CN111496766A - Three-degree-of-freedom parallel mechanism based on electric cylinder - Google Patents
Three-degree-of-freedom parallel mechanism based on electric cylinder Download PDFInfo
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- CN111496766A CN111496766A CN202010348976.3A CN202010348976A CN111496766A CN 111496766 A CN111496766 A CN 111496766A CN 202010348976 A CN202010348976 A CN 202010348976A CN 111496766 A CN111496766 A CN 111496766A
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- electric cylinder
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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
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Abstract
The invention relates to a three-freedom-degree parallel mechanism based on an electric cylinder, which comprises: a frame in a plate shape and horizontally arranged; the three moving branched chains are arranged in a triangle shape, and one end of each moving branched chain is movably connected with the rack; the movable platform is arranged in a space surrounded by the three moving branched chains and is movably connected with the other ends of the three moving branched chains; the three motion branched chains respectively comprise an electric cylinder, a revolute pair and a universal joint, the fixed end of the electric cylinder is connected with the rack through the revolute pair, and the output end of the electric cylinder is connected with the movable platform through the universal joint; the three motion branched chains act together to enable the movable platform to have two rotational degrees of freedom around an x axis and a y axis and one translational degree of freedom along a z axis. The invention can effectively increase the swing angle range of the movable platform, the quantity of the hinges is reduced, the motion precision of the movable platform is ensured, meanwhile, the swing and the movement in two directions can be decoupled independently, and the control difficulty is reduced.
Description
Technical Field
The invention relates to a parallel mechanism, in particular to a three-degree-of-freedom parallel mechanism based on an electric cylinder and provided with two spatial rotations and one spatial movement, and belongs to the field of mechanical manufacturing.
Background
The parallel mechanism has compact structure, good modularization performance, large rigidity-mass ratio and easy realization of high-speed movement. The parallel mechanism is a closed loop system formed by a plurality of branched chains and a movable platform and a static platform, and the degree of freedom is six at most. Parallel mechanisms with fewer than six degrees of freedom are referred to as less-than-six degree-of-freedom parallel mechanisms. The three-degree-of-freedom parallel mechanism is an important parallel mechanism with less degrees of freedom. In recent years, some series-parallel manufacturing equipment based on a three-degree-of-freedom parallel mechanism is successfully applied in the industry, such as an Exechoon five-axis series-parallel machining center (W02006054935) based on a 2-UPR/SPR mechanism, an Ecospeed five-axis series-parallel machining center (W02000025976) based on a 3-PRS mechanism and the like. The series-parallel mechanism has the advantages of large working space of the series mechanism, compact structure of the parallel mechanism and good dynamic response characteristic, can realize five-axis linkage high-speed cutting and milling processing of large working space, and is suitable for processing of space free-form surface parts.
The patents US6431802 and CN100377847C are two common three-degree-of-freedom parallel mechanisms at present, which are respectively 3PRS configuration and 3RPS configuration, and both of them have been applied to the field of parallel-serial machine tools. The two mechanisms comprise a static platform, a movable platform and three branched chains which have the same structure and are axially symmetrically distributed. The mechanism branched chain related to US6431802 comprises a moving pair, a rotating pair and a spherical hinge in sequence; the moving pair is a driving unit and is matched with the static platform through a guide rail; the revolute pair and the spherical hinge are passive units, and the spherical hinge is connected with the corresponding connecting rod and the movable platform. The mechanism branched chain related to CN100377847C comprises a revolute pair, a sliding pair and a spherical hinge in sequence; wherein, the revolute pair is connected with the fixed platform, and the revolute pair is a driving unit; the spherical hinge is a passive unit and is connected with the corresponding connecting rod and the movable platform.
In addition, a plurality of research units and scientific research institutions construct a plurality of three-degree-of-freedom parallel mechanisms with two rotations and one movement. However, the parallel spindle head structure has the advantages of small number of kinematic pairs, simple structure and easy control.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a three-degree-of-freedom parallel mechanism based on an electric cylinder, which can effectively increase the swing angle range of a movable platform, reduce the number of hinges to ensure the motion precision of the movable platform, simultaneously can independently decouple the swing and the movement in two directions, reduce the control difficulty, can be connected with a serial mechanism to form a five-axis linkage numerical control device, and overcomes the defects of the existing spatial two-rotation and one-movement parallel mechanism technology.
In order to achieve the purpose, the invention adopts the following technical scheme: a three-degree-of-freedom parallel mechanism based on an electric cylinder comprises: a frame in a plate shape and horizontally arranged; the first moving branched chain, the second moving branched chain and the third moving branched chain are arranged in a triangular shape, and one ends of the first moving branched chain, the second moving branched chain and the third moving branched chain are movably connected with the rack; the movable platform is arranged in a space surrounded by the first moving branched chain, the second moving branched chain and the third moving branched chain and is movably connected with the other ends of the first moving branched chain, the second moving branched chain and the third moving branched chain; the first motion branch chain, the second motion branch chain and the third motion branch chain respectively comprise an electric cylinder, a revolute pair and a universal joint, the fixed end of the electric cylinder is connected with the rack through the revolute pair, and the output end of the electric cylinder is connected with the movable platform through the universal joint; the first moving branch chain, the second moving branch chain and the third moving branch chain are used for enabling the moving platform to have two rotational degrees of freedom around an x axis and a y axis and one translational degree of freedom along a z axis under the combined action.
In the three-degree-of-freedom parallel mechanism, preferably, the axis of the rotation pair between the electric cylinder in the first moving branch chain and the frame, the axis of the rotation between the universal joints connected with the electric cylinder and the output end thereof, the axis of the rotation pair between the electric cylinder in the second moving branch chain and the frame, and the axis of the rotation between the universal joints connected with the electric cylinder and the output end thereof are arranged in parallel;
meanwhile, the electric cylinder in the third moving branch chain and the axis of the rotating pair between the racks and the axis of the rotating pair between the universal joints connected with the electric cylinder and the output end of the electric cylinder are arranged in parallel and are perpendicular to the axis of the rotating pair between the electric cylinder in the first moving branch chain and the racks and the axis of the rotating pair between the electric cylinder in the second moving branch chain and the racks.
The three-degree-of-freedom parallel mechanism is preferably arranged in a manner that a universal joint in the first moving branch chain and the moving platform connecting axis are coaxial and collinear with each other, and a universal joint in the second moving branch chain and the moving platform connecting axis are coaxial and collinear with each other;
meanwhile, the universal joint in the third motion branch chain and the movable platform connecting axis, and the universal joint in the first motion branch chain and the movable platform connecting axis are arranged in a coplanar and vertical mode.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the movement branched chain only comprises the revolute pair and the universal joint, has a simple structure, reduces the number of the kinematic pair, avoids the problems of high processing difficulty of the spherical hinge and the like, and is easy to process and manufacture, low in cost and easy to ensure the precision. 2. The three moving branched chains have the advantages that the structures of the three moving branched chains are completely consistent (all RPUs), the manufacture is convenient, the three moving branched chains have specific position relations, the decoupling of the rotational freedom degree and the Z-direction moving freedom degree in the X direction and the Y direction of the mechanism is realized, the tail end moving platform of the mechanism obtains a higher rotation angle range and better output precision, the control and the use are simple, and the interference is not easy to cause. 3. The invention can realize the five-axis linkage movement capability by adopting the series-parallel connection mode with the serial platform on the basis of the two-rotation and translation parallel mechanism in the space, and has wide application prospect.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the structure of the moving branch chain of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.
As shown in fig. 1 and fig. 2, the three-degree-of-freedom parallel mechanism based on an electric cylinder provided by the invention comprises: a frame 10 in a plate shape and horizontally arranged; the first moving branch chain 101, the second moving branch chain 102 and the third moving branch chain 103 are arranged in a triangular shape, and one end of the first moving branch chain 101, one end of the second moving branch chain 102 and one end of the third moving branch chain 103 are movably connected with the rack 10; and the movable platform 20 is arranged in a space surrounded by the first movable branched chain 101, the second movable branched chain 102 and the third movable branched chain 103, and the movable platform 20 is movably connected with the other ends of the first movable branched chain 101, the second movable branched chain 102 and the third movable branched chain 103.
The first moving branch chain 101, the second moving branch chain 102 and the third moving branch chain 103 all comprise an electric cylinder 11, a revolute pair 12 and a universal joint 13, the fixed end of the electric cylinder 11 is connected with the rack 10 through the revolute pair 12, the output end of the electric cylinder 11 is connected with the moving platform 20 through the universal joint 13, and the output end of the electric cylinder 11 moves linearly along the axis of the output end of the electric cylinder 11 and inputs motion for the moving branch chain.
The first moving branch 101, the second moving branch 102 and the third moving branch 103 cooperate to provide the moving platform 20 with two degrees of freedom of rotation around the x-axis and around the y-axis and one degree of freedom of rotation along the z-axis.
In the above embodiment, it is preferable that the axis of the revolute pair 12 between the electric cylinder 11 and the frame 10 in the first moving branch 101, the axis of the revolute pair 13 between the output ends of the electric cylinder 11 and the frame 10, the axis of the revolute pair 12 between the electric cylinder 11 and the frame 10 in the second moving branch 102, and the axis of the revolute pair 13 between the output ends of the electric cylinder 11 are arranged in parallel.
Meanwhile, the axes of the revolute pair 12 between the electric cylinder 11 and the frame 10 in the third moving branch chain 103 and the axes of the revolute pair 12 between the electric cylinder 11 and the universal joint 13 connected with the output end of the electric cylinder 11 are arranged in parallel and are perpendicular to the axes of the revolute pair 12 between the electric cylinder 11 and the frame 10 in the first moving branch chain 101 and the revolute pair 12 between the electric cylinder 11 and the frame 10 in the second moving branch chain 102.
In the above embodiment, preferably, the universal joint 13 in the first moving branch chain 101 and the moving platform 20 are coaxially and collinearly arranged, and the universal joint 13 in the second moving branch chain 102 and the moving platform 20 are coaxially and collinearly arranged.
Meanwhile, the universal joint 13 in the third motion branch chain 103 is perpendicular to the connection axis of the movable platform 20, and the universal joint 13 in the first motion branch chain 101 is perpendicular to the connection axis of the movable platform 20 in a coplanar manner.
In the three-degree-of-freedom parallel mechanism provided in the above embodiment, the first moving branched chain 101, the second moving branched chain 102, and the third moving branched chain 103 are respectively connected with the moving platform 20 and the frame 10 to form a spatial closed-loop mechanism, and the moving platform 20 is moved by using the input motion of the electric cylinder 11 in the three moving branched chains, specifically: the first moving branch chain 101 and the second moving branch chain 102 are used for jointly realizing the rotational freedom degree of the moving platform 20 around the y-axis direction; the third moving branch chain 103 is used for realizing the rotational freedom degree of the moving platform 20 around the x-axis direction; the first moving branch chain 101, the second moving branch chain 102 and the third moving branch chain 103 are used for jointly realizing the moving freedom degree of the movable platform 20 along the z-axis direction. Thus, the three kinematic branches act together to provide the mobile platform 20 with two degrees of rotational freedom about the x-axis and about the y-axis and one degree of translational freedom along the z-axis.
It should be noted that, in the above embodiment, the movable platform 20 may be disposed below the three moving branches, and without departing from the essence of the present invention, the movable platform 20 may also be disposed above the three moving branches or disposed in other directions, and all shall fall within the protection scope of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (3)
1. A three-degree-of-freedom parallel mechanism based on an electric cylinder is characterized by comprising the following components:
a frame (10) in a plate shape and horizontally arranged;
the first moving branch chain (101), the second moving branch chain (102) and the third moving branch chain (103) are arranged in a triangular mode, and one ends of the first moving branch chain (101), the second moving branch chain (102) and the third moving branch chain (103) are movably connected with the rack (10);
the movable platform (20) is arranged in a space surrounded by the first movable branched chain (101), the second movable branched chain (102) and the third movable branched chain (103), and the movable platform (20) is movably connected with the other ends of the first movable branched chain (101), the second movable branched chain (102) and the third movable branched chain (103);
the first moving branch chain (101), the second moving branch chain (102) and the third moving branch chain (103) respectively comprise an electric cylinder (11), a revolute pair (12) and a universal joint (13), the fixed end of the electric cylinder (11) is connected with the rack (10) through the revolute pair (12), and the output end of the electric cylinder (11) is connected with the movable platform (20) through the universal joint (13);
the first moving branch chain (101), the second moving branch chain (102) and the third moving branch chain (103) jointly act to enable the moving platform (20) to have two rotational degrees of freedom around an x axis and a y axis and one translational degree of freedom along a z axis.
2. The three-degree-of-freedom parallel mechanism according to claim 1, wherein the axis of a revolute pair (12) between an electric cylinder (11) in the first moving branch chain (101) and the frame (10), the axis of a revolute pair (13) between a universal joint (13) connected with the electric cylinder (11) and the output end thereof, the axis of a revolute pair (12) between an electric cylinder (11) in the second moving branch chain (102) and the frame (10), and the axis of a revolute pair (13) between a universal joint (13) connected with the electric cylinder (11) and the output end thereof are arranged in parallel;
meanwhile, the axes of the revolute pair (12) between the electric cylinder (11) in the third moving branch chain (103) and the rack (10) and the axes of the revolute pair (12) between the electric cylinder (11) and the universal joint (13) connected with the output end of the electric cylinder (11) are arranged in parallel and are perpendicular to the axes of the revolute pair (12) between the electric cylinder (11) in the first moving branch chain (101) and the rack (10) and the axes of the revolute pair (12) between the electric cylinder (11) in the second moving branch chain (102) and the rack (10).
3. The three-degree-of-freedom parallel mechanism is characterized in that a universal joint (13) in the first motion branch chain (101) is coaxially and collinearly arranged with the connection axis of the movable platform (20), and a universal joint (13) in the second motion branch chain (102) is coaxially and collinearly arranged with the connection axis of the movable platform (20);
meanwhile, the universal joint (13) in the third moving branch chain (103) is connected with the moving platform (20) in a coplanar and vertical mode, and the universal joint (13) in the first moving branch chain (101) is connected with the moving platform (20) in a coplanar and vertical mode.
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| CN202010348976.3A CN111496766B (en) | 2020-04-28 | 2020-04-28 | Three-degree-of-freedom parallel mechanism based on electric cylinder |
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| CN202010348976.3A CN111496766B (en) | 2020-04-28 | 2020-04-28 | Three-degree-of-freedom parallel mechanism based on electric cylinder |
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| CN111496766B CN111496766B (en) | 2021-07-27 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112192444A (en) * | 2020-09-04 | 2021-01-08 | 太仓臻溢科技有限公司 | Multi-dimensional constant force control device |
| CN114431004A (en) * | 2021-12-23 | 2022-05-06 | 华南农业大学 | Banana picking device and method based on 3-PRS parallel mechanism |
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| US5765652A (en) * | 1996-07-05 | 1998-06-16 | Ryobi North America, Inc. | Universal joint for a motorized implement |
| CN1311083A (en) * | 2001-02-27 | 2001-09-05 | 燕山大学 | Three free degree moving parallel connected robot mechanism |
| CN102881338A (en) * | 2012-09-21 | 2013-01-16 | 江苏大学 | 1T2R parallel three-degree-of-freedom pose alignment platform |
| CN105500347A (en) * | 2016-01-27 | 2016-04-20 | 燕山大学 | Three-DOF (degrees of freedom) parallel mechanism with achievable stable pure translation |
| CN208018898U (en) * | 2017-11-07 | 2018-10-30 | 苏州丰达瑞自动化设备科技有限公司 | A kind of Three Degree Of Freedom shaking platform |
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2020
- 2020-04-28 CN CN202010348976.3A patent/CN111496766B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5765652A (en) * | 1996-07-05 | 1998-06-16 | Ryobi North America, Inc. | Universal joint for a motorized implement |
| CN1311083A (en) * | 2001-02-27 | 2001-09-05 | 燕山大学 | Three free degree moving parallel connected robot mechanism |
| CN102881338A (en) * | 2012-09-21 | 2013-01-16 | 江苏大学 | 1T2R parallel three-degree-of-freedom pose alignment platform |
| CN105500347A (en) * | 2016-01-27 | 2016-04-20 | 燕山大学 | Three-DOF (degrees of freedom) parallel mechanism with achievable stable pure translation |
| CN208018898U (en) * | 2017-11-07 | 2018-10-30 | 苏州丰达瑞自动化设备科技有限公司 | A kind of Three Degree Of Freedom shaking platform |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112192444A (en) * | 2020-09-04 | 2021-01-08 | 太仓臻溢科技有限公司 | Multi-dimensional constant force control device |
| CN114431004A (en) * | 2021-12-23 | 2022-05-06 | 华南农业大学 | Banana picking device and method based on 3-PRS parallel mechanism |
| CN114431004B (en) * | 2021-12-23 | 2023-11-14 | 华南农业大学 | Banana picking device and method based on 3-PRS parallel mechanism |
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