CN105855906A - Parallel mechanism with three spatial degrees of freedom - Google Patents
Parallel mechanism with three spatial degrees of freedom Download PDFInfo
- Publication number
- CN105855906A CN105855906A CN201610407337.3A CN201610407337A CN105855906A CN 105855906 A CN105855906 A CN 105855906A CN 201610407337 A CN201610407337 A CN 201610407337A CN 105855906 A CN105855906 A CN 105855906A
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- China
- Prior art keywords
- branched chain
- movement branched
- moving platform
- connecting rod
- moving
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Classifications
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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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Transmission Devices (AREA)
- Machine Tool Units (AREA)
Abstract
The invention discloses a parallel mechanism with three spatial degrees of freedom, comprising three moving branch chains vertically arranged and a moving platform disposed in space enclosed by the three moving branch chains; each moving branch chain includes a linear feeding system, the linear feeding systems drive the moving platform to vertically move; the three moving branch chains include respectively, a moving branch chain I, a moving branch chain II and a moving branch chain III; the moving branch chain I is connected with the moving platform through a Y-shaped connector; the moving branch chain II is connected with the moving platform through a connecting rod A; the moving branch chain III is connected with the moving platform through a connecting rod B. The parallel mechanism with two spatial rotational degrees of freedom and one spatial translational degree of freedom, the branch chains are simple in structure, and high dynamic characteristic and force balance characteristic of the mechanism are effectively guaranteed; X-directional and Y-directional rotational degrees of freedom of the mechanism are decoupled, and the tail moving platform thereby obtains large turning angle range and good output precision, which is an outstanding advantage of this mechanism.
Description
Technical field
The present invention relates to a kind of 3-freedom parallel mechanism, be specifically related to a kind of parallel machine with space three-freedom
Structure, belongs to mechanical manufacturing field.
Background technology
Parallel institution compact conformation, modular capability is good, and rigidity mass ratio is big, it is easy to accomplish high-speed motion.Parallel machine
Structure is the closed-loop system collectively formed by multiple side chains and dynamic and static platform, and its free degree is up to six.The free degree is less than
The parallel institution of six is referred to as minority carrier generation lifetime.Wherein, 3-freedom parallel mechanism is a kind of important lacking certainly
By degree parallel institution.In recent years, some series-parallel connection manufactures based on 3-freedom parallel mechanism equipment obtains in the industry
Successful Application, such as five axles series-parallel connection machining center Exechoon (W02006054935) based on 2-UPR/SPR mechanism,
With Ecospeed five axle series-parallel connection machining center (W02000025976) based on 3-PRS mechanism etc..Hybrid mechanism is held concurrently
Tool serial mechanism working space is big and parallel institution compact conformation, advantage that dynamic response characteristic is good, it is possible to realize big
The five-axle linkage of working space cuts Milling Machining at a high speed, is suitably applied the processing of Space Free-Form Surface type component.
Patent US6431802 and CN100377847C are the space two rotation-translation parallel machine that mesh first two is common
Structure, respectively 3PRS configuration and 3RPS configuration, both has been applied to series-parallel machine tool field.Liang Ge mechanism all includes
Silent flatform, moving platform and three structures be identical and the side chain that is distributed axisymmetricly.Mechanism involved by US6431802 props up
Chain comprises a moving sets, a revolute pair and a ball pivot successively；Wherein, moving sets is driver element, by leading
Rail coordinates with silent flatform；Revolute pair and ball pivot are passive unit, and ball pivot connects corresponding connecting rod and moving platform.
Mechanism's side chain involved by CN100377847C comprises a revolute pair, a moving sets and a ball pivot successively；Its
In, revolute pair is connected with fixed platform, and moving sets is driver element；Ball pivot is passive unit, connects corresponding connection
Bar and moving platform.
Additionally, the most many research units and scientific research institution's configuration go out multiple two turn of one motion three-freedom-degree parallel mechanism (as
WO005976, EP1123175, CN102632394 etc.), the colleges and universities such as Tsing-Hua University, University Of Tianjin also have pointed out one
A little parallel main-shaft head structures (such as CN101264576, CN101049699, CN101579828 etc.).But fortune
Dynamic secondary number is few, simple in construction, control readily such parallel main-shaft head structure also compare less.
Summary of the invention
It is an object of the invention to provide a kind of parallel institution with space three-freedom, it can be effectively increased moving platform
Pivot angle scope and guarantee moving platform kinematic accuracy, can be connected composition five-axle linkage series-parallel connection numerical control machining equipment with serial mechanism,
The shortcoming overcoming existing parallel main shaft head technology.
The parallel institution with space three-freedom provided by the present invention, including 3 movement branched chain being vertically arranged and
It is arranged at the moving platform in the space that 3 described movement branched chain are surrounded；
Every described movement branched chain all includes a linear feeding system, and described linear feeding system drives described moving platform edge
Vertical direction moves；
Article 3, described movement branched chain is designated as movement branched chain I, movement branched chain II and movement branched chain III successively；
Described movement branched chain I is connected with described moving platform by Y type connector, described Y type connector and described fortune
Move and be all connected by revolute pair between side chain I and described moving platform；
Described movement branched chain II is connected with described moving platform by connecting rod A, and one end of described connecting rod A is with described
It is connected by revolute pair between movement branched chain II, by two between the other end and the described moving platform of described connecting rod A
The universal secondary A of rotational freedom is connected；
Described movement branched chain III is connected with described moving platform by connecting rod B, and one end of described connecting rod B is with described
Movement branched chain III is connected by spherical linkage, by two turns between the other end and the described moving platform of described connecting rod B
The universal secondary B of the dynamic free degree is connected.
In described parallel institution, described linear feeding system includes driving means and line slideway；
A slide block is connected by moving sets on described line slideway；
Described driving means drives described slide block to move along described line slideway, i.e. realizes the movement of described movement branched chain certainly
By spending.
In described parallel institution, described driving means drives described ball screw turns, turning at described ball-screw
The action described slide block of lower driving moves.
In described parallel institution, described driving means and described line slideway are all located on fixed mount.
In described parallel institution, described connector is connected with the described slide block of described movement branched chain I；
Described connecting rod A is connected with the described slide block of described movement branched chain II；
Described connecting rod B is connected with the described described slide block being connected side chain III.
What the present invention provided has space double rotation freedom degrees and the parallel institution of a translational degree of freedom, the letter of each branched structure
Single, effectively ensure high dynamic characteristic and the stress balance characteristic of mechanism；The rotation of mechanism X and Y both direction is certainly
Being decoupled by degree, therefore its end moving platform obtains higher angle range and preferable output accuracy is then the one of this mechanism
Individual outstanding advantages；On the basis of this space two rotation-translation parallel institution, by using and platform series-parallel connection of connecting
Form can realize the digital control processing ability of five-axle linkage, thus realize complex free curved surface class part efficient, high
Precision is processed.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram that the present invention has the parallel institution of space three-freedom.
Fig. 2 is movement branched chain III structural representation that the present invention has the parallel institution of space three-freedom.
In figure, each mark is as follows:
10 fixed mounts, 11 line slideways, 12 ball-screws, 13,18,21 slide blocks, 14 driving means, 15Y
Type connector, the universal secondary B of 16 double rotation freedom degrees, the universal secondary A of 20 double rotation freedom degrees, 17 connecting rods B,
19 connecting rods A, 101 movement branched chain I, 102 movement branched chain II, 103 movement branched chain III, 201 moving platforms.
Detailed description of the invention
The present invention will be further described below in conjunction with the accompanying drawings, but the invention is not limited in following example.
As it is shown in figure 1, the present invention can be used for the space two rotation-translation parallel institution of five-axle linkage hybrid CNC machine tool
Schematic diagram, including fixed mount 10, moving platform 201 and be spatially arranged vertically on fixed mount 10 and moving platform 201
Between movement branched chain I 101, movement branched chain II 102 and movement branched chain III 103.Each movement branched chain all has a set of
Same linear feeding system, it includes driving means 14, line slideway 11 and ball-screw 12, wherein drives dress
Put 14 and line slideway 11 be all fixedly installed on fixed mount 10, driving means 14 drives ball-screw 12 to rotate.
In movement branched chain I 101, slide block 13 is connected with moving sets with line slideway 11, slide block 13 device driven
14 drivings (linearly guide rail 11 moves under the rotation of ball-screw 12) are movement branched chain I 101 input motion；
Y type connector 15 one end is connected with slide block 13 by revolute pair, and the other end is connected with moving platform 201 by revolute pair,
The direction of two revolute pairs is as shown in fig. 1.
In movement branched chain II 102, slide block 21 device driven 14 drives (along straight under the rotation of ball-screw 12
Line guide rail 11 moves), for movement branched chain II 102 input motion；Revolute pair and slide block are passed through in one end of connecting rod A19
21 connect, and the other end is connected with moving platform 201 by the universal secondary 20A of double rotation freedom degrees, revolute pair and universal pair
The direction of A20 is as shown in fig. 1.
As in figure 2 it is shown, in movement branched chain III 103, slide block 18 device driven 14 drives (at ball-screw 12
Rotation under linearly guide rail 11 move), for movement branched chain III 103 input motion；One end of connecting rod B17 is passed through
Spherical linkage (not marking in figure) is connected with slide block 18, the other end by the universal secondary B16 of double rotation freedom degrees and
Moving platform 201 connects, and the direction of universal pair is as shown in Figure 2.
In parallel institution of the present invention, 3 movement branched chain are connected formation one respectively with moving platform 201 and fixed mount 10
Spatial closed loop, drives moving platform 201 to move by the input motion of three slide blocks.Parallel institution of the present invention utilizes
Movement branched chain I 101, moving platform 201 and movement branched chain II 102, realize moving platform 201 turning around y-axis direction jointly
The dynamic free degree；Movement branched chain III 103 makes moving platform 201 have the rotational freedom around x direction.Due to 3 motions
Side chain is respectively provided with the one-movement-freedom-degree in z direction, and therefore moving platform 201 also possesses z to one-movement-freedom-degree.3 side chains are altogether
Same-action, makes this mechanism have double rotation freedom degrees and a translational degree of freedom
In the above embodiment of the present invention, driving means 14 have employed servomotor-ball-screw feeding mode, by directly
Line guide rail 11 is the motion input that slide block provides an one-movement-freedom-degree, in order to reach same purpose, driving means
14 can also use linear electric motors feeding mode, provide the motion input of an one-movement-freedom-degree for slide block.Certainly, exist
In specific implementation process, use other any one can realize the drive form of same movement function and be all possible.With
Time, the present invention can use modularized design, can move flat by the mechanical interface on fixed mount and two orthogonal series connection
Platform with the use of, and then constitute five-axle linkage series-parallel connection digital control processing unit.Wherein, moving platform 201 can be installed
Machine tool chief axis and cutter, complete part and cut milling task.
It is pointed out that the demand that the present invention be directed to Three Degree Of Freedom machine tooling unit is proposed, but the present invention
Final application be not restricted to machine tooling field.In the case of without departing from the invention essence, use other
Fixed mount (including shape and layout), type of drive and the chain connection mode of form are also applied to any field, all
Protection scope of the present invention should be belonged to.
Claims (5)
1. there is a parallel institution for space three-freedom, including 3 movement branched chain being vertically arranged and be arranged at 3
Moving platform in the space that movement branched chain described in bar is surrounded；
Every described movement branched chain all includes a linear feeding system, and described linear feeding system drives described moving platform edge
Vertical direction moves；
Article 3, described movement branched chain is designated as movement branched chain I, movement branched chain II and movement branched chain III successively；
Described movement branched chain I is connected with described moving platform by Y type connector, described Y type connector and described fortune
Move and be all connected by revolute pair between side chain I and described moving platform；
Described movement branched chain II is connected with described moving platform by connecting rod A, and one end of described connecting rod A is with described
It is connected by revolute pair between movement branched chain II, by two between the other end and the described moving platform of described connecting rod A
The universal secondary A of rotational freedom is connected；
Described movement branched chain III is connected with described moving platform by connecting rod B, and one end of described connecting rod B is with described
Movement branched chain III is connected by spherical linkage, by two turns between the other end and the described moving platform of described connecting rod B
The universal secondary B of the dynamic free degree is connected.
Parallel institution the most according to claim 1, it is characterised in that: described linear feeding system includes driving
Device and line slideway；
A slide block is connected by moving sets on described line slideway；
Described driving means drives described slide block to move along described line slideway.
Parallel institution the most according to claim 2, it is characterised in that: described driving means drives described ball
Screw turns, drives described slide block to move under the rotary action of described ball-screw.
4. according to the parallel institution described in Claims 2 or 3, it is characterised in that: described driving means and described directly
Line guide rail is all located on fixed mount.
5. according to the parallel institution according to any one of claim 2-4, it is characterised in that: described connector is with described
The described slide block of movement branched chain I is connected；
Described connecting rod A is connected with the described slide block of described movement branched chain II；
Described connecting rod B is connected with the described described slide block being connected side chain III.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610407337.3A CN105855906B (en) | 2016-06-12 | 2016-06-12 | A kind of parallel institution with space three-freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610407337.3A CN105855906B (en) | 2016-06-12 | 2016-06-12 | A kind of parallel institution with space three-freedom |
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| CN105855906A true CN105855906A (en) | 2016-08-17 |
| CN105855906B CN105855906B (en) | 2019-01-04 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945071A (en) * | 2017-03-22 | 2017-07-14 | 陕西科技大学 | A kind of Three Degree Of Freedom lumbar device of anthropomorphic robot |
| CN107378917A (en) * | 2017-08-23 | 2017-11-24 | 中国地质大学（武汉） | A kind of machining center parallel main shaft head secondary without ball |
| CN107414797A (en) * | 2017-08-18 | 2017-12-01 | 广州数控设备有限公司 | A kind of swabbing robot of linear electric motors driving |
| CN107825402A (en) * | 2017-12-08 | 2018-03-23 | 山东科技大学 | A kind of Three Degree Of Freedom high speed conveying robot |
| CN109531186A (en) * | 2018-12-10 | 2019-03-29 | 中北大学 | A kind of novel four-freedom parallel bed |
| CN111496765A (en) * | 2020-04-28 | 2020-08-07 | 清华大学 | Spatial two-rotation and one-movement three-degree-of-freedom parallel mechanism |
| CN112407201A (en) * | 2020-11-17 | 2021-02-26 | 清华大学深圳国际研究生院 | Pose adjusting tool |
| CN113386111A (en) * | 2021-07-16 | 2021-09-14 | 燕山大学 | Three-translation redundant drive parallel mechanism with closed-loop unit |
| CN114347005A (en) * | 2022-03-18 | 2022-04-15 | 中国科学技术大学 | Rope traction parallel robot continuous reconstruction planning method capable of avoiding obstacles |
| CN115015273A (en) * | 2022-06-24 | 2022-09-06 | 广东工业大学 | Automatic lens pose adjusting device, visual detection system and adjusting method |
| CN116766267A (en) * | 2023-08-22 | 2023-09-19 | 合肥智禾科技有限公司 | Manipulator stirring structure of industrial robot |
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| CN104551714A (en) * | 2015-01-08 | 2015-04-29 | 清华大学 | Parallel mechanism with spatial two rotation and one translation freedom degrees |
| CN104889978A (en) * | 2015-07-01 | 2015-09-09 | 北京工业大学 | Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism |
| CN205075056U (en) * | 2015-09-30 | 2016-03-09 | 河南科技大学 | It rotates a removal three freedoms motion decoupling zero parallel mechanism to have two |
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| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
| CN102922515A (en) * | 2012-11-12 | 2013-02-13 | 天津理工大学 | Two-rotation one-movement parallel mechanism capable of realizing motion decoupling |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945071B (en) * | 2017-03-22 | 2019-04-26 | 陕西科技大学 | A kind of Three Degree Of Freedom lumbar device of anthropomorphic robot |
| CN106945071A (en) * | 2017-03-22 | 2017-07-14 | 陕西科技大学 | A kind of Three Degree Of Freedom lumbar device of anthropomorphic robot |
| CN107414797A (en) * | 2017-08-18 | 2017-12-01 | 广州数控设备有限公司 | A kind of swabbing robot of linear electric motors driving |
| CN107378917A (en) * | 2017-08-23 | 2017-11-24 | 中国地质大学（武汉） | A kind of machining center parallel main shaft head secondary without ball |
| CN107825402A (en) * | 2017-12-08 | 2018-03-23 | 山东科技大学 | A kind of Three Degree Of Freedom high speed conveying robot |
| CN109531186B (en) * | 2018-12-10 | 2020-07-24 | 中北大学 | Novel four-degree-of-freedom parallel machine tool |
| CN109531186A (en) * | 2018-12-10 | 2019-03-29 | 中北大学 | A kind of novel four-freedom parallel bed |
| CN111496765A (en) * | 2020-04-28 | 2020-08-07 | 清华大学 | Spatial two-rotation and one-movement three-degree-of-freedom parallel mechanism |
| CN112407201A (en) * | 2020-11-17 | 2021-02-26 | 清华大学深圳国际研究生院 | Pose adjusting tool |
| CN113386111A (en) * | 2021-07-16 | 2021-09-14 | 燕山大学 | Three-translation redundant drive parallel mechanism with closed-loop unit |
| CN114347005A (en) * | 2022-03-18 | 2022-04-15 | 中国科学技术大学 | Rope traction parallel robot continuous reconstruction planning method capable of avoiding obstacles |
| CN115015273A (en) * | 2022-06-24 | 2022-09-06 | 广东工业大学 | Automatic lens pose adjusting device, visual detection system and adjusting method |
| CN116766267A (en) * | 2023-08-22 | 2023-09-19 | 合肥智禾科技有限公司 | Manipulator stirring structure of industrial robot |
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