CN105798888A - Novel space translation parallel mechanism - Google Patents
Novel space translation parallel mechanism Download PDFInfo
- Publication number
- CN105798888A CN105798888A CN201610348044.2A CN201610348044A CN105798888A CN 105798888 A CN105798888 A CN 105798888A CN 201610348044 A CN201610348044 A CN 201610348044A CN 105798888 A CN105798888 A CN 105798888A
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- China
- Prior art keywords
- moving platform
- side chain
- hinge
- hooke
- scalable side
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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
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a novel space translation parallel mechanism. The novel space translation parallel mechanism comprises three servo motors fixed on a fixed frame; output shafts of two servo motors are fixedly connected with driving small gears; each driving small gear respectively drives two driven large gears mounted on the fixed frame; gear shafts of the driven large gears and an output shaft of the other servo motor are fixedly connected with transmission shafts; telescopic branch chains are respectively arranged between the transmission shafts and a movable platform; the telescopic branch chains include lead screws and nut pipes connected with the transmission shafts in sequence; the nut pipes and the movable platform are connected by hooke joints or ball hinges; and two telescopic branch chains driven by the same one servo motor form a telescopic branch chain set. The servo motors are fixed; the hooke joints are rotationally transferred to spiral pairs to realize three-dimensional translation of the movable platform; and the telescopic branch chains are only suffered from the tension load, the total mass of the mechanism is reduced when the rigidity of the mechanism is increased.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to the parallel institution with spatial three-dimensional translational of a kind of robot.
Background technology
According to patent CN101244557A and US4976572 (or WO7703527) it can be seen that the existing parallel institution realizing three-dimensional translating, including three groups of active branched chain and a moving platform, often group side chain includes nearly hack lever and remote hack lever two parts.Wherein nearly hack lever one end only has a rotational freedom relative to fixed frame, and the other end is connected with one end of remote hack lever by only having the hinge of two revolution degree of freedom；The remote hack lever other end is connected with moving platform by only having the hinge of two revolution degree of freedom, thus ensureing the three-dimensional translating of mechanism.Being limited in that of said mechanism: mechanism's integral rigidity is poor, and work space is less, is only applicable to the short-haul operation of slight small item body.
Summary of the invention
The present invention solves that the technical problem existed in known technology provides the three-dimensional translating parallel structure of a kind of big work space and rigidity.
In order to solve above-mentioned technical problem, one new spatial translational parallel connection mechanism of the present invention, including fixed mount and moving platform, described fixed mount is fixed with three servomotors, wherein, being respectively and fixedly connected with a driver pinion on the output shaft of two servomotors, each driver pinion drives two passive gear wheels being installed on fixed mount respectively by gear train or cog belt, the gear shaft of described passive gear wheel and an output shaft power transmission shaft respectively of another one servomotor；Being provided with a scalable side chain between described power transmission shaft and described moving platform respectively, the structure of every scalable side chain is identical, and described scalable side chain includes the leading screw and the nut pipe that are sequentially connected with power transmission shaft；Hooke's hinge or rzeppa joint or sphere-pin pair is adopted to be connected between the upper end of described leading screw with described power transmission shaft, screw pair is adopted to be connected between the lower end of described leading screw and the upper end of described nut pipe, adopt Hooke's hinge to be connected between the lower end of described nut pipe and described moving platform or spherical hinge connects, the two of same driven by servomotor side chains constitute a scalable side chain group；Adopt Hooke's hinge when being connected between the lower end of described nut pipe and described moving platform, belong to same scalable side chain group two nut pipes lower end and described moving platform between the nearly moving platform axis co-axial of Hooke's hinge；When adopting spherical hinge to be connected between the lower end of described nut pipe and described moving platform, belong to and be connected to a connecting rod between two nut pipes of same scalable side chain group, be between two ends and the described nut pipe of described connecting rod and be rotationally connected.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention has the advantage that and has the benefit effect that servomotor is fixed, utilizing Hooke's hinge transmission to rotate in screw pair, it is achieved the three-dimensional translating of moving platform, scalable side chain is only limited by tension and compression load, simple and compact for structure, the rigidity increasing mechanism alleviates the oeverall quality of mechanism simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of space of the present invention translational parallel connection mechanism embodiment 1；
Fig. 2 is I partial enlarged drawing shown in Fig. 1；
Fig. 3 is the structural representation of space of the present invention translational parallel connection mechanism embodiment 2.
Fig. 4 is the structural representation of space of the present invention translational parallel connection mechanism embodiment 3.
In figure:
1-fixed mount 2-servomotor 3-driver pinion 4-cog belt
Hooke's hinge 8-leading screw on 5-passive gear wheel 6-power transmission shaft 7-
Hooke's hinge 11-moving platform 12-connecting rod under 9-nut pipe 10-
13-spherical hinge
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, technical solution of the present invention being described in further detail, the present invention is only explained by described specific embodiment, not in order to limit the present invention.
As shown in Figure 1, a kind of new spatial translational parallel connection mechanism that the present invention proposes, including fixed mount 1 and moving platform 11, described fixed mount 1 is fixed with three servomotors 2, wherein, the output shaft of two servomotors has been respectively and fixedly connected with a driver pinion 3, the passive gear wheel 5 that each driver pinion 3 drives two to be installed on fixed mount 1 by cog belt respectively, wherein, described driver pinion 3, the type of belt drive of cog belt 4 and passive gear wheel 5 can use gear set in place, such as, the transmission between driver pinion and passive gear wheel can be realized with a middle idle wheel or a gear train；The gear shaft of described passive gear wheel 5 and the output shaft of an another one servomotor power transmission shaft 6 respectively；A scalable side chain it is provided with respectively between described power transmission shaft 6 and described moving platform 11, the structure of every scalable side chain is identical, described scalable side chain includes the leading screw 8 and the nut pipe 9 that are sequentially connected with power transmission shaft 6, described leading screw 8 can use tooth leading screw, it is also possible to substitutes with the anodontia leading screw with screw pair function.As in figure 2 it is shown, adopt Hooke's hinge 7 between the upper end of described leading screw 8 and described power transmission shaft 6, between the lower end of described leading screw 8 and the upper end of described nut pipe 9, adopt screw pair to be connected, between the lower end of described nut pipe 9 with described moving platform 11, adopt Hooke's hinge to be connected；Wherein, two the scalable side chains driven by same servomotor constitute a scalable side chain group, make between described fixed mount 1 and moving platform 11, to be connected to a scalable side chain of wall scroll and two scalable side chain groups, belong to same scalable side chain group two nut pipes 9 lower end and described moving platform 11 between the nearly moving platform axis co-axial of Hooke's hinge 10, i.e. the nearly moving platform dead in line of two lower Hooke's hinges 10.This lower Hooke's hinge also can replace with spherical hinge or rzeppa joint.
Every scalable side chain, in swing process, is provided a rotational freedom by servomotor 2 for the power transmission shaft 6 being attached thereto, and in recycling, Hooke's hinge 7 transmission rotates in described leading screw 8, thus driving nut pipe 9, thus realizing the flexible of this side chain.The scalable side chain that two structures in scalable side chain group are identical, constitutes, by two the upper Hooke's hinges 7 and two lower Hooke's hinges 10 having fixed position, the tetragon that an opposite side is equal；Described servomotor 2 provides a rotational freedom for the described driver pinion 3 affixed with it, two passive gear wheel 5 synchronous axial system are driven by cog belt 4, and then drive two power transmission shafts 6, on recycling two, Hooke's hinges 7 synchronize transmission and rotate in two leading screws 8, thus realizing the synchronization telescope of two identical scalable side chains.The scalable side chain of wall scroll being arranged between fixed mount 1 and moving platform 11 in the present invention and two scalable side chain groups can limit three rotational freedoms of moving platform 11, and namely moving platform 11 can realize three-dimensional translating.
As shown in Figure 3, when adopting spherical hinge to be connected between the lower end of described nut pipe 9 with described moving platform 11, belong to and be connected to a connecting rod 12 between two nut pipes 9 of same scalable side chain group, namely each scalable side chain group can pass through connecting rod 12 two ends employing revolute pair attaching nut's pipe 9 respectively, the nearly frame dead in line of two lower Hooke's hinges 10,12, two nut pipes 9 of the described connecting rod in each scalable side chain group and moving platform 11 constitute the tetragon that an opposite side is isometric.
Two lower Hooke's hinges 10 can also replace with rzeppa joint or sphere-pin pair, and as shown in Figure 4, under said two, Hooke's hinge 10 can substitute with spherical hinge 13.
Compared with prior art, its difference is in that the present invention:
Servomotor 2 is fixed, and utilizes Hooke's hinge transmission to rotate in screw pair, it is achieved the three-dimensional translating of moving platform 11, fixed mount 1 simple in construction, dimension chain is short, and scalable side chain is only limited by tension and compression load, alleviates the oeverall quality of mechanism while increasing mechanism's rigidity.
Although above in conjunction with accompanying drawing, invention has been described; but the invention is not limited in above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is merely schematic; rather than it is restrictive; those of ordinary skill in the art is under the enlightenment of the present invention; without deviating from the spirit of the invention, it is also possible to make many variations, these belong within the protection of the present invention.
Claims (1)
1. a new spatial translational parallel connection mechanism, including fixed mount (1) and moving platform (11), it is characterised in that:
Described fixed mount (1) is fixed with three servomotors (2), wherein, the output shaft of two servomotors has been respectively and fixedly connected with a driver pinion (3), each driver pinion (3) drives two passive gear wheels (5) being installed on fixed mount (1), the gear shaft of described passive gear wheel (5) and the output shaft of an another one servomotor affixed power transmission shaft (6) respectively respectively by gear train or cog belt；
A scalable side chain it is provided with respectively between described power transmission shaft (6) and described moving platform (11), the structure of every scalable side chain is identical, and described scalable side chain includes the leading screw (8) and the nut pipe (9) that are sequentially connected with power transmission shaft (6)；
Hooke's hinge or rzeppa joint or sphere-pin pair is adopted to be connected between the upper end of described leading screw (8) with described power transmission shaft (6), screw pair is adopted to be connected between the lower end of described leading screw (8) and the upper end of described nut pipe (9), adopt Hooke's hinge or spherical hinge to be connected between the lower end of described nut pipe (9) and described moving platform (11), the two of same driven by servomotor side chains constitute a scalable side chain group；
Adopt Hooke's hinge when being connected between the lower end of described nut pipe (9) and described moving platform (11), belong to the nearly moving platform axis co-axial of Hooke's hinge between lower end and the described moving platform (11) of two nut pipes (9) of same scalable side chain group；When adopting spherical hinge to be connected between the lower end of described nut pipe (9) and described moving platform (11), belong to and be connected to a connecting rod (12) between two nut pipes (9) of same scalable side chain group, be between two ends and the described nut pipe (9) of described connecting rod (12) and be rotationally connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610348044.2A CN105798888A (en) | 2016-05-24 | 2016-05-24 | Novel space translation parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610348044.2A CN105798888A (en) | 2016-05-24 | 2016-05-24 | Novel space translation parallel mechanism |
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| CN105798888A true CN105798888A (en) | 2016-07-27 |
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| CN201610348044.2A Pending CN105798888A (en) | 2016-05-24 | 2016-05-24 | Novel space translation parallel mechanism |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109506089A (en) * | 2018-11-30 | 2019-03-22 | 西安海康普德智能装备有限公司 | A kind of balance and stability device and application method supporting high speed rotation camera |
| CN109605328A (en) * | 2018-11-19 | 2019-04-12 | 北航（天津武清）智能制造研究院有限公司 | Minority carrier generation lifetime |
| CN111409058A (en) * | 2020-03-12 | 2020-07-14 | 天津大学 | Parallel mechanism with two-dimensional translation |
| CN113183176A (en) * | 2021-04-23 | 2021-07-30 | 中国科学院深圳先进技术研究院 | Motion decoupling parallel driving type exoskeleton robot ankle joint |
| CN113319828A (en) * | 2021-07-07 | 2021-08-31 | 天津大学 | Synchronous driving five-freedom-degree parallel robot |
| CN115179267A (en) * | 2022-09-08 | 2022-10-14 | 天津大学医疗机器人与智能系统研究院 | Motion platform and surgical robot |
| CN115624388A (en) * | 2022-09-08 | 2023-01-20 | 天津大学医疗机器人与智能系统研究院 | Position adjusting mechanism and surgical robot |
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| CN102848385A (en) * | 2012-04-12 | 2013-01-02 | 天津大学 | High-speed parallel manipulator with two-dimensional translation and one-dimensional rotation freedom degrees |
| CN105583808A (en) * | 2016-03-07 | 2016-05-18 | 山东大学（威海） | Wheel-leg composite spherical surface parallel mechanism |
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| CN1827312A (en) * | 2006-04-18 | 2006-09-06 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
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| CN102514004A (en) * | 2011-12-19 | 2012-06-27 | 天津大学 | Translational high-speed parallel mechanism with four branched chains and two degrees of freedom |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605328A (en) * | 2018-11-19 | 2019-04-12 | 北航（天津武清）智能制造研究院有限公司 | Minority carrier generation lifetime |
| CN109506089A (en) * | 2018-11-30 | 2019-03-22 | 西安海康普德智能装备有限公司 | A kind of balance and stability device and application method supporting high speed rotation camera |
| CN111409058A (en) * | 2020-03-12 | 2020-07-14 | 天津大学 | Parallel mechanism with two-dimensional translation |
| CN113183176A (en) * | 2021-04-23 | 2021-07-30 | 中国科学院深圳先进技术研究院 | Motion decoupling parallel driving type exoskeleton robot ankle joint |
| WO2022222503A1 (en) * | 2021-04-23 | 2022-10-27 | 中国科学院深圳先进技术研究院 | Motion decoupling parallel-driven exoskeleton robot ankle joint |
| CN113319828A (en) * | 2021-07-07 | 2021-08-31 | 天津大学 | Synchronous driving five-freedom-degree parallel robot |
| CN113319828B (en) * | 2021-07-07 | 2023-03-21 | 天津大学 | Synchronous driving five-freedom-degree parallel robot |
| CN115179267A (en) * | 2022-09-08 | 2022-10-14 | 天津大学医疗机器人与智能系统研究院 | Motion platform and surgical robot |
| CN115624388A (en) * | 2022-09-08 | 2023-01-20 | 天津大学医疗机器人与智能系统研究院 | Position adjusting mechanism and surgical robot |
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Application publication date: 20160727 |