CN210161139U - 2PRU-2PUR three-degree-of-freedom redundant drive parallel mechanism - Google Patents
2PRU-2PUR three-degree-of-freedom redundant drive parallel mechanism Download PDFInfo
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- CN210161139U CN210161139U CN201920468741.0U CN201920468741U CN210161139U CN 210161139 U CN210161139 U CN 210161139U CN 201920468741 U CN201920468741 U CN 201920468741U CN 210161139 U CN210161139 U CN 210161139U
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Abstract
The utility model belongs to the technical field of the robot. The purpose is to provide a 2PRU-2PUR three-degree-of-freedom redundant drive parallel mechanism capable of processing complex curved surface parts at high speed. The technical scheme is as follows: a2 PRU-2PUR three-freedom-degree redundancy drive parallel mechanism is characterized in that: the mechanism comprises a shell-shaped base, a movable platform with an electric spindle, and a first branched chain, a second branched chain, a third branched chain and a fourth branched chain which are connected between the shell-shaped base and the movable platform, wherein the first branched chain and the second branched chain have the same structure, and the third branched chain and the fourth branched chain have the same structure; the first branched chain, the third branched chain, the second branched chain and the fourth branched chain are sequentially arranged around the movable platform in a surrounding mode, and the center of the movable platform is used for installing an electric spindle and a cutter.
Description
Technical Field
The utility model belongs to the technical field of the robot, concretely relates to can realize that space curved surface freely processes redundant drive parallel mechanism of 2PRU-2PUR three degrees of freedom.
Background
The mechanical structure of the traditional numerical control machine tool mostly adopts a series connection mode, and the motion output end of the traditional numerical control machine tool is easy to generate accumulated errors, low in integral rigidity, large in motion inertia and poor in dynamic response characteristic due to the series connection structure mode. In comparison, the novel machine tool based on the parallel mechanism appeared in the last 90 th century has the advantages of compact structure, high rigidity, no error accumulation, small moving part quality, easiness in realizing high-speed movement, higher dynamic response characteristic and the like, makes up for the defects of the traditional numerical control machine tool to a certain extent, meets the requirement of the mechanical machining field on high-speed cutting, and is widely concerned. However, the parallel machine tool also has inherent limitations, and particularly, the six-degree-of-freedom full parallel machine tool has the defects of strong kinematic coupling, small working space, complex kinematics, complex numerical control programming and the like, so that the parallel machine tool is limited to be widely popularized and applied. With the application of parallel mechanisms and the continuous development and progress of parallel mechanism science, parallel mechanisms with less degrees of freedom are more and more appreciated and favored by researchers. Compared with a fully parallel six-degree-of-freedom mechanism, the less-degree-of-freedom parallel mechanism has the advantages of simple kinematics, weak coupling, easiness in modularization and the like, and some less-degree-of-freedom parallel mechanisms are successfully applied in the industrial field.
The utility model discloses a current parallel mechanism utility model patent (like CN 101066593A, CN 106903677A, CN 107175654A), the inside hinge number of most mechanism is too much, influences the machining precision, and the structure is complicated, and production and processing are difficult. Therefore, it is necessary to provide a parallel mechanism with less degrees of freedom, which has good processability and is easy to produce and process.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the not enough among the above-mentioned background art, provide a redundant drive parallel mechanism of 2PRU-2PUR three degrees of freedom that can high-speed processing complicated curved surface class part.
The utility model provides a technical scheme is:
a2 PRU-2PUR three-freedom-degree redundancy drive parallel mechanism is characterized in that: the mechanism comprises a shell-shaped base, a movable platform with an electric spindle, and a first branched chain, a second branched chain, a third branched chain and a fourth branched chain which are connected between the shell-shaped base and the movable platform, wherein the first branched chain and the second branched chain have the same structure, and the third branched chain and the fourth branched chain have the same structure;
the first branched chain, the third branched chain, the second branched chain and the fourth branched chain are sequentially arranged around the movable platform in a surrounding mode, and the center of the movable platform is used for mounting an electric spindle and a cutter;
in the first branched chain and the second branched chain: each branched chain sequentially comprises a sliding pair, a revolute pair and a Hooke's hinge which are connected between the shell-shaped base and the movable platform; the rotation axis of the revolute pair in each branched chain is vertical to the axis of the revolute pair, and the first rotation axis of the Hooke's joint is parallel to the rotation axis of the revolute pair; in the first branched chain and the second branched chain: the guide rods of the two moving pairs are symmetrically arranged on the shell-shaped base, the rotating axes of the two rotating pairs are parallel to each other, and the first rotating axes of the two Hooke joints are coaxial;
in the third branched chain and the fourth branched chain: each branched chain sequentially comprises a sliding pair, a hook hinge and a revolute pair which are connected with the shell-shaped base and the movable platform; the rotating axis of the rotating pair in each branched chain is parallel to one rotating axis of the Hooke's joint;
in the third branched chain and the fourth branched chain: the rotation axes of the two rotation pairs are parallel to each other; the guide rods of the two sliding pairs are symmetrically arranged on the shell-shaped base, pass through planes of the guide rod axes of the two sliding pairs and are perpendicular to planes of the guide rod axes of the two sliding pairs in the first branched chain and the second branched chain.
The axes of the guide rods of the moving pairs of the four branched chains are parallel to each other and are horizontally arranged to form a cylinder with a square cross section.
All the driving pairs are moving pairs in four branched chains, and input driving is realized by driving a ball screw to drive the moving pairs by a servo motor.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model provides a parallel mechanism can carry out two rotations of space and move, and the spatial structure of this mechanism is highly symmetrical, has reduced the strange position shape of mechanism and has improved the power transmission performance of mechanism, can be used to the high-speed processing of the complicated curved surface in space.
Drawings
Fig. 1 is a schematic diagram of a redundant-drive three-degree-of-freedom parallel mechanism according to an embodiment of the present invention.
Fig. 2 is a schematic perspective view of the first branched chain in fig. 1.
Fig. 3 is a schematic perspective view of the second branch in fig. 1.
Fig. 4 is a schematic perspective view of the third branch in fig. 1.
Fig. 5 is a schematic perspective view of the fourth branch in fig. 1.
The figure shows that: 1. the first branch chain, 2, the second branch chain, 3, the third branch chain, 4, the fourth branch chain, 5, a shell-shaped base, 6, an electric spindle, 7, a movable platform, 11, a first sliding block, 12, a first connecting rod, 13, a first moving pair, 14, a first rotating pair, 15, a first Hooke hinge, 21, a second sliding block, 22, a second connecting rod, 23, a second moving pair, 24, a second rotating pair, 25, a second Hooke hinge, 31, a third sliding block, 32, a third connecting rod, 33, a third moving pair, 34, a third Hooke hinge, 35, a fourth rotating pair, 41, a fourth sliding block, 42, a fourth connecting rod, 43, a fourth moving pair, 44, a fourth Hooke hinge, 45 and a fourth rotating pair.
Detailed Description
The invention will be further explained with reference to the following embodiments shown in the drawings.
The 2PRU-2PUR redundant drive parallel mechanism with three degrees of freedom shown in fig. 1 (where P represents a kinematic pair, and P represents that the kinematic pair is an active drive pair, R represents a revolute pair, and U represents a hooke joint) includes: a shell-shaped base 1 (for convenience of illustration, the shell-shaped base is simplified into four rod-shaped bases which are connected into a whole), a movable platform 7 with an electric spindle 6, and a first branched chain 1, a second branched chain 2, a third branched chain 3 and a fourth branched chain 4 which are connected between the shell-shaped base 5 and the movable platform 7; the one-dimensional movement and the two rotations of the movable platform can be realized through input drive in the four branched chains.
As shown in fig. 1, the first branched chain 1, the third branched chain 3, the second branched chain 2 and the fourth branched chain 4 are sequentially distributed around the movable platform 7; wherein, a first hook joint 15 on the first branched chain 1 and a second hook joint 25 on the second branched chain 2 are symmetrically connected to the left and right side edges of the movable platform 7; and a third rotating pair 35 on the third branched chain 3 and a fourth rotating pair 45 on the fourth branched chain 4 are symmetrically connected to the upper and lower side edges of the movable platform 7.
In the first branched chain and the second branched chain: the guide rods of the two sliding pairs are symmetrically arranged on the shell-shaped base. In the third branched chain and the fourth branched chain: the rotation axes of the two rotation pairs are parallel to each other; the guide rods of the two sliding pairs are symmetrically arranged on the shell-shaped base, pass through planes of the guide rod axes of the two sliding pairs and are perpendicular to planes of the guide rod axes of the two sliding pairs in the first branched chain and the second branched chain.
Guide rod axes of the sliding pairs in the four branched chains are always parallel to each other to form a cylinder (imaginary, not shown in the figure) with a square cross section. Namely: any plane perpendicular to the axes of the sliding pairs in the four branched chains and four intersection points of the axes of the guide rods in the sliding pairs form a square.
As shown in fig. 1, 2 and 3, the first branched chain 1 and the second branched chain 2 have the same structure and are symmetrically distributed in spatial position, and respectively include sliders 11 and 21 having the same structure, connecting rods 12 and 22 having the same structure, and kinematic pairs having the same structure; three kinematic pairs are provided for each branched chain, taking the first branched chain 1 as an example (the second branched chain 2 has the same structure), one is a first kinematic pair 13 (including a first guide rod fixed on the shell-shaped base and a first slide block 11 in sliding fit with the guide rod) connected between the shell-shaped base 5 and a first rotary pair 14, one is the first rotary pair 14 connected between the first slide block 11 and the first link 12, and one is a first hooke hinge 15 connected between the first link 12 and the movable platform 7, and the branched chain is called as a PRU branched chain; the rotation axis of the first rotating pair 14 is vertical to the axis of the first moving pair 13; the first rotation axis of the first hook joint 15 is parallel to the rotation axis of the first rotation pair 14; in the two PRU branched chains, the second rotating axes of the two Hooke joints are coaxial, and the rotating axes of the two rotating pairs are parallel to each other.
As shown in fig. 1, 3 and 4, the third branched chain 3 and the fourth branched chain 4 have the same structure and are symmetrically distributed in spatial position, and respectively include sliders 31 and 41 having the same structure, connecting rods 32 and 42 having the same structure, and kinematic pairs having the same structure; three kinematic pairs are provided for each branched chain, taking the third branched chain 3 as an example (the fourth branched chain 4 has the same structure), one is a third kinematic pair 33 (comprising a third guide rod fixed on the shell-shaped base and a third slide block 31 in sliding fit with the third guide rod) connected between the shell-shaped base 5 and a third hooke joint 34, one is the third hooke joint 34 connected between the third slide block 31 and a third connecting rod 32, and one is a third revolute pair 35 connected between the third connecting rod 32 and the movable platform 7, and the branched chain is called PUR branched chain; the rotation axis of the third revolute pair 35 is parallel to one of the rotation axes of the third hooke joint 34; and the rotation axes of two revolute pairs in the two PUR branched chains are parallel to each other.
The electric spindle 6 is fixed at the center of the movable platform 7 and is used for installing a cutter.
In the utility model, all the sliding pairs are driving pairs, and the driving pairs are driven by a ball screw mechanism driven by a servo motor; when the motor drive is controlled, the three-degree-of-freedom motion effect that the movable platform 7 in the redundant drive parallel mechanism rotates and moves in space can be realized, and the singular pose of the mechanism is effectively avoided.
Claims (3)
1. A2 PRU-2PUR three-freedom-degree redundancy drive parallel mechanism is characterized in that: the mechanism comprises a shell-shaped base (5), a movable platform (7) with an electric spindle (6), and a first branched chain (1), a second branched chain (2), a third branched chain (3) and a fourth branched chain (4) which are connected between the shell-shaped base and the movable platform, wherein the first branched chain and the second branched chain have the same structure, and the third branched chain and the fourth branched chain have the same structure;
the first branched chain, the third branched chain, the second branched chain and the fourth branched chain are sequentially arranged around the movable platform in a surrounding mode, and the center of the movable platform is used for mounting an electric spindle and a cutter;
in the first branched chain and the second branched chain: each branched chain sequentially comprises a sliding pair, a revolute pair and a Hooke's hinge which are connected between the shell-shaped base and the movable platform; the rotation axis of the revolute pair in each branched chain is vertical to the axis of the revolute pair, and the first rotation axis of the Hooke's joint is parallel to the rotation axis of the revolute pair; in the first branched chain and the second branched chain: the guide rods of the two moving pairs are symmetrically arranged on the shell-shaped base, the rotating axes of the two rotating pairs are parallel to each other, and the first rotating axes of the two Hooke joints are coaxial;
in the third branched chain and the fourth branched chain: each branched chain sequentially comprises a sliding pair, a hook hinge and a revolute pair which are connected with the shell-shaped base and the movable platform; the rotating axis of the rotating pair in each branched chain is parallel to one rotating axis of the Hooke's joint;
in the third branched chain and the fourth branched chain: the rotation axes of the two rotation pairs are parallel to each other; the guide rods of the two sliding pairs are symmetrically arranged on the shell-shaped base, pass through planes of the guide rod axes of the two sliding pairs and are perpendicular to planes of the guide rod axes of the two sliding pairs in the first branched chain and the second branched chain.
2. The 2PRU-2PUR three degree of freedom redundant drive parallel mechanism of claim 1, wherein: the axes of the guide rods of the moving pairs of the four branched chains are parallel to each other and are horizontally arranged to form a cylinder with a square cross section.
3. The 2PRU-2PUR three degree of freedom redundant drive parallel mechanism of claim 1, wherein: all the driving pairs are moving pairs in four branched chains, and input driving is realized by driving a ball screw to drive the moving pairs by a servo motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920468741.0U CN210161139U (en) | 2019-04-09 | 2019-04-09 | 2PRU-2PUR three-degree-of-freedom redundant drive parallel mechanism |
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| CN201920468741.0U CN210161139U (en) | 2019-04-09 | 2019-04-09 | 2PRU-2PUR three-degree-of-freedom redundant drive parallel mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110026967A (en) * | 2019-04-09 | 2019-07-19 | 浙江理工大学 | A kind of 2PRU-2PUR three freedom redundancy driven Parallel Kinematic Manipulator |
| CN112497211A (en) * | 2020-11-11 | 2021-03-16 | 天津大学 | Three-degree-of-freedom robot with high rigidity |
| CN112497200A (en) * | 2020-11-11 | 2021-03-16 | 天津大学 | Three-degree-of-freedom high-rigidity robot |
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2019
- 2019-04-09 CN CN201920468741.0U patent/CN210161139U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110026967A (en) * | 2019-04-09 | 2019-07-19 | 浙江理工大学 | A kind of 2PRU-2PUR three freedom redundancy driven Parallel Kinematic Manipulator |
| CN112497211A (en) * | 2020-11-11 | 2021-03-16 | 天津大学 | Three-degree-of-freedom robot with high rigidity |
| CN112497200A (en) * | 2020-11-11 | 2021-03-16 | 天津大学 | Three-degree-of-freedom high-rigidity robot |
| CN112497211B (en) * | 2020-11-11 | 2022-05-13 | 天津大学 | Three-degree-of-freedom robot with high rigidity |
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