CN1539603A - Fine vernier parallel 3D travel mechanism including screw pair - Google Patents
Fine vernier parallel 3D travel mechanism including screw pair Download PDFInfo
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- CN1539603A CN1539603A CNA2003101042785A CN200310104278A CN1539603A CN 1539603 A CN1539603 A CN 1539603A CN A2003101042785 A CNA2003101042785 A CN A2003101042785A CN 200310104278 A CN200310104278 A CN 200310104278A CN 1539603 A CN1539603 A CN 1539603A
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Abstract
A precise and parallel 3D shift mechanism containing screw pairs features that each branch has a screw pair and 3 rotation pairs, whose axises are parallel to each other, the axises of 3 rotation pairs installed on the upper platform can be parallel or perpendicular to each other, same as the 3 rotation pairs installed on the lower platform, and the axises of the rotation pair fixed to support and the screw pair in a branch are coaxial. Its advantages are simple and symmetrical structure, high drive precision (1-2 microns) and large stroke (20 mm).
Description
Technical field
This invention belongs to the spatial parallel robot mechanism field.
Background technology
Spatial parallel device people is one of focus of current robot field research both at home and abroad.With serial machine physiognomy ratio, parallel robot has that rigidity is big, load is from the anharmonic ratio advantages of higher.Space six-degree-of-freedom parallel robot the earliest is based on the 6-SPS platform mechanism that Stewart nineteen sixty-five adopts.This space parallel mechanism begins to be used for flight simulator, is designed to parallel virtual-shaft machine tool, jiggle robot and sensor element etc. in recent years again.In recent years, novel lower-mobility parallel robot mechanism becomes new research focus.Because this mechanism has characteristics such as simple in structure, that cost is low relatively, in industrial production and other fields wide application prospect is arranged.The 3-RPS space parallel mechanism that proposes Three Degree Of Freedom as Hunt1983 has caused extensive interest; A kind of three-dimensional moving mechanisms that are called Delta mechanism of proposition such as nineteen ninety Pierrot, this mechanism is 17 bars, 21 kinematic pairs, wherein 12 spherical pairs though mechanism is very complicated, has had widely and have used; Nineteen ninety-five Tsai has invented a kind of better simply Three Degree Of Freedom three-dimensional moving mechanism, and has obtained United States Patent (USP), and this mechanism also is 17 bars, 21 kinematic pairs.Precise jiggle has crucial meaning in a lot of fields, as is used for micro-manipulating robot, can be engaged in injection cell, light butt joint, little processing, the multinomial important work of little assembling.
Summary of the invention
The object of the present invention is to provide a kind of fine motion space three-dimensional moving mechanism in parallel based on screw pair and revolute pair.It is simple relatively that this invention has mechanism, characteristics such as symmetrical configuration, but the three-dimensional of implementation space moves.
This precise jiggle space three-dimensional moving mechanism in parallel that contains screw pair by upper mounting plate 1, lower platform 10, reaches three branches that connect upper mounting plate 1, lower platform 10 and forms, and it is characterized in that: there are a screw pair and three revolute pairs, i.e. three R in each branch
1HR
2R
3Branch, wherein R
j(j=1,2,3) expression revolute pair, H represents screw pair, their axis is parallel to each other; Be installed in the axis of three revolute pairs on the upper mounting plate 1 can parallel same plane also can be vertical mutually, corresponding on the axis that is installed in three revolute pairs on the lower platform 10 and the upper mounting plate can parallel same plane also can be vertical mutually; Be fixed on the axis of the revolute pair 11 on the bearing 9 and the axis conllinear of screw pair 8 in the same branch; Three inputs are that three motors 6 that are installed in bearing 9 drive three leading screws 7, and screw is fixed on and connects screw pair 8 (H) and revolute pair 11 (R
1) lower arm link 5 on, turn-screw mechanism also can replace with differential screw is secondary; Three revolute pair axis that are fixed on upper mounting plate 1 are vertical mutually in the space, and three revolute pair axis that correspondence is fixed on lower platform 10 are also vertical mutually in the space, and the motion of the space of this axis arranged three-dimensional moving mechanism in parallel is decoupling zero; Adopt jiggle robot, parallel machine and the workbench of this mechanism design, revolute pair can be common accurate revolute pair, also can be elastic hinge.
The invention has the beneficial effects as follows: structure is simple relatively, symmetrical, and rigidity is big, carrying is high, precision is high.Can realize the three-dimensional microoperation of working range between 0.001-10.000mm, can realize that also wider three-dimensional moves.
Description of drawings
Accompanying drawing 1. contains the precise jiggle three-dimensional moving mechanism schematic diagram in parallel of screw pair
In Fig. 1, hexagon is represented lower platform up and down, and each branch is the RHRR kinematic chain.O-XYZ is the coordinate system that is fixed on lower platform, $
Ij(i=1,2,3; J=1,2, the ..4) axis of expression kinematic pair.1. upper mounting plate, 2. revolute pair R
3, 3. upper arm, 4. revolute pair R
2, 5. lower arm link, 6. motor, 7. leading screw, 8. screw pair H, 9. bearing, 10. lower platform, 11. revolute pair R
1
The specific embodiment
3-RHRR disclosed by the invention space three-dimensional moving mechanism in parallel is by upper mounting plate 1, lower platform 10, and three R of lower platform are gone up in connection
1HR
2R
3Branch constitutes (see figure 1), and last four the kinematic pair axis of same branch are parallel; Be fixed on three turns auxiliary shaft line parallel upper mounting plate 1 planes of upper mounting plate 1; Be fixed on the revolute pair 11 (R on the bearing 9 in the same branch
1) axis and the axis conllinear of screw pair 8 (H), its member is a drive screw, three inputs are that three motors 6 that are installed in bearing 9 drive three drive screws, nut is fixed on and connects screw pair 8 (H) and revolute pair (11) R
1Lower arm link 5 on.
Drive screw or ball screw framework can be common drving sprial pair and ball screw assembly,, also can be the differential screw pairs, and be 3-HHRR mechanism this moment; Adopt the jiggle robot or the sensor element of this mechanism design, kinematic pair is common accurate revolute pair, can also be elastic hinge.
The present invention can be used for designing spatial parallel device people (as producing on the assembly line part assembling etc.), parallel virtual-shaft machine tool, jiggle robot and the sensor element etc. of various uses.
Claims (4)
1. the precise jiggle space of containing screw pair three-dimensional moving mechanism in parallel, by upper mounting plate (1), lower platform (10), and three branches that connect upper mounting plate (1), lower platform (10) form, it is characterized in that: there are a screw pair and three revolute pairs in each branch, and their axis is parallel to each other; Be installed in the axis of three revolute pairs on the upper mounting plate (1) can parallel same plane also can be vertical mutually, corresponding on the axis that is installed in three revolute pairs on the lower platform (10) and the upper mounting plate can parallel same plane also can be vertical mutually; Be fixed on the axis of the revolute pair (11) on the bearing (9) and the axis conllinear of screw pair (8) in the same branch.
2. the described precise jiggle space of containing screw pair of claim 1 three-dimensional moving mechanism in parallel, it is characterized in that: three inputs are that three motors (6) that are installed in bearing (9) drive three leading screws (7), and screw is fixed on and connects screw pair (8) H and revolute pair (11) R
1Lower arm link (5) on, turn-screw mechanism also can replace with differential screw is secondary.
3. the described precise jiggle space of containing screw pair of claim 1 three-dimensional moving mechanism in parallel, it is characterized in that: three revolute pair axis that are fixed on upper mounting plate (1) are vertical mutually in the space, three revolute pair axis that correspondence is fixed on lower platform (10) are also vertical mutually in the space, and the motion of the space of this axis arranged three-dimensional moving mechanism in parallel is decoupling zero.
4. the described precise jiggle space of containing screw pair of claim 1 three-dimensional moving mechanism in parallel, it is characterized in that: the jiggle robot, parallel machine and the workbench that adopt this mechanism design, revolute pair can be common accurate revolute pair, also can be elastic hinge.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CNB2003101042785A CN100439050C (en) | 2003-10-28 | 2003-10-28 | Fine vernier parallel 3D travel mechanism including screw pair |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CNB2003101042785A CN100439050C (en) | 2003-10-28 | 2003-10-28 | Fine vernier parallel 3D travel mechanism including screw pair |
Publications (2)
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CN1539603A true CN1539603A (en) | 2004-10-27 |
CN100439050C CN100439050C (en) | 2008-12-03 |
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CNB2003101042785A Expired - Fee Related CN100439050C (en) | 2003-10-28 | 2003-10-28 | Fine vernier parallel 3D travel mechanism including screw pair |
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Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100348379C (en) * | 2005-10-28 | 2007-11-14 | 天津大学 | Space tritranslation parallel connection mechanism containing steel wire parallelogram fork chain structure |
CN100376363C (en) * | 2005-12-30 | 2008-03-26 | 哈尔滨工业大学 | Double-ring tribranched chain contraction and enlargement type parallel structure |
CN100393484C (en) * | 2006-06-09 | 2008-06-11 | 北京工业大学 | Three-translation and one-rotation parallel mechanism |
CN102152317A (en) * | 2011-03-29 | 2011-08-17 | 天津大学 | Accurate straight-line motion mechanism only including revolute pair |
CN102692201A (en) * | 2012-06-19 | 2012-09-26 | 重庆大学 | Device for measuring spatial motion with six degrees of freedom and dynamic measuring method |
CN102962839A (en) * | 2012-12-12 | 2013-03-13 | 常州大学 | Vibrating screen mechanism with three-dimensional independent output motion |
CN103035161A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Two-degree-of-freedom static load balancing in-parallel movement simulation platform |
CN104647355A (en) * | 2014-12-30 | 2015-05-27 | 中国矿业大学 | Parallel platform with adjustable working space |
CN104959975A (en) * | 2015-07-27 | 2015-10-07 | 吉林大学 | Three-dimensional translational parallel mechanism based on motion decoupling |
CN105364922A (en) * | 2015-10-26 | 2016-03-02 | 浙江理工大学 | Four-freedom-degree parallel type transfer robot driven by movable pairs |
CN107627322A (en) * | 2017-10-18 | 2018-01-26 | 西安科技大学 | It is a kind of based on screw can shaft axis revolute pair |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN2309932Y (en) * | 1997-10-08 | 1999-03-10 | 东北大学 | Three-freedom parallel robot mechanism |
JP4235931B2 (en) * | 2000-04-14 | 2009-03-11 | 株式会社安川電機 | Parallel link robot |
CN1127401C (en) * | 2001-02-27 | 2003-11-12 | 燕山大学 | Three free degree moving parallel connected robot mechanism |
CN1117650C (en) * | 2001-02-28 | 2003-08-13 | 中国石化集团金陵石油化工有限责任公司 | 3D parallel translation mechanism for virtual-axle machine tool and robot |
CN100421885C (en) * | 2002-03-09 | 2008-10-01 | 燕山大学 | Symmetrical and parallel robot mechanism with cross set and 4 or 5 freedoms |
CN100486782C (en) * | 2002-03-09 | 2009-05-13 | 燕山大学 | Spatially symmetrical and parallel robot mechanism with dual parallel lines and 3,4 and 5 freedoms |
-
2003
- 2003-10-28 CN CNB2003101042785A patent/CN100439050C/en not_active Expired - Fee Related
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100348379C (en) * | 2005-10-28 | 2007-11-14 | 天津大学 | Space tritranslation parallel connection mechanism containing steel wire parallelogram fork chain structure |
CN100376363C (en) * | 2005-12-30 | 2008-03-26 | 哈尔滨工业大学 | Double-ring tribranched chain contraction and enlargement type parallel structure |
CN100393484C (en) * | 2006-06-09 | 2008-06-11 | 北京工业大学 | Three-translation and one-rotation parallel mechanism |
CN102152317A (en) * | 2011-03-29 | 2011-08-17 | 天津大学 | Accurate straight-line motion mechanism only including revolute pair |
CN102152317B (en) * | 2011-03-29 | 2012-06-06 | 天津大学 | Accurate straight-line motion mechanism only including revolute pair |
CN102692201A (en) * | 2012-06-19 | 2012-09-26 | 重庆大学 | Device for measuring spatial motion with six degrees of freedom and dynamic measuring method |
CN103035161A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Two-degree-of-freedom static load balancing in-parallel movement simulation platform |
CN102962839A (en) * | 2012-12-12 | 2013-03-13 | 常州大学 | Vibrating screen mechanism with three-dimensional independent output motion |
CN104647355A (en) * | 2014-12-30 | 2015-05-27 | 中国矿业大学 | Parallel platform with adjustable working space |
CN104647355B (en) * | 2014-12-30 | 2016-05-11 | 中国矿业大学 | The parallel connection platform that a kind of working space is adjustable |
CN104959975A (en) * | 2015-07-27 | 2015-10-07 | 吉林大学 | Three-dimensional translational parallel mechanism based on motion decoupling |
CN104959975B (en) * | 2015-07-27 | 2017-01-18 | 吉林大学 | Three-dimensional translational parallel mechanism based on motion decoupling |
CN105364922A (en) * | 2015-10-26 | 2016-03-02 | 浙江理工大学 | Four-freedom-degree parallel type transfer robot driven by movable pairs |
CN105364922B (en) * | 2015-10-26 | 2017-04-19 | 浙江理工大学 | Four-freedom-degree parallel type transfer robot driven by movable pairs |
CN107627322A (en) * | 2017-10-18 | 2018-01-26 | 西安科技大学 | It is a kind of based on screw can shaft axis revolute pair |
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