CN107139165A - The Six-freedom-degree space docking mechanism of series-parallel connection - Google Patents
The Six-freedom-degree space docking mechanism of series-parallel connection Download PDFInfo
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- CN107139165A CN107139165A CN201710488554.4A CN201710488554A CN107139165A CN 107139165 A CN107139165 A CN 107139165A CN 201710488554 A CN201710488554 A CN 201710488554A CN 107139165 A CN107139165 A CN 107139165A
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- platform
- guide rail
- moving guide
- parallel
- moving
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
A kind of one-movement-freedom-degree on the adjustment mechanism of six degree of freedom, including two-dimension translational platform, lifting mechanism in parallel and parallel regulating platform from bottom to top, two-dimensional movement platform offer X, Y-direction；Described lifting mechanism in parallel is redundant structure, and the one-movement-freedom-degree of Z-direction is realized by four RPR side chains, not only increases the rigidity and stability of mechanism, and can improve the velocity resolution of lifting to a certain extent；Described parallel regulating platform has along X, Y, Z rotary freedom, and middle ball pivot connection increases the bearing capacity of mounting and adjusting platform, while mitigating the loads of other four drivings side chains.Compared to traditional parallel regulating platform, the present invention will be mobile with rotating full decoupled by Layered driver strategy.Through kinematics analysis and finite element analysis, stability and rigidity of the invention is good, and system control is relatively easy, fully meets the requirement of the mounting and adjusting of medium-sized large-scale device.
Description
Technical field
The present invention relates to spatial movement docking, the Six-freedom-degree space docking mechanism of particularly a kind of series-parallel connection.
Background technology
German Stewart delivers the famous article on parallel institution in nineteen sixty-five on Britain magazine ImechE《Six
Free degree platform》, the platform includes three movement branched chains, and platform can make in six-freedom motion, text Stewart by this six freely
Spend motion platform and be applied to flight simulator.Hereafter parallel connection platform progresses into the visual field of people, as study hotspot.Based on this
The new type processing equipment of principle is continued to bring out, because its good dynamic characteristic, is widely used in production activity and main
Stewart mechanisms are for example applied to automobile assembling production line, autonomous robot, robots arm applied to assembling industry.
Because the mechanism is height coupled system, forward kinematics solution difficulty is solved, kinematics control is more difficult.
The Chinese invention patent of investigation in recent years, the virtuous grade in University On The Mountain Of Swallows road has invented the 3SPR+3RPS types that a kind of 3 hand is grabbed
Series-parallel robot, the series connection of the parallel robot of two kind of three side chain is a kind of gripping body of six degree of freedom.Such mechanism is certainly
By degree redundancy, but rigidity is poor, and space is small.Shanghai Communications University Cao Chong shakes etc. drives branches with three identicals two
Movable type robot in 6 defree is constituted, realizes that each side chain decoupling of six degree of freedom movement gained of moving platform is good, no product
Tired error.Northwestern Polytechnical University Lee Xining etc. by by XY two-dimension moving platforms, Z axis turntable and 3RHS parallel connection platforms connect structure
Into six degree of freedom hybrid mechanism, the pose adjustment for widget in aircraft.Realize partly decoupled and the six degree of freedom spirit of mechanism
Adjustment living.Dress detects in a kind of six-DOF robot pose based on serial parallel mechanism of the inventions such as dawn stream in Anhui University of Technology
Put, accuracy of detection can be taken into account and the aspect of working space two is required, realize the position and attitude composite measurement of testee and show in real time
Show, improve detection line rate.Old five first-class of BJ University of Aeronautics ＆ Astronautics discloses a kind of redundant parallel mechanism with six degrees of freedom, for
Parallel institution working space is small, the small shortcoming of configuration space, by side chain two ends respectively at ball pivot, revolute pair annexation come
Change movement relation of the moving platform relative to ring-shaped guide rail, effectively solve the adjustment of workpiece Singularity appearance on parallel institution.
By to said mechanism comprehensive analysis find, the advantage and disadvantage of parallel institution clearly, the small limitation of its space
The application of parallel institution industrially, and be all apply the adjustment in miniature parts, mechanism can not carry big load, part machine
Structure mobile decoupling is undesirable to cause control difficult.Therefore mechanism space stroke, mechanism rigidity, stability and easily controllable are taken into account
Mechanism is still problem to be solved.
The content of the invention
The present invention provides a kind of adjustment mechanism of six degree of freedom, the mechanism has larger working space, it is stable and
Good structural rigidity ensures that it can carry relatively large load.Cleaning and accurate adjustment peace for large-scale plant modular assembly
The neighborhood such as dress, Aero-Space detecting devices, underground mining apparatus, disaster relief equipment, is with a wide range of applications and develops
Prospect.
The technical solution of the present invention is as follows：
A kind of six degree of freedom adjustment mechanism, its feature is：The mechanism includes two-dimension translational platform from bottom to top, lift in parallel
Rise mechanism and parallel regulating platform：
Described two-dimension translational platform includes bottom plate, the first dynamic plate and the second dynamic plate from bottom to top；First moving guide rail and
Second moving guide rail is parallel to each other and is arranged on the right left both sides on described bottom plate, while the first sliding block and the second sliding block difference
Accordingly it is arranged on the first described moving guide rail, is connected on the second moving guide rail and with the lower section of the first dynamic plate；3rd movement
Guide rail and the 4th moving guide rail are parallel to each other the rear preceding two ends on the described first dynamic plate, the 3rd sliding block and Four-slider
Respectively correspondingly on the 3rd described moving guide rail, the 4th moving guide rail and with connecting below the described second dynamic plate
Connect, described the first moving guide rail, the direction of the second moving guide rail and the 3rd described moving guide rail, the 4th moving guide rail are mutual
Vertically；The two ends that first support base, the second support base are arranged in the middle of described bottom plate by screw are installed for the first screw rod, the
The direction of one screw rod is parallel with the second described moving guide rail and positioned at described the first moving guide rail and the second moving guide rail
Centre, the first nut bracket being set on the first screw rod is fixed on the lower surface of the dynamic plate of described first, and the first motor is installed
In the side of the first screw rod, the drive module of the first described motor and the dynamic plate of the first screw mandrel composition first；3rd support base and
The left and right ends that four-supporting is arranged in the middle of the first dynamic plate by screw supply the installation of the second screw rod, the direction of the second screw rod
Centre parallel with the 4th described moving guide rail and positioned at described the 3rd moving guide rail and the 4th moving guide rail, is set in the
The second nut bracket on two screw rods is fixed on the lower surface of the dynamic plate of described second, and the second motor is arranged on the one of the second screw rod
The drive module of side, the second described motor and the dynamic plate of the second screw mandrel composition second；
Described lifting mechanism in parallel includes a pedestal, 4 RPR side chains and a moving platform, and described pedestal is fixed
On the described second dynamic plate, four RPR side chains are respectively connected structure by lower end revolute pair, middle prismatic pair, upper end revolute pair respectively
Into a linear drives branch, each RPR lower end revolute pair is connected with described pedestal, and upper end revolute pair moves flat with described
Platform is connected, and the connection of the kinematic pair at the two ends of four RPR side chains and described pedestal and moving platform divides in symmetrical cross
Cloth, constitutes 4RPR mechanisms；
Described parallel regulating platform includes a fixed platform, 4 SPS side chains, a center side chain and a moving platform,
Described fixed platform is fixed on the moving platform of described lifting mechanism in parallel, and the upper end of described center side chain is upper end ball
Dumpling, lower end is a ring flange, and upper end ball pivot is connected with the center of described moving platform, and the ring flange of the center side chain passes through even
Frame is connect to be fixedly connected with described fixed platform, described center side chain through described link and the center line of center side chain with
The center line of described link is overlapped；
4 described SPS side chains are in series by upper ball pivot, prismatic pair and lower ball pivot, four lower ball pivots of SPS side chains
The square distribution in corner on described fixed platform is hinged on, four described upper ball pivots are hinged on the four of described moving platform
Angle and rectangular distribution, described fixed platform are located at the underface of described moving platform, constitute 4SPS-S mechanisms, described two dimension
The center of mobile platform, fixed platform and moving platform is on same vertical curve.
4 side chains of described lifting mechanism in parallel are divided into driving side chain and each two of driven side chain, driven side chain and drive
Dynamic side chain is each symmetrical.
It is an advantage of the invention that：
1st, the two-dimensional movement platform of six degree of freedom adjustment mechanism of the present invention provides X, the one-movement-freedom-degree in Y-direction；4RPR
Lifting mechanism in parallel is redundant structure, and the one-movement-freedom-degree of Z-direction is realized by four RPR side chains, mechanism is not only increased
Rigidity and stability, and the velocity resolution of lifting can be improved to a certain extent；4-SPS-1S mounting and adjusting platforms have
Along X, Y, Z rotary freedom, the bearing capacity of the ball pivot connection increase mounting and adjusting platform of center side chain, while mitigating other
The load of four driving side chains.Two-dimension translational platform and 4RPR mechanisms provide the movement of the big stroke in tri- directions of X, Y, Z, have compared with
Big working space.Redundant structure makes the structure possess higher stability and good rigidity, at the same it is simple in construction, it can hold
Carry relatively large load.Described installation levelling gear uses 4 leveling center fixation principles, mechanism rigidity is high, bearing capacity is strong,
Speed is fast, no accumulated error.
2nd, clean and accurate adjustment installation, aviation of the six degree of freedom adjustment mechanism of the present invention in large-scale plant modular assembly
The neighborhoods such as space flight detecting devices, underground mining apparatus, disaster relief equipment, are with a wide range of applications and DEVELOPMENT PROSPECT.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of six degree of freedom adjustment mechanism of the present invention；
Fig. 2 is the assembling figure of two-dimension translational platform of the present invention
Fig. 3 is the half sectional view of the assembling of two-dimension translational platform of the present invention；
Fig. 4 is the top view of 4RPR lifting mechanism modules in parallel
Fig. 5 is 4RPR lifting mechanism module schematic perspective views in parallel；
Fig. 6 is 4SPS-1S parallel regulating platform schematic diagrames；
Fig. 7 is the half-section diagram of six degree of freedom adjustment mechanism of the present invention；
Fig. 8 is the top view of six degree of freedom adjustment mechanism of the present invention.
Embodiment
Fig. 1 to Fig. 8 is referred to, as seen from the figure, six degree of freedom adjustment mechanism of the present invention, including two-dimension translational from bottom to top
Platform 1, lifting mechanism 2 in parallel and parallel regulating platform 3：
Bottom plate 1-1, the first dynamic plate 1-3 and second that described two-dimension translational platform 1 includes from bottom to top move plate 1-6；First
Moving guide rail 1-11 and the second moving guide rail 1-14 are parallel to each other and are arranged on the right left both sides on described bottom plate 1-1, simultaneously
First sliding block 1-2 and the second sliding block 1-15 are respectively correspondingly arranged on the first described moving guide rail 1-11, the second moving guide rail
1-14 is upper and is connected with the first dynamic plate 1-3 lower section；3rd moving guide rail 1-5 and the 4th moving guide rail 1-10 are parallel to each other installation
Rear preceding two ends on the described first dynamic plate 1-3, the 3rd sliding block 1-2 and Four-slider 1-9 is respectively correspondingly arranged on described
The 3rd moving guide rail 1-5, the 4th moving guide rail 1-10 on and be connected with the described second dynamic plate 1-6 lower section, described the
One moving guide rail 1-11, the second moving guide rail 1-14 and the 3rd described moving guide rail 1-5, the 4th moving guide rail 1-10 direction
It is mutually perpendicular to；The two ends that first support base 1-13, the second support base 1-17 are arranged in the middle of described bottom plate 1-1 by screw are supplied
First screw rod 1-12 is installed, and the first screw rod 1-12 direction is parallel with the second described moving guide rail 1-14 and is located at described the
One moving guide rail 1-11 and the second moving guide rail 1-14 centre, are set in the first nut bracket 1-16 on the first screw rod 1-12
The dynamic plate 1-3 of described first lower surface is fixed on, the first motor is arranged on the first screw rod 1-12 side, the first described electricity
The drive module of machine and the dynamic plate 1-3 of the first screw mandrel composition first；3rd support base 1-7 and four-supporting 1-19 is pacified by screw
Left and right ends in the middle of the first dynamic plate 1-3 supply the second screw rod 1-8 installation, the second screw rod 1-8 direction and described the
Four moving guide rail 1-10 are parallel and are located at described the 3rd moving guide rail 1-5 and the 4th moving guide rail 1-10 centre, are set in
The second nut bracket 1-18 on second screw rod 1-8 is fixed on the dynamic plate 1-6 of described second lower surface, and the second motor is arranged on
Second screw rod 1-8 side, the second described motor and the dynamic plate 1-6 of the second screw mandrel composition second drive module；
Described lifting mechanism in parallel 2 includes a pedestal 2-1,4 RPR side chains and a moving platform 2-2, described base
Seat 2-1 is fixed on the dynamic plate 1-6 of described second, four RPR side chains respectively by lower end revolute pair 2-4,2-5,2-8,2-10, in
Between prismatic pair 2-3,2-6,2-7,2-9, upper end revolute pair 2-15,2-16,2-17,2-18 each linear drives in series point
Branch, each RPR lower end revolute pair is connected with described pedestal 2-1, and upper end revolute pair is connected with described moving platform 2-2, and four
The kinematic pair at the two ends of bar RPR side chains and described pedestal 2-1 and moving platform 2-2 connection are in symmetrical crossing distribution；
Described parallel regulating platform 3 includes fixed platform 3-17,4 SPS side chains, a center side chain 3-6 and one
Individual moving platform 3-8, described fixed platform 3-17 are fixed on the moving platform 2-2 of described lifting mechanism in parallel, described center
Side chain 3-6 upper end is upper end ball dumpling 3-11, and lower end is a ring flange 3-18, upper end ball pivot 3-11 and described moving platform 3-
8 center is connected, and the ring flange 3-18 of the lower end of the center side chain is fixed by link 3-3 with described fixed platform 3-17 to be connected
Connect, described center side chain 3-6 passes through described link 3-3 and the center line of center side chain (3-6) and described link
3-3 center line is overlapped；4 described SPS side chains 3-2,3-5,3-13,3-15 by upper ball pivot 3-1,3-4,3-14,3-16,
Prismatic pair 3-2,3-5,3-13,3-15 and lower ball pivot 3-7,3-9,3-10,3-12 are in series, four lower ball pivots of SPS side chains
3-7,3-9,3-10,3-12 are hinged on the square distribution in corner on described fixed platform 3-17, four described upper ball pivots
3-1,3-4,3-14,3-16 are hinged on described moving platform 3-8 corner and rectangular distribution, and described fixed platform 3-4 is located at
Described moving platform 3-8 underface, constitutes 4SPS-1S mechanisms, described two-dimensional movement platform 1, fixed platform 3-4 and moving platform
3-8 center is on same vertical curve.
4 side chains of described lifting mechanism in parallel 2 are divided into driving side chain and each two of driven side chain, driven side chain and drive
Dynamic side chain is each symmetrical.
The driving input of described two-dimensional movement platform 1 is two mutually perpendicular second leading screw 1-8, the first leading screw 1-
12,4RPR driving input is two mutually symmetrical with side chain 2-3,2-7,4SPS-1S driving input be four side chain 3-2,
3-5,3-13,3-15, whole system are that eight drivings input 1-8,1-12,2-3,2-7,3-2,3-5,3-13,3-15, six outputs,
Preceding three-dimensional (X, Y, Z) mobile component of four inputs control, the inputs of 4SPS-1S tetra- are the control input of three axle rotational components, are realized
The decoupling of translation and rotation.Realize the adjustment docking of the six degree of freedom of module.
Experiment shows, the two-dimensional movement platform of six degree of freedom adjustment mechanism of the present invention provides X, the freedom of movement in Y-direction
Degree；4RPR parallel connection lifting mechanisms are redundant structure, and the one-movement-freedom-degree of Z-direction is realized by four RPR side chains, is not only increased
The rigidity and stability of mechanism, and can improve the velocity resolution of lifting to a certain extent；4-SPS-1S mounting and adjustings
Platform has along X, Y, Z rotary freedom, the bearing capacity of the ball pivot connection increase mounting and adjusting platform of center side chain, subtracts simultaneously
The load of light other four drivings side chains.Two-dimension translational platform and 4RPR mechanisms provide the shifting of the big stroke in tri- directions of X, Y, Z
It is dynamic, there is larger working space.Redundant structure makes the structure possess higher stability and good rigidity, while structure is simple
It is single, relatively large load can be carried.Described installation levelling gear is with 4 leveling center fixation principles, and mechanism rigidity is high, carrying
Ability is strong, speed is fast, without accumulated error.
Cleaning and accurate adjustment installation, aviation boat of the six degree of freedom adjustment mechanism of the present invention in large-scale plant modular assembly
The neighborhoods such as its detecting devices, underground mining apparatus, disaster relief equipment, are with a wide range of applications and DEVELOPMENT PROSPECT.
Claims (2)
1. a kind of six degree of freedom adjustment mechanism, it is characterised in that：The mechanism includes two-dimension translational platform (1) from bottom to top, parallel connection
Lifting mechanism (2) and parallel regulating platform (3)：
Described two-dimension translational platform (1) includes bottom plate (1-1), the first dynamic plate (1-3) and the second dynamic plate (1-6) from bottom to top；
First moving guide rail (1-11) and the second moving guide rail (1-14) are parallel to each other and the right left side on described bottom plate (1-1)
Both sides, while the first sliding block (1-2) and the second sliding block (1-15) are respectively correspondingly arranged on the first described moving guide rail (1-
11), it is connected on the second moving guide rail (1-14) and with the lower section of the first dynamic plate (1-3)；3rd moving guide rail (1-5) and the 4th is moved
Move the rear preceding two ends that guide rail (1-10) is parallel to each other on the described first dynamic plate (1-3), the 3rd sliding block (1-2) and the 4th
Sliding block (1-9) is respectively correspondingly arranged on the 3rd described moving guide rail (1-5), on the 4th moving guide rail (1-10) and with it is described
The second dynamic plate (1-6) lower section connection, described the first moving guide rail (1-11), the second moving guide rail (1-14) with it is described
3rd moving guide rail (1-5), the direction of the 4th moving guide rail (1-10) are mutually perpendicular to；First support base (1-13), the second support
The two ends that seat (1-17) is arranged in the middle of described bottom plate (1-1) by screw are installed for the first screw rod (1-12), the first screw rod
The direction of (1-12) is parallel with described the second moving guide rail (1-14) and positioned at described the first moving guide rail (1-11) and the
The centre of two moving guide rails (1-14), the first nut bracket (1-16) being set on the first screw rod (1-12) is fixed on described
The lower surface of first dynamic plate (1-3), the first motor is arranged on the side of the first screw rod (1-12), the first described motor and first
The drive module of the dynamic plate (1-3) of screw mandrel composition first；3rd support base (1-7) and four-supporting (1-19) are installed by screw
Left and right ends in the middle of the first dynamic plate (1-3) supply the installation of the second screw rod (1-8), the direction of the second screw rod (1-8) with it is described
The 4th moving guide rail (1-10) it is parallel and in described the 3rd moving guide rail (1-5) and the 4th moving guide rail (1-10)
Between, the second nut bracket (1-18) being set on the second screw rod (1-8) is fixed on the following table of the dynamic plate (1-6) of described second
Face, the second motor is arranged on the side of the second screw rod (1-8), the second described motor and the dynamic plate (1- of the second screw mandrel composition second
6) drive module；
Described lifting mechanism in parallel (2) includes a pedestal (2-1), 4 RPR side chains and a moving platform (2-2), described
Pedestal (2-1) is fixed on the dynamic plate (1-6) of described second, four RPR side chains respectively by lower end revolute pair (2-4,2-5,2-8,
2-10), middle prismatic pair (2-3,2-6,2-7,2-9), upper end revolute pair (2-15,2-16,2-17,2-18) each in series one
Individual linear drives branch, each RPR lower end revolute pair is connected with described pedestal (2-1), and upper end revolute pair is moved with described
Platform (2-2) is connected, and the connection of the kinematic pair at the two ends of four RPR side chains and described pedestal (2-1) and moving platform (2-2) is equal
In symmetrical crossing distribution, 4RPR mechanisms are constituted；
Described parallel regulating platform (3) include a fixed platform (3-17), 4 SPS side chains, a center side chain (3-6) and
One moving platform (3-8), described fixed platform (3-17) is fixed on the moving platform (2-2) of described lifting mechanism in parallel, institute
The upper end for the center side chain (3-6) stated is upper end ball dumpling (3-11), and lower end is a ring flange (3-18), upper end ball pivot (3-11)
Be connected with the center of described moving platform (3-8), the ring flange (3-18) of the lower end of the center side chain by link (3-3) with
Described fixed platform (3-17) is fixedly connected, and described center side chain (3-6) passes through described link (3-3) and center side chain
The center line of (3-6) is overlapped with the center line of described link (3-3)；
4 described SPS side chains (3-2,3-5,3-13,3-15) are by upper ball pivot (3-1,3-4,3-14,3-16), prismatic pair
(3-2,3-5,3-13,3-15) and lower ball pivot (3-7,3-9,3-10,3-12) are in series, lower ball pivot (3-7,3- of SPS side chains
9th, 3-10,3-12) it is hinged on the square distribution in corner on described fixed platform (3-17), described upper ball pivot (3-1,3-
4th, 3-14,3-16) corner of described moving platform (3-8) and rectangular distribution are hinged on, described fixed platform (3-4) is located at institute
The underface for the moving platform (3-8) stated, constitutes 4SPS-1S mechanisms, described two-dimensional movement platform (1), fixed platform (3-4) and moves
The center of platform (3-8) is on same vertical curve.
2. six degree of freedom adjustment mechanism according to claim 1, it is characterised in that the 4 of described lifting mechanism in parallel (2)
Bar side chain is divided into driving side chain and each two of driven side chain, and driven side chain and driving side chain are each symmetrical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710488554.4A CN107139165A (en) | 2017-06-23 | 2017-06-23 | The Six-freedom-degree space docking mechanism of series-parallel connection |
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|---|---|---|---|
| CN201710488554.4A CN107139165A (en) | 2017-06-23 | 2017-06-23 | The Six-freedom-degree space docking mechanism of series-parallel connection |
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| CN201710488554.4A Withdrawn CN107139165A (en) | 2017-06-23 | 2017-06-23 | The Six-freedom-degree space docking mechanism of series-parallel connection |
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| CN107838913A (en) * | 2017-10-17 | 2018-03-27 | 安徽工程大学 | A kind of automatic rotating and clamping device of industrial robot |
| CN108340198A (en) * | 2018-05-11 | 2018-07-31 | 清华大学 | A kind of absorption type processing unit (plant) towards Large Complicated Structural Component |
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| CN108818457A (en) * | 2018-07-11 | 2018-11-16 | 南京工程学院 | A kind of multi-degree-of-freedom workbench based on Pneumatic artificial muscle |
| CN108942895A (en) * | 2018-09-05 | 2018-12-07 | 安徽理工大学 | A kind of six-freedom parallel power head with constant force output characteristics |
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| CN109759867A (en) * | 2019-03-07 | 2019-05-17 | 安徽工程大学 | Series parallel type six degree of freedom full decoupling flexible jig |
| CN110844117A (en) * | 2019-11-14 | 2020-02-28 | 沈阳航空航天大学 | Generalized butt joint test system based on multi-degree-of-freedom parallel mechanism |
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