CN106363610B - A kind of Three Degree Of Freedom translational parallel connection mechanism - Google Patents

A kind of Three Degree Of Freedom translational parallel connection mechanism Download PDF

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Publication number
CN106363610B
CN106363610B CN201611061293.XA CN201611061293A CN106363610B CN 106363610 B CN106363610 B CN 106363610B CN 201611061293 A CN201611061293 A CN 201611061293A CN 106363610 B CN106363610 B CN 106363610B
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axis
moving platform
gear
frame
parallel
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CN106363610A (en
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赵学满
王攀峰
李丹
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Tianjin University
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Tianjin University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0045Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary

Abstract

The invention discloses a kind of novel Three Degree Of Freedom translational parallel connection mechanisms, including fixed frame, moving platform and identical three branches of structure being arranged between fixed frame and moving platform, every branch includes driving motor, nearly frame axis, two remote frame axis, two lead screws and connecting rod, the output end of driving motor is connected with pinion gear, passes through tooth form band connection gear wheel;Two lead screws are driven to generate identical movement by conical gear and screw pair;During mechanism kinematic, the connecting rod in two of them branch is parallel to fixed frame always, so that moving platform be made to be parallel to fixed frame always;By three driving motors in three branches of control, so that moving platform realizes three-dimensional translating.The present invention can be with the principle of rotation and revolution using a conical gear of taper gear pair, lead screw can be swung while synchronization telescope around nearly frame axis and remote frame axis, to realize the three-dimensional translating of moving platform, branch increases the rigidity of mechanism while alleviating the overall quality of mechanism only by tension and compression load.

Description

A kind of Three Degree Of Freedom translational parallel connection mechanism
Technical field
The present invention relates to a kind of robots, more particularly to a kind of parallel machine with spatial three-dimensional translational of robot Structure.
Background technique
According to patent CN101244557A and US4976572 (or WO7703527) it is found that existing achievable three-dimensional translating Parallel institution, including three groups of active branched chains and a moving platform, every group of branch include nearly hack lever and remote hack lever two parts.Wherein Nearly hack lever one end only has a rotational freedom relative to fixed frame, and there are two revolution freedom degrees by only having for the other end Hinge is connect with one end of remote hack lever;There are two the hinges of revolution freedom degree and moving platform to connect by only having for the remote hack lever other end It connects, to guarantee the three-dimensional translating of moving platform.Said mechanism is limited in that: mechanism overall stiffness is poor, is only applicable to light The carrying of wisp.
Summary of the invention
For the above-mentioned prior art, the present invention provide it is a kind of the present invention for solve well-known technique present in technical problem and There is provided a kind of high rigidity, big working space can modular three-dimensional translating parallel structure.
In order to solve the above-mentioned technical problem, a kind of Three Degree Of Freedom translational parallel connection mechanism proposed by the present invention, including fixed frame, Moving platform and three branches being arranged between the fixed frame and moving platform, the structure of three branches are identical;Every branch Including driving motor, nearly frame axis, two remote frame axis, two lead screws and connecting rod, the nearly frame axis is arranged on fixed frame, described close Driving motor is fixed with by motor cabinet on frame axis, passes through rotary pair and two remote frame axis connections on the nearly frame axis, two remote The axis of frame axis is parallel and vertical with the nearly frame axis axis;The output end of the driving motor is connected with pinion gear, and two remote Gear wheel and conical gear are connected with by rotary pair respectively on frame axis, pass through tooth form between the pinion gear and two gear wheels Band connection;The connecting rod is connect by revolute pair with the moving platform;The upper end of two lead screws by screw pair connect there are two The nut conical gear engaged respectively with two conical gears;The lower end of two lead screws is connect by revolute pair with the connecting rod; The axis of two lead screws is parallel, and the center of two lead screws is long away from the line being equal between two nut conical gear conical points Degree;During mechanism kinematic, the connecting rod in two of them branch is parallel to the fixed frame always, to make the moving platform Always it is parallel to the fixed frame;By three driving motors in three branches of control, so that the moving platform realizes three-dimensional Translation.
Compared with prior art, the beneficial effects of the present invention are:
The advantages and positive effects of the present invention are: a conical gear using taper gear pair can be with rotation and public affairs The principle turned realizes that lead screw can be swung in nut conical gear while synchronization telescope around nearly frame axis and remote frame axis, thus real The three-dimensional translating of moving platform is showed, branch is simple and compact for structure only by tension and compression load, increases the rigidity of mechanism while alleviating The overall quality of mechanism.
Detailed description of the invention
Fig. 1 is general structure schematic diagram of the invention;
Fig. 2 is remote frame axis scheme of installation in the present invention.
In figure: 1- moving platform, 2- connecting rod, 3a~3b- lead screw, 4- motor, 5- pinion gear, 6- motor cabinet, 7a~7b- canine tooth Wheel, 8- toothed belt, 9a~9b- conical gear, 10a~10b- nut conical gear, the nearly frame axis of 11-, the remote frame axis of 12a~12b-, 13- fixed frame.
Specific embodiment
Technical solution of the present invention is described in further detail in the following with reference to the drawings and specific embodiments, it is described specific Embodiment is only explained the present invention, is not intended to limit the invention.
As shown in Figure 1, a kind of Three Degree Of Freedom translational parallel connection mechanism proposed by the present invention, including fixed frame 13, moving platform 1 with And three branches between the fixed frame 13 and moving platform 1 are arranged in, the structure of three branches is identical.Every branch is by driving Motor 4, nearly frame axis 11, motor cabinet 6, pinion gear 5, two gear wheels 7a and 7b, toothed belt 8, two conical gear 9a and 9b, two A nut conical gear 10a and 10b, two lead screws 3a and 3b, two remote frame axis 12a and 12b and connecting rod 2 are constituted.
In every branch, the nearly frame axis 11 is arranged on fixed frame 13, fixed by motor cabinet 6 on the nearly frame axis 11 Have a driving motor 4, connect on the nearly frame axis 11 by rotary pair frame axis 12a and 12b remote with two, two remote frame axis 12a with The axis of 12b is parallel and vertical with nearly 11 axis of frame axis;The output end of the driving motor 4 is connected with pinion gear 5, and two Gear wheel and conical gear, the gear wheel and the conical gear are connected with by rotary pair respectively on remote frame axis 12a and 12b It is affixed, and connected between two gear wheel 7a and 7b and pinion gear 5 by toothed belt 8.The connecting rod 2 by revolute pair with it is described Moving platform 1 connects, and the axis of the revolute pair is overlapped with the axis of the connecting rod 2;The upper end of two lead screws 3a and 3b pass through spiral shell There are two the nut conical gear 10a and 10b that engage respectively with two conical gears 9a and 9b for the secondary connection of rotation;Two lead screw 3a and The lower end of 3b is connect by revolute pair with the connecting rod 2;Two lead screw 3a are parallel with the axis of 3b, and two lead screws 3a and 3b Center is away from the wire length being equal between two nut conical gear 10a and 10b conical points.Fig. 2 shows a lead screw 3a with The position of correlated parts and connection relationship, i.e., the described gear wheel 7a and the conical gear 9a are described in remote frame axis 12a upper rotary The axis of nut conical gear 10a is perpendicular to remote frame axis 12a.
In the present invention, one end of two lead screws 3a and 3b in each branch pass through screw pair and the nut conical gear 10a is connected with 10b, and the other end of two lead screws 3a and 3b can also be moved by the way that only there are two the hinges of revolution freedom degree with described Platform 1 connects, so that two nut bevel gear 10a are parallel with the line of 10b conical point and wait and be longer than on the moving platform 1 Only there are two the hinge centres lines of revolution freedom degree described in two.
Motion process of the invention is the pinion gear 5 can be driven to rotate by controlling the driving motor 4, by described The transmitting rotation of toothed belt 8 drives two gear wheel 7a and 7b and two conical gear 9a and 9b, two conical gears 9a and 9b Two nuts conical gear 10a and 10b are rotated in by taper gear pair transmitting, so that two lead screw 3a and 3b are relative to two Nut conical gear 10a and 10b are mobile.During mechanism kinematic, the connecting rod 2 in two of them branch is parallel to described always Fixed frame 13, so that the moving platform 1 be made to be parallel to the fixed frame 13 always;Pass through three drivings in three branches of control Motor 4, so that the moving platform 1 realizes three-dimensional translating.
The characteristics of present invention is engaged using taper gear pair, it is same that driving nut conical gear revolution makes lead screw move linearly When can swing, realize moving platform three-dimensional translating, and the component of mechanism lacks rigidity height.
Although above in conjunction with figure, invention has been described, and the invention is not limited to above-mentioned specific embodiment parties Formula, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art are in this hair Under bright enlightenment, without deviating from the spirit of the invention, many variations can also be made, these belong to guarantor of the invention Within shield.

Claims (1)

1. a kind of Three Degree Of Freedom translational parallel connection mechanism, including fixed frame (13), moving platform (1) and it is arranged in the fixed frame (13) three branches between moving platform (1), the structure of three branches are identical, it is characterised in that:
Every branch include driving motor (4), nearly frame axis (11), two remote frame axis (12a, 12b), two lead screws (3a, 3b) and Connecting rod (2), the nearly frame axis (11) are arranged on fixed frame (13), are fixed on the nearly frame axis (11) by motor cabinet (6) Driving motor (4) is connect on the nearly frame axis (11), two remote frame axis by rotary pair frame axis (12a, 12b) remote with two The axis of (12a, 12b) is parallel and vertical with nearly frame axis (11) axis;The output end of the driving motor (4) is connected with small Gear (5) is connected with gear wheel and conical gear, the pinion gear by rotary pair respectively on two remote frame axis (12a, 12b) (5) it is connected between two gear wheels (7a, 7b) by toothed belt (8);
The connecting rod (2) is connect by revolute pair with the moving platform (1);The upper end of two lead screws (3a, 3b) passes through screw pair There are two the nut conical gears (10a, 10b) engaged respectively with two conical gears (9a, 9b) for connection;Two lead screws (3a, Lower end 3b) is connect by revolute pair with the connecting rod (2);The axis of two lead screws (3a, 3b) is parallel, and two lead screws (3a, Center 3b) is away from the wire length being equal between two nut conical gear (10a, 10b) conical points;
During mechanism kinematic, the connecting rod (2) in two of them branch is parallel to the fixed frame (13) always, to make institute It states moving platform (1) and is parallel to the fixed frame (13) always;By three driving motors (4) in three branches of control, so that The moving platform (1) realizes three-dimensional translating.
CN201611061293.XA 2016-11-24 2016-11-24 A kind of Three Degree Of Freedom translational parallel connection mechanism Active CN106363610B (en)

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CN106363610B true CN106363610B (en) 2019-03-19

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Publication number Priority date Publication date Assignee Title
CN111360391A (en) * 2020-03-12 2020-07-03 天津大学 High-rigidity three-degree-of-freedom stirring welding parallel machine head
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

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CN1861328A (en) * 2005-10-10 2006-11-15 燕山大学 Adjustable 3,4,5-SPS type parallel mechanism experiment bench
CN100372657C (en) * 2006-04-18 2008-03-05 燕山大学 3-degree-of-freedom 6-UPS tri-translational parallel robot
TW200932457A (en) * 2008-01-18 2009-08-01 Fundacion Fatronik Two degree-of-freedom parallel manipulator
CN102514004B (en) * 2011-12-19 2014-09-24 天津大学 Translational high-speed parallel mechanism with four branched chains and two degrees of freedom
CN102514003B (en) * 2011-12-19 2014-09-24 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
CN103926936B (en) * 2014-03-25 2016-04-20 哈尔滨工业大学 A kind of six-freedom parallel assembling mechanism for lengthwise movement simulation
CN105881508B (en) * 2016-05-24 2019-03-19 天津大学 A kind of novel Three Degree Of Freedom translational parallel connection mechanism

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