CN107932480A - The two-degree-of-freedom centering parallel institution driven by coaxial rotating - Google Patents
The two-degree-of-freedom centering parallel institution driven by coaxial rotating Download PDFInfo
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- CN107932480A CN107932480A CN201711223128.4A CN201711223128A CN107932480A CN 107932480 A CN107932480 A CN 107932480A CN 201711223128 A CN201711223128 A CN 201711223128A CN 107932480 A CN107932480 A CN 107932480A
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- axis
- shafting
- deck
- double
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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 present invention relates to a kind of motion, more particularly to a kind of two-degree-of-freedom centering parallel institution driven by coaxial rotating.Including mobile platform, double-deck shafting and first, second and third kinematic chain being arranged between mobile platform and double-deck shafting, double-deck shafting includes the internal layer axis, outer hollow axis and double-deck shafting shell being rotatablely connected successively from inside to outside, internal layer axis and first movement chain link, outer hollow axis and Article 2 movement chain link, double-deck shafting shell drives mobile platform to make pitching or yawing rotation with Article 3 movement chain link, double-deck shafting by three kinematic chains.The present invention, which can feel relieved, to be realized pitching and yaws the rotation of both direction, convenient to be combined with other various motions and be easy to solve, and is easy to modularization；And it is compact-sized, movement is flexible, has and is widely applied very much prospect.
Description
Technical field
The present invention relates to a kind of motion, more particularly to a kind of two-degree-of-freedom centering driven by coaxial rotating is in parallel
Mechanism.
Technical background
Parallel institution is a kind of polycyclic, multiple-degree-of-freedom mechanism, and movement is flexible, quickly, has greater stiffness.Parallel-connection structure
Load is shared by each movement branched chain, therefore load capacity is strong.At present, in disclosed parallel institution, from two degrees of freedom to six freely
Degree has many different ways of realization, suitable for the different applied field such as different machine toolings, product sorting, flight simulator
Close.The centering one-rotation parallel mechanism of two degrees of freedom, is very suitable for being installed on the end of other mechanisms movement, increases the rotation of mechanism
The free degree.And since rotating mechanism center is fixed, and the movement of moving mechanism is separate, facilitates the entirety of mechanism to ask
Solution also allows for modularization.Most parallel institution needs straight-line mechanism to be driven, and motor directly can not provide power for it,
Need that rotation is converted into linear motion by lead screw pair, system becomes more complicated and introduces driving error.
The content of the invention
For it is above-mentioned the problem of, it is an object of the invention to provide it is a kind of by coaxial rotating drive two-degree-of-freedom centering
Parallel institution, can realize and keep motion platform center to fix, and realize that pitching, the rotation for yawing both direction and coaxial rotating drive
It is dynamic.
To achieve these goals, the present invention uses following technical scheme：
A kind of two-degree-of-freedom centering parallel institution driven by coaxial rotating, including mobile platform, double-deck shafting and set
First, second and third kinematic chain being placed between the mobile platform and the double-deck shafting, the bilayer shafting include by
It is interior to the outer internal layer axis being rotatablely connected successively, outer hollow axis and double-deck shafting shell, the bilayer shafting shell and first
Chain link, the outer hollow axis and Article 2 movement chain link, the internal layer axis and Article 3 movement chain link are moved, it is described
Double-deck shafting drives the mobile platform to make pitching or yawing rotation by three kinematic chains.
The first, second and third movement chain structure is identical, including L-type rocking bar, crank, first rotating shaft and second turn
Axis, wherein one end of L-type rocking bar are connected by first rotating shaft with the mobile platform, and the other end passes through the second shaft and the song
One end connection of handle, the other end of the crank are fixedly connected with the double-deck shafting.
First rotating shaft in first, second and third kinematic chain is circumferentially in 120 degree of angle distributions and axis extended line
It is intersected on the central point of the mobile platform.
The second shaft in first, second and third kinematic chain is equal with the angle of horizontal plane and axis extended line
The joint of axis extended line by three first rotating shafts.
The L-type rocking bar includes orthogonal stock and quarter butt, and wherein stock is rotatablely connected with the first rotating shaft, institute
Quarter butt is stated to be rotatablely connected with second shaft.
The outer surface of the quarter butt is bonded with the inner surface of the corresponding crank.
In the axis of the first rotating shaft and second shaft is generally aligned in the same plane and it is mutually perpendicular to.
Be rotatablely connected between the internal layer axis and the outer hollow axis by small bearing, the outer hollow axis with it is described
It is rotatablely connected between double-deck shafting shell by big bearing；The end of the small bearing is equipped with the inner wall with the outer hollow axis
The internal layer axis fixing nut of threaded connection；The end of the big bearing is equipped with the outer layer axis axis with the double-deck shafting cage connection
Hold lid.
Advantages of the present invention and beneficial effect are：
1. application prospect of the present invention is extensive：Can feel relieved and realize pitching and yaw the rotation of both direction, it is convenient with it is other
Various motions combine and are easy to solve, and are easy to modularization；And it is compact-sized, movement is flexible, has before being widely applied very much
Scape.
2. the configuration of the present invention is simple：Parallel institution is driven by two coaxial rotary freedoms, compared to linear drives
It is more convenient, simplify drive mechanism.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the structure diagram of the double-deck axis of present invention transmission power；
Fig. 3 is structure diagram of the present invention in pitching and yaw state.
Wherein：1 is L-type rocking bar a, and 2 be L-type rocking bar b, and 3 be crank B, and 4 be double-deck shafting, and 5 be crank A, and 6 be crank C, 7
For L-type rocking bar c, 8 be mobile platform, and 9 be small bearing, and 10 be big bearing, and 11 be internal layer axis fixing nut, and 12 be internal layer axis, 13
It is double-deck shafting shell for outer layer axle bearing lid, 14,15 be outer hollow axis, and 20 be first rotating shaft, and 21 be the second shaft.
Embodiment
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the accompanying drawings with specific embodiment pair
The present invention is described in detail.
As shown in Figs. 1-2, a kind of two-degree-of-freedom centering parallel institution driven by coaxial rotating provided by the invention, bag
Mobile platform 8, double-deck shafting 4 and first, second and third kinematic chain being arranged between mobile platform 8 and double-deck shafting 4 are included,
Double-deck shafting 4 includes the internal layer axis 12, outer hollow axis 15 and double-deck shafting shell 14 being rotatablely connected successively from inside to outside, double-deck
Shafting shell 14 and first movement chain link, outer hollow axis 15 and Article 2 movement chain link, internal layer axis 12 and Article 3
Chain link is moved, double-deck shafting 4 drives mobile platform 8 to make pitching or yawing rotation by three kinematic chains.
First, second and third movement chain structure is identical, including L-type rocking bar, crank, 20 and second shaft of first rotating shaft
21, wherein one end of L-type rocking bar is connected by first rotating shaft 20 with mobile platform 8, and the other end passes through the second shaft 21 and crank
One end connection, the other end of crank is fixedly connected with bilayer shafting 4.
First rotating shaft 20 in first, second and third kinematic chain is circumferentially handed in 120 degree of angle distributions and axis extended line
It is compiled on the central point of mobile platform 8.The second shaft 21 and the angle phase of horizontal plane in first, second and third kinematic chain
Deng and axis extended line of the axis extended line by three first rotating shafts 20 joint.20 and second shaft of first rotating shaft
In 21 axis is generally aligned in the same plane and it is mutually perpendicular to.
Further, L-type rocking bar includes orthogonal stock and quarter butt, and wherein stock is rotated with first rotating shaft 20 and connected
Connect, quarter butt is rotatablely connected with the second shaft 21.The outer surface of quarter butt is bonded with the inner surface of corresponding crank.
Further, as shown in Fig. 2, being rotatablely connected between internal layer axis 12 and outer hollow axis 15 by small bearing 9, outer layer
It is rotatablely connected between hollow shaft 15 and double-deck shafting shell 14 by big bearing 10；The end of small bearing 9 is equipped with and outer hollow
The internal layer axis fixing nut 11 of the inner thread connection of axis 15；The end of big bearing 10 is equipped with what is be connected with double-deck shafting shell 14
Outer layer axle bearing lid 13.Double-deck shafting 4 by internal layer axis 12 and outer hollow axis 15 it is independent rotate realize two it is independent
Rotate coaxially.
The structure of first, second and third kinematic chain is specially：
First kinematic chain includes the L-type rocking bar a1 and crank A5 connected by the second shaft 21, and L-type rocking bar a1 passes through the
One shaft 20 is connected with mobile platform 8, and the lower end of crank A5 is fixedly connected with double-deck shafting shell 14；Article 2 kinematic chain includes
The L-type rocking bar b2 and crank B3 connected by the second shaft 21, L-type rocking bar b2 are connected by first rotating shaft 20 with mobile platform 8,
Crank B3 is fixedly connected with outer hollow axis 15；Article 3 kinematic chain include by the second shaft 21 connect L-type rocking bar c7 and
Crank C6, L-type rocking bar c7 are connected by first rotating shaft 20 with mobile platform 8, and crank C6 is fixedly connected with internal layer axis 12.
In double-deck shafting 4, the internal layer axis 12 and outer hollow axis 15 and fixed double-deck shafting shell that rotate coaxially
14, connected firmly respectively with crank C 6, crank B 3 and crank A 5.The short side of L-type rocking bar a 1, L-type rocking bar b 2 and L-type rocking bar c 7
Shaft is coaxially connected with the shaft of crank A 5, crank B 3, crank C 6 respectively.By above-mentioned connection mode, in mobile platform
Three movement branched chains are constructed between 8 and double-deck shafting 4.Internal layer axis 12 and outer hollow axis 15 drive crank C 6 and song respectively
Handle B 3 is rotated, and the pitching and yawing rotation of motion platform is converted into by kinematic chain, as shown in Figure 3.
In order to realize the proper motion of parallel institution, it is necessary to meet following geometrical conditions：
1) three first rotating shafts 20 on mobile platform 8 are met at a little and adjacent two shaft is into 120 degree.
2) crank A 5, crank B 3, shaft (the second shaft 21) angle with horizontal plane of crank C 6 are equal and extended line passes through
Cross the intersection point of three first rotating shafts 20 on mobile platform 8.
3) L-type rocking bar a1, L-type rocking bar b 2 and L-type rocking bar 7 size shapes of c are identical, its long and short side shaft (first
20 and second shaft 21 of shaft) in same plane and it is mutually perpendicular to.After being installed on mobile platform 8, the extension of the second shaft 21
Intersection point of the line by three first rotating shafts 20 on mobile platform 8.The length of long side will ensure energy outside the short side of three L-type rocking bars
It is enough to be bonded with the inner face of crank A 5, crank B 3 and crank C 6.
In view of the influence of constructive interference, mobile platform 8 of the invention can keep the intersection point of its three first rotating shafts 20
It is motionless, go to 40 degree of normal directions to all the points on 90 degree of spheres of north latitude of north latitude.
The present invention can keep motion platform center to fix, and realize pitching, yaw the rotation of both direction, it is convenient with it is other
Various motions combine and are easy to solve, and are easy to modularization；And it is compact-sized, movement is flexible, has before being widely applied very much
Scape.
The foregoing is merely embodiments of the present invention, are not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (8)
1. it is a kind of by coaxial rotating drive two-degree-of-freedom centering parallel institution, it is characterised in that including mobile platform (8),
Double-deck shafting (4) and first, second and third movement being arranged between the mobile platform (8) and the double-deck shafting (4)
Chain, the bilayer shafting (4) include the internal layer axis (12), outer hollow axis (15) and double-deck axis being rotatablely connected successively from inside to outside
It is shell (14), the bilayer shafting shell (14) and first movement chain link, the outer hollow axis (15) and Article 2
Chain link is moved, the internal layer axis (12) is driven with Article 3 movement chain link, the bilayer shafting (4) by three kinematic chains
The mobile platform (8) makees pitching or yawing rotation.
2. the two-degree-of-freedom centering parallel institution according to claim 1 driven by coaxial rotating, it is characterised in that institute
It is identical to state first, second and third movement chain structure, including L-type rocking bar, crank, first rotating shaft (20) and the second shaft
(21), wherein one end of L-type rocking bar is connected by first rotating shaft (20) with the mobile platform (8), and the other end passes through second turn
Axis (21) is connected with one end of the crank, and the other end of the crank is fixedly connected with the double-deck shafting (4).
3. the two-degree-of-freedom centering parallel institution according to claim 2 driven by coaxial rotating, it is characterised in that institute
The first rotating shaft (20) in first, second and third kinematic chain is stated circumferentially to be intersected in 120 degree of angle distributions and axis extended line
On the central point of the mobile platform (8).
4. the two-degree-of-freedom centering parallel institution according to claim 3 driven by coaxial rotating, it is characterised in that institute
State that the second shaft (21) in first, second and third kinematic chain is equal with the angle of horizontal plane and axis extended line passes through
The joint of the axis extended line of three first rotating shafts (20).
5. the two-degree-of-freedom centering parallel institution according to claim 2 driven by coaxial rotating, it is characterised in that institute
Stating L-type rocking bar includes orthogonal stock and quarter butt, and wherein stock is rotatablely connected with the first rotating shaft (20), the quarter butt
It is rotatablely connected with second shaft (21).
6. the two-degree-of-freedom centering parallel institution according to claim 5 driven by coaxial rotating, it is characterised in that institute
The outer surface for stating quarter butt is bonded with the inner surface of the corresponding crank.
7. the two-degree-of-freedom centering parallel institution according to claim 2 driven by coaxial rotating, it is characterised in that institute
The axis for stating first rotating shaft (20) and second shaft (21) is generally aligned in the same plane interior and is mutually perpendicular to.
8. the two-degree-of-freedom centering parallel institution according to claim 1 driven by coaxial rotating, it is characterised in that institute
State and be rotatablely connected between internal layer axis (12) and the outer hollow axis (15) by small bearing (9), the outer hollow axis (15)
It is rotatablely connected between the double-deck shafting shell (14) by big bearing (10)；The end of the small bearing (9) is equipped with and institute
State the internal layer axis fixing nut (11) of the inner thread connection of outer hollow axis (15)；The end of the big bearing (10) be equipped with
The outer layer axle bearing lid (13) of bilayer shafting shell (14) connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711223128.4A CN107932480A (en) | 2017-11-29 | 2017-11-29 | The two-degree-of-freedom centering parallel institution driven by coaxial rotating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711223128.4A CN107932480A (en) | 2017-11-29 | 2017-11-29 | The two-degree-of-freedom centering parallel institution driven by coaxial rotating |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107932480A true CN107932480A (en) | 2018-04-20 |
Family
ID=61949501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711223128.4A Pending CN107932480A (en) | 2017-11-29 | 2017-11-29 | The two-degree-of-freedom centering parallel institution driven by coaxial rotating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107932480A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111670095A (en) * | 2017-11-23 | 2020-09-15 | 株式会社利知院 | Parallel type integrated driving device |
| CN112113084A (en) * | 2020-09-21 | 2020-12-22 | 深圳市晶鸿电子有限公司 | Visual angle adjustable liquid crystal screen |
| CN112454335A (en) * | 2020-11-30 | 2021-03-09 | 重庆理工大学 | Six-degree-of-freedom robot based on active ball pair |
| FR3102697A1 (en) * | 2019-11-05 | 2021-05-07 | Pollen Robotics | Three-degree-of-freedom articulation for a robot and corresponding control method |
| US20220166288A1 (en) * | 2019-03-22 | 2022-05-26 | Ntn Corporation | Parallel link mechanism and link actuation device |
| CN115139243A (en) * | 2022-07-15 | 2022-10-04 | 南京信息工程大学 | Universal sphere self-centering clamp and clamping method thereof |
| JP7222447B1 (en) * | 2021-09-21 | 2023-02-15 | 日本精工株式会社 | Parallel link mechanism |
| WO2023047715A1 (en) * | 2021-09-21 | 2023-03-30 | 日本精工株式会社 | Parallel link mechanism |
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| CN103386680A (en) * | 2013-07-03 | 2013-11-13 | 北京航空航天大学 | Parallel two-degree of freedom orienting device |
| CN104511904A (en) * | 2013-09-26 | 2015-04-15 | 崔文德 | Spherical coordinate control mechanism |
| CN104889976A (en) * | 2015-05-28 | 2015-09-09 | 燕山大学 | Three rotating decoupling spherical surface parallel robot mechanism |
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| WO2009148603A1 (en) * | 2008-06-04 | 2009-12-10 | Ross-Hime Designs, Inc. | Robotic manipulator |
| CN103386680A (en) * | 2013-07-03 | 2013-11-13 | 北京航空航天大学 | Parallel two-degree of freedom orienting device |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111670095A (en) * | 2017-11-23 | 2020-09-15 | 株式会社利知院 | Parallel type integrated driving device |
| CN111670095B (en) * | 2017-11-23 | 2023-01-13 | 株式会社利知院 | Parallel type integrated driving device |
| US20220166288A1 (en) * | 2019-03-22 | 2022-05-26 | Ntn Corporation | Parallel link mechanism and link actuation device |
| FR3102697A1 (en) * | 2019-11-05 | 2021-05-07 | Pollen Robotics | Three-degree-of-freedom articulation for a robot and corresponding control method |
| WO2021089474A1 (en) * | 2019-11-05 | 2021-05-14 | Pollen Robotics | Articulation having three degrees of freedom for a robot, and corresponding control method |
| CN112113084A (en) * | 2020-09-21 | 2020-12-22 | 深圳市晶鸿电子有限公司 | Visual angle adjustable liquid crystal screen |
| CN112454335A (en) * | 2020-11-30 | 2021-03-09 | 重庆理工大学 | Six-degree-of-freedom robot based on active ball pair |
| JP7222447B1 (en) * | 2021-09-21 | 2023-02-15 | 日本精工株式会社 | Parallel link mechanism |
| WO2023047715A1 (en) * | 2021-09-21 | 2023-03-30 | 日本精工株式会社 | Parallel link mechanism |
| US11858136B2 (en) | 2021-09-21 | 2024-01-02 | Nsk Ltd. | Parallel link mechanism |
| CN115139243A (en) * | 2022-07-15 | 2022-10-04 | 南京信息工程大学 | Universal sphere self-centering clamp and clamping method thereof |
| CN115139243B (en) * | 2022-07-15 | 2023-05-05 | 南京信息工程大学 | Universal sphere self-centering clamp and clamping method thereof |
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