CN205817837U - A kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary - Google Patents

A kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary Download PDF

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Publication number
CN205817837U
CN205817837U CN201620736085.4U CN201620736085U CN205817837U CN 205817837 U CN205817837 U CN 205817837U CN 201620736085 U CN201620736085 U CN 201620736085U CN 205817837 U CN205817837 U CN 205817837U
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China
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electric cylinder
cylinder
ball pivot
installation
moving platform
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CN201620736085.4U
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Chinese (zh)
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王梦梦
井国宁
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王梦梦
井国宁
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Publication of CN205817837U publication Critical patent/CN205817837U/en

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Abstract

A kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary, it by fixed platform, moving platform, six completely identical in structure electric cylinders, three flexible electric cylinders and be used for connecting each electric cylinder, flexible electric cylinder forms with the hinge of fixed and moving platform, electric cylinder is connected with fixed platform by Hooke's hinge with flexible electric cylinder lower end, and upper end is connected with moving platform by ball pivot.Constitute a kind of a kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary improved based on 6 UPS type Stewart parallel institutions.Moved by the linear telescopic of described six electric cylinders and can realize moving platform six-freedom motion in Work Space Range.Three flexible electric cylinder push rods are while realizing linear telescopic control motion, also the motion of a range of elastic telescopic be can realize, thus moving platform position constraint, the corresponding power of a load sharing do not produced, thus improve the bearing capacity of parallel institution, and ensure that the motility of parallel institution.

Description

A kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary

Technical field

The present invention relates to a kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary, belong to parallel institution field, can apply In parallel machine, high accuracy docking equipment and high accuracy armarium.

Background technology

Parallel institution has compact conformation, rigidity is big, bearing capacity is strong, do not have the advantages such as error accumulation.Based on above advantage, It is relevant that parallel institution has been used successfully in motion simulator, parallel machine, industrial production line, in high precision armarium etc. In field.

Stewart parallel institution, as one of parallel institution proposed the earliest, has space six-freedom degree, the most extensively Be applied to each field.

The driving of Stewart parallel institution branches into straight spur unit, and it uses Driven by Hydraulic Cylinder or electronic Cylinder drives.Generally speaking the restriction of branch driven bearing capacity in the bearing capacity of Stewart parallel institution very great achievement degree. For electric cylinder, although have that kinematic accuracy is high, response rapidly, to advantages such as equipment are pollution-free, but its carrying energy Power is relatively low.In the case of having strict prescribing a time limit especially for length dimension, the bearing capacity of electric cylinder is extremely limited (one For as under identical stroke, its corresponding length dimension of electric cylinder that bearing capacity is strong is the biggest).Along with sending out of machinery industry Exhibition, people increasingly tend to the bearing capacity that the compactest frame for movement of use reaches bigger.Existing Stewart parallel institution Structure, for fear of drive branch restriction, under Part load still be difficult to meet carrying needs.This limits to a certain extent Stewart parallel institution obtains further and is more widely applied.How in the existing situation driving branch's bearing capacity constant Under, by improve parallel institution structure with obtain bigger bearing capacity be we need solve problem.

Utility model content

The purpose of this utility model is to solve the problem that prior art exists, it is provided that a kind of with assisting six supported certainly By degree parallel institution, this mechanism has that bearing capacity is strong, physical dimension is little, kinematic accuracy advantages of higher.

For reaching above-mentioned purpose, insight of the invention is that

Utilize parallel institution to have rigidity is big, precision is high, speed is fast, bearing capacity is big, simple in construction, lightweight etc. excellent Point, based on 6-UPS type Stewart parallel institution, supports by parallel institution is increased auxiliary, constitutes one and support with auxiliary Six-degree-of-freedom parallel connection mechanism.The auxiliary increased supports and needs on the premise of not producing new position constraint, dynamic flat to mechanism Platform provides extra support force, to reduce the carrying of each driving branch on parallel institution, thus increases holding of parallel institution Loading capability.The bottom that auxiliary supports is connected with fixed platform by Hooke hinge (universal hinge), and ball pivot and moving platform phase are passed through in its top Even.Auxiliary supports and is made up of flexible electric cylinder as mentioned above, and the push rod of described flexible electric cylinder is realizing linear telescopic control While system motion, it is possible to realize the motion of a range of elastic telescopic, thus moving platform is not produced position constraint, a load sharing Corresponding power, thus improve the bearing capacity of parallel institution, and ensure that the motility of parallel institution.

Conceiving according to foregoing invention, this utility model is achieved through the following technical solutions:

As shown in Figure 1 and Figure 2, a kind of with auxiliary support six-degree-of-freedom parallel connection mechanism, it by fixed platform, moving platform, six Individual completely identical in structure electric cylinder, three flexible electric cylinders and be used for connecting each electric cylinder, flexible electric cylinder with fixed and moving The hinge composition of platform, electric cylinder is connected with fixed platform by Hooke's hinge with flexible electric cylinder lower end, and upper end is by ball pivot and moves Platform connects.Constitute a kind of based on 6-UPS type Stewart parallel institution improve a kind of with auxiliary support six from By degree parallel institution.Moving platform six in Work Space Range can be realized certainly by the stretching motion of described six electric cylinders Moved by degree.

Described flexible electric cylinder, by rear end cap, thrust bearing, encoder, annular briquetting I, motor stator, electric cylinder Cylinder, annular briquetting II, angular contact ball bearing, cylinder body, threaded rollers, nut cylinder, force transducer, spring, slide cartridge, push rod, slide cartridge End cap, leading screw, drive end bearing bracket etc. form.Motor stator is fixed in electric cylinder top cylinder, and rotor and leading screw are connected as a single entity, leading screw Being supported in electric cylinder top cylinder by angular contact ball bearing, leading screw and angular contact ball bearing are by annular briquetting I, annular briquetting II and Rear end cap is axially fixed in electric cylinder top cylinder, and leading screw gos deep into the part in electric cylinder top cylinder and coordinates composition electricity with motor stator Machine.The end of thread of leading screw forms actuating device by threaded rollers with nut cylinder.Nut cylinder is bolted with slide cartridge, is sliding Assembly force sensor, spring, push rod, spring, force transducer successively in Tong, finally by slide cartridge end cap by force transducer, spring It is limited in slide cartridge with push rod.

Coordinated by the transmission of threaded rollers with the end of thread of leading screw, motor can by leading screw promote nut cylinder, slide cartridge, Force transducer, spring and push rod entirety carry out stretching motion.Meanwhile, push rod in the case of by push-pull effort by means of slide cartridge and Spring, it can carry out the slip of certain amplitude in slide cartridge.This helps avoid flexible electric cylinder and produced moving platform about Bundle.

Described force transducer and sensor can measure push rod stress, and combining control system according to the size of power can be right Flexible the provided support force of electric cylinder is controlled.

The encoder-side of the above leading screw, is provided with encoder, can enter flexible electric cylinder by means of encoder Row feedback control.

The utility model has the advantage of:

Described a kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary has that bearing capacity is strong, compact conformation, motion essence Degree advantages of higher.

Accompanying drawing explanation

A kind of six-degree-of-freedom parallel connection mechanism structural representation supported with auxiliary of Fig. 1;

A kind of six-degree-of-freedom parallel connection mechanism top view supported with auxiliary of Fig. 2;

Fig. 3 flexibility electric cylinder sectional view;

Fig. 4 screw structure schematic diagram;

Fig. 5 pusher structure schematic diagram;

Fig. 6 flexibility electric cylinder phantom.

Reference: 1-fixed platform;1a (1b, 1c, 1d, 1e, 1f, 1g, 1h, 1i)-Hooke hinge installation position;2-moving platform; 2a (2b, 2c, 2d, 2e, 2f, 2g, 2h, 2i)-ball pivot installation position;3-electric cylinder;4-flexibility electric cylinder;401-rear end cap;402- Thrust bearing;403-encoder;404-annular briquetting I;405-motor stator;406-electric cylinder top cylinder;407-annular briquetting II; 408-angular contact ball bearing;409-cylinder body;410-threaded rollers;411-nut cylinder;412 (412 ')-force transducer;413 (413 ')-spring;414-slide cartridge;415-push rod;415a-spindle nose;415b-spring retainer groove;416-slide cartridge end cap;417-silk Thick stick;417a-encoder-side;417b-rotor;The 417c-end of thread;418-drive end bearing bracket;5-Hooke cuts with scissors;6-ball pivot.

Detailed description of the invention

As shown in Figure 1 and Figure 2, a kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary, by fixed platform (1), moving platform (2) electric cylinder (3), three flexible electric cylinders (4) that, six structures are identical and being used for connect electric cylinder (3), flexible electronic Cylinder (4) and Hooke hinge (5) of fixed platform (1), be used for connecting electric cylinder (3), flexible electric cylinder (4) and the ball pivot of moving platform (2) (6) composition.Electric cylinder (3), flexible electric cylinder (4) bottom are connected with fixed platform (1) by Hooke's hinge (5), electric cylinder (3) upper end It is connected with moving platform (2) by ball pivot (6).

As in figure 2 it is shown, be machined with Hooke hinge installation position (1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h, 1i) on fixed platform (1), Described Hooke hinge installation position (1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h, 1i) is distributed in fixed platform (1) center circle as the center of circle On, Hooke hinge installation position (1a, 1b, 1c) three is one group, and Hooke hinge installation position (1d, 1e, 1f) three is one group, Hooke hinge peace Dress position (1g, 1h, 1i) three is one group, and described three groups of Hookes hinge installation position is spaced 120 ° and is uniformly distributed.The upper processing of moving platform (2) Have a ball pivot installation position (2a, 2b, 2c, 2d, 2e, 2f, 2g, 2h, 2i), described ball pivot installation position (2a, 2b, 2c, 2d, 2e, 2f, 2g, 2h, 2i) it is distributed in on the circle as the center of circle of moving platform (2) center, ball pivot installation position (2c, 2d) two is one group, and ball pivot is installed Position (2f, 2g) two is one group, and ball pivot installation position (2i, 2a) two is one group, and described three groups of ball pivot installation positions are spaced 120 ° all Even distribution.The most adjacent circular arc centre position, two groups of ball pivot installation positions is machined with ball pivot installation position (2b, 2e, 2h) respectively.Six The bottom of electric cylinder (3) by Hooke hinge (5) be respectively hinged at fixed platform (1) Hooke hinge installation position (1a, 1c, 1d, 1f, 1g, On 1i), the upper end of six electric cylinders (3) by ball pivot (6) be respectively hinged at moving platform (2) ball pivot installation position accordingly (2a, 2c, 2d, 2f, 2g, 2i) on.The bottom of three flexible electric cylinders (4) is respectively hinged at fixed platform (1) Hooke by Hooke hinge (5) In hinge installation position (1b, 1e, 1h), the push rod (415) of three flexible electric cylinders (4) is respectively hinged at moving platform by ball pivot (6) (2) accordingly on ball pivot installation position (2b, 2e, 2h).

As shown in Fig. 3, Fig. 6, described flexible electric cylinder, by rear end cap (401), thrust bearing (402), encoder (403), Annular briquetting I (404), motor stator (405), electric cylinder top cylinder (406), annular briquetting II (407), angular contact ball bearing (408), cylinder body (409), threaded rollers (410), nut cylinder (411), force transducer (412,412 '), spring (413,413 '), Slide cartridge (414), push rod (415), slide cartridge end cap (416), leading screw (417), drive end bearing bracket (418) etc. form.Motor stator (405) is solid Being scheduled in electric cylinder top cylinder (406), rotor (417b) and leading screw (417) are connected as a single entity, and leading screw (417) passes through angular contact ball Bearing (408) is supported in electric cylinder top cylinder (406), and leading screw (417) and angular contact ball bearing (408) are by annular briquetting I (404), in annular briquetting II (407) and rear end cap (401) be axially fixed at electric cylinder top cylinder (406), leading screw (417) is the most electric Part in dynamic cylinder top cylinder (406) coordinates composition motor with motor stator (405).The end of thread (417c) of leading screw (417) passes through Threaded rollers (410) forms actuating device with nut cylinder (411).Nut cylinder (411) is bolted with slide cartridge (414), Assembly force sensor (412), spring (413), push rod (415), spring (413 '), force transducer successively in slide cartridge (414) (412 '), limit force transducer (412,412 '), spring (413,413 ') and push rod (415) finally by slide cartridge end cap (416) System is in slide cartridge (414).

As shown in Fig. 3, Fig. 6, coordinated by the transmission of threaded rollers (410) with the end of thread (417c) of leading screw (417), electricity Machine can pass through leading screw (417) promote nut cylinder (411), slide cartridge (414), force transducer (412,412 '), spring (413, 413 ') and push rod (415) entirety carries out stretching motion.Meanwhile, push rod (415) in the case of by push-pull effort by means of slide cartridge (414) and spring (413,413 '), it can carry out the slip of certain amplitude in slide cartridge (414).This helps avoid flexibility Electric cylinder (4) produces Planar Mechanisms to moving platform (2).

The structure of described push rod (415) is such as Fig. 3, shown in 5, and upper end is machined with spindle nose (415a), and lower end is machined with spring limit Position groove (415b), spring retainer groove (415b) is in order to coordinate with spring (413,413 ').Such as Fig. 3, shown in 6, push rod (415) Bilateral is installed the structure of spring (413,413 ') and is compared with installing single spring, can make push rod (415) under identical displacement Obtain bigger bidirectional elastic.And described spring spring (413) can be unilateral stress spring such as stage clip, disk spring etc..

Described force transducer (412,412 ') can measure push rod (415) stress, combines according to the size of power and controls journey Flexible electric cylinder (4) provided support force can be controlled by sequence.

As shown in Figure 3,4, the encoder-side (417a) of the above leading screw (417), encoder (403) is installed, borrows Help encoder (403) and flexible electric cylinder (4) can be carried out feedback control.

Further, three described flexible electric cylinders (4) can increase to six, is respectively arranged in circumferentially-adjacent two In the middle of electric cylinder (3).

Further, described six electric cylinders (3) could alternatively be hydraulic cylinder.

The utility model has the advantage of:

Described a kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary has that bearing capacity is strong, compact conformation, motion essence Degree advantages of higher.

Claims (2)

1. one kind with auxiliary support six-degree-of-freedom parallel connection mechanism, it is characterised in that: by fixed platform (1), moving platform (2), six The electric cylinder (3) that individual structure is identical, three flexible electric cylinders (4) and being used for connect electric cylinder (3), flexible electric cylinder (4) with Hooke hinge (5) of fixed platform (1), is used for connecting ball pivot (6) composition of electric cylinder (3), flexible electric cylinder (4) and moving platform (2), Electric cylinder (3), flexible electric cylinder (4) bottom are connected with fixed platform (1) by Hooke's hinge (5), and ball pivot is passed through in electric cylinder (3) upper end (6) be connected with moving platform (2), described fixed platform (1) is machined with Hooke hinge installation position (1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h, 1i), described Hooke hinge installation position (1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h, 1i) is distributed in fixed platform (1) center as the center of circle On circle, Hooke hinge installation position (1a, 1b, 1c) three is one group, and Hooke hinge installation position (1d, 1e, 1f) three is one group, and Hooke cuts with scissors Three, installation position (1g, 1h, 1i) is one group, and described three groups of Hookes hinge installation position is spaced 120 ° and is uniformly distributed, and moving platform adds on (2) Work has a ball pivot installation position (2a, 2b, 2c, 2d, 2e, 2f, 2g, 2h, 2i), described ball pivot installation position (2a, 2b, 2c, 2d, 2e, 2f, 2g, 2h, 2i) it is distributed in on the circle as the center of circle of moving platform (2) center, ball pivot installation position (2c, 2d) two is one group, and ball pivot is pacified Dress position (2f, 2g) two is one group, and ball pivot installation position (2i, 2a) two is one group, and described three groups of ball pivot installation positions are spaced 120 ° Being uniformly distributed, the most adjacent circular arc centre position, two groups of ball pivot installation positions is machined with ball pivot installation position (2b, 2e, 2h) respectively, and six The bottom of individual electric cylinder (3) by Hooke hinge (5) be respectively hinged at fixed platform (1) Hooke hinge installation position (1a, 1c, 1d, 1f, 1g, On 1i), the upper end of six electric cylinders (3) by ball pivot (6) be respectively hinged at moving platform (2) ball pivot installation position accordingly (2a, 2c, 2d, 2f, 2g, 2i) on, the bottom of three flexible electric cylinders (4) is respectively hinged at fixed platform (1) Hooke by Hooke hinge (5) In hinge installation position (1b, 1e, 1h), the push rod (415) of three flexible electric cylinders (4) is respectively hinged at moving platform by ball pivot (6) (2) accordingly on ball pivot installation position (2b, 2e, 2h).
A kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary the most according to claim 1, it is characterised in that: described soft Property electric cylinder (4) by rear end cap (401), thrust bearing (402), encoder (403), annular briquetting I (404), motor stator (405), electric cylinder top cylinder (406), annular briquetting II (407), angular contact ball bearing (408), cylinder body (409), threaded rollers (410), nut cylinder (411), force transducer (412,412 '), spring (413,413 '), slide cartridge (414), push rod (415), slide cartridge End cap (416), leading screw (417), drive end bearing bracket (418) etc. form, and motor stator (405) is fixed in electric cylinder top cylinder (406), electricity Machine rotor (417b) and leading screw (417) are connected as a single entity, and leading screw (417) is supported on electric cylinder by angular contact ball bearing (408) In cylinder (406), leading screw (417) and angular contact ball bearing (408) are by annular briquetting I (404), annular briquetting II (407) and rear end Lid (401) is axially fixed in electric cylinder top cylinder (406), and leading screw (417) gos deep into the part in electric cylinder top cylinder (406) and motor Stator (405) coordinates composition motor, and the end of thread (417c) of leading screw (417) is by threaded rollers (410) and nut cylinder (411) group Becoming actuating device, nut cylinder (411) is bolted with slide cartridge (414), assembly force sensor successively in slide cartridge (414) (412), spring (413), push rod (415), spring (413 '), force transducer (412 '), finally by slide cartridge end cap (416) by power Sensor (412,412 '), spring (413,413 ') and push rod (415) are limited in slide cartridge (414), by threaded rollers (410) Transmission with the end of thread (417c) of leading screw (417) coordinates, and motor can pass through leading screw (417) and promote nut cylinder (411), slide cartridge (414), force transducer (412,412 '), spring (413,413 ') and push rod (415) entirety carry out stretching motion, meanwhile, push rod (415) by means of slide cartridge (414) and spring (413,413 ') in the case of by push-pull effort, it can be in slide cartridge (414) Carrying out the slip of certain amplitude, this helps avoid flexible electric cylinder (4) and moving platform (2) is produced Planar Mechanisms, and described power senses Device (412,412 ') can measure push rod (415) stress, and combining control program according to the size of power can be to flexible electric cylinder (4) provided support force is controlled, the encoder-side (417a) of described leading screw (417), is provided with encoder (403), by Flexible electric cylinder (4) can be carried out feedback control in encoder (403), described push rod (415) upper end is machined with spindle nose (415a), lower end is machined with spring retainer groove (415b), and spring retainer groove (415b) is in order to join with spring (413,413 ') Close.
CN201620736085.4U 2016-07-13 2016-07-13 A kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary CN205817837U (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106886227A (en) * 2016-12-26 2017-06-23 中国科学院长春光学精密机械与物理研究所 A kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR
CN107065113A (en) * 2017-05-18 2017-08-18 中国科学院长春光学精密机械与物理研究所 High-precision six-freedom degree optical module pose adjusting apparatus
CN108646382A (en) * 2018-03-30 2018-10-12 中国科学院上海光学精密机械研究所 Flexible parallel connection Three dimensional rotation support under heavy load and adjustment structure
CN108714065A (en) * 2018-04-04 2018-10-30 邢志平 A kind of bionical artificial limb machinery foot in parallel connection joint
CN109774969A (en) * 2019-01-25 2019-05-21 上海卫星工程研究所 Based on the dynamic embedded semi-physical system followed of air floatation ball person who harbors criminals or contraband goods
CN110202545A (en) * 2019-06-21 2019-09-06 中国科学院自动化研究所 A kind of auxiliary drive unit and the six-degree-of-freedom parallel connection mechanism containing the unit
US10689831B2 (en) 2018-03-27 2020-06-23 Deere & Company Converting mobile machines into high precision robots
CN108646382B (en) * 2018-03-30 2020-06-30 中国科学院上海光学精密机械研究所 Flexible parallel three-dimensional rotation supporting and adjusting structure under heavy load

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106886227A (en) * 2016-12-26 2017-06-23 中国科学院长春光学精密机械与物理研究所 A kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR
CN107065113A (en) * 2017-05-18 2017-08-18 中国科学院长春光学精密机械与物理研究所 High-precision six-freedom degree optical module pose adjusting apparatus
CN107065113B (en) * 2017-05-18 2019-06-11 中国科学院长春光学精密机械与物理研究所 High-precision six-freedom degree optical module pose adjusts device
US10689831B2 (en) 2018-03-27 2020-06-23 Deere & Company Converting mobile machines into high precision robots
CN108646382A (en) * 2018-03-30 2018-10-12 中国科学院上海光学精密机械研究所 Flexible parallel connection Three dimensional rotation support under heavy load and adjustment structure
CN108646382B (en) * 2018-03-30 2020-06-30 中国科学院上海光学精密机械研究所 Flexible parallel three-dimensional rotation supporting and adjusting structure under heavy load
CN108714065A (en) * 2018-04-04 2018-10-30 邢志平 A kind of bionical artificial limb machinery foot in parallel connection joint
CN109774969A (en) * 2019-01-25 2019-05-21 上海卫星工程研究所 Based on the dynamic embedded semi-physical system followed of air floatation ball person who harbors criminals or contraband goods
CN110202545A (en) * 2019-06-21 2019-09-06 中国科学院自动化研究所 A kind of auxiliary drive unit and the six-degree-of-freedom parallel connection mechanism containing the unit

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