CN105965477B - The symmetrical and asymmetric structure state parallel connection platform of restructural four - Google Patents
The symmetrical and asymmetric structure state parallel connection platform of restructural four Download PDFInfo
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- CN105965477B CN105965477B CN201610329241.XA CN201610329241A CN105965477B CN 105965477 B CN105965477 B CN 105965477B CN 201610329241 A CN201610329241 A CN 201610329241A CN 105965477 B CN105965477 B CN 105965477B
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- hooke
- hinge
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- side lever
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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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Abstract
A kind of symmetrical and asymmetric structure state parallel connection platform of restructural four, three side chains of the parallel connection platform have identical structure, first Hooke's hinge, 3rd Hooke's hinge and the 4th Hooke's hinge are connected with moving platform, second Hooke's hinge, 5th Hooke's hinge and the 6th Hooke's hinge are connected with fixed platform, first circular arc flap is arranged on the first side lever, second circular arc flap is arranged on the second side lever, three-arc flap is arranged on the 3rd side lever, the parallel connection platform can be in symmetrical structure and asymmetrical 3 UPU, 2 UPU URU, flexible conversion between 2 URU UPU and 3 URU configurations, the working space of parallel connection platform is increased on the basis of the strong advantage of parallel connection platform bearing capacity is kept, with more wide future in engineering applications.
Description
Technical field
It is particularly a kind of symmetrically in parallel flat with the asymmetric structure state of restructural four the present invention relates to a kind of mechanical design field
Platform.
Background technology
Parallel institution is the closed loop moving systems being made up of multiple parallel side chains, i.e., by multiple parallel side chains one end simultaneously
Be connected composition with an end effector (moving platform).From success of the Steward mechanisms on Tire testing and flight simulator
Using starting, parallel institution turns into the object of many scholar's research always.Parallel institution (PM) compare with traditional serial mechanism,
With bigger rigidity, load and higher precision.But the problem of its work is small governs its development, Chinese patent ZL always
201510977107.6 disclose a kind of new parallel institution with restructural characteristic, and the parallel connection platform can be fixed by adjusting
The area of platform changes working space, improves the working space of parallel connection platform to a certain extent, but the parallel connection platform
Floor space is big and working space adjustable range is smaller, therefore, it is necessary to which preferable bearing capacity can be kept by designing one kind, again
The parallel connection platform of working space can be changed by a relatively large margin.
Preferable bearing capacity can be kept by having had not yet to see one kind, and and can changes having for working space by a relatively large margin
The innovation design of the parallel connection platform of reconfigurable function.
The content of the invention
It is an object of the invention to provide a kind of symmetrically with the asymmetric structure state parallel connection platform of restructural four, it can keep preferable
Bearing capacity, and can changes working space by a relatively large margin.
The present invention is achieved through the following technical solutions above-mentioned purpose：It is a kind of symmetrically to be put down with the parallel connection of the asymmetric structure state of restructural four
Platform, three side chains of the parallel connection platform have identical structure, and the first side lever, the second side lever and the 3rd side bar arrangement are identical, the
The structure of one sliding bar, the second sliding bar and the 3rd sliding bar is identical, the first Hooke's hinge, the 3rd Hooke's hinge and the 4th Hooke's hinge with
Moving platform is connected, and the second Hooke's hinge, the 5th Hooke's hinge and the 6th Hooke's hinge are connected with fixed platform, first sliding bar one end and the
One Hooke's hinge is connected, and the other end is connected with one end of the first side lever, and the other end of the first side lever is connected with the second Hooke's hinge, and second
Sliding bar one end is connected with the 3rd Hooke's hinge, and the other end is connected with one end of the second side lever, the other end of the second side lever and the 5th
Hooke's hinge is connected, and the 3rd sliding bar one end is connected with the 4th Hooke's hinge, and the other end is connected with one end of the 3rd side lever, the 3rd side lever
The other end be connected with the 6th Hooke's hinge, the first circular arc flap be arranged on the first side lever on, the second circular arc flap be arranged on second
On side lever, three-arc flap is arranged on the 3rd side lever.
Circular arc is welded with first side lever and fixes plate washer, for installing the first circular arc flap.
Moving block is welded with first sliding bar.
Elongated slot is provided with first side lever, the first sliding bar slides in elongated slot.
In the present invention, U represents Hooke's hinge, and P represents prismatic pair, and R represents revolute pair, as 3-UPU types represent parallel connection platform
Three side chains have identical structure, and the kinematic pair of each side chain is two Hooke's hinges and a prismatic pair.Class that the rest may be inferred
Push away.2-UPU-URU types represent that the kinematic pair of parallel connection platform two of which side chain is two Hooke's hinges and a prismatic pair, a branch
The kinematic pair of chain is two Hooke's hinges and a revolute pair.2-URU-UPU types represent the motion of parallel connection platform two of which side chain
Pair is two Hooke's hinges and a revolute pair, and the kinematic pair of a side chain is two Hooke's hinges and a prismatic pair.3-URU type tables
Showing three side chains of parallel connection platform has identical structure, and the kinematic pair of each side chain is two Hooke's hinges and a rotation
It is secondary.
The present invention's has the prominent advantages that：
1st, the parallel connection platform has the function of restructural, can be according to different work requirements, in 3-UPU, 2-UPU-
Flexible conversion between URU, 2-URU-UPU and 3-URU configuration, there is stronger adaptability.
2nd, the parallel connection platform changes structure state in the form of kinematic pair is changed, being capable of large range of change work sky
Between.
3rd, the parallel connection platform can have during work by changing configuration come adjustment work space and bearing capacity
Stronger flexibility.
Brief description of the drawings
Structural representation when Fig. 1 is parallel connection platform 3-UPU configurations of the present invention.
Structural representation when Fig. 2 is parallel connection platform 2-UPU-URU configurations of the present invention.
Structural representation when Fig. 3 is parallel connection platform 2-URU-UPU configurations of the present invention.
Structural representation when Fig. 4 is parallel connection platform 3-URU configurations of the present invention.
Fig. 5 is the structure when side lever of parallel connection platform first and the first sliding bar of the present invention are connected in the form of prismatic pair
Schematic diagram.
Fig. 6 is the structure when side lever of parallel connection platform first and the first sliding bar of the present invention are connected in the form of revolute pair
Schematic diagram.
Fig. 7 is assembling schematic diagram of parallel connection platform the first circular arc flap of the present invention on the first side lever.
Fig. 8 is the schematic diagram of the sliding bar of parallel connection platform first of the present invention.
Fig. 9 is the motion when side lever of parallel connection platform first and the first sliding bar of the present invention are connected in the form of prismatic pair
Scope schematic diagram.
Figure 10 is the fortune when side lever of parallel connection platform first and the first sliding bar of the present invention are connected in the form of revolute pair
Dynamic scope schematic diagram.
In figure mark for：It is moving platform 1, the first Hooke's hinge 2, the first sliding bar 3, the first circular arc flap 4, the first side lever 5, solid
Fixed platform 6, the second Hooke's hinge 7, the 3rd Hooke's hinge 8, the second sliding bar 9, the 4th Hooke's hinge 10, the second circular arc flap the 11, the 3rd
Sliding bar 12, the second side lever 13, three-arc flap 14, the 5th Hooke's hinge 15, the 3rd side lever 16, the 6th Hooke's hinge 17, circular arc
Fixed plate washer 18, moving block 19.
Embodiment：
Technical scheme is further described with reference to the accompanying drawings and examples.
As shown in Fig. 1, Fig. 7 and Fig. 8, the symmetrical and asymmetric structure state parallel connection platform of restructural four of the present invention, specifically
Structure and annexation are：
Three side chains of the parallel connection platform have identical structure, the first side lever 5, the second side lever 13 and the knot of the 3rd side lever 16
Structure is identical, and the first sliding bar 3, the second sliding bar 9 are identical with the structure of the 3rd sliding bar 12, the first Hooke's hinge 2, the 3rd Hooke's hinge
8 and the 4th Hooke's hinge 10 be connected with moving platform 1, the second Hooke's hinge 7, the 5th Hooke's hinge 15 and the 6th Hooke's hinge 17 and fixed platform
6 are connected, and the one end of the first sliding bar 3 is connected with the first Hooke's hinge 2, and the other end is connected with one end of the first side lever 5, the first side lever 5
The other end be connected with the second Hooke's hinge 7, the one end of the second sliding bar 9 is connected with the 3rd Hooke's hinge 8, the other end and the second side lever 13
One end be connected, the other end of the second side lever 13 is connected with the 5th Hooke's hinge 15, the one end of the 3rd sliding bar 12 and the 4th Hooke's hinge
10 are connected, and the other end is connected with one end of the 3rd side lever 16, and the other end of the 3rd side lever 16 is connected with the 6th Hooke's hinge 17, and first
Circular arc flap 4 is arranged on the first side lever 5, and the second circular arc flap 11 is arranged on the second side lever 13, and three-arc flap 14 is pacified
On the 3rd side lever 16.
The present invention operation principle be：
Because symmetrical and the asymmetric structure state parallel connection platform of restructural four three side chains have identical structure, therefore,
The operation principle of its three side chains is identical, and side chain one is made up of the first side lever 5, the first sliding bar 3 and the first circular arc flap 4, branch
Chain two is made up of the second side lever 13, the second sliding bar 9 and the second circular arc flap 11, and side chain three is slided by the 3rd side lever the 16, the 3rd
Bar 12 and three-arc flap 14 are formed.The operation principle of side chain one introduced below, when the first sliding bar 3 is in the first side lever 5
When elongated slot kind moves, the first sliding bar 3 is that prismatic pair connects with the connected mode of the first side lever 5, now the variable length of side chain one
Degree is the length of elongated slot on the first side lever 5, and the length of elongated slot is less than or equal to the length of the first sliding bar 3, as shown in Figure 9；First
Circular arc flap 4 is arranged on circular arc and fixed on plate washer 18, and can fix plate washer 18 around circular arc and rotate, when the first sliding bar 3 is moved to
During the top of the first side lever 5, the circular arc on the first side lever 5 fixes 18 grades of moving blocks 19 lived on the first sliding bar 3 of plate washer so that
First sliding bar 3 can not continue to move along, and now the first circular arc flap 4 rotates 180 ° and arrived just below, by the first sliding bar 3
Moving block 19 encase, now, the first sliding bar 3 is that revolute pair connects with the connected mode of the first side lever 5, now first slide
The slewing area of bar 3 is close to 0~180 °, and its variable-length is almost the length of twice of the first sliding bar 3, as shown in Figure 10.
Now, the length change scope of the first side chain greatly increases, and the working space of parallel connection platform greatly increases.Second side chain and the 3rd
The operation principle of side chain is identical with the first side chain, and three side chains are separate.When three side chains are all prismatic pair connections, and
Connection platform is in 3-UPU types, i.e.,：3-UPU types represent that three side chains of parallel connection platform have identical structure, the fortune of each side chain
Dynamic pair is all two Hooke's hinges and a prismatic pair, and U represents Hooke's hinge, and P represents prismatic pair.Now bearing capacity is most strong, still
Working space is minimum；When one of side chain is transformed into revolute pair by prismatic pair, parallel connection platform is in 2-UPU-URU types, i.e.,：
The kinematic pair of parallel connection platform two of which side chain is two Hooke's hinges and a prismatic pair, and the kinematic pair of a side chain is two tigers
Gram hinge and a revolute pair, R represent revolute pair.Now parallel connection platform bearing capacity somewhat declines, but in kinematic pair change
Working space on that branch chain direction greatly increases；When two of which side chain is transformed into revolute pair by prismatic pair, parallel connection is flat
Platform is in 2-URU-UPU types, i.e.,：The kinematic pair of parallel connection platform two of which side chain is two Hooke's hinges and a revolute pair, one
The kinematic pair of individual side chain is two Hooke's hinges and a prismatic pair.Now parallel connection platform bearing capacity has declined, but is transporting
Working space on the direction of two side chains of dynamic secondary change greatly increases；When three side chains are all transformed into revolute pair by prismatic pair
When, parallel connection platform is in 3-URU types, i.e.,：Three side chains of parallel connection platform have identical structure, the kinematic pair of each side chain
It is two Hooke's hinges and a revolute pair.Now parallel connection platform bearing capacity is weaker, but its working space in all directions
All large range of increase.Structure state can be varied as desired at work.
Claims (4)
- A kind of 1. symmetrical and asymmetric structure state parallel connection platform of restructural four, it is characterised in that three side chains tool of the parallel connection platform There is identical structure, the first side lever, the second side lever and the 3rd side bar arrangement are identical, the first sliding bar, the second sliding bar and the 3rd The structure of sliding bar is identical, and the first Hooke's hinge, the 3rd Hooke's hinge and the 4th Hooke's hinge are connected with moving platform, the second Hooke's hinge, Five Hooke's hinges and the 6th Hooke's hinge are connected with fixed platform, and first sliding bar one end is connected with the first Hooke's hinge, the other end and One end of one side lever is connected, and the other end of the first side lever is connected with the second Hooke's hinge, second sliding bar one end and the 3rd Hooke's hinge It is connected, the other end is connected with one end of the second side lever, and the other end of the second side lever is connected with the 5th Hooke's hinge, the 3rd sliding bar one End is connected with the 4th Hooke's hinge, and the other end is connected with one end of the 3rd side lever, the other end and the 6th Hooke's hinge phase of the 3rd side lever Even, the first circular arc flap is arranged on the first side lever, and the second circular arc flap is arranged on the second side lever, the installation of three-arc flap On the 3rd side lever.
- 2. the symmetrical and asymmetric structure state parallel connection platform of restructural four according to claim 1, it is characterised in that described first Circular arc is welded with side lever and fixes plate washer, for installing the first circular arc flap.
- 3. the symmetrical and asymmetric structure state parallel connection platform of restructural four according to claim 1, it is characterised in that：Described first Moving block is welded with sliding bar.
- 4. the symmetrical and asymmetric structure state parallel connection platform of restructural four according to claim 1, it is characterised in that：Described first Elongated slot is provided with side lever, the first sliding bar slides in elongated slot.
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| CN107297731A (en) * | 2017-07-03 | 2017-10-27 | 北华航天工业学院 | A kind of restructural parallel institution |
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| CN107695580B (en) * | 2017-11-07 | 2019-06-28 | 广西大学 | A kind of six degree of freedom via Self-reconfiguration change cell type parallel connection welding robot |
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| CN108971839B (en) * | 2018-09-03 | 2023-06-23 | 柳州铁道职业技术学院 | Welding robot |
| CN108748166B (en) * | 2018-09-03 | 2023-05-23 | 柳州铁道职业技术学院 | Few-branched-chain reconfigurable parallel platform |
| CN109015604B (en) * | 2018-09-13 | 2021-03-09 | 西安工程大学 | Two-movement one-rotation three-freedom-degree parallel mechanism |
| CN109746896B (en) * | 2018-12-11 | 2022-02-18 | 西安工程大学 | Parallel system with 3T, 2T1R and 1R2T motion patterns |
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| DE202013002572U1 (en) * | 2013-03-15 | 2013-10-01 | Sabanci Universitesi | Reconfigurable ankle exoskeleton device |
| CN105437216A (en) * | 2015-12-23 | 2016-03-30 | 北京交通大学 | Novel parallel mechanism having reconfigurable characteristic |
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