CN108972505A - A kind of 3PcSS+RTR flexural pivot chain substitution type parallel institution - Google Patents
A kind of 3PcSS+RTR flexural pivot chain substitution type parallel institution Download PDFInfo
- Publication number
- CN108972505A CN108972505A CN201810720459.7A CN201810720459A CN108972505A CN 108972505 A CN108972505 A CN 108972505A CN 201810720459 A CN201810720459 A CN 201810720459A CN 108972505 A CN108972505 A CN 108972505A
- Authority
- CN
- China
- Prior art keywords
- workbench
- parallel institution
- rocker arm
- transmission device
- 3pcss
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
Abstract
It is related to a kind of 3PcSS+RTR flexural pivot chain substitution type parallel institution, it include: for realizing the equivalent ball-joint of parallel institution geometrical relationship feature constraint, guarantee Three Degree Of Freedom feature, workbench for output power, realization parallel institution motor function, it is transferred to the rocker arm of workbench for realizing parallel institution geometrical relationship feature constraint and by power, the transmission device of rocker arm is transferred to for realizing the transmission of power, by power.Transmission device is located at the lower layer of entire parallel-connection structure, and workbench is located at the top of transmission mechanism, between workbench and transmission device by rocker arm connect, the both ends of rocker arm respectively with workbench and transmission device flexural pivot chain link；Equivalent ball-joint is located at transmission device, the middle inside of workbench and rocker arm three and both ends and connect respectively with transmission device and workbench.The parallel institution is guaranteeing preferable kinematic accuracy while reducing the requirement to machining accuracy.Belong to parallel institution field.
Description
Technical field
The present invention relates to parallel institution field more particularly to a kind of 3PcSS+RTR flexural pivot chain substitution type parallel institutions.
Background technique
Most of mainstream mechanical arm uses six degree of freedom series model now, and is substitution human arm work as script purpose
The mechanical arm of work, six degree of freedom series model obviously still have larger gap, i.e., mechanical arm of today with the human arm of seven freedom
It also fails to be really achieved the degree that maximum possible substitution is manually made, and effectively introduces the parallel connection for being similar to shoulders of human body working condition
Mechanism can more be able to achieve the biomimetic manipulator with seven freedom, more be fitted the work of human arm as shoulder joint mechanical arm
Feature.
Existing parallel institution has movement inertia small since its mechanism self character determines, with parallel-connection structure, Gao Gang
The advantages that degree, high-precision, high load, and parallel institution configuration kinetic characteristic more meets human body shoulder joint kinesitherapy situation, but same
When the parallel institution defect that also there is it to be difficult to avoid that.It is smaller that there is working spaces, and requirement on machining accuracy is high, and installation difficulty is larger
The disadvantages of.
The deficiency of technique manufacture view is also to restrict a big problem of parallel institution development, due to the fortune of parallel institution itself
Dynamic characteristic is limited, the either sliding pair used, revolute pair, is required to higher machining accuracy to guarantee that three degree of freedom is matched
That closes is accurate, and the requirement on machining accuracy that point is relatively higher than serial mechanism makes the popularization of parallel institution in cost and the control of product
There are disadvantages for aspect.
The 3P being developed into solve the problems such as working space is smallerC(RR)NThough parallel institution is compared and general parallel institution
There are more considerable working space and dexterous working space, but its PcThe driving method of sliding pair not can avoid to be turned with rocker arm in parallel
The biggish defect of dynamic loading caused by dynamic.
In 3PcSS: Pc indicates annular movement pair, and S indicates ball pair, and 3PcSS indicates 3 annular movement pairs-ball pair-ball pair；
In 1RTR: R indicates revolute pair, and T indicates Hooke hinge, and RTR table shows revolute pair-Hooke hinge-revolute pair (as equivalent ball-joint).
Summary of the invention
For the technical problems in the prior art, the object of the present invention is to provide a kind of 3PcSS+RTR spherical hinge generations
Parallel institution of remodeling is guaranteeing preferable kinematic accuracy simultaneously after the parallel institution is by the conventional spherical hinge of equivalent ball-joint replacement
Reduce the requirement to machining accuracy.
In order to achieve the above object, the present invention adopts the following technical scheme:
A kind of 3PcSS+RTR flexural pivot chain substitution type parallel institution, comprising:-equivalent ball-joint: for realizing parallel institution geometry
Relationship characteristic constraint, guarantees Three Degree Of Freedom feature；Workbench: being used for output power, realizes parallel institution motor function；It shakes
Arm: quantity is three, for realizing parallel institution geometrical relationship feature constraint, and power is transferred to workbench；Transmission dress
It sets: for realizing the transmission of power, power being transferred to rocker arm；Transmission device is located at the lower layer of entire parallel-connection structure, and work is flat
Platform is located at the top of transmission mechanism, between workbench and transmission device by rocker arm connect, the both ends of rocker arm respectively with work
Platform and transmission device flexural pivot chain link；Equivalent ball-joint be located at transmission device, workbench and rocker arm three middle inside and
Both ends are connect with transmission device and workbench respectively.
Preferably, corresponding three rocker arms, are correspondingly provided with three driving motors and three sets of transmission mechanism, often in transmission device
One driving motor, one rocker arm of the corresponding corresponding driving of a transmission mechanism, and then each rocker arm being capable of self-movement.
Preferably, transmission mechanism is a set of Inside gear drive mechanism that one group of internal gear and three groups of external gears are constituted: wherein
One group of external gear is coupling type, will be in the power transmission to internal gear of axis；Other two groups of external gears are slave mode, constitute passive constraint
Keep entire transmission process more stable.
Preferably, three rocker arm correspondences are respectively equipped with three spherical hinges, equivalent ball-joint on workbench and transmission device
It is 3-freedom parallel mechanism for constraining parallel institution at the centre of sphere of the spherical surface where six spherical hinges.
Preferably, equivalent ball-joint includes Hooke hinge, two the first revolute pairs, connecting rod and sleeves；Hooke hinge includes being located at together
One plane and orthogonal two the second revolute pairs, the axis of two the first revolute pairs cross the intersection points of two the second revolute pairs with
Hooke hinge is connected, and two the first revolute pairs are arranged in a mutually vertical manner；One end of connecting rod passes through sleeve and is connected with the pinboard that Hooke is cut with scissors.
Preferably, the first revolute pair includes a pair of of transverse bearing and a pair of of thrust bearing, can undertake simultaneously radial force and
Axial force；A pair of of thrust bearing is located at the both ends of sleeve lining, and a pair of of transverse bearing is located at sleeve respectively against two thrust bearings
It is internal.
Preferably, the other end of connecting rod is connected at the center of workbench.
Preferably, the space angular region of workbench is a spherical crown at 60 ° of inclination angles.
The principle of the present invention is: the present invention mainly guarantees that the fixed dynamic loading of driving motor is lesser same by transmission device
When, it transfers power at rocker arm, it is in parallel with the geometrical relationship constraint realization that equivalent ball-joint is formed using rocker arm both ends spherical hinge
Power is more accurately and stably transmitted at workbench by mechanism driving characteristic, and output-parallel mechanism entirety posture whereby
Transformation.The ring-like sliding pair that transmission device is constituted, six spherical hinges connecting with rocker arm and spherical surface centre in parallel play flexural pivot
The equivalent ball-joint of chain effect, together constitutes 3PcSS+RTR parallel institution and determines its geometrical characteristic, kinetic characteristic and stress
Analysis mode, and the collocation that three driving motors rotate as a result, uniquely controls workbench output phase on parallel institution and answers
Posture.
Equivalent ball-joint replaces conventional spherical hinge to play the role of constraining freedom degree in entire parallel institution, with common ball
The stress characteristic of hinge, and the dexterous workspace bigger with more conventional spherical hinge, can satisfy this parallel institution center ball
Hinge is able to rotate the requirement that larger angle meets mechanism kinematic demand.Redundant degree of freedom, which is embodied in equivalent ball-joint, has conventional Hu
While gram tri- directions hinge xyz rotation, the direction z has more a rotation.Introducing through testing redundant degree of freedom could fully
Embody the motion conditions of common spherical hinge (such as flake bearing, the other kinds of components for being capable of providing spherical surface constraint).
Rocker arm both ends junction is all made of flexural pivot chain link, so that rocker arm is simplified in mechanics level stress, it can in engineering
To be reduced to simple two power bar, it is determined on the line of rocker arm both ends so that coupled transmission device and workbench all has
Support reaction direction, the equivalent ball-joint of effect of contraction can also solve specific stress feelings by the power and equalising torque of entire mechanism
Condition.Mechanism freedom is maintained as Three Degree Of Freedom simultaneously, have with the same excellent kinetic characteristic of script parallel institution, more at
It simplifies to function conventional parallel institution statics and dynamic analysis works.
Generally speaking, the present invention has the advantage that
1. rocker arm can be reduced to simple two power rod model in mechanics level, solves conventional parallel connection to a certain extent
Mechanism is in statics, the problem of kinetically force analysis difficulty.Effective introducing of spherical hinge, significantly reduces parallel institution
Processing, assembly difficulty, be easier to promote.
2. replacing conventional spherical hinge to make entire parallel institution working space more flexible using equivalent ball-joint.
3. by fixed lower centrally-mounted driving, the more effective solution larger problem of parallel institution dynamic loading, simultaneously
Also it can avoid causing driving motor to increase due to increase because loading to a certain extent, driving motor moves therewith and causes to load
The vicious circle of increase.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Fig. 2 is structure of the invention rough schematic view.
Fig. 3 is the connection schematic diagram of equivalent ball-joint and transmission device.
Fig. 4 is the structural schematic diagram of sleeve, connecting rod, thrust bearing and transverse bearing.
Fig. 5 be workbench spatial dimension be spherical crown front view (rotated around vertical axes can be obtained spherical crown solid
Figure).
Fig. 6 is 3-R (SS)-RTR structural scheme of mechanism.
Fig. 7 is the structural schematic diagram of equivalent ball-joint.
Label and corresponding parts title in figure are as follows: 1 is equivalent ball-joint, and 2 be workbench, and 3 be rocker arm, and 4 be biography
Dynamic device, 5 be spherical hinge, and 6 be pinboard, and 7 be connecting rod, and 8 be thrust bearing, and 9 be transverse bearing, and 10 be sleeve, the yin in Fig. 5
The spatial dimension of shadow part expression workbench.
Specific embodiment
It is next with reference to the accompanying drawing that the present invention will be further described in detail.
Embodiment 1
A kind of 3PcSS+RTR flexural pivot chain substitution type parallel institution, comprising: transmission device, three rocker arms, workbenches and wait
Imitate flexural pivot.Workbench is used for output power, realizes parallel institution motor function.
Transmission device includes: three driving motors and three sets of transmission mechanism；For realizing the transmission of power, power is transmitted
To rocker arm.Wherein one rocker arm of the corresponding corresponding driving of a transmission mechanism of each driving motor, and then each rocker arm being capable of self-movement.
Transmission mechanism is a set of Inside gear drive mechanism that one group of internal gear and three groups of external gears are constituted: wherein one group of external gear is connecting shaft
Formula, will be in the power transmission to internal gear of axis；Other two groups of external gears are slave mode, and constituting passive constraint makes entire transmission process more
Add stabilization.
Equivalent ball-joint: equivalent ball-joint includes Hooke hinge, two the first revolute pairs, connecting rod and sleeves；For realizing parallel machine
Structure geometrical relationship feature constraint guarantees parallel institution Three Degree Of Freedom feature.As shown in figs. 4 and 7, Hooke hinge includes positioned at same
Plane and orthogonal two the second revolute pairs, the axis of two the first revolute pairs cross the intersection point and Hu of two the second revolute pairs
Gram hinge be connected, two the first revolute pairs are arranged in a mutually vertical manner；One end of connecting rod passes through sleeve and is connected with the pinboard that Hooke is cut with scissors.The
One revolute pair includes a pair of of transverse bearing and a pair of of thrust bearing, can undertake radial force and axial force simultaneously；A pair of of thrust axis
The both ends for being located at sleeve lining are held, a pair of of transverse bearing is located at sleeve inner respectively against two thrust bearings.Equivalent ball-joint is located at
It is 3-freedom parallel mechanism for constraining parallel institution at the centre of sphere of spherical surface where six spherical hinges.
Rocker arm: for realizing parallel institution geometrical relationship feature constraint, and power is transferred to workbench.Three rocker arms
It is equally spacedly distributed on the outer wall of the external gear of transmission mechanism, the both ends of rocker arm pass through ball with external gear and workbench respectively
Hinge connection.Effective introducing of spherical hinge significantly reduces processing, the assembly difficulty of parallel institution, is easier to promote；And make
Rocker arm can be reduced to simple two power rod model in mechanics level, solve conventional parallel institution to a certain extent in static(al)
The problem of, kinetically force analysis difficulty.
Transmission device is located at the lower layer of entire parallel-connection structure, and workbench is located at the top of transmission mechanism.Transmission device structure
At ring-like sliding pair, six spherical hinges connecting with rocker arm and spherical surface centre in parallel play the role of the equivalent sphere of spherical hinge
Hinge, together constitutes 3PcSS+RTR parallel institution.
When work, transmission device transfers power to rocker arm, using where the spherical hinge at rocker arm both ends and six spherical hinges
Spherical surface the centre of sphere at equivalent ball-joint formed geometrical relationship constraint realize parallel institution drive characteristic, power is more accurate
It is steadily transmitted at workbench, and output-parallel mechanism entirety posture changing whereby, the movement of entire mechanism are equivalent to one
A entirely controlled spherical hinge, space are the attitudes vibration of upper mounting plate, distance of the workbench relative to flexural pivot center
Keep constant, it is believed that no change in location (i.e. using that point of flexural pivot center relative to workbench position as describing work
The point of position of platform).When α=90 °, β=30 °, the working space of mechanism is a spherical crown, and the front view of spherical crown is one 120 ° of circles
Arc, i.e. mechanism upper mounting plate can tilt 60 ° to any direction relative to preliminary examination posture maximum.Wherein, α is the P in Fig. 6i-O-Gi
The angle that (i 1,2,3) is constituted；β is the P in Fig. 6iThe angle that-O-z (i 1,2,3) is constituted；Z is vertical axes.
Embodiment 2
Transmission device in the present embodiment uses the patent of invention of Publication No. CN107035820A.It is not mentioned in the present embodiment
And part, with embodiment 1, details are not described herein again.
Other than the mode that above-described embodiment refers to, the first revolute pair can also be a transverse bearing and a pair of of thrust axis
It holds, transverse bearing is located at sleeve inner and any bearing of two thrust bearings close to installation.These mapping modes are of the invention
In protection scope.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (8)
1. a kind of 3PcSS+RTR flexural pivot chain substitution type parallel institution characterized by comprising
Equivalent ball-joint: for realizing parallel institution geometrical relationship feature constraint, guarantee Three Degree Of Freedom feature；
Workbench: being used for output power, realizes parallel institution motor function；
Rocker arm: quantity is three, for realizing parallel institution geometrical relationship feature constraint, and power is transferred to workbench；
Transmission device: for realizing the transmission of power, power is transferred to rocker arm；
Transmission device is located at the lower layer of entire parallel-connection structure, and workbench is located at the top of transmission mechanism, workbench and transmission
Between device by rocker arm connect, the both ends of rocker arm respectively with workbench and transmission device flexural pivot chain link；Equivalent ball-joint position
It is connect respectively with transmission device and workbench in transmission device, the middle inside of workbench and rocker arm three and both ends.
2. 3PcSS+RTR flexural pivot chain substitution type parallel institution described in accordance with the claim 1, it is characterised in that: corresponding three are shaken
Arm is correspondingly provided with three driving motors and three sets of transmission mechanism, the corresponding transmission mechanism of each driving motor in transmission device
One rocker arm of corresponding driving, and then each rocker arm being capable of self-movement.
3. 3PcSS+RTR flexural pivot chain substitution type parallel institution according to claim 2, which is characterized in that transmission mechanism is
A set of Inside gear drive mechanism that one group of internal gear and three groups of external gears are constituted: wherein one group of external gear is coupling type, by axis
In power transmission to internal gear；Other two groups of external gears are slave mode, and constituting passive constraint keeps entire transmission process more stable.
4. 3PcSS+RTR flexural pivot chain substitution type parallel institution described in accordance with the claim 1, it is characterised in that: three rocker arms pair
Three spherical hinges should be respectively equipped on workbench and transmission device, equivalent ball-joint is located at the spherical surface where six spherical hinges
It is 3-freedom parallel mechanism for constraining parallel institution at the centre of sphere.
5. 3PcSS+RTR flexural pivot chain substitution type parallel institution described in accordance with the claim 1, it is characterised in that: equivalent ball-joint packet
Include Hooke hinge, two the first revolute pairs, connecting rod and sleeves；Hooke hinge includes being generally aligned in the same plane and two second orthogonal
Revolute pair, the intersection point that the axis of two the first revolute pairs crosses two the second revolute pairs are connected with Hooke hinge, two the first revolute pairs
It is arranged in a mutually vertical manner；One end of connecting rod passes through sleeve and is connected with the pinboard that Hooke is cut with scissors.
6. 3PcSS+RTR flexural pivot chain substitution type parallel institution according to claim 5, it is characterised in that: the first revolute pair
Including a pair of of transverse bearing and a pair of of thrust bearing, radial force and axial force can be undertaken simultaneously；A pair of of thrust bearing is located at set
The both ends of cylinder inner wall, a pair of of transverse bearing are located at sleeve inner respectively against two thrust bearings.
7. 3PcSS+RTR flexural pivot chain substitution type parallel institution according to claim 5, it is characterised in that: connecting rod it is another
End is connected at the center of workbench.
8. 3PcSS+RTR flexural pivot chain substitution type parallel institution described in accordance with the claim 1, it is characterised in that: workbench
Space angular region is a spherical crown at 60 ° of inclination angles.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810720459.7A CN108972505A (en) | 2018-07-02 | 2018-07-02 | A kind of 3PcSS+RTR flexural pivot chain substitution type parallel institution |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810720459.7A CN108972505A (en) | 2018-07-02 | 2018-07-02 | A kind of 3PcSS+RTR flexural pivot chain substitution type parallel institution |
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Cited By (10)
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| CN109925165A (en) * | 2019-02-28 | 2019-06-25 | 浙江工业大学 | " 4+2 " formula lower limb rehabilitation robot based on rope driving |
| CN109925164A (en) * | 2019-02-28 | 2019-06-25 | 浙江工业大学 | The Nei Zu mechanism based on rope driving for lower limb rehabilitation robot |
| CN110202550A (en) * | 2019-06-28 | 2019-09-06 | 华南理工大学 | A kind of three-degree-of-freedom spherical parallel mechanism transmission device |
| CN110806200A (en) * | 2019-10-09 | 2020-02-18 | 陈立坡 | Laser positioning auxiliary platform |
| CN111331583A (en) * | 2020-03-20 | 2020-06-26 | 华南理工大学 | Gear belt wheel combined type three-degree-of-freedom spherical parallel mechanism transmission device |
| CN112192551A (en) * | 2020-10-30 | 2021-01-08 | 燕山大学 | Two-degree-of-freedom spherical motion parallel mechanism |
| 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 |
| CN115890622A (en) * | 2022-11-16 | 2023-04-04 | 天津大学 | Multi-branch-chain five-degree-of-freedom parallel machining robot with large corner capability |
| CN110202550B (en) * | 2019-06-28 | 2024-04-26 | 华南理工大学 | Three-degree-of-freedom spherical parallel mechanism transmission device |
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| WO2021089474A1 (en) * | 2019-11-05 | 2021-05-14 | Pollen Robotics | Articulation having three degrees of freedom for a robot, and corresponding control method |
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| CN111331583B (en) * | 2020-03-20 | 2024-04-16 | 华南理工大学 | Gear-belt wheel combined type three-degree-of-freedom spherical parallel mechanism transmission device |
| CN111331583A (en) * | 2020-03-20 | 2020-06-26 | 华南理工大学 | Gear belt wheel combined type three-degree-of-freedom spherical parallel mechanism transmission device |
| CN112192551A (en) * | 2020-10-30 | 2021-01-08 | 燕山大学 | Two-degree-of-freedom spherical motion parallel mechanism |
| CN115890622A (en) * | 2022-11-16 | 2023-04-04 | 天津大学 | Multi-branch-chain five-degree-of-freedom parallel machining robot with large corner capability |
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Application publication date: 20181211 |