CN105835040B - A kind of six branch's parallel institutions of mobile input of centralization - Google Patents
A kind of six branch's parallel institutions of mobile input of centralization Download PDFInfo
- Publication number
- CN105835040B CN105835040B CN201610339340.6A CN201610339340A CN105835040B CN 105835040 B CN105835040 B CN 105835040B CN 201610339340 A CN201610339340 A CN 201610339340A CN 105835040 B CN105835040 B CN 105835040B
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- Prior art keywords
- support
- connecting rod
- servo
- leading screw
- arc
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- 238000005096 rolling process Methods 0.000 claims abstract description 11
- 230000035807 sensation Effects 0.000 claims description 8
- 239000007787 solid Substances 0.000 claims 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
Six branch's parallel institutions of a kind of mobile input of centralization, mainly including 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, drive disk, serrations, positioning disk, sliding bar, rolling bearing, upper fixed support, connecting rod B, leading screw bearing support B, movement branched chain, servomotor A and servo motor B.The present invention reduces cost, is easy to control.
Description
Technical field
The present invention relates to the parallel institution field in mechanics.
Background technology
Parallel institution has the advantages that rigidity is big, bearing capacity is strong, kinematic accuracy is high with respect to serial mechanism, and its defect is fortune
Dynamic space is small, complicated.It is connected between the moving platform and fixed platform of six branch's parallel institutions with six movement branched chains, is generally used
Driver is operated alone each branch to control the change of moving platform pose.As Chinese patent CN201510436220 discloses one kind
Hexagonal pyramid formula six-degree-of-freedom parallel connection mechanism, Chinese patent CN201510424628 disclose a kind of Six-freedom dynamic platform, in
State patent CN201510025977 discloses a kind of six-degree-of-freedom parallel connection mechanism loading system and its method, Chinese patent
CN201410113807 discloses a kind of six-freedom parallel assembling mechanism simulated for lengthwise movement, Chinese patent
CN201310282798 discloses a kind of heavily loaded static balance parallel movement simulative platform mechanism of six degree of freedom with balanced controls, with
Upper six described branch's parallel institutions are all to carry out independent driving to each movement branched chain.Six freedom that six branches are individually driven
Degree parallel institution needs to be controlled six drivers, and manufacturing cost is higher, and control is complicated.In some specific occasions, only
Need the end effector of mechanical device do periodically sextuple motion.
The content of the invention
It is an object of the invention to provide a kind of centralization six branch's parallel machines of mobile input for reducing cost, being easy to control
Structure.
The invention mainly comprises base, lower fixed support, support rod, motor fixing frame, servomotor A, servo support, silk
Thick stick pair of nut, connecting rod A, leading screw bearing support A, pivoting support, roller gear, drive disk, serrations, positioning disk, sliding bar, rolling
Dynamic bearing, upper fixed support, connecting rod B, leading screw bearing support B, movement branched chain, servomotor A and servo motor B.
Wherein, three lower fixed supports and three support rods are provided with the upper surface of base, the upper end of three support rods is consolidated
Surely a motor fixing frame is connected, motor fixing frame is toroidal frame, servomotor A13 is provided with the middle part of motor fixing frame.Three
Support bracket fastened top is provided with servo support under root, and servo support is annular flat board, and five are equipped with servo support
Connecting rod A, connecting rod A one end is connected with the inner ring of servo support, and the connecting rod A other end is provided with leading screw bearing support A, leading screw
Bearing support A is annular.It is connected on the top of servo support by screw with pivoting support, the inner ring and roller gear of pivoting support
Intermeshing, the inner ring of pivoting support is connected with drive disk by screw, and drive disk is placed in the top of pivoting support, in drive disk
Outer wall be provided with groove.The outer ring of pivoting support is provided with serrations, the outside of the outer ring of pivoting support by serrations with
Positioning disk is connected.Positioning disk is the cylindrical tube of upper and lower opening, and six roots of sensation sliding bar extends to the top of positioning disk, and the six roots of sensation is slided
Rolling bearing is respectively equipped with the inwall of the lower end of bar, outer ring and the groove gap on drive disk outer wall of rolling bearing coordinate.
On positioning disk top provided with fixed support on one, it is upper it is support bracket fastened in be equipped with five connecting rod B, the one of connecting rod B
End is connected with upper support bracket fastened inner ring, and the connecting rod B other end is provided with leading screw bearing support B, and leading screw bearing support B is annular.Six
The upper end of root sliding bar is respectively equipped with movement branched chain, and every movement branched chain includes arc-shaped connecting rod A, arc-shaped connecting rod B, cross pin
Axle, connecting rod C and ball pair.Arc-shaped connecting rod A and arc-shaped connecting rod B two ends are equipped with through hole, and arc-shaped connecting rod A and arc connect
Extension bar B is connected by cross bearing pin.Connecting rod C, connecting rod C upper end and ball pair are fixedly connected with arc-shaped connecting rod B upper end
It is connected, ball pair is connected with the lower surface of moving platform.Servomotor A13 output shaft is connected with the lower end of ball-screw, ball wire
Thick stick upper/lower terminal is supported on leading screw bearing support B and motor fixing frame respectively, nut and the leading screw bearing support A of screw pair
It is fixedly connected.The output end of servo motor B 14 is connected with the spur gear key being located above servo support.
In the use of the present invention, servo motor B drives the inner ring of pivoting support to rotate by roller gear, in pivoting support
Circle drives drive disk to rotate, and the groove on drive disk drives six movement branched chain linkages, realizes the mobile input of each branch.Servo
Motor A drives ball screw turns, and ball-screw drives servo support to be moved along leading screw axis direction.
The present invention has the following advantages that compared with prior art：Reduce cost, be easy to control.
Brief description of the drawings
Fig. 1 is the overall structure 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 installs detailed construction schematic diagram for the drive disk of an embodiment of the present invention.
Fig. 4 disposes detailed construction schematic diagram for the motor of an embodiment of the present invention.
In accompanying drawing, moving platform 1, movement branched chain 2, pivoting support 3, ball-screw 4, connecting rod A5, lower fixed support 6, lead
To disk 7, servo support 8, screw pair 9, drive disk 10, upper fixed support 11, roller gear 12, servomotor A13, servo
Motor B14, base 15, support rod 16, motor fixing frame 17, leading screw bearing support A18, serrations 19, sliding bar 20, rolling bearing
21st, connecting rod 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, the outer ring 31 of pivoting support.
Embodiment
In the simplified schematic diagram of the invention shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, it is provided with the upper surface of base 15 under three
Fixed support 6 and three support rods 16, the upper end of three support rods are fixedly connected with a motor fixing frame 17, and motor fixing frame is
Toroidal frame, is provided with servomotor A13 in the middle part of motor fixing frame.Support bracket fastened top is provided with servo support 8 under three, with
Dynamic support is annular flat board, is equipped with five connecting rod A5 in servo support, connecting rod A one end and servo support
Inner ring is connected, and the connecting rod A other end is provided with leading screw bearing support A18, and leading screw bearing support A is annular.On the top of servo support
Be connected by screw with pivoting support 3, inner ring 30 and the roller gear 12 of pivoting support are intermeshed, the inner ring of pivoting support with
Drive disk 10 is connected by screw, and drive disk is placed in the top of pivoting support, and groove is provided with the outer wall of drive disk.Revolution branch
The outer ring held is provided with serrations 19, and the outside of the outer ring 31 of pivoting support is connected by serrations with positioning disk 7.Positioning disk is
The cylindrical tube of upper and lower opening, six roots of sensation sliding bar 20 is extended on the top of positioning disk, the inwall of the lower end of six roots of sensation sliding bar
Rolling bearing 21 is respectively equipped with, outer ring and the groove gap on drive disk outer wall of rolling bearing coordinate.Set on positioning disk top
Have a upper fixed support 11, it is upper it is support bracket fastened in be equipped with five connecting rod B22, connecting rod B one end and upper fixation
The inner ring of support is connected, and the connecting rod B other end is provided with leading screw bearing support B23, and leading screw bearing support B is annular.Six roots of sensation sliding bar
Upper end be respectively equipped with movement branched chain 2, every movement branched chain includes arc-shaped connecting rod A24, arc-shaped connecting rod B25, cross bearing pin
26th, connecting rod C27 and ball pair 28.Arc-shaped connecting rod A and arc-shaped connecting rod B two ends are equipped with through hole, arc-shaped connecting rod A and arc
Shape connecting rod B is connected by cross bearing pin.Be fixedly connected with connecting rod C in arc-shaped connecting rod B upper end, connecting rod C upper end with
Ball pair is connected, and ball pair is connected with the lower surface of moving platform 1.Servomotor A output shaft is connected with the lower end of ball-screw 4, rolling
Ballscrew upper/lower terminal is supported on leading screw bearing support B and motor fixing frame respectively, nut and the leading screw branch of screw pair 9
Bolster A is fixedly connected.The output end of servo motor B 14 is connected with the spur gear key 29 being located above servo support.
Claims (2)
1. a kind of six branch's parallel institutions of mobile input of centralization, mainly solid including base, lower fixed support, support rod, motor
Determine frame, servomotor A, servo support, screw pair, connecting rod A, leading screw bearing support A, pivoting support, roller gear, driving
Disk, serrations, positioning disk, sliding bar, rolling bearing, upper fixed support, connecting rod B, leading screw bearing support B, movement branched chain, servo
Motor A and servo motor B, it is characterised in that：Three lower fixed supports and three support rods, every are provided with the upper surface of base
Under support bracket fastened top be correspondingly provided with a support rod, the upper end of three support rods is fixedly connected with a motor fixing frame, electricity
Machine fixed mount is toroidal frame, and servomotor A is provided with the middle part of motor fixing frame, and support bracket fastened top is provided with servo-actuated under three
Support, servo support is annular flat board, five connecting rod A is equipped with servo support, connecting rod A one end is with being servo-actuated
The inner ring of support is connected, and the connecting rod A other end is provided with leading screw bearing support A, and leading screw bearing support A is annular, in servo support
Top is connected by screw with pivoting support, and the inner ring of pivoting support is intermeshed with roller gear, the inner ring of pivoting support with
Drive disk is connected by screw, and drive disk is placed in the top of pivoting support, and groove, pivoting support are provided with the outer wall of drive disk
Outer ring be provided with serrations, the outside of the outer ring of pivoting support is connected by serrations with positioning disk, positioning disk be above and below open
The cylindrical tube of mouth, six roots of sensation sliding bar is extended to be respectively equipped with the top of positioning disk, the inwall of the lower end of six roots of sensation sliding bar
Rolling bearing, outer ring and the groove gap on drive disk outer wall of rolling bearing coordinate, on positioning disk top provided with solid on one
Fixed rack, it is upper it is support bracket fastened in be equipped with five connecting rod B, connecting rod B one end is connected with upper support bracket fastened inner ring,
The connecting rod B other end is provided with leading screw bearing support B, and leading screw bearing support B is annular, and the upper end of six roots of sensation sliding bar is respectively equipped with motion
Side chain, servomotor A output shaft is connected with the lower end of ball-screw, and ball-screw upper/lower terminal is supported on leading screw branch respectively
On bolster B and motor fixing frame, the nut of screw pair is fixedly connected with leading screw bearing support A, the output end of servo motor B with
It is located at the spur gear key connection above servo support.
2. a kind of six branch's parallel institutions of mobile input of centralization according to claim 1, it is characterised in that：Every motion
Side chain includes arc-shaped connecting rod A, arc-shaped connecting rod B, cross bearing pin, connecting rod C and ball pair, arc-shaped connecting rod A and arc connection
Bar B two ends are equipped with through hole, and arc-shaped connecting rod A and arc-shaped connecting rod B are connected by cross bearing pin, arc-shaped connecting rod B's
Upper end is fixedly connected with connecting rod C, and connecting rod C upper end is connected with ball pair, and ball pair is connected with the lower surface of moving platform.
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 |
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| 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 |
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| Publication Number | Publication Date |
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| CN105835040A CN105835040A (en) | 2016-08-10 |
| CN105835040B true CN105835040B (en) | 2017-10-20 |
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| CN201610339340.6A Expired - Fee Related 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106112982B (en) * | 2016-07-29 | 2018-05-15 | 哈工大机器人集团（广州）知识产权投资控股有限公司 | A kind of e-commerce product show robot special intelligent manipulator |
| CN107336219B (en) * | 2017-07-04 | 2020-05-29 | 北京交通大学 | Parallel mechanism with two-movement three-rotation five-degree-of-freedom |
| 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 |
| CN109318186B (en) * | 2018-10-16 | 2021-03-02 | 中国矿业大学 | Four-degree-of-freedom working platform capable of continuously rotating |
| CN110480600B (en) * | 2019-07-31 | 2020-09-11 | 燕山大学 | Two-rotation one-movement parallel-series parallel driving swing head mechanism with follow-up constraint |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0834383A1 (en) * | 1996-10-07 | 1998-04-08 | Gec Alsthom Systemes Et Services Sa | Robot with a parallel structure |
| CN103383821A (en) * | 2013-07-05 | 2013-11-06 | 燕山大学 | Six-freedom-degree heavy load static balance parallel motion simulation table mechanism with balancing mechanism |
| CN104308838A (en) * | 2014-09-26 | 2015-01-28 | 燕山大学 | High/low-frequency composite driving six-degree-of-freedom parallel movement platform |
| CN105171728A (en) * | 2015-07-23 | 2015-12-23 | 盐城工学院 | Hexagonal pyramid type six-freedom-degree parallel mechanism |
| CN105243911A (en) * | 2015-10-22 | 2016-01-13 | 燕山大学 | Structure parameter-adjustable parallel motion table with combined spring bearing branches |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8215199B2 (en) * | 2008-11-17 | 2012-07-10 | Marcroft Sacha L | Parallel kinematic positioning system |
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2016
- 2016-05-20 CN CN201610339340.6A patent/CN105835040B/en not_active Expired - Fee Related
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|---|---|---|---|---|
| EP0834383A1 (en) * | 1996-10-07 | 1998-04-08 | Gec Alsthom Systemes Et Services Sa | Robot with a parallel structure |
| CN103383821A (en) * | 2013-07-05 | 2013-11-06 | 燕山大学 | Six-freedom-degree heavy load static balance parallel motion simulation table mechanism with balancing mechanism |
| CN103383821B (en) * | 2013-07-05 | 2015-09-16 | 燕山大学 | With the six degree of freedom heavy duty static equilibrium parallel movement simulative platform mechanism of balanced controls |
| CN104308838A (en) * | 2014-09-26 | 2015-01-28 | 燕山大学 | High/low-frequency composite driving six-degree-of-freedom parallel movement platform |
| CN105171728A (en) * | 2015-07-23 | 2015-12-23 | 盐城工学院 | Hexagonal pyramid type six-freedom-degree parallel mechanism |
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Non-Patent Citations (1)
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| 并联6-RUS卫星相机像移补偿机构建模与分析;赵延治;《中国机械工程》;20160215;第27卷(第3期);第369-375页 * |
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| CN105835040A (en) | 2016-08-10 |
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Granted publication date: 20171020 |