columns 32,42,52 to preposition by 3 adjustment members 31,41,51;
S3: the adjustment length of bracing piece 62 is also locked by length;
S4: 6 bracing pieces 62 are installed on contiguous block 61 with hinged bolts.
In step S3, need the pitch-row of the described hinged bolts installing hole at the two ends of each bracing piece in the pitch-row adjustment bracing piece 62 according to the described hinged bolts installing hole of 3 coupling blocks 611,612,613, and with locking mechanism by locked for the length of bracing piece 62, during as adopted the circular arc bracing piece shown in Fig. 4, realizing clamping by bolt and carrying out locked length.Fillet arc-shaped through-hole on bracing piece chute part 6211,6221 and bracing piece Slipper 6212,6222 makes the length of bracing piece carry out step-less adjustment.
The above; it is only preferred embodiment of the present invention; not do any pro forma restriction to the present invention, the simple modification that those skilled in the art utilize the technology contents of above-mentioned prompting to make, equivalent variations or modification, all drop in protection scope of the present invention.
Claims (8)
1. the reinforced 3-freedom parallel mechanism that working space is adjustable, described parallel institution comprises fixed platform (1), moving platform (2), the first side chain (3), the second side chain (4) and the 3rd side chain (5), each side chain in first side chain (3), the second side chain (4) and the 3rd side chain (5) includes with lower component: the first adjustment member (31,41,51), the first column (32,42,52), the first moving sets (33,43,53), the first revolute pair (34,44,54), first connecting rod (35,45,55), the first spherical pair (36,46,56), the draw bail of parts included in above-mentioned each side chain is: the first adjustment member (31, 41, 51) level is arranged on fixed platform (1), first adjustment member (31, 41, 51) upper installation first column (32, 42, 52), first column (32, 42, 52) perpendicular to fixed platform (1), first moving sets (33, 43, 53) with the first column (32, 42, 52) connect, first moving sets (33, 43, 53) the upper plane orthogonal of axis and fixed platform (1), first moving sets (33, 43, 53) with the first revolute pair (34, 44, 54) connect, first revolute pair (34, 44, 54) axis is parallel with the upper plane of fixed platform (1), first connecting rod (35, 45, 55) one end and the first revolute pair (34, 44, 54) connect, first connecting rod (35, 45, 55) the other end and the first spherical pair (36, 46, 56) connect, first spherical pair (36, 46, 56) be arranged on moving platform (2), the 120 ° of angle distributions of adjustment member (31,41,51) two twenty percent,
Be characterised in that, described parallel institution also comprises strengthening part (6), strengthening part (6) comprises coupling block (61) and bracing piece (62), and coupling block (61) comprises the first coupling block (611), the second coupling block (612), the 3rd coupling block (613); 3 coupling blocks (611,612,613) each coupling block in is all provided with 4 biconvex ear structures, each described biconvex ear structure is provided with two identical coaxial hinged bolts installing holes of structure, the axis of the described hinged bolts installing hole on 4 biconvex ear structures is all parallel to each other; The arrangement of 4 on each coupling block described biconvex ear structures is: the left surface be parallel to each other of each coupling block and the upper edge of right flank arrange a described biconvex ear structure respectively, and the lower left corner before all vertical with described right flank with described left surface and the lower right corner arrange a described biconvex ear structure respectively;
Bracing piece (62) comprises 3 little bracing pieces (621) and 3 large bracing pieces (622), above-mentioned 6 bracing pieces are length-adjustable expansion link, the two ends of each bracing piece in 6 bracing pieces are all provided with a described hinged bolts installing hole, and the structure of the described hinged bolts installing hole at two ends is identical and axis is parallel to each other;
First coupling block (611) is arranged on the face at the edge of the close fixed platform (1) of the first column (32), second coupling block (612) is arranged on the face at the edge of the close fixed platform (1) of the second column (42), and the 3rd coupling block (613) is arranged on the face at the edge of the close fixed platform (1) of the 3rd column (52);
One end of first little bracing piece (621) is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described right flank of the first coupling block (611) by hinged bolts, the other end is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described left surface of the second coupling block (612) by hinged bolts;
One end of second little bracing piece (621) is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described right flank of the second coupling block (612) by hinged bolts, the other end is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described left surface of the 3rd coupling block (613) by hinged bolts;
One end of 3rd little bracing piece (621) is arranged on by hinged bolts on the described hinged bolts installing hole of the described biconvex ear structure on the described right flank of the 3rd coupling block (613), and the other end is arranged on the described hinged bolts installing hole of the described biconvex ear structure on the described left surface of the first coupling block (611) by hinged bolts;
One end of first bracing piece (622) by hinged bolts be arranged on the first coupling block (611) described above on the lower right corner described biconvex ear structure described hinged bolts installing hole on, the other end by hinged bolts be arranged on the second coupling block (612) described above on the lower left corner described biconvex ear structure described hinged bolts installing hole on;
One end of second largest bracing piece (622) by hinged bolts be arranged on the second coupling block (612) described above on the lower right corner described biconvex ear structure described hinged bolts installing hole on, the other end by hinged bolts be arranged on the 3rd coupling block (613) described above on the lower left corner described biconvex ear structure described hinged bolts installing hole on;
One end of the third-largest bracing piece (622) by hinged bolts be arranged on the 3rd coupling block (613) described above on the lower right corner described biconvex ear structure described hinged bolts installing hole on, the other end by hinged bolts be arranged on the first coupling block (611) described above on the lower left corner described biconvex ear structure described hinged bolts installing hole on.
2. the reinforced 3-freedom parallel mechanism that working space according to claim 1 is adjustable, is characterized in that, the described biconvex ear structure in the described lower left corner above and described before angle be 150 °, be 120 ° with the angle of described left surface; The described biconvex ear structure in the described lower right corner above and described before angle be 150 °, be 120 ° with the angle of described right flank.
3. the reinforced 3-freedom parallel mechanism adjustable according to the arbitrary described working space of claim 1 or 2, it is characterized in that, 3 little bracing pieces (621) are the length-adjustable expansion link of circular arc with 3 large bracing pieces (622), and in 6 bracing pieces (62), the axes normal of the described hinged bolts installing hole at the two ends of each bracing piece is in the circular arc place plane of bracing piece.
4. the reinforced 3-freedom parallel mechanism that working space according to claim 3 is adjustable, it is characterized in that, in bracing piece (62), 3 little bracing pieces (621) include with each bracing piece in 3 large bracing pieces (622): chute part (6211,6221) and Slipper (6212,6222); Described chute part (6211,6221) is circular arc, and (6211,6221) are all provided with arc chute to described chute part, and the cross section of chute is rectangle; Described Slipper (6212,6222) is provided with the slide rail of the square-section matched with the arc chute in described chute part (6211,6221).
5. the reinforced 3-freedom parallel mechanism that working space according to claim 4 is adjustable, it is characterized in that, described chute part (6211,6221) upper plane is chute part plane of orientation (62111,62211), the lower plane of described Slipper (6212,6222) is Slipper plane of orientation (62121,62221).
6. the reinforced 3-freedom parallel mechanism that working space according to claim 5 is adjustable, it is characterized in that, described chute part (6211,6221) fillet arc-shaped through-hole has been offered in chute both sides, fillet arc-shaped through-hole has been offered in the slide block both sides of described Slipper (6212,6222).
7. the reinforced 3-freedom parallel mechanism that working space according to claim 6 is adjustable, it is characterized in that, three columns (32 during described parallel institution adjustment, 42,52) the projection place of the upper plane of fixed platform (1) circle least radius is set to R1, maximum radius is set to R2, the radius R 3=(R1+R2)/2 of the circular arc of 3 little bracing pieces (621), the radius R 4>R3 of the circular arc of 3 large bracing pieces (622).
8. the reinforced 3-freedom parallel mechanism that working space according to claim 7 is adjustable, is characterized in that, the strengthening part (6) that described parallel institution comprises is at least 2.
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Cited By (1)
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| CN106112982A (en) * | 2016-07-29 | 2016-11-16 | 安庆米锐智能科技有限公司 | A kind of e-commerce product show robot special intelligent mechanical hand |
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