CN203460173U - Parallel mechanism capable of achieving three-dimensional translation and three-dimensional - Google Patents
Parallel mechanism capable of achieving three-dimensional translation and three-dimensional Download PDFInfo
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- CN203460173U CN203460173U CN201320452315.0U CN201320452315U CN203460173U CN 203460173 U CN203460173 U CN 203460173U CN 201320452315 U CN201320452315 U CN 201320452315U CN 203460173 U CN203460173 U CN 203460173U
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- 238000006073 displacement reaction Methods 0.000 description 1
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Abstract
本实用新型公开了一种可实现三维平动三维转动的并联机构，包括固定架和动平台，固定架上固接有六个驱动装置，动平台包括中心板和摇杆，中心板与摇杆之间采用虎克铰转动连接，摇杆的上部和下部分别为旋向相反的第一丝杠和第二丝杠；固定架与中心板之间连接有三条第一支链，固定架与三个球头杆之间连接有三条第二支链；摇杆由三条第一支链带动实现三维平动，摇杆在三条第二支链的带动下通过虎克铰实现相对于中心板的二维转动；摇杆通过螺母与虎克内圈的相对移动实现自转，从而摇杆既有三个平动自由度，又有三个转动自由度。本实用新型其结构简单紧凑，利用虎克铰和螺旋副巧妙的实现了六自由度，降低了机构复杂性，易实现高速高精度复杂抓取。
The utility model discloses a parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation, comprising a fixed frame and a moving platform, six driving devices are fixedly connected to the fixed frame, the moving platform includes a central plate and a rocker, and the central plate and the rocker The Hooke hinge is used to connect between them, and the upper and lower parts of the rocker are respectively the first lead screw and the second lead screw with opposite directions of rotation; there are three first branch chains connected between the fixed frame and the center plate, and the fixed frame and the three There are three second branch chains connected between the first ball rods; the rocker is driven by the three first branch chains to realize three-dimensional translation, and the rocker is driven by the three second branch chains to achieve two-dimensional translation relative to the center plate through the Hooke hinge. Two-dimensional rotation; the rocker realizes self-rotation through the relative movement between the nut and Hooke's inner ring, so the rocker has three translational degrees of freedom and three rotational degrees of freedom. The utility model has a simple and compact structure, uses the Hooke hinge and the helical pair to cleverly realize six degrees of freedom, reduces the complexity of the mechanism, and easily realizes high-speed, high-precision and complex grasping.
Description
Technical field
The utility model relates to a kind of robot, particularly relates to a kind of parallel institution with space six degree of freedom of robot.
Background technology
The at present domestic mechanism that the research of space six-degree-of-freedom parallel connection mechanism is still concentrated on machining or measures purposes, and study less for the space six-degree-of-freedom parallel connection mechanism that is applied to the high-speed motion realized of material pick-and-place.
There is in the world minority to can be applicable to the space six-degree-of-freedom parallel connection mechanism of material pick-and-place.Patent documentation US20110097184A1 discloses a kind of parallel institution of realizing three-dimensional translating and Three dimensional rotation, comprises fixed mount, moving platform, Three Degree Of Freedom wrist and is arranged symmetrically in three side chains that structure is identical between described fixed mount and moving platform; On described fixed mount, be connected with drive unit; Described moving platform is connected with lower connecting axle; Every side chain comprises hack lever far away that nearly hack lever is parallel with two and drive end, connecting axle, and on described nearly hack lever one end and described fixed mount, drive end is affixed, and the other end is connected with connecting axle; Described two parallel hack lever far away one end respectively with the two ends ball-joint of described upper connecting axle, the other end respectively with described lower connecting axle ball-joint; Described Three Degree Of Freedom wrist is fixed in described moving platform; Between described two parallel hack levers far away, be connected with drive end; Between described connecting axle one end and described hack lever far away, drive end is affixed, and the other end and described Three Degree Of Freedom wrist input are affixed.The limitation of said mechanism is: the drive end of Three Degree Of Freedom wrist is fixed between two hack levers far away, increases quality and the inertia of these mechanism kinematic parts, affects the dynamic property of said mechanism, causes this mechanism to be difficult to realize high-speed motion.
Utility model content
The utility model proposes a kind of parallel institution of realizing three-dimensional translating Three dimensional rotation for solving the technical problem existing in known technology, the utlity model has light inertia, high power density, can realize the feature of high-speed motion.
In order to solve the problems of the technologies described above, a kind of parallel institution of realizing three-dimensional translating Three dimensional rotation of the utility model, comprise fixed mount and moving platform, on described fixed mount, be connected with six drive units, described moving platform comprises central plate and vertically through the rocking bar of central plate center, between described central plate and described rocking bar, adopt Hooke's hinge to be rotationally connected, described Hooke's hinge comprises Hooke inner ring and Hooke outer ring, described Hooke inner ring is connected with Hooke outer ring rotating, described Hooke outer ring and described central plate are rotationally connected, the upper and lower of described rocking bar is respectively the first leading screw and the second leading screw that rotation direction is contrary, on described the first leading screw, be combined with nut, on described nut, be fixed with three ball rods, described Hooke inner ring inner surface is provided with the screw thread coordinating with described the second leading screw, between described fixed mount and central plate, be connected with three the first side chains, between described fixed mount and three ball rods, be connected with three the second side chains, described the first side chain is parallel to each other by nearly hack lever, upper connecting axle, two and isometric the first hack lever far away and lower connecting axle forms, described the second side chain consists of nearly hack lever, upper connection spherical hinge, the second hack lever far away and lower connection spherical hinge, in described the first side chain, between one end of described nearly hack lever and described fixed mount, by revolute pair, be connected and affixed with the output of a drive unit, the other end of described nearly hack lever and described upper connecting axle are affixed, one end of two first hack levers far away respectively with described upper connecting axle ball-joint, the other end of two first hack levers far away respectively with described lower connecting axle ball-joint, upper connecting axle in every first side chain, two parallel and isometric the first hack lever far away and lower connecting axles form a parallelogram sturcutre, in described the second side chain, between one end of described nearly hack lever and described fixed mount, by revolute pair, be connected and affixed with the output of a drive unit, the other end of described nearly hack lever is by one end ball-joint of described upper connection spherical hinge and the described second hack lever far away, and the other end of the described second hack lever far away is by described lower connection spherical hinge and described ball rod ball-joint, described central plate is driven and is realized three-dimensional translating by three the first side chains, thereby drives described rocking bar to realize three-dimensional translating, and described rocking bar is realized the two-dimensional rotary with respect to central plate by Hooke's hinge under the drive of three the second side chains, described rocking bar is realized rotation by relatively moving of described nut and Hooke inner ring, thereby existing three translational degree of freedom of rocking bar have again three rotational freedoms.
The utility model can be realized the parallel institution of three-dimensional translating Three dimensional rotation, wherein, also comprise a guide post, described guide post is parallel with described rocking bar, described Hooke inner ring is provided with for the via hole through guide post, described guide post and this via hole are matched in clearance, and the top of described guide post and described nut are affixed.
Compared with prior art, the beneficial effects of the utility model are:
It is simple and compact for structure for the utility model, has avoided enlarger, utilizes Hooke's hinge and screw pair to realize cleverly six degree of freedom, reduce mechanism complexity, reduced heavy moving parts, improved kinematic accuracy, easily realize at a high speed and capturing, and meet the requirement of complicated pick-and-place operation.
Accompanying drawing explanation
Fig. 1 is the integrated model schematic diagram of the utility model parallel institution that can realize three-dimensional translating Three dimensional rotation;
Fig. 2 is the structural representation of moving platform in the utility model;
Fig. 3 is the structural representation of Hooke's hinge in the utility model.
In figure:
1-drive unit, 2-fixed mount, the nearly hack lever of 3-, the upper connection of 4-spherical hinge, the upper connecting axle of 5-, 6-second hack lever far away, 6a, 6b-first hack lever far away, connect spherical hinge under 7-, connecting axle under 8-, 9-moving platform, 10-central plate, 11-Hooke inner ring, 12-Hooke outer ring, 13-nut, 14-guide post, 15-rocking bar, 16-the first leading screw, 17-the second leading screw.
The specific embodiment
Below in conjunction with the specific embodiment, the utility model is described in further detail.
As shown in Figure 1, a kind of parallel institution of realizing three-dimensional translating Three dimensional rotation of the utility model, comprises fixed mount 2 and moving platform 9, is connected with six drive units 1 on described fixed mount 2.
As shown in Figure 2, described moving platform 9 comprises central plate 10 and vertically through the rocking bar 15 of central plate 10 centers, between described central plate 10 and described rocking bar 15, adopt Hooke's hinge to be rotationally connected, as shown in Figures 2 and 3, described Hooke's hinge comprises Hooke inner ring 11 and Hooke outer ring 12, described Hooke inner ring 11 is rotationally connected with Hooke outer ring 12, described Hooke outer ring 12 is rotationally connected with described central plate 10, the upper and lower of described rocking bar 15 is respectively the first leading screw 16 and the second leading screw 17 that rotation direction is contrary, on described the first leading screw 16, be combined with nut 13, on described nut 13, be fixed with three ball rods, described Hooke inner ring 11 inner surfaces are provided with the screw thread coordinating with described the second leading screw 17.
As shown in Figure 1, between described fixed mount 2 and central plate 10, be connected with three the first side chains, between described fixed mount 2 and three ball rods, be connected with three the second side chains; Described the first side chain by nearly hack lever 3, upper connecting axle 5, two be parallel to each other and isometric the first hack lever 6a, 6b far away and lower connecting axle 8 forms; Described the second side chain consists of nearly hack lever 3, upper connection spherical hinge the 4, second hack lever 6 far away and lower connection spherical hinge 7.
In described the first side chain, between one end of described nearly hack lever 3 and described fixed mount 2, by revolute pair, be connected and affixed with the output of a drive unit 1, described drive unit 1 provides a rotational freedom for the nearly hack lever 3 affixed with it, the other end of described nearly hack lever 3 and described upper connecting axle 5 are affixed, one end of two first hack lever 6a, 6b far away respectively with described upper connecting axle 5 ball-joints, the other end of two first hack lever 6a, 6b far away respectively with described lower connecting axle 8 ball-joints; Upper connecting axle in every first side chain 5, two the first parallel and isometric hack lever 6a, 6b far away and lower connecting axle 8 form parallelogram sturcutres.
In described the second side chain, between one end of described nearly hack lever 3 and described fixed mount 2, by revolute pair, be connected and affixed with the output of a drive unit 1, the other end of described nearly hack lever 3 is one end ball-joint with the described second hack lever far away by described upper connection spherical hinge 4, and the other end of the described second hack lever far away is by described lower connection spherical hinge 7 and described ball rod ball-joint.
As depicted in figs. 1 and 2, described central plate 10 is driven and is realized three-dimensional translating by three the first side chains, thereby drive described rocking bar 15 to realize three-dimensional translating, described rocking bar 15 is realized the two-dimensional rotary with respect to central plate 10 under the drive of three the second side chains and by Hooke's hinge; In the process relatively moving with Hooke inner ring 11 at described nut 13, by two contrary screw pairs of rotation direction, the rotation that is converted into described rocking bar 15 will be moved, thereby existing three translational degree of freedom of rocking bar there are again three rotational freedoms.
The parallel institution that the utility model can be realized three-dimensional translating Three dimensional rotation comprises a guide post 14, described guide post 14 has guaranteed that nut 13 and Hooke inner ring 11 axis of axis and rocking bar 15 when relatively moving is identical, described guide post 14 is parallel with described rocking bar 15, described Hooke inner ring 11 is provided with for the via hole through guide post 14, described guide post 14 is matched in clearance with this via hole, and the top of described guide post 14 and described nut 13 are affixed.
Simultaneously, when six-degree-of-freedom parallel tool hands movement of the present utility model, upper connection spherical hinge in the second side chain and lower connection spherical hinge only need a place that the rotation around the second hack lever 6 far away is provided, Gu while replacing upper connection spherical hinge or lower connection spherical hinge with Hooke's hinge, described end effector 16 still can be driven and under the effect of Hooke's hinge, be realized the two-dimensional rotary with respect to described central plate 10 by three the second side chains, and then mechanism can realize three translational degree of freedom and three rotational freedoms equally.
Compared with prior art, its difference is the utility model:
Six side chains in the utility model are divided into two groups, and central plate 10 is driven and realized three-dimensional translating by three the first side chains, thereby drives rocking bar 15 to realize three-dimensional translating; Under the drive of three the second side chains, the Hooke's hinge that rocking bar 15 consists of with Hooke outer ring 12 Hooke inner ring 11 has been realized the two-dimensional rotary of relative central plate 10.When nut 13 and Hooke inner ring 11 relatively move, by two screw thread pairs, be converted into the rotation of rocking bar 15, guide post 14 has guaranteed that nut 13 and Hooke inner ring 11 are when relatively moving, both axis are all identical with the axis of rocking bar 15, thereby make existing three translational degree of freedom of rocking bar 15, have again three rotational freedoms.
In the utility model, the rotation of rocking bar 15 transforms by two screw thread pairs, compare with single thread, nut 13 with Hooke inner ring 11 under equal relative displacement, the rotation angle that rocking bar 15 can double.
In the utility model, the arbitrary Chu， mechanism that is replaced connecting in spherical hinge 4 and lower connection spherical hinge 7 by Hooke's hinge can realize three translational degree of freedom and three rotational freedoms equally.
The utility model has been avoided enlarger, utilizes Hooke's hinge and screw pair to realize cleverly six degree of freedom, its compact conformation, reduce mechanism complexity, reduced heavy moving parts, improved kinematic accuracy, easily realize at a high speed and capturing, and meet the requirement of complicated pick-and-place operation.
Although by reference to the accompanying drawings preferred embodiment of the present utility model is described above; but the utility model is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present utility model; not departing from the scope situation that the utility model aim and claim protect, can also make a lot of forms, within these all belong to protection domain of the present utility model.
Claims (2)
1. can realize a parallel institution for three-dimensional translating Three dimensional rotation, comprise fixed mount (2) and moving platform (9), on described fixed mount (2), be connected with six drive units (1), it is characterized in that,
Described moving platform (9) comprises central plate (10) and vertically through the rocking bar (15) of central plate (10) center, between described central plate (10) and described rocking bar (15), adopt Hooke's hinge to be rotationally connected, described Hooke's hinge comprises Hooke inner ring (11) and Hooke outer ring (12), described Hooke inner ring (11) is rotationally connected with Hooke outer ring (12), described Hooke outer ring (12) is rotationally connected with described central plate (10), the upper and lower of described rocking bar (15) is respectively the first leading screw (16) and the second leading screw (17) that rotation direction is contrary, on described the first leading screw (16), be combined with nut (13), on described nut (13), be fixed with three ball rods, described Hooke inner ring (11) inner surface is provided with the screw thread coordinating with described the second leading screw (17),
Between described fixed mount (2) and central plate (10), be connected with three the first side chains, between described fixed mount (2) and three ball rods, be connected with three the second side chains; Described the first side chain is parallel to each other by nearly hack lever (3), upper connecting axle (5), two and isometric the first hack lever far away (6a, 6b) and lower connecting axle (8) forms; Described the second side chain consists of nearly hack lever (3), upper connection spherical hinge (4), the second hack lever far away (6) and lower connection spherical hinge (7);
In described the first side chain, between one end of described nearly hack lever (3) and described fixed mount (2), by revolute pair, be connected and affixed with the output of a drive unit (1), the other end of described nearly hack lever (3) and described upper connecting axle (5) are affixed, one end of two first hack levers far away (6a, 6b) respectively with described upper connecting axle (5) ball-joint, the other end of two first hack levers far away (6a, 6b) respectively with described lower connecting axle (8) ball-joint; Upper connecting axle (5) in every first side chain, two parallel and isometric the first hack lever far away (6a, 6b) and lower connecting axles (8) form a parallelogram sturcutre;
In described the second side chain, between one end of described nearly hack lever (3) and described fixed mount (2), by revolute pair, be connected and affixed with the output of a drive unit (1), the other end of described nearly hack lever (3) is one end ball-joint with the described second hack lever far away (6) by described upper connection spherical hinge (4), and the other end of the described second hack lever far away (6) is by described lower connection spherical hinge (7) and described ball rod ball-joint;
Described central plate (10) is driven and is realized three-dimensional translating by three the first side chains, thereby drive described rocking bar (15) to realize three-dimensional translating, described rocking bar (15) is realized the two-dimensional rotary with respect to central plate (10) by Hooke's hinge under the drive of three the second side chains; Described rocking bar (15) is realized rotation by described nut (13) and relatively moving of Hooke inner ring (11), thereby existing three translational degree of freedom of rocking bar have again three rotational freedoms.
2. can realize according to claim 1 the parallel institution of three-dimensional translating Three dimensional rotation, it is characterized in that, also comprise a guide post (14), described guide post (14) is parallel with described rocking bar (15), described Hooke inner ring (11) is provided with for the via hole through guide post (14), described guide post (14) is matched in clearance with this via hole, and the top of described guide post (14) and described nut (13) are affixed.
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| CN201320452315.0U CN203460173U (en) | 2013-07-25 | 2013-07-25 | Parallel mechanism capable of achieving three-dimensional translation and three-dimensional |
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| CN201320452315.0U CN203460173U (en) | 2013-07-25 | 2013-07-25 | Parallel mechanism capable of achieving three-dimensional translation and three-dimensional |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103386681A (en) * | 2013-07-25 | 2013-11-13 | 天津大学 | Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation |
| CN105234923A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Parallel mechanism with six degrees of freedom of three-translation three-rotation |
| CN105992677A (en) * | 2014-03-18 | 2016-10-05 | Abb瑞士股份有限公司 | A compact parallel kinematics robot |
| CN107932522A (en) * | 2017-11-28 | 2018-04-20 | 中国矿业大学 | Five degree of freedom optical fabrication equipment and its method of work |
| CN107932483A (en) * | 2017-12-15 | 2018-04-20 | 浙江理工大学 | A kind of three movements one with complete cycle cornering rate rotate sorting machine people in parallel |
| US20210393350A1 (en) * | 2018-11-02 | 2021-12-23 | Sony Corporation | Parallel link device, master-slave system, and medical master-slave system |
-
2013
- 2013-07-25 CN CN201320452315.0U patent/CN203460173U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103386681A (en) * | 2013-07-25 | 2013-11-13 | 天津大学 | Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation |
| CN103386681B (en) * | 2013-07-25 | 2015-06-03 | 天津大学 | Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation |
| CN105992677A (en) * | 2014-03-18 | 2016-10-05 | Abb瑞士股份有限公司 | A compact parallel kinematics robot |
| CN105234923A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Parallel mechanism with six degrees of freedom of three-translation three-rotation |
| CN107932522A (en) * | 2017-11-28 | 2018-04-20 | 中国矿业大学 | Five degree of freedom optical fabrication equipment and its method of work |
| CN107932483A (en) * | 2017-12-15 | 2018-04-20 | 浙江理工大学 | A kind of three movements one with complete cycle cornering rate rotate sorting machine people in parallel |
| US20210393350A1 (en) * | 2018-11-02 | 2021-12-23 | Sony Corporation | Parallel link device, master-slave system, and medical master-slave system |
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