CN203245874U - Three-freedom-degree movable parallel robot mechanism - Google Patents

Three-freedom-degree movable parallel robot mechanism Download PDF

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Publication number
CN203245874U
CN203245874U CN 201320130435 CN201320130435U CN203245874U CN 203245874 U CN203245874 U CN 203245874U CN 201320130435 CN201320130435 CN 201320130435 CN 201320130435 U CN201320130435 U CN 201320130435U CN 203245874 U CN203245874 U CN 203245874U
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pair
screw
parallel
moving
platform
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郭林发
杨尹
沈宝国
冷承业
李良湾
许生炎
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WANXIN OPTICAL GROUP CO Ltd
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WANXIN OPTICAL GROUP CO Ltd
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Abstract

A three-freedom-degree movable parallel robot mechanism comprises a movable platform (1), a fixed platform (8) and three branch kinematic chains, wherein the movable platform (1) is connected with the fixed platform (8) through the three branch kinematic chains. The three-freedom-degree movable parallel robot mechanism is characterized in that each branch kinematic chain is composed of a screw pair H (7), a rotating pair R (5) and a cylindrical pair C (2), the axes of the screw pairs H (7) are perpendicular to those of the rotating pairs R (5), and the axes of the rotating pairs R (5) are parallel to those of the cylindrical pairs C (2). According to the three-freedom-degree movable parallel robot mechanism, spatial three-dimensional movement can be achieved, the three-freedom-degree movable parallel robot mechanism has the advantages of large rigidity and high bearing of a parallel-connection mechanism, in addition, the three-freedom-degree movable parallel robot mechanism has the advantages of being simpler and symmetric in structure and the like, high-speed precision transmission can be achieved, and spatial parallel robots for various purposes, parallel-connection virtual shaft machine tools and the like can be designed.

Description

Three free degree moving parallel connected robot mechanism
Technical field
The utility model relates to a kind of spatial parallel robot mechanism, relates in particular to a kind of three-freedom degree spatial parallel robot mechanism that can realize three movements, belongs to mechanical design field.
Background technology
Spatial parallel manipulator is one of focus of the outer robot field's research of Now Domestic.The people compares with serial machine, and parallel robot has that rigidity is large, load is from the anharmonic ratio high.Space six-degree-of-freedom parallel robot the earliest is the 6-SPS platform mechanism that adopts Swewart nineteen sixty-five.This space parallel mechanism begins for flight simulator, is designed to again in recent years parallel virtual-shaft machine tool, jiggle robot and sensing element etc.
Parallel robot has wide application prospect, and particularly structure, five-freedom parallel device people better simply two, three, four with control is a new focus in the current application research.With respect to six-degree-of-freedom parallel robot, the frame for movement of lower-mobility parallel institution more is tending towards simply, thus the cost that reduces design, makes and control.Therefore, increasing scholar has begun the research to the lower-mobility parallel institution, and especially symmetrical lower-mobility parallel institution is such as Delta mechanism, StarLike mechanism etc.The Chinese scholar is also obtaining a large amount of achievements in research (such as number of patent application: 01108297.6 aspect the research of Lower-mobility Parallel Manipulators; 01113519.0; 03113354.1; 200410018623.8; 200510037951.7 etc.).
The three-translational parallel connection mechanism robot mechanism has broad application prospects as mechanism for sorting at present, rod member is many, kinematic pair is many, the inertia of operating part causes not high this problem of mechanism's speed of service greatly for the positioning element that overcomes the parallel-connection structure form exists, and need to create and satisfy the forms of motion requirement and kinematic pair is few, the speed of service is high new architecture.
Summary of the invention
For above deficiency, the purpose of this utility model is to provide a kind of three free degree moving parallel connected robot mechanism, between moving platform and fixed platform, to be connected with three sub-chains that version is identical, between from the fixed platform to the moving platform, every branch is by a screw pair, a revolute pair and a cylindrical pair, and the screw pair axis is perpendicular to the revolute pair axis, revolute pair and cylindrical pair axis are parallel to each other, and the three-dimensional of implementation space moves.
The technical solution of the utility model is achieved in the following ways: three free degree moving parallel connected robot mechanism, comprise moving platform, fixed platform and three sub-chains that connect moving platform and fixed platform, it is characterized in that: described every sub-chain is by a screw pair H, a revolute pair R and a cylindrical pair C form, the axis of screw pair H is perpendicular to the axis of revolute pair R, and the axis of revolute pair R and cylindrical pair C is parallel to each other.
Described fixed platform is provided with support, support is trifid structure, be respectively equipped with three turn-screw mechanisms on the trident, each turn-screw mechanism is comprised of ball-screw, moving slider, nut, left limit piece, bearing, ball-screw and right limit piece, ball-screw is fixed on the support by left limit piece and right limit piece, moving slider is mobile at ball-screw by motor, moving slider connects screw pair H and revolute pair R, revolute pair R is connected connecting rod with cylindrical pair C and connects, and cylindrical pair C is installed on the moving platform.
The axis of three cylindrical pair C on the described moving platform is parallel to same plane or mutually vertical, and three ball-screws that are installed in support can become arbitrarily angled with fixed platform.
Described turn-screw mechanism is common screw pair.
The utility model,1, mechanism's workbench can be realized the movement output of three translation forms.2, mechanism is simple, the mechanism joint is few, and the degree of freedom of kinematic pair sum only has 9.3, the driving pair of mechanism is positioned on the fixed platform fully, has greatly reduced the motional inertia of mechanism's integral body, thereby can realize the high-speed motion of mechanism.4, can effectively improve easy generation deflection that parallel institution too much causes because of degree of freedom of kinematic pair and the problem of torsional deflection.5, by at clamping device of motion platform serial connection, can be applicable to thus the at a high speed occasion of sorting.
Description of drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 isBall-screw and support connection diagram.
Among the figure: 1. moving platform, 2. cylindrical pair C, 3. connecting rod, 4. support, 5. revolute pair R, 6. moving slider, 7. screw pair H, 8. fixed platform, 9. nut, 10. left limit piece, 11. bearings, 12. ball-screws, 13. right limit pieces.
The specific embodiment
Known that by Fig. 1 three free degree moving parallel connected robot mechanism is comprised of moving platform 1, fixed platform 8 and three branches connecting moving platform 1 and fixed platform 8, three branches are by three screw pair H 7(H 11, H 21, H 32), three revolute pair R 5(R 12, R 22, R 32) and three cylindrical pair C2(C 13, C 23, C 33) form, a revolute pair R5 and a cylindrical pair C2 form the axis of screw pair H7 perpendicular to the axis of revolute pair R5, and the axis of revolute pair R5 and cylindrical pair C2 is parallel to each other.Triangle represents moving fixed platform up and down, and each branch is kinematic chain.
Figure 991796DEST_PATH_IMAGE001
(i=1,2,3; J=1,2,3) axis of expression kinematic pair.
The disclosed 3-HRC three free degree moving parallel connected robot mechanism of the utility model, the axis that is installed in three cylindrical pairs on the moving platform 1 can be parallel to same plane also can be mutually vertical, and three screw pairs that are installed on the support 4 can be arbitrarily angled with 8 one-tenth of fixed platforms; Three inputs are three motor-driven three ball-screws 12 that are installed in support 4, and moving slider 6 connects screw pair H7 and revolute pair R5, and revolute pair R5 is connected connecting rod 3 and connects with cylindrical pair C2, and cylindrical pair C2 is installed on the moving platform 1.
Known by Fig. 2, beBall-screw and support connection diagram.Described fixed platform 8 is provided with support 4, support 4 is trifid structures, be respectively equipped with three turn-screw mechanisms on the trident, turn-screw mechanism is comprised of ball-screw 12, moving slider 6, nut 9, left limit piece 10, bearing 11, ball-screw 12 and right limit piece 13, ball-screw 12 is fixed on support 4 by left limit piece 10 and right limit piece 13, moving slider 6 is mobile at ball-screw 7 by motor, moving slider 6 connects screw pair H7 and revolute pair R5, revolute pair R5 is connected connecting rod 3 and connects with cylindrical pair C2, cylindrical pair C2 is installed on the moving platform 1.The axis of three cylindrical pair C2 on the moving platform 1 is parallel to same plane or mutually vertical, and three ball-screws 12 that are installed in support 4 can be arbitrarily angled with 8 one-tenth of fixed platforms.Turn-screw mechanism can be common screw pair, also can be Precision High-speed Ball Screw.。
Screw pair,, secondary as the driving of mechanism, realize driving by three servomotors.When each driving pair was moved different displacement under control, remaining each revolute pair and cylindrical pair then under the pulling of connecting rod and moving platform, were done to move accordingly, thereby the realization moving platform is done the three-dimensional movement output that moves in working space.
The utility model can be in the spatial parallel manipulator (such as industrial production, sorting etc.) that designs various uses, parallel virtual-shaft machine tool etc.

Claims (3)

1. three free degree moving parallel connected robot mechanism, comprise moving platform (1), fixed platform (8) and three sub-chains that connect moving platform (1) and fixed platform (8), it is characterized in that: described every sub-chain is by a screw pair H(7), a revolute pair R(5) and a cylindrical pair C(2) form, screw pair H(7) axis is perpendicular to revolute pair R(5) axis, revolute pair R(5) with cylindrical pair C(2) axis be parallel to each other.
2. three free degree moving parallel connected robot mechanism according to claim 1, it is characterized in that: described fixed platform (8) is provided with support (4), support (4) is trifid structure, be respectively equipped with three turn-screw mechanisms on the trident, turn-screw mechanism is by ball-screw (12), moving slider (6), nut () 9, left limit piece (10), bearing (11), ball-screw (12) and right limit piece (13) form, ball-screw (12) is fixed on support (4) by left limit piece (10) and right limit piece (13), moving slider (6) is mobile at ball-screw (7) by motor, moving slider (6) connects screw pair H(7) and revolute pair R(5), revolute pair R(5) be connected with cylindrical pair C(2 by connecting rod (3) connection, cylindrical pair C(2) be installed on the moving platform (1).
3. three free degree moving parallel connected robot mechanism according to claim 1, it is characterized in that: axis three cylindrical pair C(2 on the described moving platform (1)) is parallel to same plane or mutually vertical, and three ball-screws (7) that are installed in support (4) can become arbitrarily angled with fixed platform (8).
CN 201320130435 2013-03-21 2013-03-21 Three-freedom-degree movable parallel robot mechanism Expired - Lifetime CN203245874U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103144100A (en) * 2013-03-21 2013-06-12 万新光学集团有限公司 Moving parallel robot mechanism with three freedom degrees
CN105364918A (en) * 2015-12-23 2016-03-02 苏州哈工海渡工业机器人有限公司 Screw rod-driven pseudo-4-DOF parallel robot
CN105818135A (en) * 2016-05-18 2016-08-03 哈尔滨工业大学 Five-freedom-degree parallel mechanism variable in structure parameter and work space
CN107520836A (en) * 2017-09-08 2017-12-29 燕山大学 A kind of big plane of rotation Three-degree-of-freedom motion platform
CN109348892A (en) * 2018-10-16 2019-02-19 江苏大学 A kind of tractor Three Degree Of Freedom gardening pruning head

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103144100A (en) * 2013-03-21 2013-06-12 万新光学集团有限公司 Moving parallel robot mechanism with three freedom degrees
CN105364918A (en) * 2015-12-23 2016-03-02 苏州哈工海渡工业机器人有限公司 Screw rod-driven pseudo-4-DOF parallel robot
CN105818135A (en) * 2016-05-18 2016-08-03 哈尔滨工业大学 Five-freedom-degree parallel mechanism variable in structure parameter and work space
CN107520836A (en) * 2017-09-08 2017-12-29 燕山大学 A kind of big plane of rotation Three-degree-of-freedom motion platform
CN107520836B (en) * 2017-09-08 2023-06-23 燕山大学 Large-rotation-plane three-degree-of-freedom motion platform
CN109348892A (en) * 2018-10-16 2019-02-19 江苏大学 A kind of tractor Three Degree Of Freedom gardening pruning head

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