CN114310852B - Six-degree-of-freedom parallel mechanism driven by long arm compound - Google Patents
Six-degree-of-freedom parallel mechanism driven by long arm compound Download PDFInfo
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- CN114310852B CN114310852B CN202210117987.XA CN202210117987A CN114310852B CN 114310852 B CN114310852 B CN 114310852B CN 202210117987 A CN202210117987 A CN 202210117987A CN 114310852 B CN114310852 B CN 114310852B
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Abstract
A long-arm compound drive six-degree-of-freedom parallel mechanism. The device comprises a base, a proximal driver and a distal actuator; the base comprises three first hinged supports, three second hinged supports and a bottom plate; the remote actuator comprises a long-arm control rod, a spherical hinge and a movable platform; the invention has the advantages that: the parallel mechanism has six degrees of freedom and can be quickly and well adapted to different processing conditions. The operating rod of the mechanism adopts a rigid long rod, so that the operating rod can swing greatly, the movable platform has a larger working space, and the defect of narrow working space of the parallel mechanism is overcome. The mechanism adopts a special deformation Hooke's hinge design, and an inclined hinged support is arranged on a bottom plate of the parallel mechanism, so that the design can well improve the stress condition of the telescopic rod and increase the stability of the mechanism. The parallel mechanism has three groups of identical driving branched chains, and can greatly reduce the production cost.
Description
Technical Field
The invention belongs to the technical field of parallel mechanisms, and particularly relates to a long-arm compound drive six-degree-of-freedom parallel mechanism.
Background
The skin is a main bearing part of the aircraft, belongs to a space complex free-form surface, and is easy to be damaged due to corrosion and friction of air in the flight process, so that the flight safety of the aircraft is endangered. Therefore, in order to ensure the flight safety of the aircraft, maintenance work including polishing needs to be performed on the aircraft skin in time.
The polishing work of the skin still mainly depends on manual work at present, has the problems of low polishing efficiency, poor precision, high cost and the like, and the development of automatic polishing equipment based on robots is urgently needed to replace manual work. The parallel mechanism has good performance, can better replace manual work to polish the aircraft skin, can stably and continuously work, effectively improves the polishing speed and precision of the skin, reduces the maintenance cost of the aircraft, and has great economic value. For this reason, chinese patent publication No. CN202010188841.5 discloses a six-degree-of-freedom parallel mechanism and adopts a compound driving manner, but the mechanism has the disadvantages of poor performance such as working space, isotropy, and stress of a telescopic rod.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a long-arm compound drive six-degree-of-freedom parallel mechanism.
In order to achieve the above purpose, the long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention comprises a base, a near-end driver and a far-end actuator;
the base comprises three first hinged supports, three second hinged supports and a bottom plate; the three first hinged supports are arranged at the outer side of the top surface of the bottom plate in a central symmetry mode; the three second hinged supports are arranged at the inner side of the top surface of the bottom plate in a central symmetry mode; the top surfaces of the first hinge support and the second hinge support are inclined surfaces which are inclined relative to the top surface of the bottom plate, each first hinge support and each second hinge support are a pair and are symmetrical about the center of a symmetrical point, three symmetrical points form a regular triangle, and the center of the regular triangle is coincident with the center of the bottom plate;
the proximal driver comprises a first branched chain, a second branched chain and a third branched chain which are identical in structure and are respectively arranged on a pair of first hinged support and a second hinged support; each branched chain comprises a motor, a telescopic cylinder, a base and a deformation Hooke hinge; the lower ends of the two bases are respectively hinged on the first hinged support and the second hinged support, so that a first rotating pair and a second rotating pair are respectively formed, the rotating axis of the first rotating pair is parallel to the inclined surface of the first hinged support, and the rotating axis of the second rotating pair is parallel to the inclined surface of the second hinged support; each base is provided with a motor and a telescopic cylinder at the same time, and the output end of the motor is connected with the inner end of a push rod on the telescopic cylinder; the deformation hook hinge comprises a long shaft and a short shaft; the long shaft comprises a middle circular shaft and two half long shafts, one ends of the two half long shafts are respectively connected to two ends of the middle circular shaft, and the clamping degree is arranged between the axes of the two half long shafts; the short shaft comprises a shaft seat and two semi-short shafts, one ends of the two semi-short shafts are respectively connected to two side surfaces of the shaft seat, a central round hole is formed in the middle of the shaft seat along the axis direction perpendicular to the semi-short shafts, and the central round hole is sleeved on the middle round shaft of the long shaft in a rotating manner to form a fifth revolute pair; the two semi-long shafts are respectively hinged to the outer ends of push rods on the two telescopic cylinders, so that a third revolute pair and a fourth revolute pair are respectively formed, and the axes of the two semi-long shafts are respectively parallel to the rotation axes of the first revolute pair and the second revolute pair;
the remote actuator comprises a long-arm control rod, a spherical hinge and a movable platform; the upper ends of the three long arm control rods are respectively connected to the bottom surface of the movable platform at intervals in a central symmetry mode through a spherical hinge, the lower ends of the three long arm control rods are respectively hinged with the short shafts on the three branched chains to form a sixth revolute pair, and the rotation axis of the sixth revolute pair coincides with the axis of the short shaft.
The bottom plate is of a regular triangle plate-shaped structure; the first hinge support and the second hinge support have the same structure.
The axial line of the two semi-long shafts on the deformation hook hinge has a clamping degree of 150 DEG
The long arm control rod adopts a rigid long rod.
The movable platform is of a regular triangle plate-shaped structure.
The long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention has the following advantages:
1. the control rod adopts a rigid long rod, so that the movable platform has a larger working space and the defect of narrow working space of the parallel mechanism is overcome.
2. The parallel mechanism has a special deformation Hooke's hinge design, the bottom plate is provided with the hinged support, the upper part of the hinged support is provided with an inclined plane, and the design can well improve the stress condition of the telescopic rod and greatly increase the stability of the mechanism.
3. The first branched chain, the second branched chain and the third branched chain have the same structure, so that the production and maintenance cost can be greatly reduced.
Drawings
Fig. 1 is a schematic structural diagram of a long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention.
Fig. 2 is a schematic diagram of a bottom plate structure in the long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention.
Fig. 3 is a schematic diagram of a bottom plate and a proximal driver in the long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention.
Fig. 4 is a schematic diagram of a structure of a distal end actuator in a long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention.
Fig. 5 is a schematic diagram of a deformed hook hinge structure in the long-arm compound drive six-degree-of-freedom parallel mechanism.
Fig. 6 is a schematic diagram of a long axis structure of a deformation hook in the long arm compound drive six-degree-of-freedom parallel mechanism provided by the invention.
Fig. 7 is a schematic diagram of a short axis structure of a deformation hook in the long-arm compound drive six-degree-of-freedom parallel mechanism.
Detailed Description
The long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 7, the long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention comprises a base 1, a proximal driver 2 and a distal actuator 3;
wherein the base 1 comprises three first hinged supports 101, three second hinged supports 102 and a bottom plate 103; the three first hinged supports 101 are arranged at the outer side of the top surface of the bottom plate 103 in a central symmetry mode; the three second hinged supports 102 are arranged at the inner side of the top surface of the bottom plate 103 in a central symmetry mode; the top surfaces of the first hinge support 101 and the second hinge support 102 are inclined surfaces which are inclined relative to the top surface of the bottom plate 103, each first hinge support 101 and each second hinge support 102 are a pair and are symmetrical about the center of a symmetrical point 104, three symmetrical points 104 form a regular triangle, and the center of the regular triangle coincides with the center of the bottom plate 103;
the proximal driver 2 includes a first branch I, a second branch II, and a third branch III which are identical in structure and are respectively mounted on a pair of first and second hinge supports 101 and 102; each branched chain comprises a motor 4, a telescopic cylinder 5, a base 6 and a deformation hook hinge 7; the lower ends of the two bases 6 are respectively hinged on a first hinged support 101 and a second hinged support 102, so that a first rotating pair 11 and a second rotating pair 12 are respectively formed, the rotating axis of the first rotating pair 11 is parallel to the inclined surface of the first hinged support 101, and the rotating axis of the second rotating pair 12 is parallel to the inclined surface of the second hinged support 102; each base 6 is provided with a motor 4 and a telescopic cylinder 5 at the same time, and the output end of the motor 4 is connected with the inner end of a push rod on the telescopic cylinder 5; the deformed hook 7 comprises a long axis 701 and a short axis 702; the long shaft 701 comprises a middle circular shaft 703 and two half long shafts 704, wherein one ends of the two half long shafts 704 are respectively connected to two ends of the middle circular shaft 703, and the axes of the two half long shafts 704 have a clamping degree; the short shaft 702 comprises a shaft seat 707 and two semi-short shafts 706, one ends of the two semi-short shafts 706 are respectively connected to two side surfaces of the shaft seat 707, a central round hole 705 is formed in the middle of the shaft seat 707 along the axis direction perpendicular to the semi-short shafts 706, and the central round hole 705 is sleeved on the middle round shaft 703 of the long shaft 701 in a rotating manner to form a fifth revolute pair 15; the two semi-long shafts 704 are respectively hinged to the outer ends of push rods on the two telescopic cylinders 5, so that a third revolute pair 13 and a fourth revolute pair 14 are respectively formed, and the axes of the two semi-long shafts 704 are respectively parallel to the rotation axes of the first revolute pair 11 and the second revolute pair 12;
the remote actuator 3 comprises a long-arm control rod 8, a spherical hinge 9 and a movable platform 10; the upper ends of the three long arm control rods 8 are respectively connected to the bottom surface of the movable platform 10 at intervals in a central symmetry mode through a spherical hinge 9, the lower ends of the three long arm control rods are respectively hinged with the short shafts 702 on the three branched chains to form a sixth revolute pair 16, and the rotation axis of the sixth revolute pair 16 coincides with the axis of the short shafts 702.
The bottom plate 103 is of a regular triangle plate-shaped structure; the first hinge support 101 is identical in structure to the second hinge support 102.
The axial gap between the two semi-long shafts 704 on the deformation hook joint 7 is 150 degrees.
The long arm control rod 8 adopts a rigid long rod.
The movable platform 10 is in a regular triangle plate structure.
The working principle of the long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention is explained as follows by taking the vertical direction of the top surface of the bottom plate 1 as the z-axis direction and the front end edge as the y-axis direction, and determining the x-axis direction by the right hand rule:
when the long arm compound drive six-degree-of-freedom parallel mechanism is utilized to polish an aircraft skin, firstly, six motors 4 are driven, six telescopic cylinders 5 are used as driving pairs, and therefore, two moving degrees of freedom of one end of a long arm control rod 8 are driven, the long arm control rod 8 rotates around two rotating axes of a deformation Hooke hinge 7, so that three moving degrees of freedom are arranged at the other end of the long arm control rod 8, meanwhile, a movable platform 10 is connected with the long arm control rod 8 through a spherical hinge 9, 3 rotating degrees of freedom and 3 moving degrees of freedom are obtained by the movable platform 10, three branched chains are identical in structure, 2 control parameters are respectively provided, and 6 control parameters are used for controlling six degrees of freedom of the movable platform 10.
Claims (5)
1. A long arm compound drive six-degree-of-freedom parallel mechanism is characterized in that: the long-arm compound drive six-degree-of-freedom parallel mechanism comprises a base (1), a near-end driver (2) and a far-end actuator (3);
wherein the base (1) comprises three first hinged supports (101), three second hinged supports (102) and a bottom plate (103); the three first hinged supports (101) are arranged at the outer side of the top surface of the bottom plate (103) in a central symmetry mode; the three second hinged supports (102) are arranged at the inner side of the top surface of the bottom plate (103) in a central symmetry mode; the top surfaces of the first hinged support (101) and the second hinged support (102) are inclined surfaces which are inclined relative to the top surface of the bottom plate (103), each first hinged support (101) and one second hinged support (102) are a pair and are symmetrical about the center of a symmetrical point (104), three symmetrical points (104) form a regular triangle, and the center of the regular triangle coincides with the center of the bottom plate (103);
the proximal driver (2) comprises a first branched chain (I), a second branched chain (II) and a third branched chain (III) which are identical in structure and are respectively arranged on a pair of first hinged support (101) and a second hinged support (102); each branched chain comprises a motor (4), a telescopic cylinder (5), a base (6) and a deformation hook hinge (7); the lower ends of the two bases (6) are respectively hinged on a first hinged support (101) and a second hinged support (102), so that a first rotating pair (11) and a second rotating pair (12) are respectively formed, the rotating axis of the first rotating pair (11) is parallel to the inclined plane of the first hinged support (101), and the rotating axis of the second rotating pair (12) is parallel to the inclined plane of the second hinged support (102); a motor (4) and a telescopic cylinder (5) are simultaneously arranged on each base (6), and the output end of the motor (4) is connected with the inner end of a push rod on the telescopic cylinder (5); the deformation Hooke hinge (7) comprises a long shaft (701) and a short shaft (702); the long shaft (701) comprises a middle circular shaft (703) and two semi-long shafts (704), one ends of the two semi-long shafts (704) are respectively connected to two ends of the middle circular shaft (703), and the axes of the two semi-long shafts (704) have a clamping degree; the short shaft (702) comprises a shaft seat (707) and two semi-short shafts (706), one ends of the two semi-short shafts (706) are respectively connected to two side surfaces of the shaft seat (707), a central round hole (705) is formed in the middle of the shaft seat (707) along the direction perpendicular to the axis of the semi-short shafts (706), and the central round hole (705) is sleeved on the middle round shaft (703) of the long shaft (701) in a rotating manner to form a fifth revolute pair (15); the two semi-long shafts (704) are respectively hinged to the outer ends of push rods on the two telescopic cylinders (5), so that a third revolute pair (13) and a fourth revolute pair (14) are respectively formed, and the axes of the two semi-long shafts (704) are respectively parallel to the rotation axes of the first revolute pair (11) and the second revolute pair (12);
the remote actuator (3) comprises a long-arm control rod (8), a spherical hinge (9) and a movable platform (10); the upper ends of the three long arm control rods (8) are respectively connected to the bottom surface of the movable platform (10) at intervals in a central symmetry mode through a spherical hinge (9), the lower ends of the three long arm control rods are respectively hinged with short shafts (702) on the three branched chains to form a sixth revolute pair (16), and the rotation axis of the sixth revolute pair (16) coincides with the axis of the short shafts (702).
2. The long arm compound drive six degree of freedom parallel mechanism of claim 1, wherein: the bottom plate (103) is of a regular triangle plate-shaped structure; the first hinge support (101) and the second hinge support (102) have the same structure.
3. The long arm compound drive six degree of freedom parallel mechanism of claim 1, wherein: the axial line gap of the two semi-long shafts (704) on the deformation hook hinge (7) is 150 degrees.
4. The long arm compound drive six degree of freedom parallel mechanism of claim 1, wherein: the long arm control rod (8) adopts a rigid long rod.
5. The long arm compound drive six degree of freedom parallel mechanism of claim 1, wherein: the movable platform (10) is of a regular triangle plate-shaped structure.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111291233 | 2021-10-28 | ||
| CN2021112912338 | 2021-10-28 |
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| CN114310852A CN114310852A (en) | 2022-04-12 |
| CN114310852B true CN114310852B (en) | 2023-09-26 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0834383A1 (en) * | 1996-10-07 | 1998-04-08 | Gec Alsthom Systemes Et Services Sa | Robot with a parallel structure |
| CN2917981Y (en) * | 2006-04-05 | 2007-07-04 | 浙江工业大学 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
| CN102357882A (en) * | 2011-09-30 | 2012-02-22 | 汕头大学 | Rope and rod hybrid-driven six-degree-of-freedom parallel robot with few branched chains |
| WO2017092105A1 (en) * | 2015-12-04 | 2017-06-08 | 中国科学院深圳先进技术研究院 | Radiation therapy bed with multiple degrees of freedom |
| CN108161490A (en) * | 2017-12-27 | 2018-06-15 | 北京交通大学 | A kind of redundant drive five-freedom parallel machine tool with big corner |
| CN113319827A (en) * | 2021-07-07 | 2021-08-31 | 天津大学 | Five-degree-of-freedom complete parallel machining robot |
-
2022
- 2022-02-08 CN CN202210117987.XA patent/CN114310852B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0834383A1 (en) * | 1996-10-07 | 1998-04-08 | Gec Alsthom Systemes Et Services Sa | Robot with a parallel structure |
| CN2917981Y (en) * | 2006-04-05 | 2007-07-04 | 浙江工业大学 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
| CN102357882A (en) * | 2011-09-30 | 2012-02-22 | 汕头大学 | Rope and rod hybrid-driven six-degree-of-freedom parallel robot with few branched chains |
| WO2017092105A1 (en) * | 2015-12-04 | 2017-06-08 | 中国科学院深圳先进技术研究院 | Radiation therapy bed with multiple degrees of freedom |
| CN108161490A (en) * | 2017-12-27 | 2018-06-15 | 北京交通大学 | A kind of redundant drive five-freedom parallel machine tool with big corner |
| CN113319827A (en) * | 2021-07-07 | 2021-08-31 | 天津大学 | Five-degree-of-freedom complete parallel machining robot |
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| CN114310852A (en) | 2022-04-12 |
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