CN203266124U - Redundant drive three-freedom-degree parallel mechanism with double motion platforms - Google Patents
Redundant drive three-freedom-degree parallel mechanism with double motion platforms Download PDFInfo
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- CN203266124U CN203266124U CN 201320207661 CN201320207661U CN203266124U CN 203266124 U CN203266124 U CN 203266124U CN 201320207661 CN201320207661 CN 201320207661 CN 201320207661 U CN201320207661 U CN 201320207661U CN 203266124 U CN203266124 U CN 203266124U
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- revolute pair
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Abstract
The utility model relates to a redundant drive three-freedom-degree parallel mechanism with double motion platforms. The redundant drive three-freedom-degree parallel mechanism with the double motion platforms has the advantages that a kinematic model is simple, calibration control can be easily carried out, and manufacturing and installation are convenient. According to the technical scheme, the redundant drive three-freedom-degree parallel mechanism with the double motion platforms comprises an upper platform, a lower platform, a rack and four independent telescopic adjusting branches, and is characterized in that a prismatic pair comprises a sliding block which is matched with a guide rail in a sliding mode, a driving device of the prismatic pair is a lead screw mechanism driven by a motor, the lead screw mechanism comprises a lead screw which drives the sliding block through a screw thread fit structure, and the axis of the guide rail and the axis of the lead screw are both perpendicular to the ground.
Description
Technical field
The present invention relates to the executing agency of a kind of lathe and industrial robot, especially have the redundant drive 3-freedom parallel mechanism of two motion platforms.
Background technology
The free degree of lower-mobility parallel institution is less than 6, have simple in structure, high accuracy, working space large, control the characteristics such as easy.Owing to there being these advantages, the lower-mobility parallel institution has had very widely at industrial circles such as machining, medicine equipments to be used.Wherein 3-freedom parallel mechanism is the focus of lower-mobility parallel institution research.Nowadays in the parallel machine application, using more is to have around the rotation of space both direction and Three Degree Of Freedom [PP] the S class parallel institution that moves along a direction, and the part in parallel that Z3 (WO2000025976) main tapping take the 3-PRS parallel institution as the basis of releasing as German DSTechnologie lathe company and Karl-Erik Mr. Neumann propose is the Exechon lathe (WO2006054935) of 2-UPR-SPR.
But two pivot centers of the 3-PRS parallel institution of z3 main tapping change along with the variation of moving platform pose, have produced inconvenience for motion demarcation and the control of mechanism's reality.There is ball pivot in the 2-UPR-SPR parallel institution, has increased the difficulty of making, and precision is also wayward.And being all 3 regardless of a minute number that is 3-PRS or 2-UPR-SPR, is non-redundantly actuated parallel mechanism, makes the rigidity of mechanism and load-carrying properties all descend to some extent.
Summary of the invention
Technical problem to be solved by this invention is the deficiency that overcomes the above-mentioned background technology, provides a kind of two of spherical hinge that do not contain to turn a shift three degrees of freedom redundantly actuated parallel mechanism; It is simple that this mechanism should have a kinematics model, is easy to demarcate the characteristics of controlling and being convenient to make installation.
The technical solution used in the present invention is:
Redundant drive 3-freedom parallel mechanism with two motion platforms, comprise lower platform, frame and be connected in lower platform in parallel and frame between four the telescopic adjustment of independence branches; In these four branches:
The first branch and the 3rd branch form by sequentially being connected to frame to the moving sets between lower platform, the first revolute pair, connecting rod, the second revolute pair, connecting rod and universal hinge respectively;
The second branch and the 4th branch form by sequentially being connected to frame to the moving sets between upper mounting plate, the first revolute pair, connecting rod, the second revolute pair, connecting rod and universal hinge respectively;
The first branch, the second branch, the 3rd branch and the 4th branch be distributed in the direction of the clock or counterclockwise upper mounting plate circumferentially;
It is characterized in that: described moving sets includes the slide block that is slidably matched with guide rail; The drive unit of described moving sets is the screw mechanism of driven by motor, wherein contains the leading screw that drives slide block by thread matching structure, and rail axis and leading screw axis are all perpendicular to ground;
Be cemented in the axis of leading screw in the first branch on frame and be cemented in the axis of leading screw in the 3rd branch on frame coplanar; Be cemented in the axis of leading screw in the second branch on frame and be cemented in the axis of leading screw in the 4th branch on frame coplanar; And the plane that the plane that in the first branch, in the axis of leading screw and the 3rd branch, the axis of leading screw forms forms perpendicular to the axis of leading screw in the axis of leading screw in the second branch and the 4th branch; In the first branch, with hinged first branch's the first turns auxiliary shaft line parallel of the first slide block in first branch's the second revolute pair axis, and perpendicular to the leading screw axis of the first branch, pivot center of universal hinge and the axis conllinear of articulated linkage, another axis is perpendicular to the plane of lower platform; In the second branch, with hinged second branch's the first turns auxiliary shaft line parallel of the second slide block in second branch's the second revolute pair axis, and perpendicular to the leading screw axis of the second branch, pivot center of universal hinge and the axis conllinear of articulated linkage, another axis is perpendicular to the plane of upper mounting plate; In the 3rd branch, with hinged the 3rd branch's the first turns auxiliary shaft line parallel of the 3rd slide block in the 3rd branch's the second revolute pair axis, and perpendicular to the leading screw axis of the 3rd branch, pivot center of universal hinge and the axis conllinear of articulated linkage, another axis is perpendicular to the plane of lower platform; In the 4th branch, with hinged the 4th branch's the first turns auxiliary shaft line parallel of Four-slider in the 4th branch's the second revolute pair axis, and perpendicular to the leading screw axis of the 4th branch, pivot center of universal hinge and the axis conllinear of articulated linkage, another axis is perpendicular to the plane of upper mounting plate; Upper lower platform is by double-screw bolt and flange is fixed is integrated.
The moving sets of described each branch is all driving pair.
The described hinged articulated structure that all adopts jointed shaft to coordinate with hinge hole.
Dispose a motor on described lower platform, a cutter spindle head is installed on machine shaft, the main tapping axis is perpendicular to the lower platform plane.
The invention has the beneficial effects as follows: this Three Degree Of Freedom mechanism has the rotating shaft of two vertical interlaceds, and the relative space position of two rotating shafts is constant, and does not contain ball pivot, and kinematics model is simple, and the foundation and the motion that are easy to control model are demarcated, and are convenient to make and install.Increased in addition by the 4th branch, whole mechanism has used the mode of redundant drive, has improved rigidity and the bearing capacity of mechanism, can be used for the parallel machine occasion.
Description of drawings
Fig. 1 is the main TV structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the left TV structure schematic diagram of the embodiment of the present invention.
Fig. 3 is the perspective view one of the embodiment of the present invention.
Fig. 4 is the A section structure for amplifying schematic diagram in Fig. 3.
Fig. 5 is the perspective view two of the embodiment of the present invention.
Fig. 6 is the B section structure for amplifying schematic diagram in Fig. 5.
The specific embodiment
Further illustrate below in conjunction with embodiment shown in the drawings.
Illustrated in figures 1 and 2, four branches of mechanism be in twos symmetrical (the first branch, the second branch, the 3rd branch and the 4th branch in the direction of the clock around be distributed on upper mounting plate circumferentially, perhaps by counterclockwise around be distributed on upper mounting plate circumferentially).Guide rail and leading screw in four branches are installed on frame, and its axis is all perpendicular to ground.The first slide block 6 of the first branch is slidably matched with guide rail, and (is shaped with on slide block and the matched nut of threads of lead screw by helicitic texture by leading screw 2; As follows) driving, the first slide block 6 is connected with connecting rod by the first revolute pair 10 connections of the first branch, and connecting rod 14 is connected with connecting rod by the second revolute pair 18 connections of the first branch, and connecting rod 22 is connected with lower platform by universal hinge 26 connections.The second slide block 7 of branch two is slidably matched with guide rail, and driven by thread matching structure by leading screw 3, the second slide block 7 is connected with connecting rod by the first revolute pair 11 connections of the second branch, connecting rod 15 is connected with connecting rod by the second revolute pair 19 connections of the second branch, and connecting rod 23 is connected with upper mounting plate by universal hinge 28 connections.The 3rd slide block 8 of branch three is slidably matched with guide rail, and driven by helicitic texture by leading screw 4, the 3rd slide block 8 is connected with connecting rod by the first revolute pair 12 connections of the 3rd branch, connecting rod 16 is connected with connecting rod by the second revolute pair 20 connections of the 3rd branch, and connecting rod 24 is connected with lower platform by universal hinge 27 connections.Four-slider 9 and the guide rail of branch four are slidably matched, and driven by helicitic texture by leading screw 5, Four-slider 9 is connected with connecting rod by the first revolute pair 13 connections of the 4th branch, connecting rod 17 is connected with connecting rod by the second revolute pair 21 connections of the 4th branch, and connecting rod 25 is connected with upper mounting plate by universal hinge 28 connections.Wherein, the axis of first branch's the first revolute pair 10, the 3rd branch's the first revolute pair 12, first branch's the second revolute pair 18, the 3rd branch's the second revolute pair 20 is parallel to each other, and perpendicular to the first leading screw 2 and the 3rd leading screw 4.The axis of second branch's the first revolute pair 11, the 4th branch's the first revolute pair 13, second branch's the second revolute pair 19, the 4th branch's the second revolute pair 21 is parallel to each other, and perpendicular to the axis of leading screw 3 and leading screw 5.An axis of universal hinge 26 is perpendicular to the lower platform plane, the axis conllinear of another axis and connecting rod 22 (be parallel to lower platform plane), and an and axis conllinear of universal hinge 27.An axis of universal hinge 27 is perpendicular to the lower platform plane, the axis conllinear of another axis and connecting rod 24 (be parallel to lower platform plane).An axis of universal hinge 28 is perpendicular to the upper mounting plate plane, the axis conllinear of another axis and connecting rod 23 and connecting rod 25.Upper lower platform is connected with four double-screw bolts, and an end of the first double-screw bolt 31.1 is connected with upper mounting plate by the first flange 31.2, and the other end is connected with lower platform by the second flange 31.3.One end of the second double-screw bolt 32.1 is connected with upper mounting plate by three-flange 32.2, and the other end is connected with lower platform by the 4th flange 32.3.One end of the 3rd double-screw bolt 33.1 is connected with upper mounting plate by the 5th flange 33.2, and the other end is connected with lower platform by the 6th flange 33.3.One end of the 4th double-screw bolt 34.1 is connected with upper mounting plate by the 7th flange 34.2, and the other end is connected with lower platform by eight treating observances blue 34.3.Motor 36 of configuration on lower platform is by this driven by motor cutter spindle head.Whole mechanism adopts four servomotors to drive respectively the leading screw of four branches, and namely four moving sets are exactly the main motion pair, is with at last cutter 37 to carry out the space three-freedom motion.
Claims (4)
1. the redundant drive 3-freedom parallel mechanism that has two motion platforms, comprise lower platform, frame and be connected in lower platform in parallel and frame between four the telescopic adjustment of independence branches; In these four branches:
The first branch and the 3rd branch form by sequentially being connected to frame (1) to moving sets, the first revolute pair, connecting rod, the second revolute pair, connecting rod and universal hinge between lower platform (35) respectively;
The second branch and the 4th branch form by sequentially being connected to frame (1) to moving sets, the first revolute pair, connecting rod, the second revolute pair, connecting rod and universal hinge between upper mounting plate (30) respectively;
The first branch, the second branch, the 3rd branch and the 4th branch are in the direction of the clock around being distributed on the circumferential of upper mounting plate;
It is characterized in that: described moving sets includes the slide block that is slidably matched with guide rail; The drive unit of described moving sets is the screw mechanism of driven by motor, wherein is furnished with the leading screw that drives slide block by thread matching structure, and rail axis and leading screw axis are all perpendicular to ground;
Be cemented in the axis of leading screw (2) in the first branch on frame and be cemented in the axis of leading screw (4) in the 3rd branch on frame coplanar; Be cemented in the axis of leading screw (3) in the second branch on frame and be cemented in the axis of leading screw (5) in the 4th branch on frame coplanar; And the plane that the plane that in the first branch, in the axis of leading screw and the 3rd branch, the axis of leading screw forms forms perpendicular to the axis of leading screw in the axis of second branch's leading screw and the 4th branch; In the first branch, first branch first revolute pair (10) axis hinged with the first slide block (6) is parallel to first branch's the second revolute pair (18) axis, and the leading screw axis perpendicular to the first branch, pivot center of universal hinge (26) and the axis conllinear of articulated linkage (22), another axis is perpendicular to the plane of lower platform; In the second branch, second branch first revolute pair (11) axis hinged with the second slide block (7) is parallel to second branch's the second revolute pair (19) axis, and leading screw (3) axis perpendicular to the second branch, pivot center of universal hinge (28) and the axis conllinear of articulated linkage (23), another axis is perpendicular to the plane of upper mounting plate; In the 3rd branch, three branch first revolute pair (12) axis hinged with the 3rd slide block (8) is parallel to the 3rd branch's the second revolute pair (20) axis, and leading screw (4) axis perpendicular to the 3rd branch, pivot center of universal hinge (27) and the axis conllinear of articulated linkage (24), another axis is perpendicular to the plane of lower platform; In the 4th branch, four branch first revolute pair (13) axis hinged with Four-slider (9) is parallel to the 4th branch's the second revolute pair (21) axis, and leading screw (5) axis perpendicular to the 4th branch, pivot center of universal hinge (28) and the axis conllinear of articulated linkage (25), another axis is perpendicular to the plane of upper mounting plate; Upper lower platform is by double-screw bolt and flange is fixed is integrated.
2. the redundant drive 3-freedom parallel mechanism with two motion platforms according to claim 1, the moving sets that it is characterized in that described each branch is all driving pair.
3. the redundant drive 3-freedom parallel mechanism with two motion platforms according to claim 2, is characterized in that the described hinged articulated structure that all adopts jointed shaft to coordinate with hinge hole.
4. the redundant drive 3-freedom parallel mechanism with two motion platforms according to claim 3, it is characterized in that disposing on described lower platform a motor (36), a cutter spindle head is installed on machine shaft, and the main tapping axis is perpendicular to the lower platform plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320207661 CN203266124U (en) | 2013-04-22 | 2013-04-22 | Redundant drive three-freedom-degree parallel mechanism with double motion platforms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320207661 CN203266124U (en) | 2013-04-22 | 2013-04-22 | Redundant drive three-freedom-degree parallel mechanism with double motion platforms |
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| CN203266124U true CN203266124U (en) | 2013-11-06 |
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| CN 201320207661 Withdrawn - After Issue CN203266124U (en) | 2013-04-22 | 2013-04-22 | Redundant drive three-freedom-degree parallel mechanism with double motion platforms |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231254A (en) * | 2013-04-22 | 2013-08-07 | 浙江理工大学 | Redundant drive three-freedom-degree parallel mechanism with double motion platforms |
| CN105834576A (en) * | 2016-05-03 | 2016-08-10 | 浙江理工大学 | Redundant-driven friction stir welding parallel robot |
| CN110181488A (en) * | 2019-06-26 | 2019-08-30 | 燕山大学 | A kind of full symmetric parallel institution of high performance three freedom redundancy driving |
-
2013
- 2013-04-22 CN CN 201320207661 patent/CN203266124U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231254A (en) * | 2013-04-22 | 2013-08-07 | 浙江理工大学 | Redundant drive three-freedom-degree parallel mechanism with double motion platforms |
| CN103231254B (en) * | 2013-04-22 | 2015-05-06 | 浙江理工大学 | Redundant drive three-freedom-degree parallel mechanism with double motion platforms |
| CN105834576A (en) * | 2016-05-03 | 2016-08-10 | 浙江理工大学 | Redundant-driven friction stir welding parallel robot |
| CN110181488A (en) * | 2019-06-26 | 2019-08-30 | 燕山大学 | A kind of full symmetric parallel institution of high performance three freedom redundancy driving |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20131106 Effective date of abandoning: 20150506 |
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| RGAV | Abandon patent right to avoid regrant |