CN105835040A - Centralized type movable input six-branch parallel mechanism - Google Patents
Centralized type movable input six-branch parallel mechanism Download PDFInfo
- Publication number
- CN105835040A CN105835040A CN201610339340.6A CN201610339340A CN105835040A CN 105835040 A CN105835040 A CN 105835040A CN 201610339340 A CN201610339340 A CN 201610339340A CN 105835040 A CN105835040 A CN 105835040A
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- Prior art keywords
- support
- connecting rod
- servo
- arc
- leading screw
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Classifications
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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
Abstract
A centralized type movable input six-branch parallel mechanism mainly comprises a base, lower fixed supports, supporting rods, a motor fixing frame, a servo moor A, a follow-up support, a lead screw and nut pair, connection rods A, a lead screw supporting frame A, a slewing bearing, a cylinder gear, a drive plate, tooth-shaped keys, a guide plate, slide rods, rolling bearings, an upper fixed support, connection rods B, a lead screw supporting frame B, movable branch chains, a servo motor A and a servo motor B. By means of the centralized type movable input six-branch parallel mechanism, cost is reduced, and the centralized type movable input six-branch parallel mechanism is convenient to control.
Description
Technical field
The present invention relates to the parallel institution field in mechanics.
Background technology
Parallel institution has, relative to serial mechanism, the advantage that rigidity is big, bearing capacity is strong, kinematic accuracy is high,
Its defect is that space is little, structure is complicated.Between moving platform and the fixed platform of six branch's parallel institutions with
Six movement branched chain are connected, and generally each branch are operated alone with driver and control the change of moving platform pose
Change.As Chinese patent CN201510436220 disclose a kind of hexagonal pyramid formula six-degree-of-freedom parallel connection mechanism,
Chinese patent CN201510424628 discloses a kind of Six-freedom dynamic platform, Chinese patent
CN201510025977 discloses a kind of six-degree-of-freedom parallel connection mechanism loading system and method, China specially
Profit CN201410113807 discloses a kind of six-freedom parallel kludge for lengthwise movement simulation
It is quiet that structure, Chinese patent CN201310282798 disclose a kind of six degree of freedom heavy duty with balanced controls
Balance parallel movement simulative platform mechanism, above-described six branch's parallel institutions are all to enter each movement branched chain
Row is independent to be driven.The six-degree-of-freedom parallel connection mechanism that six branches are individually driven needs to enter six drivers
Row controls, and manufacturing cost is higher, controls complexity.In some specific occasion, mechanical device need only be wanted
End effector does the most sextuple motion.
Summary of the invention
It is an object of the invention to provide and a kind of reduce cost, be easy to centralized mobile input six branches that control
Parallel institution.
The invention mainly comprises base, lower fixed support, support rod, motor fixing frame, servomotor A,
Servo support, screw pair, connecting rod A, leading screw bearing support A, pivoting support, roller gear,
Driving dish, serrations, positioning disk, sliding bar, rolling bearing, upper fixed support, connecting rod B, silk
Thick stick bearing support B, movement branched chain, servomotor A and servo motor B.
Wherein, the upper surface at base is provided with three lower fixed supports and three support rods, three support rods upper
End is fixing connects a motor fixing frame, and motor fixing frame is toroidal frame, is provided with in the middle part of motor fixing frame
Servomotor A13.Under three, support bracket fastened top is provided with servo support, and servo support is annular
Flat board, is equipped with five connecting rods A, one end of connecting rod A and servo support in servo support
Inner ring is connected, and it is annular that the other end of connecting rod A is provided with leading screw bearing support A, leading screw bearing support A.?
The top of servo support is connected with pivoting support by screw, and the inner ring of pivoting support is mutual with roller gear
Engagement, the inner ring of pivoting support is connected by screw with driving dish, and driving dish is placed in the top of pivoting support,
The outer wall of driving dish is provided with groove.The outer ring of pivoting support is provided with serrations, outside pivoting support
The outside of circle is connected with positioning disk by serrations.Positioning disk is the cylindrical tube of upper and lower opening, the six roots of sensation
Sliding bar extends to the top of positioning disk, the inwall of the lower end of six roots of sensation sliding bar be respectively equipped with the axis of rolling
Hold, the outer ring of rolling bearing and the groove matched in clearance on driving dish outer wall.It is provided with one on positioning disk top
Individual upper fixed support, upper support bracket fastened in be equipped with five connecting rods B, one end of connecting rod B with
Upper support bracket fastened inner ring is connected, and the other end of connecting rod B is provided with leading screw bearing support B, leading screw bearing support
B is annular.The upper end of six roots of sensation sliding bar is respectively equipped with movement branched chain, and every movement branched chain includes that arc is even
Extension bar A, arc-shaped connecting rod B, cross bearing pin, connecting rod C and ball are secondary.Arc-shaped connecting rod A and arc
The two ends of connecting rod B are equipped with through hole, arc-shaped connecting rod A and arc-shaped connecting rod B by cross bearing pin
Connect.Fixing connecting rod C that connects, the upper end of connecting rod C and ball parafacies in the upper end of arc-shaped connecting rod B
Even, ball pair is connected with the lower surface of moving platform.The output shaft of servomotor A13 and the lower end of ball-screw
Being connected, ball-screw upper/lower terminal is supported on leading screw bearing support B and motor fixing frame respectively, leading screw
The nut of pair of nut is fixing with leading screw bearing support A to be connected.The output of servo motor B 14 be located at servo-actuated
Spur gear above support is bonded.
In use, servo motor B drives the inner ring of pivoting support to rotate by roller gear to the present invention, revolution
Supporting inner ring drives driving dish to rotate, and the groove on driving dish drives six movement branched chain linkages, it is achieved each point
The mobile input propped up.Servomotor A drives ball screw turns, and ball-screw drives servo support along leading screw
Axis direction moves.
The present invention compared with prior art has the advantage that reduction cost, is easy to control.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of an embodiment of the present invention.
Fig. 2 is the running part structure detailed maps of an embodiment of the present invention.
Fig. 3 is that detailed construction schematic diagram installed by the driving dish of an embodiment of the present invention.
Fig. 4 is that the driving motor of an embodiment of the present invention disposes detailed construction schematic diagram.
In accompanying drawing, moving platform 1, movement branched chain 2, pivoting support 3, ball-screw 4, connecting rod A5,
Lower fixed support 6, positioning disk 7, servo support 8, screw pair 9, driving dish 10, upper fixing are propped up
Frame 11, roller gear 12, servomotor A13, servo motor B 14, base 15, support rod 16,
Motor fixing frame 17, leading screw bearing support A18, serrations 19, sliding bar 20, rolling bearing 21, company
Extension bar B22, leading screw bearing support B23, arc-shaped connecting rod A24, arc-shaped connecting rod B25, cross bearing pin
26, connecting rod C27, ball pair 28, spur gear key 29, the inner ring 30 of pivoting support, pivoting support
Outer ring 31.
Detailed description of the invention
In the simplified schematic diagram of the present invention shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, upper at base 15
Surface is provided with three lower fixed supports 6 and three support rods 16, and connection one is fixed in the upper end of three support rods
Individual motor fixing frame 17, motor fixing frame is toroidal frame, is provided with servomotor in the middle part of motor fixing frame
A13.Under three, support bracket fastened top is provided with servo support 8, and servo support is annular flat board,
Five connecting rods A5, one end of connecting rod A and the inner ring of servo support it is equipped with in servo support
Being connected, it is annular that the other end of connecting rod A is provided with leading screw bearing support A18, leading screw bearing support A.With
The top of dynamic support is connected with pivoting support 3 by screw, the inner ring 30 of pivoting support and roller gear
12 engage each other, and the inner ring of pivoting support is connected by screw with driving dish 10, and driving dish is placed in revolution
The top of supporting, is provided with groove on the outer wall of driving dish.The outer ring of pivoting support is provided with serrations 19,
The outside of the outer ring 31 of pivoting support is connected with positioning disk 7 by serrations.Positioning disk is upper and lower opening
Cylindrical tube, six roots of sensation sliding bar 20 extends to the top of positioning disk, the lower end of six roots of sensation sliding bar
Being respectively equipped with rolling bearing 21 on inwall, the outer ring of rolling bearing is joined with the groove gap on driving dish outer wall
Close.Be provided with fixed support 11 on positioning disk top, upper support bracket fastened in be equipped with five companies
Extension bar B22, one end of connecting rod B is connected with upper support bracket fastened inner ring, and the other end of connecting rod B sets
Having leading screw bearing support B23, leading screw bearing support B is annular.The upper end of six roots of sensation sliding bar is respectively equipped with motion
Side chain 2, every movement branched chain include arc-shaped connecting rod A24, arc-shaped connecting rod B25, cross bearing pin 26,
Connecting rod C27 and ball pair 28.The two ends of arc-shaped connecting rod A and arc-shaped connecting rod B are equipped with through hole,
Arc-shaped connecting rod A and arc-shaped connecting rod B is connected by cross bearing pin.Upper end at arc-shaped connecting rod B
Fixing connecting rod C that connects, the upper end of connecting rod C connects with ball parafacies, the secondary lower surface with moving platform 1 of ball
It is connected.The output shaft of servomotor A is connected with the lower end of ball-screw 4, ball-screw upper/lower terminal
Being supported on respectively on leading screw bearing support B and motor fixing frame, the nut of screw pair 9 supports with leading screw
Frame A is fixing to be connected.The output of servo motor B 14 and the spur gear key 29 being located at above servo support
Connect.
Claims (2)
1. centralized mobile input six branch's parallel institutions, mainly include base, lower fixed support, prop up
Hold bar, motor fixing frame, servomotor A, servo support, screw pair, connecting rod A, leading screw
Bearing support A, pivoting support, roller gear, driving dish, serrations, positioning disk, sliding bar, rolling
Bearing, upper fixed support, connecting rod B, leading screw bearing support B, movement branched chain, servomotor A and watch
Take motor B, it is characterised in that: the upper surface at base is provided with three lower fixed supports and three support rods,
The upper end of three support rods is fixing connects a motor fixing frame, and motor fixing frame is toroidal frame, at motor
Being provided with servomotor A in the middle part of fixed mount, under three, support bracket fastened top is provided with servo support, servo-actuated
Support is annular flat board, is equipped with five connecting rods A, one end of connecting rod A in servo support
Being connected with the inner ring of servo support, the other end of connecting rod A is provided with leading screw bearing support A, leading screw bearing support
A is annular, is connected with pivoting support by screw on the top of servo support, the inner ring of pivoting support and
Roller gear engages each other, and the inner ring of pivoting support is connected by screw with driving dish, and driving dish is placed in back
Turning the top of supporting, be provided with groove on the outer wall of driving dish, the outer ring of pivoting support is provided with serrations,
The outside of the outer ring of pivoting support is connected with positioning disk by serrations, and positioning disk is the cylinder of upper and lower opening
Shape cylinder, six roots of sensation sliding bar extends to the top of positioning disk, on the inwall of the lower end of six roots of sensation sliding bar respectively
Being provided with rolling bearing, the outer ring of rolling bearing and the groove matched in clearance on driving dish outer wall, at positioning disk
Top is provided with a upper fixed support, upper support bracket fastened in be equipped with five connecting rods B, connecting rod
One end of B is connected with upper support bracket fastened inner ring, and the other end of connecting rod B is provided with leading screw bearing support B,
Leading screw bearing support B is annular, and the upper end of six roots of sensation sliding bar is respectively equipped with movement branched chain, servomotor A's
Output shaft is connected with the lower end of ball-screw, and ball-screw upper/lower terminal is supported on leading screw bearing support respectively
On B and motor fixing frame, the nut of screw pair is fixing with leading screw bearing support A to be connected, servomotor
The output of B is bonded with the spur gear being located at above servo support.
One the most according to claim 1 centralized mobile input six branch's parallel institutions, its feature exists
In: every movement branched chain includes arc-shaped connecting rod A, arc-shaped connecting rod B, cross bearing pin, connecting rod C
Secondary with ball, the two ends of arc-shaped connecting rod A and arc-shaped connecting rod B are equipped with through hole, arc-shaped connecting rod A
Connected by cross bearing pin with arc-shaped connecting rod B, the fixing connection in the upper end of arc-shaped connecting rod B
Bar C, with ball parafacies even, ball pair is connected with the lower surface of moving platform in the upper end of connecting rod C.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610339340.6A CN105835040B (en) | 2016-05-20 | 2016-05-20 | A kind of six branch's parallel institutions of mobile input of centralization |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610339340.6A CN105835040B (en) | 2016-05-20 | 2016-05-20 | A kind of six branch's parallel institutions of mobile input of centralization |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105835040A true CN105835040A (en) | 2016-08-10 |
| CN105835040B CN105835040B (en) | 2017-10-20 |
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| CN201610339340.6A Active CN105835040B (en) | 2016-05-20 | 2016-05-20 | A kind of six branch's parallel institutions of mobile input of centralization |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107336219A (en) * | 2017-07-04 | 2017-11-10 | 北京交通大学 | A kind of parallel institution that there are two movements three to rotate five degree of freedom |
| CN107553468A (en) * | 2017-09-27 | 2018-01-09 | 西安电子科技大学 | A kind of restructural six-freedom parallel operating platform |
| CN108724899A (en) * | 2018-05-24 | 2018-11-02 | 安徽中亚钢结构工程有限公司 | A kind of building board pressing device |
| CN109318186A (en) * | 2018-10-16 | 2019-02-12 | 中国矿业大学 | It is a kind of can continuous rotary four-degree-of-freedom workbench |
| CN110480600A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | Band with moving constraint two turn of one shifting series parallel type driven in parallel oscillating head mechanism |
| CN112008694A (en) * | 2020-07-22 | 2020-12-01 | 西安方元明科技股份有限公司 | Full-electric heavy-load six-degree-of-freedom platform based on electric cylinder and electric control system thereof |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107336219A (en) * | 2017-07-04 | 2017-11-10 | 北京交通大学 | A kind of parallel institution that there are two movements three to rotate five degree of freedom |
| CN107553468A (en) * | 2017-09-27 | 2018-01-09 | 西安电子科技大学 | A kind of restructural six-freedom parallel operating platform |
| CN107553468B (en) * | 2017-09-27 | 2020-11-20 | 西安电子科技大学 | Reconfigurable six-degree-of-freedom parallel operation platform |
| CN108724899A (en) * | 2018-05-24 | 2018-11-02 | 安徽中亚钢结构工程有限公司 | A kind of building board pressing device |
| CN109318186A (en) * | 2018-10-16 | 2019-02-12 | 中国矿业大学 | It is a kind of can continuous rotary four-degree-of-freedom workbench |
| CN109318186B (en) * | 2018-10-16 | 2021-03-02 | 中国矿业大学 | Four-degree-of-freedom working platform capable of continuously rotating |
| CN110480600A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | Band with moving constraint two turn of one shifting series parallel type driven in parallel oscillating head mechanism |
| CN112008694A (en) * | 2020-07-22 | 2020-12-01 | 西安方元明科技股份有限公司 | Full-electric heavy-load six-degree-of-freedom platform based on electric cylinder and electric control system thereof |
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| CN105835040B (en) | 2017-10-20 |
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