CN106945019A - It is a kind of that there is the five-freedom parallel structure for being hinged moving platform - Google Patents
It is a kind of that there is the five-freedom parallel structure for being hinged moving platform Download PDFInfo
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- CN106945019A CN106945019A CN201710329582.1A CN201710329582A CN106945019A CN 106945019 A CN106945019 A CN 106945019A CN 201710329582 A CN201710329582 A CN 201710329582A CN 106945019 A CN106945019 A CN 106945019A
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- Prior art keywords
- side chain
- moving platform
- connecting rod
- connector
- platform
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Classifications
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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)
Abstract
The invention discloses it is a kind of have be hinged the five-freedom parallel structure of moving platform, including fixed platform, the first side chain, the second side chain, the 3rd side chain and the 4th side chain that are hinged moving platform and are arranged in the fixed platform and are hinged between moving platform；The moving platform that is hinged includes upper moving platform and lower moving platform two parts, and the upper moving platform is connected with lower moving platform by rotating pair；First side chain, the second side chain, the 3rd side chain and the 4th branched structure are identical；Every side chain includes left actuating arm, right actuating arm, upper connecting rod, upper connector, left connecting rod, right connecting rod and lower connector；The two ends of the upper moving platform are connected with the first side chain and the 3rd side chain respectively, and the two ends of the lower moving platform are connected with the second side chain and the 4th side chain respectively.As a result of the design for being hinged moving platform, the parallel institution has big corner rotational characteristic.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of five degree of freedom with three-dimensional translating and two-dimensional rotary is empty
Between parallel institution.
Background technology
Parallel institution with spatial three-dimensional translational and the two-dimensional rotary free degree can meet several work requirement, such as measurement,
Spraying, carrying, assembling etc., especially apply also for multiaxis 3D printing.
The 3D printer of common three translation mechanisms or Delta parallel mechanism based on series connection, can only be according to numeral product
Point thinking successively processed, it is impossible to inclined surface or it is complex-curved on printed.Moreover, more multiple for structure
Empty and hanging part is often had in miscellaneous part, part, conventional method is filled with backing material, when spraying
After the completion of journey, backing material must be removed from mold elements, but if using multiaxis 3D printer, then can be in some occasions
Under, save backing material.Therefore, multiaxis 3D printer becomes a developing direction of 3D printing.
The content of the invention
It is a kind of using being hinged moving platform it is an object of the invention to propose, and three-dimensional translating and two-dimensional rotary can be realized
Five-freedom parallel structure.The parallel institution has big corner rotational characteristic, can be used as the executing agency of multiaxis 3D printer.
It is proposed by the present invention a kind of with the five-freedom parallel structure for being hinged moving platform, it is characterised in that：Including allocating
Platform, be hinged moving platform and be arranged in the fixed platform and be hinged between moving platform the first side chain, the second side chain, the 3rd side chain
With the 4th side chain；The moving platform that is hinged includes upper moving platform and lower moving platform two parts, the upper moving platform and lower moving platform
End effector can be installed on secondary connection, the lower moving platform by rotating；First side chain, the second side chain, the 3rd side chain
It is identical with the 4th branched structure；Every side chain includes left actuating arm, right actuating arm, upper connecting rod, upper connector, Zuo Lian
Bar, right connecting rod and lower connector；One end of the left actuating arm and right actuating arm is with the fixed platform respectively by rotating secondary connect
Connect；Rotation pair between the fixed platform and the left and right swing arm is active drive pair and pivot center is conllinear；The left driving
The other end of arm secondary is connected by rotating with the upper connector；The other end of the right actuating arm is by rotating on secondary and described
Connecting rod is connected；The upper connecting rod is connected with the upper connector by rotating pair；The upper end difference of the left connecting rod and right connecting rod
Be connected by rotating secondary one end with the upper connector, the lower end of the left connecting rod and right connecting rod respectively by ball pivot with it is described
One end connection of lower connector；In first side chain and the 3rd side chain, the lower connector is by rotating on secondary and described
Moving platform is connected；In second side chain and the 4th side chain, the lower connector is connected by rotating secondary and described lower moving platform
Connect.
The present invention also proposes another five-freedom parallel structure for having and being hinged moving platform, it is characterised in that：Including solid
The first side chain for determining frame, be hinged moving platform and be arranged in the fixed frame and being hinged between moving platform, the second side chain,
Three side chains and the 4th side chain；The moving platform that is hinged includes upper moving platform and lower moving platform two parts, and the upper moving platform is with
Moving platform can install end effector on secondary connection, the lower moving platform by rotating；First side chain, the second side chain,
Three side chains and the 4th branched structure are identical；Every side chain includes left slider, right sliding block, upper connecting rod, upper connector, Zuo Lian
Bar, right connecting rod and lower connector；One end of the left slider and right sliding block is connected by prismatic pair respectively with the fixed frame,
The prismatic pair is active drive pair；The other end of the left slider secondary is connected by rotating with the upper connector；The right side
The other end of sliding block secondary is connected by rotating with the upper connecting rod；The upper connecting rod is with the upper connector by rotating secondary connect
Connect；The upper end of the left connecting rod and right connecting rod is connected by rotating secondary one end with the upper connector respectively, the left connecting rod
It is connected respectively by ball pivot with one end of the lower connector with the lower end of right connecting rod；In first side chain and the 3rd side chain
In, the lower connector secondary is connected by rotating with the upper moving platform；In second side chain and the 4th side chain, it is described under
Connector secondary is connected by rotating with the lower moving platform.
The present invention has the advantages and positive effects of：It is hinged moving platform simple in construction, only includes by rotating secondary connect
Two components of the upper and lower moving platform connect；Because the whole mechanism only kinematic pair containing single-degree-of-freedom, and use are hinged moving platform
Design, can be achieved big corner rotate, pitching and deflection angle in theory approach positive and negative 90 degree；Redundant drive is adopted
With causing mechanism in working space without Singularity, it is ensured that mechanism has good exercise performance.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention one；
Fig. 2 is hinged the structural representation of moving platform for the present invention；
Fig. 3 is the structural representation of the side chain of the embodiment of the present invention one；
Fig. 4 is the structural representation of the embodiment of the present invention two；
Each mark is as follows in figure：1 fixed platform, 2 drive devices, 3 left actuating arms, 4 right actuating arms, 5 upper connecting rods are connected on 6
Part, 7 left connecting rods, 8 right connecting rods, 9 times connectors, 10 are hinged moving platform under moving platform, the upper moving platforms of 10-1,10-2, and 11 fix machine
Frame, 12 left sliders, 13 right sliding blocks, I first side chains, II second side chains, III the 3rd side chains, IV the 4th side chains.
Embodiment
For the content of the invention, feature and effect of the present invention can be expanded on further, following examples are hereby enumerated, and coordinate accompanying drawing
Describe in detail as follows：
Embodiment one：
The present embodiment it is a kind of have be hinged the five-freedom parallel structure of moving platform as shown in Figure 1, Figure 2 and Figure 3, including
Fixed platform 1, it is hinged moving platform 10, and the first side chain I, second for being arranged in the fixed platform 1 and being hinged between moving platform 10
Side chain II, the 3rd side chain III and the 4th side chain IV.
Eight drive devices 2 are installed with the fixed platform 1.
As shown in Fig. 2 the moving platform 10 that is hinged includes upper moving platform 10-1 and lower moving platform 10-2；The upper moving platform
10-1 and lower moving platform 10-2 is by rotating secondary connection.
First side chain I, the second side chain II, the 3rd side chain III are identical with the structure of the 4th side chain IV；Every side chain
Include left actuating arm 3, right actuating arm 4, upper connecting rod 5, upper connector 6, left connecting rod 7, right connecting rod 8 and lower connector 9.Such as Fig. 3
Institute, one end of the left actuating arm 3 and right actuating arm 4 and the rotating shaft of the drive device 2 are affixed, and respectively with the fixed platform
1 by rotating secondary connection；The secondary pivot center of rotation for connecting the left actuating arm 3 and the fixed platform 1 is collinear in and is connected institute
State right actuating arm 4 pivot center secondary with the rotation of the fixed platform 1；The other end of the left actuating arm 3 by rotate it is secondary with
The upper connector 6 is connected；The other end of the right actuating arm 4 secondary is connected by rotating with the upper connecting rod 5；The upper connecting rod
5 are connected with the upper connector 6 by rotating pair；The upper end of the left connecting rod 7 and right connecting rod 8 respectively by rotate it is secondary with it is described
The lower end of one end connection of upper connector 6, the left connecting rod 7 and right connecting rod 8 passes through ball pivot and the one of the lower connector 9 respectively
End connection；In the side chain III of the first side chain I and the 3rd, the lower connector 9 is by rotating the secondary and upper moving platform 10-
1 connection；In the side chain IV of the second side chain II and the 4th, the lower connector 9 is by rotating the secondary and lower moving platform 10-
2 connections；
Connect the upper moving platform 10-1 described dynamic flat perpendicular to being connected with the secondary pivot center of the rotation of lower connector 9
The pivot center of platform 10-1 and lower moving platform 10-2 rotation pair；Connect the lower moving platform 10-2 and lower connector 9 rotation
Secondary pivot center is perpendicular to the secondary pivot center of the rotation for connecting the upper moving platform 10-1 and lower moving platform 10-2.
The left actuating arm 3, right actuating arm 4, upper connecting rod 5 constitute planar five-bar mechanism with upper connector 6；The upper connection
Part 6, left connecting rod 7, right connecting rod 8 constitute parallelogram with lower connector 9.
Embodiment two：
The a kind of of the present embodiment has the five-freedom parallel structure for being hinged moving platform as shown in figure 4, including fixed frame
11st, it is hinged moving platform 10 with the identical of embodiment one, and is arranged in the fixed frame 11 and is hinged between moving platform 10 the
One side chain I, the second side chain II, the 3rd side chain III and the 4th side chain IV.The fixed frame 11 is installed with eight and arranged vertically
Guide rail.First side chain I, the second side chain II, the 3rd side chain III are identical with the structure of the 4th side chain IV；Every side chain is wrapped
Include left slider 12, right sliding block 13, upper connecting rod 5, upper connector 6, left connecting rod 7, right connecting rod 8 and lower connector 9.
The present embodiment from unlike embodiment one：First side chain I, the second side chain II, the 3rd side chain III and the 4th
Side chain IV employs the drive form that prismatic pair is active drive.It is embodied on concrete structure and is：The left slider 12 and institute
The upright guide rail for stating fixed frame 11 is connected by prismatic pair, and the prismatic pair is active drive pair；The right sliding block 13 and institute
The upright guide rail for stating fixed frame 11 is connected by prismatic pair, and the prismatic pair is active drive pair；The left slider 12 passes through
Rotation is secondary to be connected with the upper connector 6；The right sliding block 13 secondary is connected by rotating with the upper connecting rod 5；The left slider
12nd, right sliding block 13, upper connecting rod 5 constitute planar five-bar mechanism with upper connector 6.First side chain I, the second side chain the II, the 3rd
Side chain IV remaining structure type of side chain III and the 4th is identical with embodiment one.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
Enclose and be defined, on the premise of design spirit of the present invention is not departed from, technical side of the those of ordinary skill in the art to the present invention
In various modifications and improvement that case is made, the protection domain that claims of the present invention determination all should be fallen into.
Claims (5)
1. a kind of have the five-freedom parallel structure for being hinged moving platform, it is characterised in that：Including fixed platform (1), it is hinged dynamic put down
Platform (10), and be arranged in the fixed platform (1) and be hinged between moving platform (10) the first side chain (I), the second side chain (II),
3rd side chain (III) and the 4th side chain (IV)；
Eight drive devices (2) are installed with the fixed platform (1)；The moving platform (10) that is hinged includes upper moving platform (10-1)
With lower moving platform (10-2)；The upper moving platform (10-1) and lower moving platform (10-2) are by rotating secondary connection；
First side chain (I), the second side chain (II), the 3rd side chain (III) are identical with the 4th side chain (IV) structure；It is described every
Side chain include left actuating arm (3), right actuating arm (4), upper connecting rod (5), upper connector (6), left connecting rod (7), right connecting rod (8) and
Lower connector (9)；One end of the left actuating arm (3) and right actuating arm (4) and the rotating shaft of the drive device (2) are affixed, and
Secondary it is connected respectively by rotating with the fixed platform (1)；The other end of the left actuating arm (3) is by rotating the secondary and upper company
Fitting (6) is connected；The other end of the right actuating arm (4) secondary is connected by rotating with the upper connecting rod (5)；The upper connecting rod
(5) it is connected with the upper connector (6) by rotating pair；The upper end of the left connecting rod (7) and right connecting rod (8) is respectively by rotating
Secondary one end with the upper connector (6) is connected, and the lower end of the left connecting rod (7) and right connecting rod (8) passes through ball pivot and institute respectively
State one end connection of lower connector (9)；In first side chain (I) and the 3rd side chain (III), the lower connector (9) passes through
Rotation is secondary to be connected with the upper moving platform (10-1)；In second side chain (II) and the 4th side chain (IV), the lower connection
Part (9) secondary is connected by rotating with the lower moving platform (10-2)；
The left actuating arm 3, right actuating arm 4, upper connecting rod 5 constitute planar five-bar mechanism with upper connector 6；The upper connector 6,
Left connecting rod 7, right connecting rod 8 constitute parallelogram with lower connector 9.
2. mechanism according to claim 1, it is characterised in that：Connect the left actuating arm (3) and the fixed platform (1)
Rotate secondary pivot center and be collinear in the connection right actuating arm (4) pivot center secondary with the rotation of the fixed platform (1).
3. mechanism according to claim 2, it is characterised in that：Connect the upper moving platform (10-1) and lower connector (9)
The secondary pivot center of rotation perpendicular to the rotation for rotating pair for connecting the upper moving platform (10-1) and lower moving platform (10-2)
Axis；Connect the lower moving platform (10-2) described dynamic perpendicular to being connected with the secondary pivot center of the rotation of lower connector (9)
The pivot center of the rotation pair of platform (10-1) and lower moving platform (10-2).
4. a kind of have the five-freedom parallel structure for being hinged moving platform, it is characterised in that：Including fixed frame (11), be hinged it is dynamic
Platform (10) and be arranged in the fixed frame (11) and be hinged between moving platform (10) the first side chain (I), the second side chain
(II), the 3rd side chain (III) and the 4th side chain (IV)；
The fixed frame (11) is installed with eight guide rails arranged vertically；The moving platform (10) that is hinged includes upper moving platform
(10-1) and lower moving platform (10-2)；The upper moving platform (10-1) and lower moving platform (10-2) are by rotating secondary connection；
First side chain (I), the second side chain (II), the 3rd side chain (III) are identical with the 4th side chain (IV) structure；It is described every
Side chain include left slider (12), right sliding block (13), upper connecting rod (5), upper connector (6), left connecting rod (7), right connecting rod (8) and under
Connector (9)；One end of the left slider (12) and right sliding block (13) and the upright guide rail of the fixed frame (11) lead to respectively
Prismatic pair connection is crossed, the prismatic pair is active drive pair；The other end of the left slider (12) is by rotating on secondary and described
Connector (6) is connected；The other end of the right sliding block (13) secondary is connected by rotating with the upper connecting rod (5)；The upper connecting rod
(5) it is connected with the upper connector (6) by rotating pair；The upper end of the left connecting rod (7) and right connecting rod (8) is respectively by rotating
Secondary one end with the upper connector (6) is connected, and the lower end of the left connecting rod (7) and right connecting rod (8) passes through ball pivot and institute respectively
State one end connection of lower connector (9)；In first side chain (I) and the 3rd side chain (III), the lower connector (9) passes through
Rotation is secondary to be connected with the upper moving platform (10-1)；In second side chain (II) and the 4th side chain (IV), the lower connection
Part (9) secondary is connected by rotating with the lower moving platform (10-2)；
The left slider 12, right sliding block 13, upper connecting rod 5 constitute planar five-bar mechanism with upper connector 6；The upper connector 6, a left side
Connecting rod 7, right connecting rod 8 constitute parallelogram with lower connector 9.
5. mechanism according to claim 4, it is characterised in that：Connect the upper moving platform (10-1) and lower connector (9)
The secondary pivot center of rotation perpendicular to the rotation for rotating pair for connecting the upper moving platform (10-1) and lower moving platform (10-2)
Axis；Connect the lower moving platform (10-2) described dynamic perpendicular to being connected with the secondary pivot center of the rotation of lower connector (9)
The pivot center of the rotation pair of platform (10-1) and lower moving platform (10-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710329582.1A CN106945019A (en) | 2017-05-11 | 2017-05-11 | It is a kind of that there is the five-freedom parallel structure for being hinged moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710329582.1A CN106945019A (en) | 2017-05-11 | 2017-05-11 | It is a kind of that there is the five-freedom parallel structure for being hinged moving platform |
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| CN106945019A true CN106945019A (en) | 2017-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710329582.1A Pending CN106945019A (en) | 2017-05-11 | 2017-05-11 | It is a kind of that there is the five-freedom parallel structure for being hinged moving platform |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107511815A (en) * | 2017-08-17 | 2017-12-26 | 江苏大学 | A kind of transplant robot in parallel |
| CN109746895A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | There are three types of the four-freedom parallel mechanisms of 3T1R dynamic model formula for a kind of tool |
| CN110682274A (en) * | 2019-10-15 | 2020-01-14 | 北京交通大学 | Five-degree-of-freedom redundant drive parallel mechanism with large rotation angle |
| WO2020155843A1 (en) * | 2019-01-31 | 2020-08-06 | 苏州迈澜医疗科技有限公司 | Multiple-degree-of-freedom parallel mechanism |
| CN113651236A (en) * | 2021-08-05 | 2021-11-16 | 青岛理工大学 | Self-positioning carrying equipment for aluminum profile of railway vehicle |
| CN114474016A (en) * | 2022-01-29 | 2022-05-13 | 复旦大学 | Parallel robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107511815A (en) * | 2017-08-17 | 2017-12-26 | 江苏大学 | A kind of transplant robot in parallel |
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| CN109746895A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | There are three types of the four-freedom parallel mechanisms of 3T1R dynamic model formula for a kind of tool |
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| CN110682274A (en) * | 2019-10-15 | 2020-01-14 | 北京交通大学 | Five-degree-of-freedom redundant drive parallel mechanism with large rotation angle |
| CN110682274B (en) * | 2019-10-15 | 2021-03-19 | 北京交通大学 | Five-degree-of-freedom redundant drive parallel mechanism with large rotation angle |
| CN113651236A (en) * | 2021-08-05 | 2021-11-16 | 青岛理工大学 | Self-positioning carrying equipment for aluminum profile of railway vehicle |
| CN113651236B (en) * | 2021-08-05 | 2024-02-27 | 青岛理工大学 | Self-positioning carrying equipment for aluminum profile of railway vehicle |
| CN114474016A (en) * | 2022-01-29 | 2022-05-13 | 复旦大学 | Parallel robot |
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