CN1647890A - Adjustable three freedom shunt robot mechanism with passive constrain branch - Google Patents
Adjustable three freedom shunt robot mechanism with passive constrain branch Download PDFInfo
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- CN1647890A CN1647890A CN 200510052261 CN200510052261A CN1647890A CN 1647890 A CN1647890 A CN 1647890A CN 200510052261 CN200510052261 CN 200510052261 CN 200510052261 A CN200510052261 A CN 200510052261A CN 1647890 A CN1647890 A CN 1647890A
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Abstract
The present invention belongs to the field of robot and mechanical manufacture technology. The present invention features that the upper platform and the pedestal are connected via three identical linearly driving branches and one passive constraint branch; each of the driving branches has one ball pair in each end and one driving shift pair in the middle; and the passive constraint branch has one shift pair and one direction pair and has adjustable constraint posture. The present invention can realize one shift along the axis of the passive constraint branch and two rotations around the universal auxiliary crossed axes. The present invention has the features of high rigidity and high bearing capacity of parallel mechanism, only axial force in the driving branches, great work space, simple mechanism, symmetrical structure, high motion precision, etc. The present invention may be used in parallel space robot, parallel virtual shaft machine tool, etc.
Description
Technical field
The present invention relates to robot and mechanical manufacturing field.
Background technology
For ease of explanation, divide number with n (n=1,2,3,4,6) expression, represent the ball pair in the sub-chain, universal pair, moving sets and revolute pair respectively with S, T, P and R, the sub-chain structure is represented in their combination.
Parallel robot has that mechanism's rigidity is big, and bearing capacity is strong, and end mass is light, and inertia is little, and site error such as does not accumulate at characteristics, is complementary relationship with the serial machine people on using.At present, the lower-mobility parallel robot mechanism is robot and the focus of making area research, nineteen eighty-three Hunt proposes 3-RPS mechanism, nineteen ninety Pierrot proposes three translation Delta mechanisms, Tsai proposed three translation 3-TPT mechanisms in 1996, obtain United States Patent (USP) (USA No.5656905), Gosselin in 2002 proposes three and rotates 3-RRR mechanism and three translation 3-PRR mechanisms, the novel freedom degree parallel connection of yellow true proposition of calendar year 2001 travel mechanism, obtain Chinese patent (CN1311083A), the yellow true precise jiggle three-dimensional moving mechanism in parallel that proposes in 2004 obtains Chinese patent (CN1539603A).Compare with Stewart six degree of freedom 6-SPS parallel institution, advantage such as that the lower-mobility parallel institution has relatively is simple in structure, easy control, but shortcoming is also arranged: there is redundant autokinesis in 3-UPU mechanism, influences proper motion; 3-RPS mechanism working space is little; The rotating drive branch complexity of Delta mechanism and 3-RRR mechanism has moment of flexure; There are moment of flexure and shearing in the driving branch of 3-PRR mechanism.The moment of flexure and the shearing that drive branch produce mechanism's strain and in the big load of revolute pair, have a strong impact on drive unit and mechanism's proper motion.
Summary of the invention
The object of the present invention is to provide a kind of linear drives branch only be subjected to the kinematic accuracy of axial force high have a passive bound branch three-freedom parallel robot mechanism.It is simple relatively that this invention has mechanism, symmetrical configuration, working space is relatively large, drive branch and be not subjected to moment of flexure and shearing, eliminate characteristics such as the redundant autokinesis of mechanism with adjustable function, can be implemented in the space along axial two rotations of moving and winding of passive bound branch perpendicular to passive bound branch axis intersecting axle.Each SPS in this invention drives branch an isolated degree of freedom around this branch's axis rotation, but because it does not influence mechanism kinematic character, can stop the rotation of driving branch with very little flexible constraint power, so this invention is equivalent to the 3-SPT/1-PT three-freedom parallel robot mechanism.
This adjustable passive bound branch three-freedom parallel robot mechanism that has, by upper mounting plate 4, pedestal 1, and identical linear drives branch and the passive bound branch of three structures that connect upper mounting plate 4 and pedestal 1 formed, it is characterized in that: three linear drives branches are equilateral triangle and are symmetrically distributed, and passive bound branch is positioned in the middle of the equilateral triangle; There is ball pair 2 at linear drives branch two ends, the centre has one to drive moving sets 3, be SPS branch, drive moving sets 3 axis and overlap that the straight line mobile drive deivce that driving moving sets 3 is made up of hydraulic linear mobile drive deivce or motor and screw pair constitutes with secondary 2 centers of ball; Passive bound branch has a moving sets and a universal pair, i.e. PT branch, and moving sets is made up of moving sets cover 5 and key axle 6, and it is vertical with upper mounting plate 4 that moving sets overlaps 5 axis, and moving sets overlaps 5 upper ends and equilateral triangle upper mounting plate 4 centers are connected; The power shaft 7 and key axle 6 lower ends of universal pair are connected, and output shaft 8 is connected with last fluted disc 9; Lower tooth disk 10 is connected with equilateral triangle pedestal 1 center; The dead in line of last fluted disc 9 and lower tooth disk 10, and, guarantee that upper and lower fluted disc axially meshes with bolt 11 connections; Adjust upper and lower fluted disc relative rotation and thrust, the redundant autokinesis of the parallel institution proper motion of can eliminating the effects of the act.
Description of drawings
Fig. 1 is the adjustable passive bound branch three-freedom parallel robot mechanism that has.
In Fig. 1,1. pedestal, 2. the ball pair 3. drives moving sets, 4. upper mounting plate, 5. moving sets cover, 6. key axle, 7. universal secondary power shaft, 8. universal secondary output shaft is 9. gone up fluted disc, 10. lower tooth disk, 11. bolts.
The specific embodiment
Fig. 1 is an embodiment disclosed by the invention, and three linear drives sub-chain structures are identical, is equilateral triangle and is symmetrically distributed, and there is ball pair 2 at linear drives branch two ends, and the centre has one to drive moving sets 3, drives moving sets 3 axis and overlaps with secondary 2 centers of ball; Passive bound branch has a moving sets and a universal pair, and they lay respectively at the center of equilateral triangle upper mounting plate 4 and pedestal 1, and the constraint pose of passive bound branch is adjustable.Driving the straight line mobile drive deivce that moving sets 3 is made up of hydraulic linear mobile drive deivce or motor and screw pair constitutes.Moving sets is made up of cover 5 and key axle 6, and moving sets cover 5 is connected with upper mounting plate 4 central vertical, and key axle 6 axially is connected with universal secondary power shaft 7, and universal secondary output shaft 8 axially is connected with last fluted disc 9, and lower tooth disk 10 axially is connected with pedestal 1.Last fluted disc 9 axially overlaps with lower tooth disk 10, connects with bolt 11 pretensions, guarantees that upper and lower fluted disc axially meshes, and adjusts can the eliminate the effects of the act redundant autokinesis of parallel institution proper motion of upper and lower fluted disc relative rotation and thrust.
This novel adjustable has the passive bound branch 3-freedom parallel mechanism and can be implemented in three dimensions and move and around two rotations of universal secondary intersecting axle along passive bound branch axial.Except that having the characteristics that parallel institution rigidity is big, carrying is high, also have the branch of driving and be not subjected to moment of flexure and shearing, working space is big, irredundant autokinesis, mechanism is simple relatively, symmetrical configuration, kinematic accuracy height, characteristics such as adjustability is good.Can design multi-purpose spatial parallel device people, parallel machine, jiggle robot and sensor element etc. with this novel mechanism.
Claims (4)
1. one kind adjustablely has a passive bound branch 3-freedom parallel mechanism, by upper mounting plate (4), pedestal (1), and three linear drives branches and a passive bound branch of connecting upper mounting plate (4) and pedestal (1) form, it is characterized in that: three linear drives sub-chain structures are identical and be equilateral triangle and be symmetrically distributed, there is ball pair (2) at linear drives branch two ends, the centre has one to drive moving sets (3), drives moving sets (3) axis and overlaps with ball pair (2) center; Passive bound branch has a moving sets and a universal pair, and they lay respectively at the center of equilateral triangle upper mounting plate (4) and pedestal (1), and the constraint pose of passive bound branch is adjustable.
2. the described parallel institution of claim 1 is characterized in that: drive the straight line mobile drive deivce that moving sets (3) is made up of hydraulic linear mobile drive deivce or motor and screw pair and constitute.
3. claim 1 or 2 described parallel institutions, it is characterized in that: moving sets is made up of cover (5) and key axle (6), moving sets cover (5) is connected with upper mounting plate (4) central vertical, key axle (6) axially is connected with universal secondary power shaft (7), universal secondary output shaft (8) axially is connected with last fluted disc (9), and lower tooth disk (10) axially is connected with pedestal (1).
4. the described parallel institution of claim 3, it is characterized in that: go up fluted disc (9) and axially overlap with lower tooth disk (10), connect with bolt (11) pretension, guarantee that upper and lower fluted disc axially meshes, adjust can the eliminate the effects of the act redundant autokinesis of parallel institution proper motion of upper and lower fluted disc relative rotation and thrust.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100522619A CN100381248C (en) | 2005-02-06 | 2005-02-06 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005100522619A CN100381248C (en) | 2005-02-06 | 2005-02-06 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
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| CN1647890A true CN1647890A (en) | 2005-08-03 |
| CN100381248C CN100381248C (en) | 2008-04-16 |
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| CNB2005100522619A Expired - Fee Related CN100381248C (en) | 2005-02-06 | 2005-02-06 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
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