CN108613647B - Three-degree-of-freedom plane parallel mechanism moving platform pose detection device - Google Patents
Three-degree-of-freedom plane parallel mechanism moving platform pose detection device Download PDFInfo
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- CN108613647B CN108613647B CN201810708503.2A CN201810708503A CN108613647B CN 108613647 B CN108613647 B CN 108613647B CN 201810708503 A CN201810708503 A CN 201810708503A CN 108613647 B CN108613647 B CN 108613647B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Abstract
A three-freedom-degree plane parallel mechanism moving platform pose detection device comprises a base, a moving platform and two detection mechanisms with the same structure, wherein the two detection mechanisms are respectively arranged on the diagonal line of a rectangular base and are connected with the base through a connecting plate; two primary guide rails in the detection mechanism are respectively fixed on two sides of the connecting plate, primary slide blocks are arranged on the primary guide rails, the upper ends of the primary slide blocks are fixedly connected with the lower plate, and primary magnetic rulers are fixed on the side face of the lower plate; two second-stage guide rails are respectively fixed on two sides of the lower plate and are crossed with the first-stage guide rails in the direction, second-stage sliding blocks are arranged on the second-stage guide rails, the upper ends of the second-stage sliding blocks are fixedly connected with the upper plate, and second-stage magnetic scales are fixed on the side face of the upper plate; the center of the upper plate is provided with a slotted hole, the ball head end of the ball head connecting rod is embedded into the slotted hole, and the other end of the ball head connecting rod is of a flange structure and is fixedly connected with the movable platform. The invention has the advantages of simple structure, low cost, simple and quick detection method and high efficiency.
Description
Technical Field
The invention belongs to the technical field of detection, and particularly relates to a three-degree-of-freedom plane parallel mechanism pose detection device.
Background
The parallel mechanism is also called as a parallel robot, is a closed loop mechanism formed by a plurality of parallel chains, and is almost applied to various industrial fields because of the advantages of high rigidity, strong bearing capacity, small error, high positioning precision, small motion quality, good dynamic performance and the like.
In industrial application, most parallel mechanisms are constructed on the basis of a Stewart platform to form a 6-degree-of-freedom platform, but in practical application, the 6-degree-of-freedom platform is not needed, and the practical requirement can be met only by less than 6 degrees of freedom. The three-degree-of-freedom parallel mechanism is a typical less-degree-of-freedom parallel mechanism, such as a 3-PPR planar three-degree-of-freedom parallel mechanism with two movements and one rotation, and is widely applied to various industrial fields due to the advantages of simple structure, small occupied space, relatively simple control and the like. Due to the characteristics of the parallel mechanism, the three-degree-of-freedom parallel mechanism can realize any posture and position in a plane, which brings great difficulty to the real-time detection of the posture of the motion platform, and no good detection device is available for the real-time monitoring of the posture of the three-degree-of-freedom parallel mechanism.
Disclosure of Invention
The invention aims to provide the three-degree-of-freedom plane parallel mechanism moving platform pose detection device which is simple in structure, low in cost, simple and rapid in detection method and high in efficiency.
The technical scheme of the invention is as follows:
the invention comprises a base, a movable platform and two detection mechanisms with the same structure, wherein the two detection mechanisms are respectively arranged on the diagonal line of a rectangular base and are connected with the base through a connecting plate;
the detection mechanism comprises a first-stage guide rail, a first-stage slide block, a second-stage guide rail, a second-stage slide block, a ball head connecting rod, an upper plate, a lower plate, a first-stage magnetic scale, a second-stage magnetic scale and a connecting plate, wherein the two first-stage guide rails are respectively fixed on two sides of the connecting plate; two second-stage guide rails are respectively fixed on two sides of the lower plate and are crossed with the first-stage guide rails in the direction, second-stage sliding blocks are arranged on the second-stage guide rails, the upper ends of the second-stage sliding blocks are fixedly connected with the upper plate, the second-stage guide rails and the second-stage sliding blocks form a second moving pair, and second-stage magnetic rulers are fixed on the side faces of the upper plate parallel to the second-stage guide rails; the lower surface of the middle part of the upper plate is provided with a lug, the center of the upper plate is provided with a slotted hole, the ball head end of the ball head connecting rod is embedded into the slotted hole, and the other end of the ball head connecting rod is of a flange structure and is fixedly connected with the movable platform.
During detection, the two magnetic scale mechanisms move synchronously along with the moving pairs, and the moving amount of the two moving pairs can be directly obtained from a display of the magnetic scale mechanisms.
The detection mechanisms are respectively arranged on the diagonal lines of the base, and the first moving pair of the two detection mechanisms is parallel to the Y axis, and the second moving pair is parallel to the X axis; the motion directions of the first moving pair and the second moving pair are mutually vertical and both move passively; the first sliding pair and the second sliding pair realize follow-up through guide rail sliding block mechanisms arranged in parallel, and the moving directions are mutually vertical; when the two first moving pairs move synchronously and the two second moving pairs do not move, the moving amounts Y1 and Y2 of the moving platform along the direction parallel to the Y axis of the first moving pair can be detected by the first-level magnetic scale, and the calculation formula is used
Obtaining the movement amount of the movable platform in the Y-axis direction; when the two second moving pairs move synchronously and the two first moving pairs do not move, the moving amounts X1 and X2 of the moving platform along the direction parallel to the X axis of the second moving pair can be detected by the two-stage magnetic scale, and the calculation formula is used
Obtaining the movement amount of the movable platform in the X-axis direction; when the first moving pair and the second moving pair move, the formula can be calculated according to the moving amount Y in the Y-axis direction of the first moving pair and the moving amount X in the X-axis direction of the second moving pair
The rotation amount α of the movable platform around the Z axis is obtained indirectly, wherein r is the diagonal arrangement radius of the detection device, and the ball head connecting rod drives the sliding pair of the detection mechanism to move synchronously along with the movable platform, so that the movement posture of the movable platform is detected.
Compared with the prior art, the invention has the following advantages:
the mechanism is simple, the cost is low, the detection method is simple and quick, and the efficiency is high.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a partial cross-sectional view of the present invention;
FIG. 3 is a cross-sectional view of the detection mechanism of the present invention.
In the figure: 1-detection structure, 2-base, 3-moving platform, 4-first-stage guide rail, 5-first-stage slide block, 6-first-stage magnetic scale, 7-lower plate, 8-second-stage guide rail, 9-upper plate, 10-ball head connecting rod, 11-second-stage slide block, 12-second-stage magnetic scale and 13-connecting plate.
Detailed Description
In the schematic diagrams of the three-degree-of-freedom parallel mechanism pose detection device shown in fig. 1 and 2, a base 2 is a rectangular frame, two detection mechanisms 1 with the same structure are respectively arranged on the diagonal lines of the base and are connected with the base through a connecting plate 13, a movable platform 3 is also a rectangular frame, the movable platform is a three-degree-of-freedom parallel mechanism and is connected with the detection mechanisms;
as shown in fig. 3, two first-stage guide rails 4 in the detection mechanism package are respectively fixed on two sides of the detection mechanism connecting plate, first-stage sliding blocks 5 are arranged on the first-stage guide rails, the upper ends of the first-stage sliding blocks are fixedly connected with a lower plate 7, the first-stage guide rails and the first-stage sliding blocks form a first sliding pair, and a first-stage magnetic scale 6 is fixed on the side surface of the lower plate parallel to the first-stage guide rails; two second-stage guide rails 8 are respectively fixed on two sides of the lower plate and are crossed with the first-stage guide rails in direction, second-stage sliding blocks 11 are arranged on the second-stage guide rails, the upper ends of the second-stage sliding blocks are fixedly connected with the upper plate 9, the second-stage guide rails and the second-stage sliding blocks form a second moving pair, and second-stage magnetic rulers 12 are fixed on the side faces of the upper plate parallel to the second-stage guide rails; the lower surface of the middle part of the upper plate is provided with a convex block, the center of the upper plate is provided with a slotted hole, the ball head end of the ball head connecting rod 10 is embedded into the slotted hole, and the other end of the ball head connecting rod is of a flange structure and is fixedly connected with the movable platform.
The two magnetic scale mechanisms move synchronously along with the moving pairs, and the moving amount of the two moving pairs can be directly obtained from the display of the magnetic scale mechanisms.
The detection machineThe two detection mechanisms are respectively arranged on the diagonal of the base, and a first moving pair of the two detection mechanisms is parallel to the Y axis, and a second moving pair is parallel to the X axis; the motion directions of the first moving pair and the second moving pair are mutually vertical and both move passively; the first sliding pair and the second sliding pair realize follow-up through guide rail sliding block mechanisms arranged in parallel, and the moving directions are mutually vertical; as can be seen from FIG. 1, when the two first sliding pairs move synchronously and the two second sliding pairs do not move, the moving amounts Y1 and Y2 of the moving platform along the direction parallel to the Y axis of the first sliding pair can be detected by the first magnetic scale, and the calculation formula is used for calculating the moving amounts of the moving platform along the Y axis of the first sliding pair
Obtaining the movement amount of the movable platform in the Y-axis direction; when the two second moving pairs move synchronously and the two first moving pairs do not move, the moving amounts X1 and X2 of the moving platform along the direction parallel to the X axis of the second moving pair can be detected by the two-stage magnetic scale, and the calculation formula is used
Obtaining the movement amount of the movable platform in the X-axis direction; when the first moving pair and the second moving pair move, the formula can be calculated according to the moving amount Y in the Y-axis direction of the first moving pair and the moving amount X in the X-axis direction of the second moving pair
The rotation amount α of the movable platform around the Z axis is obtained indirectly, wherein r is the diagonal arrangement radius of the detection device, and the ball head connecting rod drives the sliding pair of the detection mechanism to move synchronously along with the movable platform, so that the movement posture of the movable platform is detected.
The invention relates to an auxiliary device in a mechanical mechanism, which is only used for monitoring and detecting the pose change of a movable platform in real time.
Claims (1)
1. The utility model provides a three degree of freedom plane parallel mechanism moves platform position appearance detection device, its includes base, moves platform and two detection mechanism that the structure is the same, its characterized in that: the two detection mechanisms are respectively arranged on the diagonal line of the rectangular base and connected with the base through a connecting plate, and the movable platform is a three-free-plane parallel mechanism and is connected with the detection mechanisms through a ball head connecting rod; the detection mechanism comprises a first-stage guide rail, a first-stage slide block, a second-stage guide rail, a second-stage slide block, a ball head connecting rod, an upper plate, a lower plate, a first-stage magnetic scale, a second-stage magnetic scale and a connecting plate, wherein the two first-stage guide rails are respectively fixed on two sides of the connecting plate; two second-stage guide rails are respectively fixed on two sides of the lower plate and are crossed with the first-stage guide rails in the direction, second-stage sliding blocks are arranged on the second-stage guide rails, the upper ends of the second-stage sliding blocks are fixedly connected with the upper plate, the second-stage guide rails and the second-stage sliding blocks form a second moving pair, and second-stage magnetic rulers are fixed on the side faces of the upper plate parallel to the second-stage guide rails; the lower surface of the middle part of the upper plate is provided with a lug, the center of the upper plate is provided with a slotted hole, the ball head end of the ball head connecting rod is embedded into the slotted hole, and the other end of the ball head connecting rod is of a flange structure and is fixedly connected with the movable platform.
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| CN201810708503.2A CN108613647B (en) | 2018-07-02 | 2018-07-02 | Three-degree-of-freedom plane parallel mechanism moving platform pose detection device |
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| CN201810708503.2A CN108613647B (en) | 2018-07-02 | 2018-07-02 | Three-degree-of-freedom plane parallel mechanism moving platform pose detection device |
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| CN108613647B true CN108613647B (en) | 2020-02-25 |
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