CN2917981Y - Tri-translational freedom-degree parallel mechanism only containing revolving pair - Google Patents
Tri-translational freedom-degree parallel mechanism only containing revolving pair Download PDFInfo
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- CN2917981Y CN2917981Y CN 200620102386 CN200620102386U CN2917981Y CN 2917981 Y CN2917981 Y CN 2917981Y CN 200620102386 CN200620102386 CN 200620102386 CN 200620102386 U CN200620102386 U CN 200620102386U CN 2917981 Y CN2917981 Y CN 2917981Y
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- revolute pair
- moving platform
- parallel
- free bearing
- rods
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- 230000007246 mechanism Effects 0.000 title description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 16
- 230000015572 biosynthetic process Effects 0.000 claims description 12
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 238000012790 confirmation Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 5
- 239000012636 effector Substances 0.000 description 4
- 238000003754 machining Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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Abstract
The utility model discloses a three translational degree of freedom parallel assembly only comprising a rotating pair, composed of a base and a moving platform. The base is parallel to the moving platform, four upright columns vertical to the base are arranged on the base, the four upright columns are parallel mutually, a rotary servo motor is separately arranged on the four upright columns, the output shaft of every rotary servo motor is separately connected with a screw rod, the moving platform is connected with the screw rod through four branched chains, the four branched chains are centrosymmetric in regard to the central line of the moving platform, and the four branched chains only comprise the rotating pair. The utility model has the advantages that: first, the moving platform has a stable attitude, and is always parallel to the base, thereby eliminating the space singularity of the parallel assembly. Second, only the rotating pair is comprised, thereby overcoming the disadvantages of difficult confirmation and uneasy compensation of the clearance of a spherical hinge. Third, weak coupling is between every branched chain movement, thereby the decouple of the control process is easy to be realized and the control degree of difficulty of the parallel assembly is lowered.
Description
(1) technical field
The utility model belongs to robot and mechanical manufacturing field, is specifically related to a kind of three translation freedoms parallel institution.
(2) background technology
In recent years, spatial parallel device people has caused the extensive interest of Chinese scholars.With serial machine physiognomy ratio, parallel robot has that rigidity is big, load is little from anharmonic ratio height, inertia, and site error such as does not accumulate at characteristics, and in motion simulations such as aircraft, car steerings, technical fields such as NC machining, microsensor obtain extensive use.Space six-degree-of-freedom parallel robot the earliest is based on the 6-SPS mechanism that Stewart proposed in nineteen sixty-five.For version abundant and the development parallel robot, the scholar of many research institutions has done a large amount of useful work.The development of robot proposes to use cheap, simple various lower-mobility parallel robot.In recent years, some lower-mobility parallel institutions become new research focus.Because this robot has characteristics such as simple in structure, that cost is low, in industrial production and other fields wide application prospect is arranged.Especially have the parallel institution of three translation freedoms, it belongs to space mechanism, can realize flute card three-dimensional space motion, satisfies spatial operation robot and mission requirements such as machining, assembling.
The most triangle symmetrical structures (as CN2476392Y, CN1110399C, CN1112282C etc.) that adopt three groups of side chains by 120 ° of layouts of existing three translation freedoms parallel institution, part three translation freedoms parallel institution adopts unsymmetric structure (as CN1189289C).Asymmetrical parallel institution can not guarantee mechanism stability and rigidity in the whole working space, adopts the manipulator or the lathe of parallel institution should have symmetrical structure so domestic and international many researchers think.The side chain of these mechanisms uses the ball-type hinge usually, exists manufacturing cost height, hinge gap to cause the shortcoming that mechanism kinematic error, ball pivot gap are difficult to compensate.
(3) summary of the invention
The three translation freedoms parallel institution is owing to the manufacturing cost height, the hinge gap that adopt ball pivot to exist cause the deficiency that mechanism kinematic error, ball pivot gap are difficult to compensate in the prior art in order to overcome, and the utility model provides the three translation freedoms parallel institution that only contains revolute pair that a kind of manufacturing cost is lower, kinematic accuracy is high.
The technical scheme in the invention for solving the technical problem is: a kind of three translation freedoms parallel institution that only contains revolute pair, comprise pedestal and moving platform, described pedestal is parallel with described moving platform, it is characterized in that: vertical four root posts with described pedestal are installed on the described pedestal, described four root posts are parallel to each other, be separately installed with rotating servo motor on described four root posts, the output shaft of each rotating servo motor connects a rhizoid bar respectively, described screw mandrel is vertical with described pedestal, described moving platform is connected by four side chains with described screw mandrel, and described four side chains are centrosymmetric about the center line of described moving platform; Every described side chain comprises connecting-rods with constant lengh group, first free bearing, second free bearing, is fixed in the installing plate on the described screw mandrel, the end of described first free bearing is by hinge and hinged formation first revolute pair of described moving platform, the head end of described first free bearing is by terminal hinged formation second revolute pair of hinge and described connecting-rods with constant lengh group, the axis normal of the axis of described first revolute pair and described second revolute pair; The end of described second free bearing is by hinged formation the 3rd revolute pair of the head end of hinge and described connecting-rods with constant lengh group, the head end of described second free bearing is by hinge and hinged formation the 4th revolute pair of described installing plate, the axis normal of the axis of described the 3rd revolute pair and described the 4th revolute pair.
Further, offer guide groove on the described column, described screw mandrel is located in the described guide groove.
Further, every group of described connecting-rods with constant lengh group is made up of two connecting-rods with constant lenghs.
Further, the upper end of described four columns connects by crossbeam.
The utility model is at when work installing terminal actuator on moving platform, driving screw mandrel by rotating servo motor rises or descends, thereby driving installing plate on every side chain moves up and down and drives moving platform and realize the three translation freedoms motion, end effector is installed on the moving platform, can realizes the various operation actions of end effector.
The beneficial effects of the utility model are: 1. moving platform attitude stabilization, and parallel with pedestal all the time, to a certain degree eliminate the parallel institution spatial singularity, only contain revolute pair, low cost of manufacture.2. only contain revolute pair, contain spherical hinge three translation freedoms parallel institution with tradition and compare, the gap that has overcome spherical hinge is difficult definite, is difficult for the shortcoming of compensation.3. the translation freedoms mechanism that only contains revolute pair is the redundantly driven parallel structure, is weak coupling between each chain movement, and the decoupling zero of control procedure realizes easily, reduces the control difficulty of parallel institution.
(4) description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is originally to be the vertical view of utility model.
(5) specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail.
With reference to Fig. 1, Fig. 2, a kind of three translation freedoms parallel institution that only contains revolute pair, comprise pedestal 1 and moving platform 2, described pedestal 1 is parallel with described moving platform 2, vertical four root posts 3 with described pedestal are installed on the described pedestal 1, described four root posts 3 are parallel to each other, and the upper end of four columns 3 connects to increase steadiness by crossbeam 4.Be separately installed with rotating servo motor 5 on described four root posts 3, the output shaft of each rotating servo motor 5 connects a rhizoid bar 6 respectively, described screw mandrel 6 is vertical with described pedestal 1, offers guide groove 7 on the described column 3, and described screw mandrel 6 is located in the described guide groove 7.Described moving platform 2 is connected by four side chains with described screw mandrel 6, described four side chains are centrosymmetric about the center line of described moving platform 2, every described side chain comprises connecting-rods with constant lengh group, first free bearing 8, second free bearing 9, is fixed in the installing plate 10 on the described screw mandrel, and every group of described connecting-rods with constant lengh group is made up of two connecting-rods with constant lenghs 11.The end of described first free bearing 8 is by hinge and described moving platform 2 hinged formation first revolute pairs, the head end of described first free bearing 8 is by terminal hinged formation second revolute pair of hinge and described connecting-rods with constant lengh group, the axis normal of the axis of described first revolute pair and second revolute pair; The end of described second free bearing 9 is by hinged formation the 3rd revolute pair of the head end of hinge and described connecting-rods with constant lengh group, the head end of described second free bearing 9 is by hinge and described installing plate 10 hinged formation the 4th revolute pairs, the axis normal of the axis of described the 3rd revolute pair and described the 4th revolute pair.
The utility model is at when work installing terminal actuator on moving platform, driving screw mandrel 6 by rotating servo motor 5 rises or descends, thereby driving installing plate 10 on every side chain moves up and down and drives moving platform and realize the three translation freedoms motion, end effector is installed on the moving platform, can realizes the various operation actions of end effector.
Claims (4)
1. three translation freedoms parallel institution that only contains revolute pair, comprise pedestal and moving platform, described pedestal is parallel with described moving platform, it is characterized in that: four root posts vertical with described pedestal are installed on the described pedestal, described four root posts are parallel to each other, be separately installed with rotating servo motor on described four root posts, the output shaft of each rotating servo motor connects a rhizoid bar respectively, described screw mandrel is vertical with described pedestal, described moving platform is connected by four side chains with described screw mandrel, and described four side chains are centrosymmetric about the center line of described moving platform;
Every described side chain comprises connecting-rods with constant lengh group, first free bearing, second free bearing, is fixed in the installing plate on the described screw mandrel, the end of described first free bearing is by hinge and hinged formation first revolute pair of described moving platform, the head end of described first free bearing is by terminal hinged formation second revolute pair of hinge and described connecting-rods with constant lengh group, the axis normal of the axis of described first revolute pair and described second revolute pair; The end of described second free bearing is by hinged formation the 3rd revolute pair of the head end of hinge and described connecting-rods with constant lengh group, the head end of described second free bearing is by hinge and hinged formation the 4th revolute pair of described installing plate, the axis normal of the axis of described the 3rd revolute pair and described the 4th revolute pair.
2. the three translation freedoms parallel institution that only contains revolute pair as claimed in claim 1 is characterized in that: offer guide groove on the described column, described screw mandrel is located in the described guide groove.
3. the three translation freedoms parallel institution that only contains revolute pair as claimed in claim 2 is characterized in that: every group of described connecting-rods with constant lengh group is made up of two connecting-rods with constant lenghs.
4. the three translation freedoms parallel institution that only contains revolute pair as claimed in claim 3, it is characterized in that: the upper end of described four columns connects by crossbeam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620102386 CN2917981Y (en) | 2006-04-05 | 2006-04-05 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620102386 CN2917981Y (en) | 2006-04-05 | 2006-04-05 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2917981Y true CN2917981Y (en) | 2007-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620102386 Expired - Lifetime CN2917981Y (en) | 2006-04-05 | 2006-04-05 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100402245C (en) * | 2006-04-05 | 2008-07-16 | 浙江工业大学 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
| CN102441795A (en) * | 2011-09-15 | 2012-05-09 | 常州大学 | Three-translation-parallel-operation platform |
| CN114310852A (en) * | 2021-10-28 | 2022-04-12 | 中国民航大学 | Long-arm compound drive six-degree-of-freedom parallel mechanism |
-
2006
- 2006-04-05 CN CN 200620102386 patent/CN2917981Y/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100402245C (en) * | 2006-04-05 | 2008-07-16 | 浙江工业大学 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
| CN102441795A (en) * | 2011-09-15 | 2012-05-09 | 常州大学 | Three-translation-parallel-operation platform |
| CN114310852A (en) * | 2021-10-28 | 2022-04-12 | 中国民航大学 | Long-arm compound drive six-degree-of-freedom parallel mechanism |
| CN114310852B (en) * | 2021-10-28 | 2023-09-26 | 中国民航大学 | Six-degree-of-freedom parallel mechanism driven by long arm compound |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20080716 |
|
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20080716 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |