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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- B25J9/00—Programme-controlled manipulators
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Abstract
一种含回转驱动支链的三自由度混联转动平台机构，它包括并联机构和回转机构两部分。所述并联机构包括定平台、动平台、连接定平台和动平台的三条结构相同的直线驱动支链和一条约束支链；其中，直线驱动支链的两端分别与定平台和动平台连接，约束支链的固定支承杆的一端与定平台中心连接，其另一端与动平台中心连接；所述回转机构包括一条RRS回转驱动支链、上运动平台和下运动平台，上运动平台与动平台之间、下运动平台与定平台之间均设有回转轴承，且上述两个回转轴承中心在同一轴线上；所述RRS回转驱动支链的两端分别与上运动平台和下运动平台连接。本发明承载能力高、回转范围大、改善了偏载情况、加工制造容易，具有良好的应用前景。
A three-degree-of-freedom mixed-connected rotary platform mechanism with a rotary drive branch chain includes two parts: a parallel mechanism and a rotary mechanism. The parallel mechanism includes a fixed platform, a moving platform, three linear drive branch chains with the same structure and a restraint branch chain connecting the fixed platform and the moving platform; wherein, the two ends of the linear drive branch chain are respectively connected with the fixed platform and the moving platform, One end of the fixed support rod constraining the branch chain is connected to the center of the fixed platform, and the other end is connected to the center of the moving platform; the slewing mechanism includes a RRS rotary driving branch chain, an upper movement platform and a lower movement platform, and the upper movement platform and the movement platform There are slewing bearings between the lower moving platform and the fixed platform, and the centers of the above two slewing bearings are on the same axis; the two ends of the RRS slewing drive branch chain are respectively connected to the upper moving platform and the lower moving platform. The invention has high bearing capacity, large rotation range, improved partial load situation, easy processing and manufacturing, and has good application prospects.
Description
技术领域technical field
本发明属于机器人领域，特别涉及一种混联转动平台机构。The invention belongs to the field of robots, in particular to a hybrid rotating platform mechanism.
背景技术Background technique
三自由度转动平台在很多场合有广阔的应用前景，如飞行模拟器、船舶运动模拟器、坦克模拟器、地震模拟器等，用以模拟各种空间运动姿态，甚至在空间宇宙飞船的对接中也有所应用。然而，现有的三自由度转动平台主要有三种结构形式：串联式、并联式和串并联式机构，其中串并联式也叫混联式，它集中了传统串联机构工作空间大、运动灵活的优点，同时也具备并联机构承载能力大的优点，因而具有良好的应用前景。The three-degree-of-freedom rotating platform has broad application prospects in many occasions, such as flight simulators, ship motion simulators, tank simulators, earthquake simulators, etc., to simulate various space motion attitudes, even in the docking of space spacecraft Also applied. However, the existing three-degree-of-freedom rotating platforms mainly have three structural forms: serial, parallel, and series-parallel mechanisms. Among them, the series-parallel mechanism is also called the hybrid mechanism, which combines the large working space and flexible movement of the traditional serial mechanism. At the same time, it also has the advantage of large load capacity of the parallel mechanism, so it has a good application prospect.
现有的三自由度混联转动平台，一般包含并联机构和回转机构两部分，并联机构为承载部分，用于实现横摇、纵摇两个自由度，串联的回转机构主要用于实现大范围的回转运动，而且回转机构及其驱动装置均布置于并联机构的上方或下方，在这两种情况下，回转机构的驱动装置安装于回转关节处，使得并联机构和回转机构均会成为对方的负载。The existing three-degree-of-freedom hybrid rotating platform generally includes two parts: a parallel mechanism and a slewing mechanism. In both cases, the driving device of the slewing mechanism is installed at the slewing joint, so that the parallel mechanism and the slewing mechanism will become each other’s load.
发明内容Contents of the invention
本发明的目的在于提供一种承载能力高且回转范围大的高性能的含回转驱动支链的三自由度混联转动平台机构。The purpose of the present invention is to provide a high-performance three-degree-of-freedom hybrid rotary platform mechanism with a rotary drive branch chain with high bearing capacity and large rotary range.
本发明的技术方案如下：Technical scheme of the present invention is as follows:
本发明包括并联机构和回转机构两部分，其中并联机构的动平台与回转机构的上运动平台、并联机构的定平台与回转机构的下运动平台分别通过回转轴承连接。The invention comprises two parts of a parallel mechanism and a rotary mechanism, wherein the moving platform of the parallel mechanism is connected with the upper moving platform of the rotary mechanism, and the fixed platform of the parallel mechanism is connected with the lower moving platform of the rotary mechanism through rotary bearings respectively.
所述并联机构包括定平台、动平台、连接定平台和动平台的三条结构相同的直线驱动支链和一条约束支链。其中，直线驱动支链的一端分别通过U副与定平台连接，其另一端分别通过S副与动平台连接，且三个U副中心均匀布置在定平台边缘，三个S副中心均匀布置在动平台边缘；约束支链的固定支承杆的一端与定平台中心连接，该固定支承杆的另一端通过U副与动平台中心连接。The parallel mechanism includes a fixed platform, a moving platform, three linear drive branch chains with the same structure connecting the fixed platform and the moving platform, and a constraint branch chain. Among them, one end of the linear drive branch chain is connected to the fixed platform through the U pair, and the other end is connected to the moving platform through the S pair, and the three U sub-centers are evenly arranged on the edge of the fixed platform, and the three S sub-centers are evenly arranged on the The edge of the moving platform; one end of the fixed support rod constraining the branch chain is connected to the center of the fixed platform, and the other end of the fixed support rod is connected to the center of the moving platform through a U pair.
所述回转机构包括一条RRS回转驱动支链、上运动平台和下运动平台，上运动平台通过回转轴承与上述并联机构中的动平台联接，该回转轴承中心与上述并联机构的约束支链的U副中心同轴，下运动平台通过外齿式回转轴承与并联机构中的定平台联接，上述两个回转轴承中心在同一轴线上；小齿轮与电动机的输出轴连接，该小齿轮与外齿式回转轴承的大齿轮啮合；所述上运动平台的外周面设有与其连为一体的连接片，所述下运动平台的外周面设有与其连为一体的凸台，所述RRS回转驱动支链的下连杆通过R副与下运动平台的凸台连接，该下连杆的另一端通过另一个R副与上连杆的一端连接，该上连杆的另一端通过S副与上运动平台的连接片连接，且两个R副轴线平行。通过驱动下运动平台回转，下运动平台带动RRS回转驱动支链将回转运动传递至上运动平台，使其绕动平台作回转运动。The slewing mechanism includes an RRS slewing drive branch chain, an upper moving platform and a lower moving platform, the upper moving platform is connected with the moving platform in the above-mentioned parallel mechanism through a slewing bearing, and the center of the slewing bearing is connected to the U of the constraint branch chain of the above-mentioned parallel mechanism The auxiliary center is coaxial, and the lower motion platform is connected with the fixed platform in the parallel mechanism through the external gear type slewing bearing. The centers of the above two slewing bearings are on the same axis; The large gear of the slewing bearing meshes; the outer peripheral surface of the upper motion platform is provided with a connecting piece integrated with it, the outer peripheral surface of the lower motion platform is provided with a boss connected with it, and the RRS rotary drive branch chain The lower connecting rod is connected with the boss of the lower moving platform through the R pair, the other end of the lower connecting rod is connected with one end of the upper connecting rod through another R pair, and the other end of the upper connecting rod is connected with the upper moving platform through the S pair The connecting pieces are connected, and the two R minor axes are parallel. By driving the lower motion platform to rotate, the lower motion platform drives the RRS rotary drive branch chain to transfer the rotary motion to the upper motion platform, making it rotate around the platform.
本发明与现有技术相比具有如下优点：Compared with the prior art, the present invention has the following advantages:
1、并联机构部分含有三条对称布置的驱动支链，用于实现横摇和纵摇运动，大大改善了偏载情况；1. The parallel mechanism part contains three symmetrically arranged driving branch chains, which are used to realize rolling and pitching movements, which greatly improves the unbalanced load situation;
2、回转机构的驱动装置安装在机架上，并通过一条回转驱动支链带上运动平台绕并联机构动平台回转，而不用承受上方并联机构的重量，极大地增大了该转台的承载能力；2. The driving device of the slewing mechanism is installed on the frame, and drives the upper motion platform to rotate around the parallel mechanism actuation platform through a slewing drive branch chain, without bearing the weight of the upper parallel mechanism, which greatly increases the carrying capacity of the turntable ;
3、回转机构RRS支链的S副轴线中心无需通过约束支链的U副的某转轴轴线，使得机构便于加工，成本降低。3. The center of the S-axis of the RRS branch chain of the slewing mechanism does not need to pass through a certain shaft axis of the U-side of the restraint branch chain, which makes the mechanism easy to process and reduces the cost.
附图说明Description of drawings
附图1是本发明的主视示意简图。Accompanying drawing 1 is the schematic diagram of front view of the present invention.
附图2是本发明的立体示意图。Accompanying drawing 2 is the three-dimensional schematic view of the present invention.
图中：1、定平台 2、下运动平台 3、转动副A(R副) 4、下连杆 5、电动机A 6、转动副B(R副) 7、上连杆 8、球铰A(S副) 9、回转轴承 10、动平台 11、上运动平台 12、球铰B(S副)13、虎克铰A(U副) 14、固定支承杆 15、直线驱动支链 16、虎克铰B(U副) 17、电动机B 18、小齿轮 19、外齿式回转轴承In the figure: 1, fixed platform 2, lower moving platform 3, rotating pair A (R pair) 4, lower connecting rod 5, motor A 6, rotating pair B (R pairing) 7, upper connecting rod 8, spherical hinge A ( S pair) 9. Slewing bearing 10, moving platform 11, upper moving platform 12, ball hinge B (S pair) 13, Hooke hinge A (U pair) 14, fixed support rod 15, linear drive branch chain 16, Hooke Hinge B (U pair) 17, motor B 18, pinion 19, external gear slewing bearing
具体实施方式Detailed ways
在图1、2所示的三自由度混联转动平台示意图中，并联机构的动平台10与回转机构的上运动平台11、并联机构的定平台1与回转机构的下运动平台2均通过回转轴承连接。In the schematic diagram of the three-degree-of-freedom mixed rotating platform shown in Figures 1 and 2, the moving platform 10 of the parallel mechanism and the upper moving platform 11 of the slewing mechanism, the fixed platform 1 of the parallel mechanism and the lower moving platform 2 of the slewing mechanism all pass through Bearing connection.
所述并联机构中的三条结构相同的直线驱动支链15的一端分别通过虎克铰B16与定平台连接，其另一端分别通过球铰B12与动平台连接，且三个虎克铰中心均匀布置在定平台边缘，三个球铰中心均匀布置在动平台边缘；约束支链的固定支承杆14的一端与定平台中心连接，该固定支承杆的另一端通过虎克铰A13与动平台中心连接。One end of the three linear drive branch chains 15 with the same structure in the parallel mechanism is respectively connected to the fixed platform through the Hooke hinge B16, and the other end is respectively connected to the moving platform through the spherical hinge B12, and the centers of the three Hooke hinges are evenly arranged On the edge of the fixed platform, the centers of the three spherical joints are evenly arranged on the edge of the moving platform; one end of the fixed support rod 14 constraining the branch chain is connected to the center of the fixed platform, and the other end of the fixed support rod is connected to the center of the moving platform through the Hooke hinge A13 .
所述回转机构中的上运动平台通过回转轴承9与上述并联机构中的动平台联接，该回转轴承中心与上述并联机构中约束支链的虎克铰中心同轴，下运动平台通过外齿式回转轴承19与并联机构中的定平台联接，上述回转轴承和外齿式回转轴承的中心在同一轴线上；小齿轮18与电动机B 17的输出轴连接，该小齿轮与外齿式回转轴承的大齿轮啮合；所述上运动平台的外周面设有与其连为一体的连接片，所述下运动平台的外周面设有与其连为一体的凸台，所述RRS回转驱动支链的下连杆2通过转动副A 3与下运动平台的凸台连接，该下连杆的另一端通过另一个转动副B 6与上连杆7的一端连接，该上连杆的另一端通过球铰A 8与上运动平台的连接片连接，且两个转动副轴线平行。通过驱动下运动平台回转，下运动平台带动RRS回转驱动支链将回转运动传递至上运动平台，使其绕动平台作回转运动。The upper moving platform in the slewing mechanism is connected with the moving platform in the above-mentioned parallel mechanism through a slewing bearing 9, the center of the slewing bearing is coaxial with the center of the Hooke hinge constraining the branch chain in the above-mentioned parallel mechanism, and the lower moving platform is passed through an external gear type The slewing bearing 19 is connected with the fixed platform in the parallel mechanism, and the centers of the above-mentioned slewing bearing and the external gear slewing bearing are on the same axis; the pinion 18 is connected with the output shaft of the motor B 17, and the pinion is connected with the external tooth slewing bearing. The large gear meshes; the outer peripheral surface of the upper motion platform is provided with a connecting piece connected with it, the outer peripheral surface of the lower motion platform is provided with a boss connected with it, and the lower connecting piece of the RRS rotary drive branch chain The rod 2 is connected with the boss of the lower moving platform through the rotating pair A 3, the other end of the lower connecting rod is connected with one end of the upper connecting rod 7 through another rotating pair B 6, and the other end of the upper connecting rod is connected through the ball joint A 8 is connected with the connecting piece of the upper motion platform, and the axes of the two rotating pairs are parallel. By driving the lower motion platform to rotate, the lower motion platform drives the RRS rotary drive branch chain to transfer the rotary motion to the upper motion platform, making it rotate around the platform.
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| US6808344B2 (en) * | 2002-12-27 | 2004-10-26 | Jeng-Shyong Chen | Multi-axis cartesian guided parallel kinematic machine |
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