CN106363610A - Novel three-freedom-degree translational motion parallel mechanism - Google Patents
Novel three-freedom-degree translational motion parallel mechanism Download PDFInfo
- Publication number
- CN106363610A CN106363610A CN201611061293.XA CN201611061293A CN106363610A CN 106363610 A CN106363610 A CN 106363610A CN 201611061293 A CN201611061293 A CN 201611061293A CN 106363610 A CN106363610 A CN 106363610A
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- Prior art keywords
- gear
- frame
- parallel
- moving platform
- connecting rod
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a novel three-freedom-degree translational motion parallel mechanism. The novel three-freedom-degree translational motion parallel mechanism comprises a fixed frame, a movable platform and three branch chains which are arranged between the fixed frame and the movable platform and are the same in structure; each branch chain comprises a drive motor, a near frame shaft, two far frame shafts, two lead screws and a connecting rod; the output end of each drive motor is fixedly connected with a small gear which is connected with a large gear through a toothed belt, two lead screws are driven through a conical gear and a spiral pair to generate the same motion, in the moving process of the mechanism, the connecting rods in the two branch chains are parallel to the fixing frame all the time, and therefore the movable platform is parallel to the fixed frame all the time; through control over the three drive motors in the three branch chains, the movable platform achieves the three-dimensional translational motion. On the basis of the principle that one conical gear of a conical gear pair is used for achieving the rotation and revolution, the lead screws synchronously stretch out and draw back and meanwhile can swing around the near frame shafts and the far frame shafts, three-dimensional translational motion of the movable platform is achieved, the branch chains only bear tension and compression loads, and the total mass of the mechanism is reduced while the rigidity of the mechanism is improved.
Description
Technical field
The present invention relates to a kind of robot, the parallel machine with spatial three-dimensional translational of more particularly to a kind of robot
Structure.
Background technology
Understood according to patent cn101244557a and us4976572 (or wo7703527), existing achievable three-dimensional translating
Parallel institution, including three groups of active branched chain and a moving platform, every group of side chain includes nearly hack lever and remote hack lever two parts.Wherein
Nearly hack lever one end only has a rotational freedom with respect to fixed frame, and the other end passes through only there is two revolution degree of freedom
Hinge is connected with one end of remote hack lever；The hinge that the remote hack lever other end passes through only to have two revolution degree of freedom is connected with moving platform
Connect, thus ensureing the three-dimensional translating of moving platform.Being limited in that of said mechanism: mechanism's integral rigidity is poor, is only applicable to light
The carrying of wisp.
Content of the invention
For above-mentioned prior art, the present invention provide a kind of present invention for solving technical problem present in known technology and
There is provided a kind of high rigidity, big work space can modular three-dimensional translating parallel structure.
In order to solve above-mentioned technical problem, a kind of new Three Degree Of Freedom translational parallel connection mechanism proposed by the present invention, including solid
Determine frame, moving platform and be arranged in three side chains between described fixed mount and moving platform, the structure of three side chains is identical；Every
Side chain includes motor, nearly frame axle, two remote frame axles, two leading screws and connecting rod, and described nearly frame axle is arranged on fixed mount, institute
State, on nearly frame axle, motor is fixed with by motor cabinet, described nearly frame axle is connected with two remote frame axles by rotary pair, two
The diameter parallel of individual remote frame axle and vertical with described nearly frame axle axis；The outfan of described motor is connected with little gear, and two
Respectively gear wheel and conical gear are connected with by rotary pair on individual remote frame axle, pass through between described little gear and two gear wheels
Cog belt connects；Described connecting rod passes through the secondary and described moving platform of rotation and is connected；The upper end of two leading screws is connected with by screw pair
The nut conical gear that two are engaged with two conical gears respectively；The lower end of two leading screws is passed through to rotate secondary and described connecting rod even
Connect；The diameter parallel of two leading screws, and the centre-to-centre spacing of two leading screws is equal to the line between two nut conical gear conical points
Length；During mechanism kinematic, the connecting rod in two of which side chain is all the time parallel to described fixed mount, so that described moving is put down
Platform is all the time parallel to described fixed mount；By controlling three motors in three side chains so that described moving platform realizes three
Dimension translation.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention has the advantages and positive effects that: a conical gear using taper gear pair can be with rotation and public affairs
The principle turning, realizes leading screw and can swing around nearly frame axle and remote frame axle while synchronization telescope in nut conical gear, thus real
Show the three-dimensional translating of moving platform, side chain is only subject to tension and compression load, and simple and compact for structure, the rigidity increasing mechanism alleviates simultaneously
The oeverall quality of mechanism.
Brief description
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is remote frame axle scheme of installation in the present invention.
In figure: 1- moving platform, 2- connecting rod, 3a～3b- leading screw, 4- motor, the little toothed wheel of 5-, 6- motor cabinet, 7a～7b- is big
Toothed wheel, 8- cog belt, 9a～9b- conical gear, 10a～10b- nut conical gear, 11- nearly frame axle, the remote frame of 12a～12b-
Axle, 13- fixed mount.
Specific embodiment
With specific embodiment, technical solution of the present invention is described in further detail below in conjunction with the accompanying drawings, described is concrete
Embodiment only explains to the present invention, not in order to limit the present invention.
As shown in figure 1, a kind of new Three Degree Of Freedom translational parallel connection mechanism proposed by the present invention, including fixed mount 13, move and put down
Platform 1 and be arranged in three side chains between described fixed mount 13 and moving platform 1, the structure of three side chains is identical.Every side chain
By motor 4, nearly frame axle 11, motor cabinet 6,5, two gear wheel 7a and 7b of little gear, 8, two conical gear 9a of cog belt
Constitute with 9b, two nut conical gear 10a and 10b, two leading screw 3a and 3b, two remote frame axle 12a and 12b and connecting rod 2.
In every side chain, described nearly frame axle 11 is arranged on fixed mount 13, described nearly frame axle 11 passes through motor cabinet 6 fixing
Have motor 4, described nearly frame axle 11 be connected by rotary pair frame axle 12a and 12b remote with two, two remote frame axle 12a and
The diameter parallel of 12b and vertical with described nearly frame axle 11 axis；The outfan of described motor 4 is connected with little gear 5, two
Respectively gear wheel and conical gear, described gear wheel and described conical gear are connected with by rotary pair on remote frame axle 12a and 12b
Affixed, and connected by cog belt 8 between two gear wheel 7a and 7b and little gear 5.It is secondary and described that described connecting rod 2 passes through rotation
Moving platform 1 connects, and the dead in line of the secondary axis of this rotation and described connecting rod 2；Spiral shell is passed through in the upper end of two leading screw 3a and 3b
Rotation pair is connected with two nut conical gear 10a and 10b engaging respectively with two conical gear 9a and 9b；Two leading screw 3a and
The lower end of 3b is passed through the secondary and described connecting rod 2 of rotation and is connected；The diameter parallel of two leading screw 3a and 3b, and two leading screw 3a and 3b
Centre-to-centre spacing is equal to the wire length between two nut conical gear 10a and 10b conical point.Fig. 2 show a leading screw 3a with
The position of correlated parts and annexation, that is, described gear wheel 7a and described conical gear 9a is in remote frame axle 12a upper rotary, described
The axis of nut conical gear 10a is perpendicular to remote frame axle 12a.
In the present invention, screw pair and described nut conical gear are passed through in one end of two leading screw 3a and 3b in each side chain
10a and 10b connects, and the other end of two leading screw 3a and 3b can also be dynamic with described by only having the hinge of two revolution degree of freedom
Platform 1 connects so that two described nut bevel gear 10a are parallel with the line of 10b conical point and wait and be longer than on described moving platform 1
The hinge centres line of only two revolution degree of freedom described in two.
The motor process of the present invention is described little gear 5 can be driven to rotate by controlling described motor 4, by described
The transmission of cog belt 8 rotates and drives two gear wheel 7a and 7b and two conical gear 9a and 9b, two conical gear 9a and 9b
Two nut conical gear 10a and 10b are rotated in so that two leading screw 3a and 3b are with respect to two by taper gear pair transmission
Nut conical gear 10a and 10b moves.During mechanism kinematic, the connecting rod 2 in two of which side chain is all the time parallel to described
Fixed mount 13, so that described moving platform 1 is all the time parallel to described fixed mount 13；By controlling three drivings in three side chains
Motor 4 is so that described moving platform 1 realizes three-dimensional translating.
The present invention utilizes the feature of taper gear pair engagement, and the revolution of drive nut conical gear makes the same of leading screw rectilinear movement
When, can swing it is achieved that moving platform three-dimensional translating, and the few rigidity of component of mechanism is high.
Although above in conjunction with figure, invention has been described, the invention is not limited in above-mentioned specific embodiment party
Formula, above-mentioned specific embodiment is only schematically, rather than restricted, and those of ordinary skill in the art is at this
Under bright enlightenment, without deviating from the spirit of the invention, many variations can also be made, these belong to the guarantor of the present invention
Within shield.
Claims (1)
1. a kind of new Three Degree Of Freedom translational parallel connection mechanism, including fixed mount (13), moving platform (1) and be arranged in described fixation
Three side chains between frame (13) and moving platform (1), the structure of three side chains identical it is characterised in that:
Every side chain include motor (4), nearly frame axle (11), two remote frame axles (12a, 12b), two leading screws (3a, 3b) and
Connecting rod (2), described nearly frame axle (11) is arranged on fixed mount (13), and described nearly frame axle (11) is upper to be fixed with by motor cabinet (6)
Motor (4), described nearly frame axle (11) is upper to be connected with two remote frame axles (12a, 12b) by rotary pair, two remote frame axles
The diameter parallel of (12a, 12b) and vertical with described nearly frame axle (11) axis；The outfan of described motor (4) is connected with little
Gear (5), two remote frame axles (12a, 12b) are connected with gear wheel and conical gear, described little gear by rotary pair respectively
(5) pass through cog belt (8) between and two gear wheels (7a, 7b) to connect；
Described connecting rod (2) is passed through the secondary and described moving platform (1) of rotation and is connected；Screw pair is passed through in the upper end of two leading screws (3a, 3b)
It is connected with two nut conical gears (10a, 10b) engaging respectively with two conical gears (9a, 9b)；Two leading screws (3a,
Lower end 3b) is passed through the secondary and described connecting rod (2) of rotation and is connected；The diameter parallel of two leading screws (3a, 3b), and two leading screws (3a,
Centre-to-centre spacing 3b) is equal to the wire length between two nut conical gear (10a, 10b) conical points；
During mechanism kinematic, the connecting rod (2) in two of which side chain is all the time parallel to described fixed mount (13), so that institute
State moving platform (1) all the time parallel to described fixed mount (13)；By control three side chains in three motors (4) so that
Described moving platform (1) realizes three-dimensional translating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061293.XA CN106363610B (en) | 2016-11-24 | 2016-11-24 | A kind of Three Degree Of Freedom translational parallel connection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061293.XA CN106363610B (en) | 2016-11-24 | 2016-11-24 | A kind of Three Degree Of Freedom translational parallel connection mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106363610A true CN106363610A (en) | 2017-02-01 |
| CN106363610B CN106363610B (en) | 2019-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611061293.XA Expired - Fee Related CN106363610B (en) | 2016-11-24 | 2016-11-24 | A kind of Three Degree Of Freedom translational parallel connection mechanism |
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| CN (1) | CN106363610B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347150A (en) * | 2020-03-12 | 2020-06-30 | 天津大学 | Two-rotation and one-translation parallel machine head for friction stir welding |
| CN111347151A (en) * | 2020-03-12 | 2020-06-30 | 天津大学 | High-rigidity three-degree-of-freedom parallel machine head for friction stir welding |
| CN111360391A (en) * | 2020-03-12 | 2020-07-03 | 天津大学 | High-rigidity three-degree-of-freedom stirring welding parallel machine head |
| CN111409058A (en) * | 2020-03-12 | 2020-07-14 | 天津大学 | Parallel mechanism with two-dimensional translation |
| CN112476414A (en) * | 2020-11-23 | 2021-03-12 | 天津大学 | High-rigidity plane two-degree-of-freedom 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 |
| CN1861328A (en) * | 2005-10-10 | 2006-11-15 | 燕山大学 | Adjustable 3,4,5-SPS type parallel mechanism experiment bench |
| WO2009089916A1 (en) * | 2008-01-18 | 2009-07-23 | Fundacion Fatronik | Two degree-of-freedom parallel manipulator |
| 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 |
| CN102514003A (en) * | 2011-12-19 | 2012-06-27 | 天津大学 | Two-degree-of-freedom space parallel connection robot |
| CN102554917A (en) * | 2012-01-10 | 2012-07-11 | 天津大学 | Multi-over restraint parallel mechanism with two-dimensional translation and one-dimensional rotation |
| 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 |
| CN103926936A (en) * | 2014-03-25 | 2014-07-16 | 哈尔滨工业大学 | Six-freedom-degree parallel connection assembling mechanism for longitudinal motion simulation |
| CN105881508A (en) * | 2016-05-24 | 2016-08-24 | 天津大学 | Novel three-degree-of-freedom translational parallel mechanism |
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2016
- 2016-11-24 CN CN201611061293.XA patent/CN106363610B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1861328A (en) * | 2005-10-10 | 2006-11-15 | 燕山大学 | Adjustable 3,4,5-SPS type parallel mechanism experiment bench |
| CN1827312A (en) * | 2006-04-18 | 2006-09-06 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| WO2009089916A1 (en) * | 2008-01-18 | 2009-07-23 | Fundacion Fatronik | Two degree-of-freedom parallel manipulator |
| 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 |
| CN102514003A (en) * | 2011-12-19 | 2012-06-27 | 天津大学 | Two-degree-of-freedom space parallel connection robot |
| CN102554917A (en) * | 2012-01-10 | 2012-07-11 | 天津大学 | Multi-over restraint parallel mechanism with two-dimensional translation and one-dimensional rotation |
| 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 |
| CN103926936A (en) * | 2014-03-25 | 2014-07-16 | 哈尔滨工业大学 | Six-freedom-degree parallel connection assembling mechanism for longitudinal motion simulation |
| CN105881508A (en) * | 2016-05-24 | 2016-08-24 | 天津大学 | Novel three-degree-of-freedom translational parallel mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347150A (en) * | 2020-03-12 | 2020-06-30 | 天津大学 | Two-rotation and one-translation parallel machine head for friction stir welding |
| CN111347151A (en) * | 2020-03-12 | 2020-06-30 | 天津大学 | High-rigidity three-degree-of-freedom parallel machine head for friction stir welding |
| CN111360391A (en) * | 2020-03-12 | 2020-07-03 | 天津大学 | High-rigidity three-degree-of-freedom stirring welding parallel machine head |
| CN111409058A (en) * | 2020-03-12 | 2020-07-14 | 天津大学 | Parallel mechanism with two-dimensional translation |
| CN112476414A (en) * | 2020-11-23 | 2021-03-12 | 天津大学 | High-rigidity plane two-degree-of-freedom parallel mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106363610B (en) | 2019-03-19 |
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Granted publication date: 20190319 Termination date: 20211124 |