CN106625600B - A kind of four-freedom parallel mechanism of additional branch seat rotation - Google Patents
A kind of four-freedom parallel mechanism of additional branch seat rotation Download PDFInfo
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- CN106625600B CN106625600B CN201611209566.0A CN201611209566A CN106625600B CN 106625600 B CN106625600 B CN 106625600B CN 201611209566 A CN201611209566 A CN 201611209566A CN 106625600 B CN106625600 B CN 106625600B
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- branch seat
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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
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
Abstract
The invention discloses a kind of four-freedom parallel mechanisms of additional branch seat rotation, including rack, rotating mechanism, the first branch seat, the second branch seat, third branch seat, first chain group, second chain group, third branch chain group, moving platform；Rack includes pedestal, the first column, the second column；First column, the second column are fixed on the both ends of pedestal；Rotating mechanism is installed on machine frame inside, and the first branch seat, third branch seat are connected with rotating mechanism respectively；Second branch seat is fixed on the base end；First chain group, second chain group, third branch chain group one end be connected respectively with the first branch seat, the second branch seat, third branch seat, the other end is connected with moving platform；The both ends connection of first chain group, second chain group, third branch chain group is realized by flexural pivot, to form Spatial Parallel closed loop configuration；Mechanism working space is big, can evade Singularity, improve movenent performance and rigidity, solves mechanism normal solution Definite problem, simplifies control system.
Description
Technical field
The invention belongs to numerical control manufacturing equipment field, especially a kind of four-freedom parallel of additional branch seat rotation
Structure.
Background technique
In grand manufacturing field, the assembly docking for welding displacement, big part or big component of big component has required can
It is a wide range of mobile, can be rotated around any direction and precision is reasonable, bearing capacity is strong device cooperates.It is filled at present in big part
With aspect, conventional method be with the equipment less important work such as bridge crane, fork truck, due to such device location position error is big,
There is no angle stationkeeping ability, so that operating efficiency is low, operation safety hidden danger is more；In terms of big part welding, crane and fork are removed
Outside vehicle, has the report for operations specific application welding deflection machine, but still lacking has good versatility, automation, operation letter
Just auxiliary equipment.In recent years there are many documents and materials in relation to robotic asssembly, but have focused largely on the industrial machine with cascaded structure
In device people progress in terms of the automatic assembling of small part, and since serial manipulator bearing capacity is weak, position error is big, it is difficult to big
It is applied in the assembling work of part.It can be seen that big part robotic asssembly technology seriously lags, need that positioning and directing is accurate, job area
Greatly, bearing capacity is strong, fast response time, adaptable intelligent equipment.The parallel institution of possible configurations utilizes its Gao Gang
The restructural advantage of degree, high-precision, multiple degrees of freedom is well worth doing in the operations such as the welding of big part, assembly.
Chinese patent CN105818137A discloses a kind of parallel institution with three-dimensional translating, and it is fixed to be installed on using three
Platform servo motor, link point holds a concurrent post shaft coupling three groups of scalable branches of synchronous driving, although solving determining for mechanism normal solution
Solution problem, but the mechanism working space is small, is not suitable for the situation to work on a large scale；Chinese patent CN103240729A discloses one
Kind of space three-translational parallel manipulator, including fixed frame, moving platform and be arranged symmetrically between fixed frame and moving platform
Three branch chain groups, every group of branch be divided into nearly hack lever and remote hack lever, form Space Axisymmetric multi-link structure, be limited in that just
Spend poor, working space is smaller.It is unable to satisfy the requirement to big work pieces process.Chinese patent CN103846649A discloses one kind
For the two-stage parallel connection robot device of precision assembly, the device is by cable parallel mechanism and Stewart parallel institution series connection group
At the driving that wherein moving platform of cable parallel mechanism needs to occupy in workshop, which is pulled up, to be positioned with this to realize, driving rope
Suo Zhilian can only adjust rope platform stance, be limited in that when assembling big workpiece, and the occupied area of fixed trolley is too big, and
The single load bearing characteristic of rope, so that Suo Pingtai positioning accuracy is poor, the movement of the device moving platform limits operation area simultaneously
The installation of equipment and the operation of personnel, and it is dangerous.Chinese patent CN104117809A discloses a kind of car body welding displacement
Device, including driving link and driven member are limited in that the freedom degree of the device is less, for welding specific workpiece, but not
Can put together machines people, and versatility is poor.The A Gede of the University of Queensland of Stuttgart University, Germany and Australia, Norway
A kind of large-working space parallel structure of entitled Gantry-Tau of ABB AB's joint study of institute and Sweden, the mechanism use
Connecting-rods with constant lengh group adds the layout of three slides, by planning that the movement of three slides makes moving platform be transformed into lower side space from upside space,
To have biggish working space than other parallel institutions, wherein there is the layout of a Vertical Rack, claims and can be used for big work
The processing or assembling work of part.But the mechanism has two: necessary once being intended to obtain bigger working space rack
It is very tall and big, and the lateral working range of the mechanism is smaller, second is that moving platform is abnormal in the trajectory planning that upper down space is switched
Complexity, and passable path is limited.
Summary of the invention
Technical problem solved by the invention is to provide a kind of four-freedom parallel mechanism of additional branch seat rotation；Machine
The installation site of frame can be with flexible transformation, and rigidity and bearing capacity are good and have the big working space of open type, convenient for in workshop
The parallel institution of personnel and other equipment collaboration operations is particularly suitable for weld job and the assembling work of large-scale workpiece.
The technical solution for realizing the aim of the invention is as follows:
A kind of four-freedom parallel mechanism of additional branch seat rotation, including rack, rotating mechanism, the first branch seat, the
Two branch seats, third branch seat, first chain group, second chain group, third branch chain group, moving platform；The rack include pedestal,
First column, the second column；First column, the second column are fixed on the both ends of pedestal；
The rotating mechanism is installed on machine frame inside, the first branch seat, third branch seat respectively with the first column,
Rotating mechanism in two columns is connected；The second branch seat is fixed on the upper end of pedestal；First chain group, second chain group,
One end of third branch chain group is connected with the first branch seat, the second branch seat, third branch seat respectively, the other end with moving platform phase
Even；The both ends connection of first chain group, second chain group, third branch chain group is realized by flexural pivot, to form space
Parallel closed loop structure.
Compared with prior art, the present invention its remarkable advantage:
(1) parallel institution is conducive to using the design of open top roll housing and realizes biggish working space, while being convenient for itself and people
Member and other equipment collaboration operations；
The additional branch seat of (2) three translations rotates to form four-freedom parallel mechanism, solves mechanism normal solution Definite problem, letter
Control system is changed；
(3) it takes the design of additional rotation to be conducive to evade Singularity, improves the movenent performance and rigidity of parallel institution,
The performance within the scope of big workpiece assembly butt-joint operation is allowed to stablize；
(4) parallel institution designs a rotational freedom on the rack, in this way convenient for actuator on simplified moving platform
Structure.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the schematic perspective view of parallel institution of the present invention.
Fig. 2 is parallel institution rack section structural schematic diagram of the present invention.
Fig. 3 is the schematic diagram of mechanism of parallel institution of the present invention.
Fig. 4 is parallel institution moving platform three-dimensional structure diagram of the present invention.
Fig. 5 is Hooke's hinge additional rotation pair formula spherical hinge structure schematic diagram of the present invention.
Fig. 6 is Hooke's hinge additional rotation pair formula ball-and-socket hinge device schematic diagram of the present invention.
Specific embodiment
It is further illustrated in conjunction with Fig. 1-6 pairs of a specific embodiment of the invention:
In conjunction with Fig. 1, a kind of four-freedom parallel mechanism of additional branch seat rotation, including rack 1, rotating mechanism 2, first
Branch seat 3, the second branch seat 4, the chain group 6, second of third branch seat 5, first chain group 7, third branch chain group 8, moving platform 9；
The rack 1 includes pedestal 1-1, the first column 1-2, the second column 1-3；The first column 1-2, the second column 1-3 are fixed
At the both ends of pedestal 1-1；
The rotating mechanism 2 is installed on inside rack 1, for driving the first branch seat 3 is synchronous with third branch seat 5 to turn
It is dynamic；The first branch seat 3, third branch seat 5 are connected with the rotating mechanism 2 in the first column 1-2, the second column 1-3 respectively；
The second branch seat 4 is fixed on the upper end of pedestal 1-1；One end of first chain group, 6, second chain groups 7, third branch chain group 8
It is connected respectively with the first branch seat 3, the second branch seat 4, third branch seat 5, the other end is connected with moving platform 9；Described first
The both ends connection of 6, second chain groups 7 of branch chain group, third branch chain group 8 is realized by flexural pivot, to form Spatial Parallel closed loop
Structure.
In conjunction with Fig. 2, as preferred embodiment, the pedestal 1-1 is hexahedron cavity body structure, upper center both ends pair
What is claimed is equipped with the first column 1-2 and the second column 1-3；The first column 1-2 and the second column 1-3 structure are identical, are four
Face body cavity body structure；The first column 1-2 installs the end face of the first branch seat 3 and the second column 1-3 installation third branch seat 5
Relatively, two end faces are rectangle and are all larger than 90 degree with the angle of the upper surface of pedestal 1-1；Branch is installed on two head trees
For the opposite other end of seat perpendicular to pedestal 1-1, other two end face is triangular structure；
In conjunction with Fig. 3, the rotating mechanism 2 is single-degree-of-freedom synchronous rotary mechanism, including the first worm-gears 2-1, the
One transmission shaft 2-2, first bevel gear secondary 2-3, rotation input shaft 2-4, second bevel gear secondary 2-5, second driving shaft 2-6, second
Worm-gears 2-7；
The first worm-gears 2-1 is identical as the second worm-gears 2-7 structure, is respectively arranged in the first column 1-
2, the inside cavity of the second column 1-3, the worm gear axis of the first worm-gears 2-1 and the second worm-gears 2-7 is same
On straight line, worm axis is parallel and is located at the same side of worm gear axis；The upper end of the first transmission shaft 2-2 and the first worm screw
The worm screw of worm gear 2-1 is connected, lower end is connected with the driven wheel of differential of first bevel gear secondary 2-3；The second driving shaft 2-6's
Upper end is connected with the worm screw of second group of worm-gears 2-7, lower end is connected with the driven wheel of differential of second bevel gear secondary 2-5；Institute
It states first bevel gear secondary 2-3 and second bevel gear secondary 2-5 is installed in inside pedestal 1-1；The modulus of two bevel gear pairs and subtract
Speed ratio is identical, cloth set direction is identical；The driving wheel of two pairs of bevel gear pairs is separately mounted to the both ends of rotation input shaft 2-4；
As preferred embodiment, rotation is incoming from one end of input shaft 2-4；
In some embodiments, rotation is incoming from the middle position of input shaft 2-4；When rotating input shaft 2-4 rotation,
The driven gear of first bevel gear secondary 2-3 and second bevel gear secondary 2-5 is driven to rotate equal angular；
In other embodiments, the rotating mechanism 2 drives two driven pulleys to replace using driving pulley is synchronous
Bevel gear pair, two driven pulleys are connected with the first transmission shaft 2-2 and second driving shaft 2-6 respectively, so that driving pulley can be with
The rotation of the first transmission shaft 2-2 and second driving shaft 2-6 is driven simultaneously.
The snail on the first worm-gears 2-1 and the second worm-gears 2-7 is driven respectively by transmission shaft 2-2 and 2-6
Bar rotates same angle, so that two worm gears be driven to rotate synchronously, i.e., rotating mechanism 2 drives the first branch seat 3 and third branch
Seat 5 rotates synchronously.
The first branch seat 3 is identical as third branch 5 structures of seat, by the cylindrical structure being connected with worm gear disk and with
The connected rectangular plate structure of branch is constituted；It is respectively equipped with and first chain group on the first branch seat 3 and third branch seat 5
6 two connected hinge holes and two hinge holes being connected with third branch chain group 8；The first branch seat 3 and third branch seat 5
It is located at the top of the opposite face of the first column 1-2 and the second column 1-3；The first branch seat 3 and third branch seat 5
Pivot center is conllinear；The second branch seat 4 is rectangular plate structure, and 4 upper end of the second branch seat is equipped with second chain group 7 of connection
Two hinge holes；The hole heart line and the pivot center of the first branch seat 3 and third branch seat 5 in two holes are parallel.
In some embodiments, on the first branch seat 3 with the axis of the first column 1-2 cylindrical structure being connected
The plane for the rectangular plate structure being connected on line, the first branch seat 3 with first chain group 6, the angle of formation are 120 °；Parallel
In on the direction pedestal 1-1, center line, the first branch of the rectangular plate structure being connected on the first branch seat 3 with first chain group 6
The hole heart line of hinge hole on seat 3, the angle of formation is 71 °；Similarly, the position installation relation and first of third branch seat 5
Branch seat 3 is symmetrical with respect to pedestal 1-1；
In some embodiments, rectangular plate structure, third that the first branch seat 3 is connected with first chain group 6
The rectangular plate structure that branch seat 5 is connected with third branch chain group 8 is 120 ° with the pedestal 1-1 inside angle formed.
First chain group, 6, second chain groups 7, third branch 8 structures of chain group are identical, and every group of branch chain group is tied by two
The identical telescopic rod composition of structure；The both ends of telescopic rod are flexural pivot；The ball-screw-transmission that the inside of telescopic rod uses, every group of branch
Two telescopic rods of chain remain parallel and isometric in mechanism, and every group of branch is using the synchronous driving two of a servo motor
Telescopic rod；
In conjunction with Fig. 5, Fig. 6, as the further improvement to above embodiment, the flexural pivot is a kind of improved tiger
Gram hinge, replaces common flexural pivot, reachable -70 ° of slewing area-by increasing a revolute pair on the pedestal of traditional Hooke's hinge
70°。
In some embodiments, every group of branch is using two servo motors, two telescopic rods of synchronous driving.
In conjunction with Fig. 3, as preferred embodiment, the moving platform 9 is hexahedron cavity body structure, and each end face is rectangle
Mechanism；The one end being connected on moving platform 9 with first chain group 6 is equipped with first axle hole 9-1, second hinge hole 9-2, two Kong Kongxin
Line is parallel with the hole heart line on the first branch seat 3 and pitch-row is equal；The one end being connected on moving platform 9 with third branch chain group 8
Equipped with the 5th hinge hole 9-5, the 6th hinge hole 9-6；Two Kong Kongxin lines are parallel with the hole heart line on third branch seat 5 and hole
Away from equal；9 lower end of moving platform is equipped with third hinge hole 9-3, the 4th hinge hole 9-4 being connected with second chain group 7, the hole in two holes
Heart line is parallel with the hole heart line of the second branch seat 4 and pitch-row is equal；The upper surface of moving platform 9 is returned for installing such as two axis
The attachmentes such as revolving worktable, chuck, manipulator.
The one end being connected on the moving platform 9 with first chain group 6 is connected on the first branch seat 3 with first chain group 6
One end it is parallel；The one end being connected on moving platform 9 with third branch chain group 8 be connected with third branch chain group 8 on third branch seat 5
One end is parallel；
In the present invention, on being parallel to the direction pedestal 1-1, the rectangle that the first branch seat 3 is connected with first chain group 6 is flat
The hole heart line of the center line of hardened structure, hinge hole on the first branch seat 3, the angle of formation can do adjustment appropriate；
The first branch seat 3 and the axis of the first column 1-2 cylindrical structure being connected, the first branch seat 3 and first
The plane of the connected rectangular plate structure of branch chain group 6, the angle of formation are guaranteeing: being connected on moving platform 9 with first chain group 6
The one end being connected on one end and the first branch seat 3 with first chain group 6 is parallel；One to be connected on moving platform 9 with third branch chain group 8
The situation parallel with the one end being connected on third branch seat 5 with third branch chain group 8 is held, the adjustment of angle can be done；
Since the additional branch seat of three translations rotates to form four-freedom parallel mechanism in the present invention, it is fixed to solve mechanism normal solution
Solution problem, simplifies control system, on the rack by a rotational freedom design, in this way convenient for actuator on simplified moving platform
Structure；
Persond having ordinary knowledge in the technical field of the present invention, without departing from the spirit and scope of the present invention, when can
It is used for a variety of modifications and variations.In the related variation without deviating from the spirit of the invention, made, invention protection model is belonged to
It encloses.
Claims (9)
1. a kind of four-freedom parallel mechanism of additional branch seat rotation, it is characterised in that including rack (1), rotating mechanism (2),
First branch seat (3), the second branch seat (4), third branch seat (5), first chain group (6), second chain group (7), third branch
Chain group (8), moving platform (9)；The rack (1) includes pedestal (1-1), the first column (1-2), the second column (1-3)；Described
One column (1-2), the second column (1-3) are fixed on the both ends of pedestal (1-1)；
It is internal that the rotating mechanism (2) is installed on rack (1), and the first branch seat (3), third branch seat (5) are respectively with the
Rotating mechanism (2) in one column (1-2), the second column (1-3) is connected；The second branch seat (4) is fixed on pedestal (1-1)
Upper end；First chain group (6), second chain group (7), third branch chain group (8) one end respectively with the first branch seat (3),
Two branch seats (4), third branch seat (5) are connected, and the other end is connected with moving platform (9)；First chain group (6), second
The both ends connection of branch chain group (7), third branch chain group (8) is realized by flexural pivot, to form Spatial Parallel closed loop configuration；
The rotating mechanism (2) is single-degree-of-freedom synchronous rotary mechanism, including the first worm-gears (2-1), the first transmission shaft
(2-2), first bevel gear pair (2-3), rotation input shaft (2-4), second bevel gear secondary (2-5), second driving shaft (2-6), the
Two worm-gears (2-7)；
First worm-gears (2-1) are identical as the second worm-gears (2-7) structure, are respectively arranged in the first column
The inside cavity of (1-2), the second column (1-3), the worm gear of the first worm-gears (2-1) and the second worm-gears (2-7)
Axis is on same straight line, worm axis is parallel and is located at the same side of worm gear axis；First transmission shaft (2-2) it is upper
End is connected with the worm screw of the first worm-gears (2-1), lower end is connected with the driven wheel of differential of first bevel gear secondary (2-3)；Institute
The upper end for stating second driving shaft (2-6) is connected with the worm screw of second group of worm-gears (2-7), lower end and second bevel gear pair
The driven wheel of differential of (2-5) is connected；The first bevel gear secondary (2-3) and second bevel gear secondary (2-5) are installed in pedestal (1-
1) internal；The modulus of two bevel gear pairs is identical with reduction ratio, cloth set direction is identical；The driving wheel of two pairs of bevel gear pairs point
It is not mounted on the both ends of rotation input shaft (2-4).
2. a kind of four-freedom parallel mechanism of additional branch seat rotation according to claim 1, it is characterised in that described
Pedestal (1-1) is hexahedron cavity body structure, and upper center both ends are symmetrically equipped with the first column (1-2) and the second column (1-3)；
First column (1-2) is identical with the second column (1-3) structure, is tetrahedron cavity body structure；First column (1-2)
The end face for installing the first branch seat (3) and the second column (1-3) installation third branch seat (5) is opposite, and two end faces are rectangle
And 90 degree are all larger than with the angle of the upper surface of pedestal (1-1)；The opposite other end of branch seat is installed equal on two head trees
Perpendicular to pedestal (1-1), other two end face of two head trees is triangular structure.
3. a kind of four-freedom parallel mechanism of additional branch seat rotation according to claim 1, it is characterised in that described
Rotating mechanism (2) can be used driving pulley is synchronous two driven pulleys is driven to replace bevel gear pair, two driven pulleys respectively with
First transmission shaft (2-2) is connected with second driving shaft (2-6).
4. a kind of four-freedom parallel mechanism of additional branch seat rotation according to claim 1, it is characterised in that described
First chain group (6), second chain group (7), third branch chain group (8) structure are identical, and every group of branch chain group is identical by two structures
Telescopic rod composition；The both ends of telescopic rod are flexural pivot；The ball-screw-transmission that the inside of telescopic rod uses, the two of every group of branch
A telescopic rod remains parallel and isometric in mechanism, and every group of branch is flexible using the synchronous driving of a servo motor two
Bar.
5. a kind of four-freedom parallel mechanism of additional branch seat rotation according to claim 4, it is characterised in that described
Flexural pivot is a kind of improved Hooke's hinge, replaces common ball by increasing a revolute pair on the pedestal of traditional Hooke's hinge
Hinge, reachable -70 ° -70 ° of slewing area.
6. a kind of four-freedom parallel mechanism of additional branch seat rotation according to claim 4, it is characterised in that described
Branch chain group is using two servo motors, two telescopic rods of synchronous driving.
7. a kind of four-freedom parallel mechanism of additional branch seat rotation according to claim 1, it is characterised in that described
Moving platform (9) is hexahedron cavity body structure, and each end face is rectangle mechanism；It is connected on moving platform (9) with first chain group (6)
One end is equipped with first axle hole (9-1), second hinge hole (9-2), the Kong Xinlian on two Kong Kongxin lines and the first branch seat (3)
Line is parallel and pitch-row is equal；The one end being connected on moving platform (9) with third branch chain group (8) is equipped with the 5th hinge hole (9-5), the 6th
Hinge hole (9-6)；Two Kong Kongxin lines are parallel with the hole heart line on third branch seat (5) and pitch-row is equal；Under moving platform (9)
End is equipped with the third hinge hole (9-3) being connected with second chain group (7), the 4th hinge hole (9-4), the hole heart line in two holes and the
The hole heart line of two branch seats (4) is parallel and pitch-row is equal.
8. a kind of four-freedom parallel mechanism of additional branch seat rotation according to claim 6, it is characterised in that described
One end being connected on moving platform (9) with first chain group (6) and be connected on the first branch seat (3) with first chain group (6) one
Hold row level with both hands；On one end for being connected on moving platform (9) with third branch chain group (8) and third branch seat (5) with third branch chain group (8) phase
One end even is parallel.
9. a kind of four-freedom parallel mechanism of additional branch seat rotation according to claim 1, it is characterised in that described
On the axis for the cylindrical structure being connected on first branch seat (3) with the first column (1-2), the first branch seat (3) with first
The plane of the connected rectangular plate structure of chain group (6), the angle of formation is 120 °；On being parallel to the direction pedestal (1-1), first
Hinge hole on the center line for the rectangular plate structure being connected on branch seat (3) with first chain group (6), the first branch seat (3)
Hole heart line, the angle of formation is 71 °；Similarly, the position installation relation of third branch seat (5) and first branch seat (3) phase
It is symmetrical to pedestal (1-1).
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| CN201611209566.0A CN106625600B (en) | 2016-12-23 | 2016-12-23 | A kind of four-freedom parallel mechanism of additional branch seat rotation |
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| CN201611209566.0A CN106625600B (en) | 2016-12-23 | 2016-12-23 | A kind of four-freedom parallel mechanism of additional branch seat rotation |
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| CN106625600B true CN106625600B (en) | 2019-01-11 |
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| CN110355737B (en) * | 2018-04-10 | 2022-06-10 | 苏州迈澜医疗科技有限公司 | Translation mechanism and multi-degree-of-freedom guide mechanism with same |
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| CN102518689A (en) * | 2011-12-29 | 2012-06-27 | 江苏大学 | High-precision spherical hinge structure for parallel machine tools |
| US11077547B2 (en) * | 2014-05-08 | 2021-08-03 | Universite Laval | Parallel mechanism with kinematically redundant actuation |
| CN104400780B (en) * | 2014-11-26 | 2016-02-03 | 河北工业大学 | A kind of three-branch chain six-freedom degree parallel mechanism |
| CN205704267U (en) * | 2016-05-11 | 2016-11-23 | 华南理工大学 | One series parallel type 6DOF force feedback manipulator |
| CN105818137A (en) * | 2016-05-24 | 2016-08-03 | 天津大学 | Parallel mechanism with three-dimensional translational motion |
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