CN114147690A - Two-degree-of-freedom parallel adjustment platform mechanism based on four-rod tensioning overall structure - Google Patents
Two-degree-of-freedom parallel adjustment platform mechanism based on four-rod tensioning overall structure Download PDFInfo
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- CN114147690A CN114147690A CN202111511954.5A CN202111511954A CN114147690A CN 114147690 A CN114147690 A CN 114147690A CN 202111511954 A CN202111511954 A CN 202111511954A CN 114147690 A CN114147690 A CN 114147690A
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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
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Abstract
The invention discloses a two-degree-of-freedom parallel adjustment platform mechanism based on a four-rod tensioning integral structure, which comprises a fixed platform, a working platform and a hollow sphere, wherein the fixed platform is connected with the working platform through the hollow sphere, and four uniformly distributed linear drivers, four uniformly distributed flexible hinges and two adjacent elastic linear guide rail mechanisms are arranged between the fixed platform and the working platform. The invention combines the integral tension structure with the parallel platform, achieves the characteristics of self-balance and self-stability, can achieve very large span, and simultaneously has extremely light self weight.
Description
Technical Field
The invention relates to the technical field of space robot structures, in particular to a two-degree-of-freedom parallel adjusting platform mechanism based on a four-rod tensioning integral structure.
Background
The parallel mechanism is also called as a parallel robot mechanism, mainly comprises a moving platform and a fixed platform, and is a closed loop mechanism formed by connecting two or more branch moving chains. The parallel mechanism is usually composed of different components, for example, a conventional rigid mechanism is formed by connecting a plurality of rigid members by a kinematic pair, and the rigid members are caused to move relatively by the kinematic pair.
However, the kinematic pair of the traditional rigid mechanism has a complex structure, and has inevitable friction, abrasion and clearance, and errors generated in the machining process of a mechanical structure, and the problems can not well meet the design requirements of the modern space mechanism.
Therefore, it is an urgent need to solve the problem of providing a two-degree-of-freedom parallel adjustment platform mechanism based on a four-bar stretching monolithic structure, which can improve the motion precision.
Disclosure of Invention
In view of the above, the invention provides a two-degree-of-freedom parallel adjustment platform mechanism based on a four-rod tensioning overall structure, which eliminates the gap of a parallel mechanism kinematic pair, optimizes a parallel mechanism and improves the motion precision of the tensioning overall parallel mechanism.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a parallelly connected adjustment platform mechanism of two degrees of freedom based on four-bar stretch-draw overall structure, includes fixed platform, work platform and hollow spheroid, fixed platform with work platform passes through hollow spheroid connects, and fixed platform with be provided with four evenly distributed's linear actuator, four evenly distributed's flexible hinge and two adjacent arrangement's elasticity linear guide mechanism between the work platform.
By adopting the scheme, the invention has the beneficial effects that:
the tension integral structure is combined with the parallel platform, so that the characteristics of self-balance and self-stability are achieved, a large span can be achieved, and the dead weight is extremely light.
Furthermore, the fixed platform comprises a ball seat and four support columns, and the four support columns are respectively fixed on the periphery of the ball seat and are uniformly distributed; the working platform and the fixed platform are coaxially and parallelly distributed; a through hole is formed in the center of the working platform; the upper part of the hollow sphere is sleeved in the through hole, and the lower part of the hollow sphere is nested in the ball seat.
Adopt the beneficial effect that above-mentioned further technical scheme produced to be, spacing through-hole and ball seat, can guarantee that hollow spheroidal centre of sphere position is unchangeable.
Furthermore, one end of the linear driver is hinged to the supporting column, and the other end of the linear driver is hinged to the working platform.
Furthermore, one end of the flexible hinge is fixedly connected with the supporting column, and the other end of the flexible hinge is fixedly connected with the corner end of the working platform.
Further, the elastic linear guide mechanism includes:
the top end of the square guide rail is hinged with the working platform;
the first sliding block is nested on the square guide rail;
the second sliding block is nested on the square guide rail and is positioned at the bottom of the first sliding block;
the second sliding block is connected with the cylindrical guide rail through a first linear bearing; two ends of the cylindrical guide rail are respectively fixed on two adjacent support columns;
the two spring assemblies are respectively sleeved at two ends of the cylindrical guide rail; the first sliding block is connected with the two spring assemblies through two connecting rods respectively.
The beneficial effect who adopts above-mentioned further technical scheme to produce does, and the top of square guide rail is articulated with work platform, can restrict work platform's rotation, realizes work platform two degrees of freedom upset function, and under combining the effect with flexible hinge, can make work platform get back to stable state fast.
Further, the spring assembly comprises a first spring, a second linear bearing and a second spring, and the first spring, the second linear bearing and the second spring are sequentially sleeved at the end part of the cylindrical guide rail; the first sliding block is connected with the second linear bearing through the connecting rod.
Furthermore, two ends of the linear driver are respectively connected with the supporting column and the working platform through spherical hinges.
Furthermore, two ends of the flexible hinge are respectively and fixedly connected with the supporting column and the corner end of the working platform through hooks.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a two-degree-of-freedom parallel adjustment platform mechanism based on a four-bar tensioning overall structure, provided by the invention;
fig. 2 is a schematic structural diagram of an elastic linear guide rail mechanism provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the embodiment of the invention discloses a two-degree-of-freedom parallel adjustment platform mechanism based on a four-rod tensioning integral structure, which comprises a fixed platform 1, a working platform 2 and a hollow sphere 3, wherein the fixed platform 1 and the working platform 2 are connected through the hollow sphere 3, and four uniformly-distributed linear drivers 4, four uniformly-distributed flexible hinges 5 and two adjacent elastic linear guide rail mechanisms 6 are arranged between the fixed platform 1 and the working platform 2.
The invention combines the integral tension structure with the parallel platform, achieves the characteristics of self-balance and self-stability, can achieve very large span, and simultaneously has extremely light self weight.
Specifically, the fixed platform 1 comprises a ball seat 11 and four support columns 12, wherein the four support columns 12 are respectively fixed on the periphery of the ball seat 11 and are uniformly distributed; the working platform 2 and the fixed platform 1 are coaxially and parallelly distributed; the center of the working platform 2 is provided with a through hole; the upper part of the hollow sphere 3 is sleeved in the through hole, and the lower part of the hollow sphere 3 is nested in the ball seat 11.
Specifically, one end of the linear driver 4 is hinged with the support column 12, and the other end of the linear driver 4 is hinged with the working platform 2.
Specifically, one end of the flexible hinge 5 is fixedly connected with the support column 12, and the other end of the flexible hinge 5 is fixedly connected with the corner end of the working platform 2.
Specifically, the elastic linear guide mechanism 6 includes:
the top end of the square guide rail 61 is hinged with the working platform 2;
the first sliding block 62 is nested on the square guide rail 61;
the second sliding block 63 is nested on the square guide rail 61 and is positioned at the bottom of the first sliding block 62;
the second sliding block 63 is connected with the cylindrical guide rail 64 through a first linear bearing 65; two ends of the cylindrical guide rail 64 are respectively fixed on two adjacent supporting columns 12;
two spring assemblies, which are respectively sleeved at two ends of the cylindrical guide rail 64; the first slider 62 and the two spring assemblies are connected by two links 66, respectively.
Specifically, the spring assembly comprises a first spring 67, a second linear bearing 68 and a second spring 69, and the first spring 67, the second linear bearing 68 and the second spring 69 are sequentially sleeved at the end part of the cylindrical guide rail 64; the first slider 62 is connected to a second linear bearing 68 via a connecting rod 66.
Specifically, two ends of the linear actuator 4 are respectively connected with the support column 12 and the working platform 2 through a spherical hinge.
Specifically, two ends of the flexible hinge 5 are respectively and fixedly connected with the supporting column 12 and the corner end of the working platform 2 through the hook 7.
The working principle of the invention is as follows: under initial state, four flexible hinges are in taut state, and two elasticity linear guide mechanism are in compression state, for whole initial stress that provides, during the work platform motion, because of square guide is articulated with work platform, first slider moves on square guide, under the connecting rod effect for two second linear bearing move along cylindrical guide, under first spring, second spring and flexible hinge combined action again, can make work platform get back to stable state fast.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. The utility model provides a parallelly connected adjustment platform mechanism of two degrees of freedom based on four-bar stretch-draw overall structure which characterized in that, includes fixed platform, work platform and hollow spheroid, fixed platform with work platform passes through hollow spheroid connects, and fixed platform with be provided with four evenly distributed's linear actuator, four evenly distributed's flexible hinge and two adjacent arrangement's elasticity linear guide mechanism between the work platform.
2. The two-degree-of-freedom parallel adjustment platform mechanism based on the four-bar tensioning whole structure is characterized in that the fixed platform comprises a ball seat and four supporting columns, and the four supporting columns are respectively fixed on the periphery of the ball seat and are uniformly distributed; the working platform and the fixed platform are coaxially and parallelly distributed; a through hole is formed in the center of the working platform; the upper part of the hollow sphere is sleeved in the through hole, and the lower part of the hollow sphere is nested in the ball seat.
3. The two-degree-of-freedom parallel adjustment platform mechanism based on the four-bar tensioning whole structure as claimed in claim 2, wherein one end of the linear actuator is hinged with the supporting column, and the other end of the linear actuator is hinged with the working platform.
4. The two-degree-of-freedom parallel adjustment platform mechanism based on the four-bar tensioning whole structure as claimed in claim 2, wherein one end of the flexible hinge is fixedly connected with the supporting column, and the other end of the flexible hinge is fixedly connected with the corner end of the working platform.
5. The two-degree-of-freedom parallel adjustment platform mechanism based on the four-bar tensioning monolithic structure as claimed in claim 2, wherein the elastic linear guide rail mechanism comprises:
the top end of the square guide rail is hinged with the working platform;
the first sliding block is nested on the square guide rail;
the second sliding block is nested on the square guide rail and is positioned at the bottom of the first sliding block;
the second sliding block is connected with the cylindrical guide rail through a first linear bearing; two ends of the cylindrical guide rail are respectively fixed on two adjacent support columns;
the two spring assemblies are respectively sleeved at two ends of the cylindrical guide rail; the first sliding block is connected with the two spring assemblies through two connecting rods respectively.
6. The two-degree-of-freedom parallel adjustment platform mechanism based on the four-bar tensioning whole structure is characterized in that the spring assembly comprises a first spring, a second linear bearing and a second spring, and the first spring, the second linear bearing and the second spring are sequentially sleeved at the end part of the cylindrical guide rail; the first sliding block is connected with the second linear bearing through the connecting rod.
7. The two-degree-of-freedom parallel adjustment platform mechanism based on the four-bar tensioning whole structure as claimed in claim 3, wherein two ends of the linear actuator are respectively connected with the supporting column and the working platform through spherical hinges.
8. The two-degree-of-freedom parallel adjustment platform mechanism based on the four-bar tensioning integrated structure as claimed in claim 4, wherein two ends of the flexible hinge are fixedly connected with the supporting column and the corner end of the working platform respectively through hooks.
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| CN202111511954.5A CN114147690B (en) | 2021-12-07 | 2021-12-07 | Two-degree-of-freedom parallel adjustment platform mechanism based on four-bar tensioning integral structure |
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| CN202111511954.5A CN114147690B (en) | 2021-12-07 | 2021-12-07 | Two-degree-of-freedom parallel adjustment platform mechanism based on four-bar tensioning integral structure |
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| CN114147690B CN114147690B (en) | 2023-05-19 |
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| US5313854A (en) * | 1992-02-04 | 1994-05-24 | Fanuc Robotics North America, Inc. | Light weight robot mechanism |
| US20040013509A1 (en) * | 1999-08-05 | 2004-01-22 | Roy Shambhu Nath | Parallel kinematics mechanism with a concentric spherical joint |
| CN100999080A (en) * | 2006-12-28 | 2007-07-18 | 山东理工大学 | Three-translation orthogonal decoupling parallel micromotion platform |
| CN104002302A (en) * | 2014-05-07 | 2014-08-27 | 燕山大学 | Two and three freedom-degree swing table with virtual rotating axis |
| CN105856217A (en) * | 2016-05-11 | 2016-08-17 | 哈尔滨工程大学 | Four-rod tensegrity robot |
| CN106313002A (en) * | 2016-09-13 | 2017-01-11 | 浙江理工大学 | Spatial six-degree-of-freedom compliant parallel mechanism with large stroke and high precision |
| CN106426107A (en) * | 2016-11-15 | 2017-02-22 | 常州大学 | Tension overall vibration isolation mechanism |
| CN106737571A (en) * | 2016-11-15 | 2017-05-31 | 常州大学 | A kind of multidimensional vibration reduction tensioning entirety parallel institution |
| CN110539815A (en) * | 2018-05-28 | 2019-12-06 | 长春工业大学 | Bionic foot type mechanism with terrain adaptability |
| CN111216102A (en) * | 2019-12-09 | 2020-06-02 | 燕山大学 | Main and auxiliary 3PSS + S type parallel self-stabilizing platform |
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2021
- 2021-12-07 CN CN202111511954.5A patent/CN114147690B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5313854A (en) * | 1992-02-04 | 1994-05-24 | Fanuc Robotics North America, Inc. | Light weight robot mechanism |
| US20040013509A1 (en) * | 1999-08-05 | 2004-01-22 | Roy Shambhu Nath | Parallel kinematics mechanism with a concentric spherical joint |
| CN100999080A (en) * | 2006-12-28 | 2007-07-18 | 山东理工大学 | Three-translation orthogonal decoupling parallel micromotion platform |
| CN104002302A (en) * | 2014-05-07 | 2014-08-27 | 燕山大学 | Two and three freedom-degree swing table with virtual rotating axis |
| CN105856217A (en) * | 2016-05-11 | 2016-08-17 | 哈尔滨工程大学 | Four-rod tensegrity robot |
| CN106313002A (en) * | 2016-09-13 | 2017-01-11 | 浙江理工大学 | Spatial six-degree-of-freedom compliant parallel mechanism with large stroke and high precision |
| CN106426107A (en) * | 2016-11-15 | 2017-02-22 | 常州大学 | Tension overall vibration isolation mechanism |
| CN106737571A (en) * | 2016-11-15 | 2017-05-31 | 常州大学 | A kind of multidimensional vibration reduction tensioning entirety parallel institution |
| CN110539815A (en) * | 2018-05-28 | 2019-12-06 | 长春工业大学 | Bionic foot type mechanism with terrain adaptability |
| CN111216102A (en) * | 2019-12-09 | 2020-06-02 | 燕山大学 | Main and auxiliary 3PSS + S type parallel self-stabilizing platform |
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