CN208713982U - A kind of macro micro- parallel robot platform of the six degree of freedom of coplanar driving - Google Patents
A kind of macro micro- parallel robot platform of the six degree of freedom of coplanar driving Download PDFInfo
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- CN208713982U CN208713982U CN201821204731.8U CN201821204731U CN208713982U CN 208713982 U CN208713982 U CN 208713982U CN 201821204731 U CN201821204731 U CN 201821204731U CN 208713982 U CN208713982 U CN 208713982U
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Abstract
The utility model provides a kind of macro micro- parallel robot platform of six degree of freedom of coplanar driving, there is higher kinematic accuracy.A kind of technical solution of the macro micro- parallel robot platform of six degree of freedom of coplanar driving of the utility model embodiment includes: four single-degree-of-freedom driving devices in cross-shaped symmetrical distribution, each single-degree-of-freedom driving device includes slidable nucleus movement platform, the moving parts of synchronous movement is equipped on each nucleus movement platform, the opposite sliding block that it is slided up and down is equipped on each moving parts, the rotatable parts of its opposite sliding are equipped on each sliding block, motion profile of the motion profile of the rotatable parts perpendicular to the corresponding nucleus movement platform, for placing moving platform between four rotatable parts.
Description
Technical field
The utility model embodiment is related to multi-degree-of-freedom motion platform technical field, and in particular to the six of a kind of coplanar driving
The macro micro- parallel robot platform of freedom degree.
Background technique
The industries such as numerical control processing, IC manufacturing, MEMS processing and manufacturing are widely used multiple degrees of freedom
Motion platform, developing a kind of has the characteristics that multiple degrees of freedom, positioning accuracy are higher, structure is simple and thrust is larger precision is fixed
Bit platform is extremely urgent.
Traditional multi-degree-of-freedom motion platform is mostly several single axis stage simple superposition, has more related link and fortune
Dynamic component, kinematic error accumulation are serious.
Utility model content
The utility model provides a kind of macro micro- parallel robot platform of six degree of freedom of coplanar driving, there is higher movement essence
Degree.
A kind of technical solution packet of the macro micro- parallel robot platform of six degree of freedom of coplanar driving of the utility model embodiment
It includes:
Four single-degree-of-freedom driving devices in cross-shaped symmetrical distribution, each single-degree-of-freedom driving device includes can
The nucleus movement platform of sliding is equipped with the moving parts of synchronous movement, each shifting on each nucleus movement platform
It is equipped with the opposite sliding block that it is slided up and down on dynamic component, the rotatable parts of its opposite sliding, institute are equipped on each sliding block
State motion profile of the motion profile of rotatable parts perpendicular to the corresponding nucleus movement platform, four rotation sections
For placing moving platform between part.
Preferably, in the technical solution of the macro micro- parallel robot platform of the six degree of freedom of above-mentioned coplanar driving,
Each single-degree-of-freedom driving device further includes linear guide, linear motor, and the linear motor is built in institute
Linear guide is stated, and the nucleus movement platform is slided along the linear guide.
Preferably, in the technical solution of the macro micro- parallel robot platform of the six degree of freedom of above-mentioned coplanar driving, the core
Heart motion platform is made of macro movement parts and macro/micromotion part, and the macro movement parts and the macro/micromotion part are embedded in described straight
Line guide rail.
Preferably, described macro in the technical solution of the macro micro- parallel robot platform of the six degree of freedom of above-mentioned coplanar driving
There is a notch, the notch is equipped with protrusion, and the macro movement parts are equipped with and the notch is isometric prolongs on micromotion part
Part is stretched, there is the empty slot for accommodating the protrusion, the length of the empty slot is greater than the length of the protrusion, described on the extension
For placing high steel spring and piezoelectric micro-displacement actuator in remaining area between empty slot and the protrusion.
Preferably, in the technical solution of the macro micro- parallel robot platform of the six degree of freedom of above-mentioned coplanar driving, Mei Yisuo
Stating moving parts includes wedge block, and the wedge block has an inclined surface, and the sliding block is slided up and down along the inclined surface.
Preferably, in the technical solution of the macro micro- parallel robot platform of the six degree of freedom of above-mentioned coplanar driving, the wedge
Shape block is installed on the nucleus movement platform.
Preferably, in the technical solution of the macro micro- parallel robot platform of the six degree of freedom of above-mentioned coplanar driving, the cunning
Block is perpendicular to the corresponding single-degree-of-freedom driving device.
Beneficial effect by adopting the above technical scheme is:
Four single-degree-of-freedom driving device two transversely arranged, and two longitudinal arrangements surround a cross.Two are laterally arranged
Nucleus movement platform in the single-degree-of-freedom driving device of column can transverse shifting, the single-degree-of-freedom driving device of two longitudinal arrangements
On nucleus movement platform it is longitudinally movable.The corresponding moving parts synchronizing moving of each nucleus movement platform.In addition to moving
Outside dynamic component and nucleus movement platform synchronizing moving, sliding block is additionally provided on each moving parts, sliding block is relative on moving parts
Lower movement is additionally provided with the rotatable parts relative to its movement on sliding block, and the motion profile of rotatable parts is perpendicular to corresponding institute
State the motion profile of nucleus movement platform.When two opposite single-degree-of-freedom driving devices slidings, moving platform realizes oneself of X or Y
By spending, when four sliding blocks slide simultaneously, moving platform realizes Z freedom degree, and when two opposite sliding block slidings, moving platform realizes α
Or β freedom degree, the dynamic flat achievable γ freedom degree when four rotatable parts slide simultaneously.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of overall structure figure of the macro micro- parallel robot platform of six degree of freedom of coplanar driving of the utility model；
Fig. 2 is a kind of explosive view of the macro micro- parallel robot platform of six degree of freedom of coplanar driving of the utility model.
Specific embodiment
The utility model provides a kind of macro micro- parallel robot platform of six degree of freedom of coplanar driving, there is higher movement essence
Degree.
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
A kind of technical solution of the macro micro- parallel robot platform of six degree of freedom of coplanar driving of the utility model includes four
In the single-degree-of-freedom driving device that cross-shaped symmetrical is distributed, each single-degree-of-freedom driving device includes slidable core fortune
Moving platform is equipped with the moving parts of synchronous movement on each nucleus movement platform, is all provided on each moving parts
There is the opposite sliding block that it is slided up and down, the rotatable parts of its opposite sliding are equipped on each sliding block, the rotatable parts
Motion profile perpendicular to the corresponding nucleus movement platform motion profile, for putting between four rotatable parts
Set moving platform.
As described above, four single-degree-of-freedom driving device two transversely arranged, two longitudinal arrangements surround a cross.
Nucleus movement platform in two transversely arranged single-degree-of-freedom driving devices can transverse shifting, two longitudinal arrangements it is single freely
The nucleus movement platform spent in driving device is longitudinally movable.The corresponding moving parts of each nucleus movement platform is synchronous to be moved
It is dynamic.Other than moving parts and nucleus movement platform synchronizing moving, sliding block is additionally provided on each moving parts, sliding block is relative to shifting
Dynamic component moves up and down, and the rotatable parts relative to its movement is additionally provided on sliding block, for one of them, when nucleus movement platform
When transverse shifting, then rotatable parts horizontally vertically move along sliding block.
Each single-degree-of-freedom driving device includes that linear guide, linear motor, nucleus movement platform and piezoelectric ceramics are micro-
Displacement driver.Wherein pedestal of the linear guide as the utility model motion platform.Linear motor is built in linear guide
It is such as glued on the inside of linear guide.Nucleus movement platform is made of macro movement parts and macro/micromotion part, macro movement parts and macro micro- fortune
Moving part is embedded in linear guide, so that nucleus movement platform is moved along linear guide, which defines that nucleus movement is flat
The motion profile of platform.
In addition, having a notch on macro/micromotion part, which is equipped with protrusion, corresponding, macro movement parts
It is equipped with the extension isometric with the notch, there is the empty slot for accommodating the protrusion on extension, the length of the empty slot is greater than protrusion
Length, for placing high steel spring and piezoelectric micro-displacement actuator in remaining area between empty slot and protrusion.Gao Gang
Spring plays damping action, reduces platform vibration, enhances stability, and piezoelectric micro-displacement actuator can significantly improve movement
The displacement accuracy of platform.
Each moving parts includes wedge block, and wedge block has an inclined surface, has along inclined direction on the inclined surface
Extended guide rail, sliding block is embedded on guide rail, to realize that sliding block can be moved up and down relative to moving parts.Further,
Guide rail also is provided on sliding block, which moves perpendicular to single-degree-of-freedom driving device corresponding thereto, rotatable parts along the guide rail
Dynamic, nucleus movement platform is moved along single-degree-of-freedom driving device, thus realize the motion profiles of rotatable parts perpendicular to its
The motion profile of the corresponding nucleus movement platform.
Below with reference to the macro micro- parallel manipulator of six degree of freedom of Fig. 1 and Fig. 2 coplanar driving a kind of to the utility model embodiment
The expansion of people's platform is described in detail.
The utility model is a kind of macro micro- parallel robot platform of the six degree of freedom of coplanar driving, including four single-degree-of-freedoms
Driving device (can be respectively defined as single-degree-of-freedom driving device one, single-degree-of-freedom driving device two, single-degree-of-freedom driving device
Three, single-degree-of-freedom driving device four), four moving parts (moving parts one, moving parts two, moving parts three, moving parts
Four), four rotatable parts (rotatable parts 1, rotatable parts 2 10, rotatable parts 3 11, rotatable parts 4 14), one it is dynamic flat
Platform 13.
By taking moving parts one as an example, moving parts one includes one B5 of one B1 of wedge block and sliding block, and one B1 of wedge block has one
Inclined surface, one B5 of sliding block are moved up and down along inclined surface.One B1 of wedge block is arranged in single-degree-of-freedom driving device one, wedge block one
It is glued constraint between B1 and the macro movement parts A3 and macro/micromotion part A4 of single-degree-of-freedom driving device one, one B1 of wedge block can
With one synchronous slide of single-degree-of-freedom driving device.It should be noted that wedge block and macro movement parts and being not connected with.Because of macro micro- fortune
There are spring and piezoelectric ceramics between moving part and macro movement parts, so certain position can be generated between macro/micromotion part and macro movement parts
It moves.
Moving parts two includes two B6 of two B2 of wedge block and sliding block, and two B2 of wedge block has an inclined surface, two edge B6 of sliding block
Inclined surface moves up and down.Two B2 of wedge block is arranged in single-degree-of-freedom driving device two, and two B2 of wedge block and single-degree-of-freedom drive
It is glued constraint between the macro movement parts and macro/micromotion part of device two, two B2 of wedge block can be with single-degree-of-freedom driving device two
Synchronous slide.
Moving parts three includes three B7 of three B3 of wedge block and sliding block, and three B3 of wedge block has an inclined surface, three edge B7 of sliding block
Inclined surface moves up and down.Three B3 of wedge block is arranged in single-degree-of-freedom driving device three, and three B3 of wedge block and single-degree-of-freedom drive
It is glued constraint between the macro movement parts and macro/micromotion part of device three, three B3 of wedge block can be with single-degree-of-freedom driving device three
Synchronous slide.It should be noted that it is thorough for not being between the macro movement parts and macro/micromotion part of each single-degree-of-freedom driving device
Bottom is fixed, and has relative movement between the two.
Moving parts four includes four B8 of four B4 of wedge block and sliding block, and four B4 of wedge block has an inclined surface, four edge B8 of sliding block
Inclined surface moves up and down.Four B4 of wedge block is arranged in single-degree-of-freedom driving device four, and four B4 of wedge block and single-degree-of-freedom drive
It is glued constraint between the macro movement parts and macro/micromotion part of device four, four B4 of wedge block can be with single-degree-of-freedom driving device four
Synchronous slide.
Rotatable parts 1 are arranged on one B5 of sliding block and can slide along one B5 of sliding block, and moving parts one is arranged in single freedom
It spends in driving device one.
Rotatable parts 2 10 are arranged on two B6 of sliding block and can slide along two B6 of sliding block, and moving parts two is arranged in single freedom
It spends in driving device two.
Rotatable parts 3 11 are arranged on three B7 of sliding block and can slide along three B7 of sliding block, and moving parts three is arranged in single freedom
It spends in driving device three.
Rotatable parts 4 12 are arranged on four B8 of sliding block and can slide along four B8 of sliding block, and moving parts four is arranged in single freedom
It spends in driving device four.
Rotatable parts are corresponded with moving parts respectively, constitute four groups of rotation moving movements it is secondary and respectively with single-degree-of-freedom
Driving device rigid connection.Four groups of connectors of four single-degree-of-freedom driving devices and rotation moving movement pair composition are as support
The pedestal of moving platform 13.By taking one of single-degree-of-freedom driving device one as an example, including linear guide A1, linear motor A2, core
Heart motion platform, piezoelectric micro-displacement actuator A6.Wherein pedestal of the linear guide A1 fixed constraint as motion platform, directly
Line motor A2 is glued on the inside of linear guide A1；Nucleus movement platform is made of macro movement parts A3 and macro/micromotion part A4, straight line
Simultaneously high steel bomb is added in macro movement parts A3 and macro/micromotion part A4 contact center groove in guide rail A1 and macro movement parts A3 alignment constraint
Spring A5 and piezoelectric micro-displacement actuator A6, high steel spring A5 play damping action, reduce platform vibration, enhance stability, and
Piezoelectric micro-displacement actuator A6 can significantly improve the displacement accuracy of motion platform.
The macro micro- parallel robot platform of the six degree of freedom of above-mentioned coplanar driving, when single-degree-of-freedom driving device two and list are free
When degree driving device four is slided in the same direction, moving platform 13 can realize X freedom degree；When single-degree-of-freedom driving device one and single-degree-of-freedom are driven
When dynamic device three slides, moving platform 13 realizes Y freedom degree；When one B5 of sliding block, two B6 of sliding block, three B7 of sliding block and four B8 of sliding block simultaneously
When sliding, moving platform 13 can realize Z freedom degree；When one B5 of sliding block and three B7 of sliding block is slided, moving platform 13 can realize β freedom
Degree；When two B6 of sliding block sliding block and four B8 of sliding block is slided, moving platform 13 can realize α freedom degree；When rotatable parts 1, rotation
Moving platform 13 can realize γ freedom degree when component 2 10, rotatable parts 3 11 and rotatable parts 4 14 slide simultaneously.In conclusion
By the driving of different single-degree-of-freedom driving device linear motors, moving platform can be allowed to complete six degree of freedom, and piezoelectric ceramics is micro-
Displacement driver drives the displacement accuracy that can then significantly improve moving platform.
The utility model is described in detail above, it is practical new according to this for those of ordinary skill in the art
The thought of type embodiment, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification
It should not be construed as a limitation of the present invention.
Claims (7)
1. a kind of macro micro- parallel robot platform of the six degree of freedom of coplanar driving, which is characterized in that including four in cross pair
Claim the single-degree-of-freedom driving device of distribution, each single-degree-of-freedom driving device includes slidable nucleus movement platform, respectively
It is equipped with the moving parts of synchronous movement on the nucleus movement platform, is equipped with relatively thereon on each moving parts
The sliding block of lower slider, rotatable parts of its opposite sliding are equipped on each sliding block, and the motion profile of the rotatable parts hangs down
Directly for placing moving platform between the motion profile of the corresponding nucleus movement platform, four rotatable parts.
2. the macro micro- parallel robot platform of the six degree of freedom of coplanar driving according to claim 1, which is characterized in that each
The single-degree-of-freedom driving device further includes linear guide, linear motor, and the linear motor is built in the linear guide, and
The nucleus movement platform is slided along the linear guide.
3. the macro micro- parallel robot platform of the six degree of freedom of coplanar driving according to claim 2, which is characterized in that described
Nucleus movement platform is made of macro movement parts and macro/micromotion part, described in the macro movement parts and the macro/micromotion part are embedded in
Linear guide.
4. the macro micro- parallel robot platform of the six degree of freedom of coplanar driving according to claim 3, which is characterized in that described
There is a notch, the notch is equipped with protrusion, and the macro movement parts are equipped with isometric with the notch on macro/micromotion part
Extension has the empty slot for accommodating the protrusion, length of the length greater than the protrusion of the empty slot, institute on the extension
It states in the remaining area between empty slot and the protrusion for placing high steel spring and piezoelectric micro-displacement actuator.
5. the macro micro- parallel robot platform of the six degree of freedom of coplanar driving according to claim 1, which is characterized in that each
The moving parts includes wedge block, and the wedge block has an inclined surface, and the sliding block is slided up and down along the inclined surface.
6. the macro micro- parallel robot platform of the six degree of freedom of coplanar driving according to claim 5, which is characterized in that described
Wedge block is installed on the nucleus movement platform.
7. the macro micro- parallel robot platform of the six degree of freedom of coplanar driving according to claim 1, which is characterized in that described
Sliding block is perpendicular to the corresponding single-degree-of-freedom driving device.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638043A (en) * | 2018-07-27 | 2018-10-12 | 广东工业大学 | A kind of macro micro- parallel robot platform of the six degree of freedom of coplanar driving |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638043A (en) * | 2018-07-27 | 2018-10-12 | 广东工业大学 | A kind of macro micro- parallel robot platform of the six degree of freedom of coplanar driving |
| CN108638043B (en) * | 2018-07-27 | 2023-08-22 | 广东工业大学 | Coplanar-driven six-degree-of-freedom macro-micro parallel robot platform |
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