CN105690165B - Large-altitude-angle 2R1T three-degree-of-freedom spatial parallel mechanism - Google Patents
Large-altitude-angle 2R1T three-degree-of-freedom spatial parallel mechanism Download PDFInfo
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- CN105690165B CN105690165B CN201610075618.3A CN201610075618A CN105690165B CN 105690165 B CN105690165 B CN 105690165B CN 201610075618 A CN201610075618 A CN 201610075618A CN 105690165 B CN105690165 B CN 105690165B
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- connecting rod
- side chain
- parallel
- platform
- rotation secondary
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
Abstract
The invention belongs to the field of three-degree-of-freedom parallel mechanisms and particularly relates to a large-altitude-angle 2R1T three-degree-of-freedom spatial parallel mechanism. The defect that the rotating angle range of the existing 2R1T three-degree-of-freedom parallel mechanism is small is overcome. The large-altitude-angle 2R1T three-degree-of-freedom spatial parallel mechanism comprises a fixed platform on which an actuator is mounted, a moving platform, a first branch chain and a second branch chain, wherein the moving platform performs two-dimensional rotation and one-dimensional movement through the first branch chain and the second branch chain; the first branch chain comprises two active-driving movement pairs; the second branch chain comprises an active-driving movement pair; and the first and second branch chains are separately connected with the fixed platform and the moving platform so as to form a spatial parallel closed loop mechanism. The large-altitude-angle 2R1T three-degree-of-freedom spatial parallel mechanism is better in rotating flexibility, higher in precision and rigidity and easier in modularization.
Description
Technical field
The invention belongs to the field of 3-freedom parallel mechanism, and in particular to a kind of great-attitude angle 2R1T three-dimensional spaces
Parallel institution, is applied to a kind of modular mechanism that numerical control control device manufactures field.
Background technology
Parallel institution is the close loop mechanism being made up of multiple side chains, has advantages below relative to traditional serial mechanism：
Simple and compact for structure, rigidity is high, large carrying capacity, error free accumulation on Unit Weight, heavy moving parts are little, be easily achieved height
The advantages of speed motion.These advantages compensate for a certain extent the deficiency of traditional numeric-control device.However, parallel institution also has it
Born defect, especially six-degree-of-freedom parallel connection mechanism, its motion coupling is strong, working space is little, forward kinematics solution is complicated, work
Make that space is irregular, numerical control programming it is complicated, etc..These shortcomings increased the complexity of control and follow-up staking-out work, from
And so that the popularization and application of parallel institution are received and largely limited.
In recent years, minority carrier generation lifetime（Parallel institution of the number of degrees of freedom, less than six）Increasingly by the weight of researcher
Depending on and favor.The shunting means of some lower-mobilities has been obtained for successful Application, and such as DS-Technology companies of Germany develop
Sprint Z3 freedom degree parallel connection main tappings huge success is obtained in digital control processing.The main tapping adds as numerical control
One module at work center, realizes a movement and two rotational freedoms.The characteristics of such mechanism is：Easily realize processing mould
Block, kinematics are simple, the characteristic with decoupling or partly decoupled.The mechanism of mobile decoupling is easily controlled, and can reach
Motion control and trajectory planning are all had the certain significance to higher kinematic accuracy, and decoupling motion.
In " high-grade, digitally controlled machine tools and basic manufacturing equipment " the scientific and technological key special subjects come into effect at the beginning of 2009, by three from
By degree parallel institution function accessories and be equipped with the 5-axis machining center of such functional part as problem therein it
One.It can be seen that, parallel module is the key of such equipment research and development.Say from the angle of processing flexibility ratio and working (machining) efficiency, parallel module
Should possess very high rotation flexibility ratio, 90 ° are reached as optimal (to realizing that vertical sleeping conversion, five faces add with moving platform turning power
Work), and the limitation of this exactly conventional parallel mechanism is located, the rotation of Sprint Z3 parallel main shaft heads with strongest influence power
Ability is also only 40 ° (can not realize proper five faces processing).It can be seen that, tradition is broken through on the premise of high rigidity is ensured
It is the bottleneck sex chromosome mosaicism urgently broken through in the R＆D process of such equipment that parallel institution pivot angle is limited.Mechanism proposed by the present invention
Also the 3-freedom parallel mechanism in minority carrier generation lifetime is belonged to, can realizes that bidimensional is rotated and one-dimensional movement.But it can
To realize bigger rotational angle, especially one of slewing area is bigger.
The content of the invention
The purpose of the present invention for overcome show bidimensional rotate with one-dimensional movement 3-freedom parallel mechanism angle range it is little
Weak point, while possessing the advantage of general 3-freedom parallel mechanism, its angle range has and substantially carries for the mechanism
It is high.
The present invention adopts the following technical scheme that realization：A kind of great-attitude angle 2R1T three-freedom degree spatial parallel structures, bag
Include the fixed platform and moving platform of installing actuator and can realize moving platform bidimensional rotate and one-dimensional movement the first side chain and the
Two side chains；Kinematic pair of first side chain comprising two active drives；Kinematic pair of second side chain comprising an active drive；It is described
First, second side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively.
The first described side chain is (2-RPR ＆ RP)+R type series parallel movement side chains, and it includes plane-parallel type close loop mechanism
2-RPR ＆ RP and plane-parallel type close loop mechanism connect the rotation secondary R of moving platform, and plane-parallel type close loop mechanism is by two-strip structure
Identical RPR side chain and RP side chain composition, the moving sets P of two RPR side chains is active drive, plane-parallel type closed loop machine
The axis of all rotation secondary R of structure is the axis of rotation secondary R that is being parallel to each other and being connected moving platform with plane-parallel type close loop mechanism
It is mutually perpendicular to.
The second described side chain is UPR type movement branched chains, and side chain moving sets P is active drive, U secondary with allocate
The connected rotating shaft of platform and all rotation secondary R axis of the first side chain midplane parallel closed loop mechanism be parallel to each other and with this
The rotation secondary R axis of chain connection moving platform are mutually perpendicular to.
First RPR side chain of the first described side chain is by switch block I, connecting rod I and the connection connecting rod I for connecting fixed platform and even
The rotation secondary R compositions of bar II, Article 2 RPR side chain is by connecting switch block III of the fixed platform with connecting rod III, connecting rod III and be connected connecting rod
III constitutes with the rotation secondary R of connecting rod II, and middle RP side chains are constituted by fixed platform is connected with the switch block II and connecting rod II of connecting rod II,
Moving sets P between switch block I and connecting rod I and the moving sets P between switch block III and connecting rod III are two and are actively entered.
The second described side chain is by the switch block IV for connecting square frame of the fixed platform with switch block IV, being connected square frame and connecting rod IV
And connection connecting rod IV is constituted with the rotation secondary R of moving platform, the moving sets P between switch block IV and connecting rod IV is one and is actively entered,
The all rotation secondary R axis of motion auxiliary spindle and the first side chain midplane parallel closed loop mechanism that square frame is connected with fixed platform are phases
It is mutually parallel, and be mutually perpendicular to the rotation secondary R axis of moving platform with connecting rod IV is connected.
Described connecting rod II includes the block part connected as one with rod member that rod member and rod member bottom are arranged, block part bottom
Have two hinge ears, have rotation secondary between block part one end and connecting rod III, the block part other end has rotation secondary with connecting rod I, block part bottom with it is dynamic
Platform has rotation secondary.
The present invention on the basis of it can realize the plane-parallel type close loop mechanism of one-dimensional rotation and one-dimensional movement, by addition one
The individual R being connected with moving platform is secondary and another side chain of addition makes moving platform realize another one-dimensional rotation, and this slewing area is larger, from
And allow this new 2R1T parallel institution to realize larger slewing area, be an outstanding advantages of this mechanism, overcome with
Toward the shortcoming that parallel institution turning power is limited.
Hinge structure of the present invention has the advantages that：（1）It is simple structure, compact；（2）Rigidity is high；（3）Work
Space is big, especially rotation work space, one-dimensional up to 100 °（-50°~50°）, another one-dimensional rotation is up to 160 °（-80°~
80°）.These advantages cause the mechanical flexibility degree more preferably, and machining accuracy is higher, it is easier to realize modularization, coordinates other devices
Can realize that complex free is write music the multi-axis NC machining of surface parts.
Description of the drawings
Fig. 1 is the structural representation of embodiments of the invention,
Fig. 2 is the structural representation of the first side chain in the mechanism shown in Fig. 1,
Fig. 3 is the structural representation of the second side chain in the mechanism shown in Fig. 1,
Fig. 4 is the structural representation of connecting rod II,
Fig. 5 is the exploded view of Fig. 4,
In figure：1- fixed platforms, 2- connecting rods I, 3- switch blocks I, 4- connecting rods II, 5- switch blocks II, 6- connecting rods III, 7- switch blocks III, 8-
Connecting rod IV, 9- square frames, 10- switch blocks IV, 11- moving platforms.
Specific embodiment
A kind of great-attitude angle 2R1T three-freedom degree spatial parallel structures, including one installation actuator moving platform and allocate
One between platform, and the connection moving platform and fixed platform can be realized by what plane-parallel type close loop mechanism series connection R pairs were constituted
Moving platform bidimensional rotates the first side chain with one-dimensional movement, and the second side chain.First side chain and the second side chain respectively at
Fixed platform and moving platform connect to form a Spatial Parallel close loop mechanism, and the Spatial closed loop is driven by three input motions
It is dynamic, realize that moving platform bidimensional is rotated and one-dimensional movement.First side chain is (2-RPR ＆ RP)+R type series parallel movement side chains.
It includes plane-parallel type close loop mechanism, and this plane-parallel type close loop mechanism is by two-strip structure identical RPR side chain and one RP
Chain is constituted.The moving sets P of RPR side chains is active drive, and all rotation secondary R axis of the first side chain midplane parallel closed loop mechanism are
It is parallel to each other, and is connected the rotation secondary R axis of moving platform with the side chain and is mutually perpendicular to；Second side chain is UPR type movement branched chains,
Side chain moving sets P is active drive, the secondary rotating shaft being connected with fixed platform of U and the first side chain midplane parallel closed loop mechanism
All rotation secondary R axis are parallel to each other, and are connected the rotation secondary R axis of moving platform with the side chain and are mutually perpendicular to.First
Plane-parallel type close loop mechanism in chain, the platform gone out by RP side chains its head process of connecting rod one is by itself and by two RPR side chains
Connect together, what is be connected with fixed platform is three switch blocks, its three connecting rods can pass perpendicularly through switch block and slide along own axes.The
The connecting rod of two side chains is also to slide along own axes through switch block, and its switch block is connected in square frame by R pairs, and square frame passes through R pairs
It is connected in fixed platform.
The specific embodiment of the present invention is described further with reference to accompanying drawing.
Embodiment：As shown in figure 1, including fixed platform 1, the moving platform 11 of an installation actuator, and connect described dynamic
First side chain, the second side chain between platform and fixed platform.First side chain and the second side chain are respectively at fixed platform 1 and dynamic flat
The connection of platform 11 forms a Spatial Parallel close loop mechanism.
First side chain is (2-RPR ＆ RP)+R type series parallel movement side chains, as shown in Figure 2.It includes plane-parallel type
Close loop mechanism 2-RPR ＆ RP, 2-RPR ＆ RP are made up of two-strip structure identical RPR side chain and a RP side chain.First
Bar RPR side chains are made up of switch block I 3, connecting rod I 2 and the connection connecting rod I 2 for connecting fixed platform 1 with the rotation secondary R of connecting rod II 4.Second
Bar RPR side chains are by connecting switch block III 7 of the fixed platform 1 with connecting rod III 6, connecting rod III 6 and be connected the rotation of connecting rod III 6 and connecting rod II 4
Secondary R is constituted.Middle RP side chains are constituted by fixed platform 1 is connected with the switch block II 5 and connecting rod II 4 of connecting rod II 4.In first side chain,
Moving sets P between switch block I 3 and connecting rod I 2 and the moving sets P between switch block III 7 and connecting rod III 6 are two and are actively entered.First
The all rotation secondary R axis of 2-RPR ＆ RP mechanisms are parallel to each other in side chain, and are connected moving platform with 2-RPR ＆ RP mechanisms
11 rotation secondary R axis are mutually perpendicular to.Connecting rod II 4 includes the block connected as one with rod member that rod member and rod member bottom are arranged
Part, has rotation secondary between block part one end and connecting rod III 6, the block part other end has rotation pair, block part bottom and moving platform with connecting rod I 2
11 have rotation secondary.
Second side chain is UPR type movement branched chains, is also considered as RRPR type movement branched chains, as shown in Figure 3.The side chain
By the square frame 9 of connection fixed platform 1 and switch block IV 10, it is connected the switch block IV 10 of square frame 9 and connecting rod IV 8 and is connected connecting rod IV 8
Constitute with the rotation secondary R of moving platform 11.Moving sets P between the side chain switch block IV 10 and connecting rod IV 8 is one and is actively entered.Side
The all rotation secondary R axis of 2-RPR RP mechanisms are phases in motion auxiliary spindle that shape frame 9 is connected with fixed platform 1 and the first side chain
It is mutually parallel, and be mutually perpendicular to the rotation secondary R axis of moving platform 11 with connecting rod IV 8 is connected.
First side chain and the second side chain form a Spatial Parallel and close respectively at fixed platform 1 and the connection of moving platform 11
Ring mechanism.The Spatial Parallel close loop mechanism passes through between switch block I 3 and connecting rod I 2, between switch block III 7 and connecting rod III 6 and switch block IV
Three input motions drive moving platform 11 to realize that bidimensional is rotated and one-dimensional movement motion between 10 and connecting rod IV 8.
Claims (4)
1. a kind of great-attitude angle 2R1T three-freedom degree spatial parallel structures, it is characterised in that including the fixed platform for installing actuator and
Moving platform and can realize moving platform bidimensional rotate and one-dimensional movement the first side chain and the second side chain；First side chain includes two
The kinematic pair of active drive；Kinematic pair of second side chain comprising an active drive；First, second side chain respectively with allocate
Platform and moving platform connect to form a Spatial Parallel close loop mechanism；
The first described side chain is (2-RPR ＆ RP)+R type series parallel movement side chains, and it includes plane-parallel type close loop mechanism 2-
RPR ＆ RP and plane-parallel type close loop mechanism connect the rotation secondary R of moving platform, and plane-parallel type close loop mechanism is by two-strip structure phase
With RPR side chains and RP side chain composition, the moving sets P of two RPR side chains is active drive, plane-parallel type close loop mechanism
The axis of all rotation secondary R is the axis phase of rotation secondary R that is being parallel to each other and being connected moving platform with plane-parallel type close loop mechanism
It is mutually vertical；
The second described side chain is UPR type movement branched chains, and side chain moving sets P is active drive, U secondary and fixed platform phase
Rotating shaft even and all rotation secondary R axis of the first side chain midplane parallel closed loop mechanism are parallel to each other and connect with the side chain
The rotation secondary R axis for connecing moving platform are mutually perpendicular to.
2. a kind of great-attitude angle 2R1T three-freedom degree spatial parallel structures according to claim 1, it is characterised in that：It is described
The first side chain first RPR side chain by connecting fixed platform（1）Switch block I（3）, connecting rod I（2）And connection connecting rod I（2）With company
Bar II（4）Rotation secondary R compositions, Article 2 RPR side chain is by connecting fixed platform（1）With connecting rod III（6）Switch block III（7）, connecting rod
Ⅲ（6）And connection connecting rod III（6）With connecting rod II（4）Rotation secondary R compositions, middle RP side chains are by connecting fixed platform（1）With company
Bar II（4）Switch block II（5）And connecting rod II（4）Composition, switch block I（3）With connecting rod I（2）Between moving sets P and switch block III（7）
With connecting rod III（6）Between moving sets P be two and be actively entered.
3. a kind of great-attitude angle 2R1T three-freedom degree spatial parallel structures according to claim 1 and 2, it is characterised in that：
The second described side chain is by connecting fixed platform（1）With switch block IV（10）Square frame（9）, connection square frame（9）With connecting rod IV（8）
Switch block IV（10）And connection connecting rod IV（8）With moving platform（11）Rotation secondary R composition, switch block IV（10）With connecting rod IV（8）It
Between moving sets P be one and be actively entered, square frame（9）With fixed platform（1）Put down in connected motion auxiliary spindle and the first side chain
The all rotation secondary R axis of face parallel closed loop mechanism are parallel to each other, and be connected connecting rod IV（8）With moving platform（11）Rotation
Secondary R axis are mutually perpendicular to.
4. a kind of great-attitude angle 2R1T three-freedom degree spatial parallel structures according to claim 3, it is characterised in that：It is described
Connecting rod II（4）There are two hinge ears including rod member and the block part connected as one with rod member of rod member bottom setting, block part bottom,
Block part one end and connecting rod III（6）Between have rotation secondary, the block part other end and connecting rod I（2）There are rotation pair, block part bottom and moving platform
（11）There is rotation secondary.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610075618.3A CN105690165B (en) | 2016-02-03 | 2016-02-03 | Large-altitude-angle 2R1T three-degree-of-freedom spatial parallel mechanism |
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|---|---|---|---|
| CN201610075618.3A CN105690165B (en) | 2016-02-03 | 2016-02-03 | Large-altitude-angle 2R1T three-degree-of-freedom spatial parallel mechanism |
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| CN105690165A CN105690165A (en) | 2016-06-22 |
| CN105690165B true CN105690165B (en) | 2017-05-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656092A (en) * | 2018-08-07 | 2018-10-16 | 燕山大学 | The series-parallel robot of a mobile parallel connection mechanism is rotated based on four branches two |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263451A (en) * | 2017-07-31 | 2017-10-20 | 福州大学 | 2R1T Three Degree Of Freedom Planar Mechanisms parallel institutions and its method of work |
| CN107553470B (en) * | 2017-10-11 | 2020-04-28 | 清华大学 | Parallel mechanism with five degrees of freedom and extended multi-axis linkage device thereof |
| CN114310849A (en) * | 2022-01-19 | 2022-04-12 | 燕山大学 | Two-rotation two-movement parallel mechanism |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE452279B (en) * | 1985-05-10 | 1987-11-23 | Neos Products Hb | ROBOT |
| CN100377847C (en) * | 2006-04-30 | 2008-04-02 | 天津大学 | Parallel mechanism having two rotational and one translational motion freedom |
| CN2936617Y (en) * | 2006-07-31 | 2007-08-22 | 华南理工大学 | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism |
| CN101844307B (en) * | 2010-04-30 | 2012-02-22 | 清华大学 | Redundancy-driven three-degree-of-freedom parallel mechanism |
| SE535182C2 (en) * | 2010-06-17 | 2012-05-08 | Exechon Ab | A parallel kinematic machine with card holder |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656092A (en) * | 2018-08-07 | 2018-10-16 | 燕山大学 | The series-parallel robot of a mobile parallel connection mechanism is rotated based on four branches two |
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