CN108656087A - A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement - Google Patents
A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement Download PDFInfo
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- CN108656087A CN108656087A CN201810597943.5A CN201810597943A CN108656087A CN 108656087 A CN108656087 A CN 108656087A CN 201810597943 A CN201810597943 A CN 201810597943A CN 108656087 A CN108656087 A CN 108656087A
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- pair
- axis
- hinge
- revolute pair
- branch
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 241000282376 Panthera tigris Species 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 238000010079 rubber tapping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
Classifications
-
- 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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to industrial robot fields.Purpose be to provide it is a kind of driving parallel arrangement two rotation one movement 3-freedom parallel mechanism, the parallel institution have the advantages that space it is small, without flexural pivot, precision and rigidity height, service speed is fast, dynamic property is good, large carrying capacity.Technical solution is：A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement, it is characterised in that：The parallel institution includes rack, moving platform and two the first branches being connected in parallel between rack and moving platform and second branch；First branch includes first movement pair, the first revolute pair, first connecting rod and the first Hooke's hinge being connected in turn between rack and moving platform；Second branch includes the second prismatic pair being connected in turn between rack and moving platform, the second Hooke's hinge, second connecting rod and moving platform revolute pair.
Description
Technical field
The present invention relates to industrial robot field, two rotations, the one movement Three Degree Of Freedom of specifically a kind of driving parallel arrangement
Parallel institution.
Background technology
Traditional numerically-controlled machine tool can install the main tapping of an achievable continuous rotation in end, to realize curved surface part
Polishing processing etc. operations.Although realizing processing purpose, these main tappings can bring a series of problems, such as mechanism is whole
Body space is big, moving-mass is big, control requires height, assembly difficulty height, manufacture/maintenance cost height etc..
Parallel institution is connected fixed platform and moving platform by two or more branches, special more closed loop knots
For structure while improving mechanism overall stiffness and precision, also considerably increase mechanism bears load-carrying ability.In addition, parallel machine
There is the passive joint that many is not required to installation driving in structure, this feature improves the operation speed of service and kinetics of mechanism
Energy.Based on above-mentioned advantage, parallel institution has obtained extensive concern and research, by the center as many high-end process units
Skeleton, and the parallel institution wherein with two rotations, one movement Three Degree Of Freedom is even more to receive attention, can be applied to stirring and rubs
Wipe the industrial circles such as weldering, large thin-wall element part polishing process and assemble, five-axle linkage processing.Existing Z3 pivot angles head (US
6431802B1) rotated and a movement by driving two of three identical branch's implementation mechanisms.Three guide rails of the mechanism
Parallel arrangement, reduces space；Branch is driven by fixed motor simultaneously, and simple in structure, without additional driving device, this is carried
High dynamic responding speed, and be easy to control.But contain flexural pivot in Z3 pivot angle heads branch, this results in joint high-precision manufacture
Difficulty increases, while also limiting the slewing area of mechanism.It is therefore proposed that a kind of by fixed motor drives, space is small, behaviour
Make that speed is fast, dynamic property is good and two rotations, one movement 3-freedom parallel mechanism without flexural pivot is necessary.
Invention content
The purpose of the present invention is overcoming the shortcomings of in above-mentioned background technology, a kind of two rotations one of driving parallel arrangement are provided
Mobile 3-freedom parallel mechanism, the parallel institution is small with space, high without flexural pivot, precision and rigidity, service speed is fast,
The advantages of dynamic property is good, large carrying capacity.
Technical solution provided by the invention is：
A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement, it is characterised in that：The parallel institution
Including rack, moving platform and two the first branches being connected in parallel between rack and moving platform and second branch；
First branch includes the first movement pair being connected in turn between rack and moving platform, the first revolute pair,
One connecting rod and the first Hooke's hinge；In first branch：First the first revolute pair of Hooke's hinge is connected with moving platform, with first connecting rod phase
First Hooke's hinge the second revolute pair axis even and the first revolute pair axis are parallel and perpendicular to first movement pair mobile axis；
Second branch includes the second prismatic pair being connected in turn between rack and moving platform, the second Hooke's hinge,
Two connecting rods and moving platform revolute pair；In second branch：Second the first revolute pair of Hooke's hinge axis is always perpendicular to the second movement
The axis of secondary axis, second the second revolute pair of Hooke's hinge being connected with second connecting rod is parallel with moving platform revolute pair axis.
Described two first branches are symmetrical with the second branched layout；In two the first branches：Two the first revolute pair axis
The distance between be less than the distance between two prismatic pair rail axis；Two first Hooke's hinge the first revolute pair axis overlap,
And it is parallel to the moving platform revolute pair axis in the second branch；First Hooke's hinge the second revolute pair axis is parallel in the second branch
Second Hooke's hinge the first revolute pair axis.
First Hooke's hinge of second Hooke's hinge the second revolute pair axis in the first branch in second branch
Second rotation axis.
The first movement pair include the first movement pair guide rail being connect with rack and connect with the first revolute pair and with
The first movement pair sliding block that first movement pair guide rail is slidably matched；Second prismatic pair includes the second movement being connect with rack
Secondary guide rail and the second prismatic pair sliding block for connecting with the second revolute pair and being slidably matched with the second prismatic pair guide rail.
The first movement pair guide rail and the second prismatic pair guide rail are each perpendicular to horizontal plane arrangement；First movement pair and second
Prismatic pair is that driving is secondary；First movement pair and the driving mechanism of the second prismatic pair are motor-driven ball screw framework.
A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement, it is characterised in that：The parallel institution
Including rack, moving platform and the Liang Ge thirds branch being connected in parallel between rack and moving platform and second branch；
The third branch includes the third prismatic pair being connected in turn between rack and moving platform, third revolute pair,
Three-link and third Hooke's hinge；In third branch：The first revolute pair of third Hooke's hinge is connected with moving platform, with third connecting rod phase
Third Hooke's hinge the second revolute pair axis even moves secondary axis with third revolute pair axis parallel and perpendicular to third；
Second branch includes the second prismatic pair being connected in turn between rack and moving platform, the second Hooke's hinge,
Two connecting rods and moving platform revolute pair；In second branch：Second the first revolute pair of Hooke's hinge axis is always perpendicular to the second movement
The axis of secondary axis, second the second revolute pair of Hooke's hinge being connected with second connecting rod is parallel with moving platform revolute pair axis.
Described two third branches are symmetrical with the second branched layout；In Liang Ge thirds branch：Two third revolute pair axis
The distance between be equal to the distance between two third prismatic pair rail axis, and third revolute pair axis is vertical and intersects at
Third prismatic pair rail axis in same branch；Two third Hooke's hinge the first revolute pair axis overlap, and are parallel to second
Moving platform revolute pair axis in branch；Third Hooke's hinge the second revolute pair axis is parallel to the second Hooke's hinge in the second branch
First revolute pair axis.
Third Hooke's hinge of second Hooke's hinge the second revolute pair axis in third branch in second branch
Second revolute pair axis.
The third prismatic pair include the third prismatic pair guide rail being connect with rack and connect with third revolute pair and with
The third prismatic pair sliding block that third prismatic pair guide rail is slidably matched；Second prismatic pair includes the second movement being connect with rack
Secondary guide rail and the second prismatic pair sliding block for connecting with the second revolute pair and being slidably matched with the second prismatic pair guide rail.
The third prismatic pair guide rail and the second prismatic pair guide rail are each perpendicular to horizontal plane arrangement；Third prismatic pair and second
Prismatic pair is that driving is secondary；The driving mechanism of third prismatic pair and the second prismatic pair is motor-driven ball screw framework.
The beneficial effects of the invention are as follows：
Parallel institution proposed by the present invention is a kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement,
Have many advantages, such as that rigidity/precision is high, dynamic response performance is good, large carrying capacity, can be used for complex-curved sanding and polishing processing,
The fields such as movement simulation.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the embodiment of the present invention one.
Fig. 2 is the dimensional structure diagram of the embodiment of the present invention two.
Fig. 3 is the dimensional structure diagram of the first branch in Fig. 1.
Fig. 4 is the dimensional structure diagram of the second branch.
Fig. 5 is the dimensional structure diagram of Tu2Zhong thirds branch.
Specific implementation mode
Below in conjunction with embodiment shown in Figure of description, the invention will be further described, but the present invention does not limit to
In following embodiment.
Embodiment one
It is a kind of to drive the two of parallel arrangement to rotate a movement 3-freedom parallel mechanism, including rack shown in 3,4 such as Fig. 1
(being omitted in figure), moving platform 1 and two the first branches being connected in parallel between rack and moving platform and second branch.
First branch includes the first movement pair guide rail 11 being connected in turn between rack and moving platform, first movement
Secondary sliding block 12 (first movement pair guide rail cooperatively forms first movement pair with first movement pair sliding block), the first revolute pair 13, first
Connecting rod 14 and the first Hooke's hinge 15；In first branch：First the first revolute pair of Hooke's hinge is connected with moving platform, with first connecting rod
The axis of first connected the second revolute pair of Hooke's hinge is again parallel with the first revolute pair axis, and perpendicular to first movement secondary axis
(i.e. first movement pair mobile axis, similar below).
Second branch includes the second prismatic pair guide rail 21, second movement being connected in turn between rack and moving platform
Secondary sliding block 22 (the second prismatic pair guide rail and the second prismatic pair sliding block cooperatively form the second prismatic pair), the second Hooke's hinge 23, second
Connecting rod 24 and moving platform revolute pair 25；In second branch：Second the first revolute pair of Hooke's hinge axis is moved perpendicular to second always
The axis of dynamic secondary axis, second the second revolute pair of Hooke's hinge being connected with second connecting rod is again parallel with moving platform revolute pair axis.
Described two first branches are symmetrical with the second branched layout.
In two the first branches：The distance between two first revolute pair axis be less than two 11 axis of prismatic pair guide rail it
Between distance；Two first Hooke's hinge the first revolute pair axis overlap, and the moving platform turns auxiliary shaft being parallel in the second branch
Line；First Hooke's hinge the second revolute pair axis is parallel to second Hooke's hinge the first revolute pair axis in the second branch.
In second branch：First Hooke's hinge of second Hooke's hinge the second revolute pair axis in the first branch
Two revolute pair axis.
In the present embodiment, the first movement pair guide rail and the second prismatic pair guide rail are each perpendicular to horizontal plane arrangement.
In the present embodiment, the secondary prismatic pair in the first branch and the second branch of driving, driving mechanism can be selected as motor
The roller screw (being omitted in figure) of drive；When driving secondary motion, which can make two rotations one movement Three Degree Of Freedom fortune
It is dynamic.
Embodiment two
It is a kind of to drive the two of parallel arrangement to rotate a movement 3-freedom parallel mechanism, including rack shown in 4,5 such as Fig. 2
(being omitted in figure), moving platform 1 and the Liang Ge thirds branch being connected in parallel between rack and moving platform and second branch.
The third branch includes the third prismatic pair guide rail 31 being connected in turn between rack and moving platform, third movement
Secondary sliding block 32 (third prismatic pair guide rail cooperatively forms first movement pair with third prismatic pair sliding block), third revolute pair 33, third
Connecting rod 34 and third Hooke's hinge 35；In third branch：The first revolute pair of third Hooke's hinge is connected with moving platform, with third connecting rod
The axis of connected the second revolute pair of third Hooke's hinge is again parallel with third revolute pair axis, and moves countershaft perpendicular to third
Line.
Second branch includes the second prismatic pair guide rail 21, second movement being connected in turn between rack and moving platform
Secondary sliding block 22 (the second prismatic pair guide rail and the second prismatic pair sliding block cooperatively form the second prismatic pair), the second Hooke's hinge 23, second
Connecting rod 24 and moving platform revolute pair 25；In second branch：Second the first revolute pair of Hooke's hinge axis is moved perpendicular to second always
The axis of dynamic secondary axis, second the second revolute pair of Hooke's hinge being connected with second connecting rod is again parallel with moving platform revolute pair axis.
Described two third branches are symmetrical with the second branched layout.
In Liang Ge thirds branch：The distance between two third revolute pair axis are equal to two 31 axis of third prismatic pair guide rail
The distance between line, and third revolute pair axis is vertical and intersects at the third prismatic pair rail axis in same branch；Two
A the first revolute pair of third Hooke's hinge axis overlaps, and the moving platform revolute pair axis being parallel in the second branch；Third Hooke
Cut with scissors second Hooke's hinge the first revolute pair axis that the second revolute pair axis is parallel in the second branch.
In second branch：Third Hooke's hinge of second Hooke's hinge the second revolute pair axis in third branch
Two revolute pair axis.
In the present embodiment, the third prismatic pair guide rail and the second prismatic pair guide rail are each perpendicular to horizontal plane arrangement.
In the present embodiment, the secondary prismatic pair in third branch and the second branch of driving, driving mechanism can be selected as motor
The roller screw (being omitted in figure) of drive；When driving secondary motion, which can make two rotations one movement Three Degree Of Freedom fortune
It is dynamic.
Compare known to two embodiments：Embodiment two and embodiment one the difference is that：In embodiment one, two
The slewing area of the first revolute pair in one branch is limited by first movement pair guide rail；And in embodiment two, two thirds
Third prismatic pair guide rail in branch significantly increases turning for mechanism then to the no any influence of the rotation of third revolute pair
Dynamic range.
Claims (6)
1. a kind of two rotations, the one movement 3-freedom parallel mechanism of driving parallel arrangement, it is characterised in that：The parallel institution packet
Including rack, moving platform (1) and two the first branches being connected in parallel between rack and moving platform and second branch；
First branch includes the first movement pair being connected in turn between rack and moving platform, the first revolute pair (13),
One connecting rod (14) and the first Hooke's hinge (15)；In first branch：First the first revolute pair of Hooke's hinge is connected with moving platform, with
The axis and the first revolute pair axis of first connected the second revolute pair of Hooke's hinge of one connecting rod are parallel and perpendicular to first movement pair
Mobile axis；
Second branch includes the second prismatic pair being connected in turn between rack and moving platform, the second Hooke's hinge (23),
Two connecting rods (24) and moving platform revolute pair (25)；In second branch：Second the first revolute pair of Hooke's hinge axis always perpendicular to
Second movement secondary axis, the axis and moving platform revolute pair axis for second the second revolute pair of Hooke's hinge being connected with second connecting rod are flat
Row；
Described two first branches are symmetrical with the second branched layout；In two the first branches：Between two the first revolute pair axis
Distance be less than the distance between two prismatic pair guide rail (11) axis；Two first Hooke's hinge the first revolute pair axis overlap,
And it is parallel to the moving platform revolute pair axis in the second branch；First Hooke's hinge the second revolute pair axis is parallel in the second branch
Second Hooke's hinge the first revolute pair axis；Second Hooke's hinge the second revolute pair axis in second branch is perpendicular to first
First Hooke's hinge the second revolute pair axis in branch.
2. two rotations, the one movement 3-freedom parallel mechanism of driving parallel arrangement according to claim 1, feature exist
In：The first movement pair includes the first movement pair guide rail (11) being connect with rack and is connect with the first revolute pair and with
The first movement pair sliding block (12) that one prismatic pair guide rail is slidably matched；Second prismatic pair includes that second connect with rack moves
Dynamic pair guide rail (21) and the second prismatic pair sliding block for connecting with the second revolute pair and being slidably matched with the second prismatic pair guide rail
(22)。
3. two rotations, the one movement 3-freedom parallel mechanism of driving parallel arrangement according to claim 2, feature exist
In：The first movement pair guide rail and the second prismatic pair guide rail are each perpendicular to horizontal plane arrangement；First movement pair and the second movement
Pair is secondary for driving；First movement pair and the driving mechanism of the second prismatic pair are motor-driven ball screw framework.
4. a kind of two rotations, the one movement 3-freedom parallel mechanism of driving parallel arrangement, it is characterised in that：The parallel institution packet
Including rack, moving platform (1) and the Liang Ge thirds branch being connected in parallel between rack and moving platform and second branch；
The third branch includes the third prismatic pair being connected in turn between rack and moving platform, third revolute pair (33),
Three-link (34) and third Hooke's hinge (35)；In third branch：The first revolute pair of third Hooke's hinge is connected with moving platform, with
The axis of connected the second revolute pair of third Hooke's hinge of three-link is with third revolute pair axis parallel and perpendicular to third prismatic pair
Mobile axis；
Second branch includes the second prismatic pair being connected in turn between rack and moving platform, the second Hooke's hinge (23),
Two connecting rods (24) and moving platform revolute pair (25)；In second branch：Second the first revolute pair of Hooke's hinge axis always perpendicular to
Second movement secondary axis, the axis and moving platform revolute pair axis for second the second revolute pair of Hooke's hinge being connected with second connecting rod are flat
Row；
Described two third branches are symmetrical with the second branched layout；In Liang Ge thirds branch：Between two third revolute pair axis
Distance be equal to the distance between two third prismatic pair guide rail (31) axis, and third revolute pair axis is vertical and intersects at same
Third prismatic pair rail axis in one branch；Two third Hooke's hinge the first revolute pair axis overlap, and are parallel to second point
Moving platform revolute pair axis in branch；Third Hooke's hinge the second revolute pair axis is parallel to the second Hooke's hinge in the second branch
One revolute pair axis；Third tiger of second Hooke's hinge the second revolute pair axis in third branch in second branch
Gram hinge the second revolute pair axis.
5. two rotations, the one movement 3-freedom parallel mechanism of driving parallel arrangement according to claim 4, feature exist
In：The third prismatic pair includes the third prismatic pair guide rail (31) being connect with rack and is connect with third revolute pair and with
The third prismatic pair sliding block (32) that three moving sets guide rail is slidably matched；Second prismatic pair includes that second connect with rack moves
Dynamic pair guide rail (21) and the second prismatic pair sliding block for connecting with the second revolute pair and being slidably matched with the second prismatic pair guide rail
(22)。
6. two rotations, the one movement 3-freedom parallel mechanism of driving parallel arrangement according to claim 5, feature exist
In：The third prismatic pair guide rail and the second prismatic pair guide rail are each perpendicular to horizontal plane arrangement；Third prismatic pair and the second movement
Pair is secondary for driving；The driving mechanism of third prismatic pair and the second prismatic pair is motor-driven ball screw framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810597943.5A CN108656087A (en) | 2018-06-12 | 2018-06-12 | A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement |
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|---|---|---|---|
| CN201810597943.5A CN108656087A (en) | 2018-06-12 | 2018-06-12 | A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement |
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Family
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| CN201810597943.5A Pending CN108656087A (en) | 2018-06-12 | 2018-06-12 | A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773591A (en) * | 2018-12-05 | 2019-05-21 | 燕山大学 | Vertical four branch Five-axis NC Machining Center |
| CN109877807A (en) * | 2019-03-05 | 2019-06-14 | 浙江理工大学 | One kind (2PRU-PUR)-PP five-axle linkage series-parallel robot |
| CN110026967A (en) * | 2019-04-09 | 2019-07-19 | 浙江理工大学 | A kind of 2PRU-2PUR three freedom redundancy driven Parallel Kinematic Manipulator |
| CN110116400A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of PRS-PRU-PUR parallel institution |
| CN110116399A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of Three Degree Of Freedom 2PRU-PSR parallel institution |
| CN110303476A (en) * | 2019-06-28 | 2019-10-08 | 中国航天空气动力技术研究院 | A kind of three branch's three freedom redundancy drive-type parallel connection processing heads |
| CN110806200A (en) * | 2019-10-09 | 2020-02-18 | 陈立坡 | Laser positioning auxiliary platform |
| CN112454090A (en) * | 2020-11-25 | 2021-03-09 | 杨玮军 | Grinding device for processing graphite round rod |
| CN113997142A (en) * | 2021-10-25 | 2022-02-01 | 北京理工大学 | Robot system for nuclear reactor core end face grinding |
| CN114406729A (en) * | 2022-02-21 | 2022-04-29 | 复旦大学 | Large-rotation-angle five-degree-of-freedom parallel mechanism |
| WO2022088508A1 (en) * | 2020-10-26 | 2022-05-05 | 浙江理工大学 | Constrained redundant parallel mechanism with four degrees of freedom including two rotational and two translational degrees of freedom |
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| CN109773591B (en) * | 2018-12-05 | 2023-11-10 | 燕山大学 | Vertical four-branch five-axis machining center |
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