CN105666467B - A kind of Three-freedom-degree hybrid rotatable platform mechanism of the branch containing revolution driving - Google Patents
A kind of Three-freedom-degree hybrid rotatable platform mechanism of the branch containing revolution driving Download PDFInfo
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- CN105666467B CN105666467B CN201610142639.2A CN201610142639A CN105666467B CN 105666467 B CN105666467 B CN 105666467B CN 201610142639 A CN201610142639 A CN 201610142639A CN 105666467 B CN105666467 B CN 105666467B
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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
A kind of Three-freedom-degree hybrid rotatable platform mechanism of branch containing revolution driving, it includes parallel institution and swing mechanism two parts.The parallel institution includes fixed platform, moving platform, connection fixed platform the linear drives branch identical with three structures of moving platform and a constrained branched chain；Wherein, the both ends of linear drives branch are connect respectively with fixed platform and moving platform, and one end of the fixed bearing bar of constrained branched chain is connect with fixed platform center, and the other end is connect with moving platform center；The swing mechanism includes a RRS revolution drivings branch, upper motion platform and lower motion platform, between upper motion platform and moving platform, floating bearing is equipped between lower motion platform and fixed platform, and above-mentioned two floating bearing center is on the same axis；The both ends of the RRS revolution drivings branch are connect respectively with upper motion platform and lower motion platform.Bearing capacity of the present invention is high, revolution range is big, improves unbalance loading situation, fabricates easily, has a good application prospect.
Description
Technical field
The invention belongs to robot field, more particularly to a kind of series-parallel connection rotatable platform mechanism.
Background technology
Three Degree Of Freedom rotatable platform has broad application prospects in many occasions, such as flight simulator, ship movement simulation
Device, tank simulator, earthquake simulator etc., to simulate various spatial movement postures or even the docking in space spaceship
In also applied.However, there are mainly three types of structure types for existing Three Degree Of Freedom rotatable platform：Tandem, parallel and string
Parallel unit mechanism, wherein series-parallel be also series parallel type, it has been concentrated, and conventional serial mechanism working space is big, movement is flexible excellent
Point, while also have the advantages of parallel institution large carrying capacity, thus have a good application prospect.
Existing Three-freedom-degree hybrid rotatable platform, generally comprises parallel institution and swing mechanism two parts, parallel institution
For bearing part, two rolling, pitching degree of freedom are used to implement, the swing mechanism of series connection is mainly used for realizing large-scale revolution
Movement, and swing mechanism and its driving device are arranged in above or below parallel institution, in both cases, revolution
The driving device of mechanism is installed at revolute joint so that parallel institution and swing mechanism can be as the loads of other side.
Invention content
The purpose of the present invention is to provide the high performance branch containing revolution driving that a kind of bearing capacity is high and revolution range is big
The Three-freedom-degree hybrid rotatable platform mechanism of chain.
Technical scheme is as follows：
The present invention includes parallel institution and swing mechanism two parts, and wherein the moving platform of parallel institution and swing mechanism is upper
The lower motion platform of motion platform, the fixed platform of parallel institution and swing mechanism is connected respectively by floating bearing.
The parallel institution includes fixed platform, moving platform, connection the fixed platform straight line identical with three structures of moving platform
Drive branch and a constrained branched chain.Wherein, one end of linear drives branch is connect respectively by U pairs with fixed platform, another
End is connect, and three U sub-centers are evenly arranged in and allocate edge of table by S pairs with moving platform respectively, three uniform cloth of S sub-centers
It puts at moving platform edge；One end of the fixed bearing bar of constrained branched chain is connect with fixed platform center, the fixed bearing bar it is another
End is connect by U pairs with moving platform center.
The swing mechanism includes a RRS revolution drivings branch, upper motion platform and lower motion platform, upper motion platform
Coupled by floating bearing with the moving platform in above-mentioned parallel institution, the floating bearing center and the about bundle branch of above-mentioned parallel institution
The U sub-centers of chain are coaxial, and lower motion platform is coupled by external tooth type floating bearing with the fixed platform in parallel institution, above-mentioned two
Floating bearing center is on the same axis；The output axis connection of pinion gear and motor, the pinion gear and external tooth type floating bearing
Gear wheel engagement；The peripheral surface of the upper motion platform is equipped with the connection sheet being connected as a single entity with it, the lower motion platform
Peripheral surface is equipped with the boss being connected as a single entity with it, and the lower link of the RRS revolution drivings branch passes through R pairs and lower motion platform
Boss connects, and the other end of the lower link is connected by one end of another R pair and upper connecting rod, and the other end of the upper connecting rod passes through
S pairs are connect with the connection sheet of upper motion platform, and two R secondary axis are parallel.It is turned round by the lower motion platform of driving, lower movement is flat
Platform drives RRS revolution drivings branch that rotary motion is transferred to upper motion platform, it is made to make rotary motion around moving platform.
The present invention has the following advantages that compared with prior art：
1st, three driving branches being arranged symmetrically are contained in parallel institution part, are used to implement roll and pitch movement, significantly
Improve unbalance loading situation；
2nd, the driving device of swing mechanism is mounted in rack, and pass through on a revolution driving branch band motion platform around
Parallel institution moving platform turns round, and without bearing the weight of top parallel institution, greatly increase the bearing capacity of the turntable；
3rd, certain shaft axis of the S secondary axis center of swing mechanism RRS branches without the U pairs by constrained branched chain so that
Mechanism is easy to process, cost reduction.
Description of the drawings
Attached drawing 1 is the main view schematic diagram of the present invention.
Attached drawing 2 is the stereoscopic schematic diagram of the present invention.
In figure：1st, fixed platform 2, lower motion platform 3, revolute pair A (R pairs) 4, lower link 5, motor A 6, revolute pair
B (R pairs) 7, upper connecting rod 8, flexural pivot A (S pairs) 9, floating bearing 10, moving platform 11, upper motion platform 12, flexural pivot B (S pairs)
13rd, Hooke's hinge A (U pairs) 14, fixed bearing bar 15, linear drives branch 16, Hooke's hinge B (U pairs) 17, motor B 18,
Pinion gear 19, external tooth type floating bearing
Specific embodiment
In the Three-freedom-degree hybrid rotatable platform schematic diagram shown in Fig. 1,2, the moving platform 10 and turn-around machine of parallel institution
The upper motion platform 11 of structure, the fixed platform 1 of parallel institution are connect with the lower motion platform 2 of swing mechanism by floating bearing.
One end of the identical linear drives branch 15 of three structures in the parallel institution respectively by Hooke's hinge B16 with
Fixed platform connects, and the other end is connect respectively by flexural pivot B12 with moving platform, and three Hooke's hinge centers are evenly arranged in and allocate
Edge of table, three flexural pivot centers are evenly arranged in moving platform edge；One end of the fixed bearing bar 14 of constrained branched chain and fixed platform
Center connects, and the other end of the fixed bearing bar is connect by Hooke's hinge A13 with moving platform center.
Upper motion platform in the swing mechanism is coupled by floating bearing 9 with the moving platform in above-mentioned parallel institution,
The floating bearing center and the Hooke's hinge central coaxial of constrained branched chain in above-mentioned parallel institution, lower motion platform are returned by external tooth type
Shaft is held 19 and is coupled with the fixed platform in parallel institution, and the center of above-mentioned floating bearing and external tooth type floating bearing is in same axis
On；The output axis connection of pinion gear 18 and motor B 17, the pinion gear are engaged with the gear wheel of external tooth type floating bearing；It is described
The peripheral surface of upper motion platform is equipped with the connection sheet being connected as a single entity with it, and the peripheral surface of the lower motion platform is equipped with to be linked as with it
The boss of one, the lower link 2 of the RRS revolution drivings branch are connect by revolute pair A 3 with the boss of lower motion platform, should
The other end of lower link is connect by another revolute pair B 6 with one end of upper connecting rod 7, and the other end of the upper connecting rod passes through flexural pivot
A 8 is connect with the connection sheet of upper motion platform, and two revolute pair axis are parallel.It is turned round by the lower motion platform of driving, lower fortune
Moving platform drives RRS revolution drivings branch that rotary motion is transferred to upper motion platform, it is made to make rotary motion around moving platform.
Claims (2)
1. a kind of Three-freedom-degree hybrid rotatable platform mechanism of branch containing revolution driving, it is characterised in that：It includes parallel institution
With the fixed platform of swing mechanism two parts, the wherein upper motion platform of the moving platform of parallel institution and swing mechanism, parallel institution
It is connect respectively by floating bearing with the lower motion platform of swing mechanism；The swing mechanism includes a RRS revolution driving branch
Chain, upper motion platform and lower motion platform, upper motion platform are coupled by floating bearing with the moving platform in above-mentioned parallel institution,
The floating bearing center and the U sub-centers of constrained branched chain in above-mentioned parallel institution are coaxial, and lower motion platform is turned round by external tooth type
Bearing couples with the fixed platform in parallel institution, above-mentioned two floating bearing center on the same axis, the RRS revolution drivings
The lower link of branch is connect by R pairs with the boss of lower motion platform, and the other end of the lower link passes through another R pair and upper company
One end connection of bar, the other end of the upper connecting rod is connect by S pairs with the connection sheet of upper motion platform, and two R secondary axis are put down
Row.
2. the Three-freedom-degree hybrid rotatable platform mechanism of the branch according to claim 1 containing revolution driving, it is characterised in that：
The parallel institution includes fixed platform, moving platform, connection fixed platform the linear drives branch identical with three structures of moving platform
With a constrained branched chain, wherein, one end of linear drives branch is connect respectively by U pairs with fixed platform, and the other end leads to respectively
It crosses S pairs to connect with moving platform, and three U sub-centers are evenly arranged in and allocate edge of table, three S sub-centers are evenly arranged in dynamic flat
Edge of table；One end of the fixed bearing bar of constrained branched chain is connect with fixed platform center, and the other end of the fixed bearing bar passes through U pairs
It is connect with moving platform center.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610142639.2A CN105666467B (en) | 2016-03-14 | 2016-03-14 | A kind of Three-freedom-degree hybrid rotatable platform mechanism of the branch containing revolution driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610142639.2A CN105666467B (en) | 2016-03-14 | 2016-03-14 | A kind of Three-freedom-degree hybrid rotatable platform mechanism of the branch containing revolution driving |
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| Publication Number | Publication Date |
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| CN105666467A CN105666467A (en) | 2016-06-15 |
| CN105666467B true CN105666467B (en) | 2018-06-08 |
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| CN201610142639.2A Active CN105666467B (en) | 2016-03-14 | 2016-03-14 | A kind of Three-freedom-degree hybrid rotatable platform mechanism of the branch containing revolution driving |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108340353A (en) * | 2018-03-12 | 2018-07-31 | 武汉理工大学 | A kind of imitative wrist joint submissive milling robot in parallel |
| CN113002698A (en) * | 2021-03-29 | 2021-06-22 | 清华大学 | Five-degree-of-freedom parallel mechanism with double-acting platform and carrier-borne stable platform |
| CN115816423B (en) * | 2022-09-20 | 2024-07-05 | 北京萌友智能科技有限公司 | Parallel mechanism holder device for robot, pose control method and controller |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CH672089A5 (en) * | 1985-12-16 | 1989-10-31 | Sogeva Sa | |
| CN1092092C (en) * | 2000-04-21 | 2002-10-09 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| US6808344B2 (en) * | 2002-12-27 | 2004-10-26 | Jeng-Shyong Chen | Multi-axis cartesian guided parallel kinematic machine |
| CN100372657C (en) * | 2006-04-18 | 2008-03-05 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| CN101999970B (en) * | 2010-12-24 | 2013-01-30 | 上海电机学院 | Parallel multi-degree-of-freedom ankle joint rehabilitation trainer |
| CN102755754A (en) * | 2012-07-18 | 2012-10-31 | 武汉金领湾实业有限公司 | Full-slewing multi-degree-of-freedom dynamic device with mechanical animal |
| CN104637361B (en) * | 2013-11-14 | 2017-02-08 | 沈阳新松机器人自动化股份有限公司 | Light-load simulation platform |
| CN104061114A (en) * | 2014-06-10 | 2014-09-24 | 上海交通大学 | Three-dimensional oscillating floating body sea wave power generation device |
| CN104760038A (en) * | 2015-03-13 | 2015-07-08 | 燕山大学 | Three-degree-of-freedom series-parallel rotating platform |
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