WO2022122047A1 - 具有可大角度扭转动平台和复合支链的四自由度并联机构 - Google Patents

具有可大角度扭转动平台和复合支链的四自由度并联机构 Download PDF

Info

Publication number
WO2022122047A1
WO2022122047A1 PCT/CN2021/142597 CN2021142597W WO2022122047A1 WO 2022122047 A1 WO2022122047 A1 WO 2022122047A1 CN 2021142597 W CN2021142597 W CN 2021142597W WO 2022122047 A1 WO2022122047 A1 WO 2022122047A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotating
lead screw
double
fixed
platform
Prior art date
Application number
PCT/CN2021/142597
Other languages
English (en)
French (fr)
Inventor
吴孟丽
林玉飞
李德祚
李明宇
王旭浩
唐杰
张军
Original Assignee
中国民航大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国民航大学 filed Critical 中国民航大学
Publication of WO2022122047A1 publication Critical patent/WO2022122047A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains

Definitions

  • the invention belongs to the technical field of parallel mechanisms, in particular to a four-degree-of-freedom parallel mechanism with a large-angle twistable moving platform and a composite branch chain.
  • the parallel mechanism is a multi-degree-of-freedom mechanism composed of multiple moving branches connected in parallel between the moving platform and the fixed platform.
  • Parallel mechanisms have been widely used in CNC machining centers, motion simulators, haptic devices, micro-nano operators and other fields due to their advantages of high stiffness, strong bearing capacity, less error superposition, high motion accuracy and simple control.
  • the composite branch chain is to arrange two or more drive motors on the same branch chain.
  • it can effectively reduce the number of branch chains, simplify the overall structure of the mechanism, reduce the mutual interference between the branches, and increase the number of branches.
  • Advantages such as large working space range.
  • the parallel mechanism with compound branch chain can significantly improve the motion performance and has great application prospects.
  • the purpose of the present invention is to provide a four-degree-of-freedom parallel mechanism with a large-angle twistable moving platform and a composite branch chain.
  • the four-degree-of-freedom parallel mechanism with a large-angle twistable moving platform and a composite branch includes a fixed platform, a moving platform, a first branch, a second branch and a third branch;
  • the fixed platform includes a bottom plate and two second rotating supports; the two second rotating supports are respectively fixed on the middle parts of both sides of the upper surface of the fixed platform, and the central axis is perpendicular to the upper surface of the bottom plate;
  • the moving platform includes a table board, two spherical hinge supports and a second double-rotating fitting; wherein a second double-rotating fitting is installed in the middle of one side of the table, which is perpendicular to the side where the second double-rotating fitting is installed.
  • One end of the two side surfaces away from the second double rotating fitting is respectively installed with a spherical hinge support; the second double rotating fitting cooperates with the table to form a third rotating pair, and the rotation axis of the third rotating pair is parallel to the two balls In the direction of the center line of the hinge support, the platen can be twisted at a large angle around the rotation axis of the second rotating fitting;
  • the structures of the first branch and the second branch are exactly the same, including the first double-rotating fitting, the first electric push rod and the ball hinge; one end of the first electric push rod is supported by the ball hinge and a ball hinge on the moving platform
  • the seat is connected to form a ball pair; one end of the first double rotating fitting is connected with the other end of the first electric push rod to form a first rotating pair, the rotation axis of the first rotating pair is parallel to the upper surface of the bottom plate, the first double rotating
  • the other end of the rotating fitting is connected with a second rotating support on the fixed platform to form a second rotating pair, and the rotation axis of the second rotating pair is perpendicular to the rotating axis of the first rotating pair;
  • the first electric push rod can rotate on its own
  • the telescopic movement is carried out under the drive of the first motor;
  • the third branch chain is a composite branch chain, including a linear moving component, a linear driving component, a second electric push rod and a fourth rotating support;
  • the linear moving component includes a lower bottom plate, a connecting plate, two guide rails and two sliding blocks;
  • the bottom plate is fixed in the middle of the upper surface of the fixed platform;
  • the guide rails are linear guide rails, and the two guide rails are symmetrically fixed on both sides of the upper surface of the lower bottom plate, and the extension direction is perpendicular to the center line direction of the two second rotating supports on the fixed platform;
  • the two sliders are respectively installed on the two guide rails in a moving manner;
  • the bottom surface of the connecting plate is connected to the upper surface of the two sliders at the same time;
  • the linear drive assembly includes a second motor, a lead screw and a lead screw nut;
  • the second motor It is fixed on the upper surface of one end of the lower base plate, the output shaft is connected to one end of the lead screw, and the lead screw is parallel
  • the bottom plate is a rectangular plate-like structure.
  • the platen is a box-shaped plate-like structure, and a weight-reducing hole is formed in the middle.
  • the configuration method of the composite branch chain of the lead screw and the electric push rod is adopted to ensure that the degree of freedom required by the mechanism is satisfied, and at the same time, the number of branch chains of the mechanism is reduced, the mutual interference between the branch chains is reduced, and the increase the agency's workspace.
  • the moving platform Adopting the hollow moving platform structure in the middle, with the double rotating components on the moving platform, under the mutual movement of each branch chain, the moving platform can be twisted at a large angle of more than 180 degrees.
  • the structure of the two branched chains is exactly the same, and the structure is simple, which reduces the difficulty of manufacturing and processing and saves the manufacturing cost.
  • FIG. 1 is a schematic structural diagram of a four-degree-of-freedom parallel mechanism with a large-angle twistable moving platform and a composite branch chain provided by the present invention.
  • FIG. 2 is a schematic structural diagram of a fixed platform in a four-degree-of-freedom parallel mechanism with a large-angle twistable moving platform and a composite branch chain provided by the present invention.
  • FIG. 3 is a schematic structural diagram of the middle moving platform of the four-degree-of-freedom parallel mechanism provided with a large-angle twistable moving platform and a composite branch chain provided by the present invention.
  • Figure 4 is a schematic structural diagram of the first branch chain or the second branch chain in the four-degree-of-freedom parallel mechanism provided with a large-angle twistable moving platform and a composite branch chain provided by the present invention.
  • FIG. 5 is a schematic structural diagram of the third branch in the four-degree-of-freedom parallel mechanism with a large-angle twistable moving platform and a composite branch provided by the present invention.
  • FIG. 6 is a schematic structural diagram of the linear moving component and the linear driving component in the third branch chain of the present invention.
  • the four-degree-of-freedom parallel mechanism provided by the present invention with a large-angle twisting moving platform and a composite branch chain includes a fixed platform 1, a moving platform 2, a first branch I, and a second branch II and the third branch III;
  • the fixed platform 1 includes a bottom plate 101 and two second rotating supports 301 ; the two second rotating supports 301 are respectively fixed on the middle parts of both sides of the upper surface of the fixed platform 1 , and the central axis is perpendicular to the upper surface of the bottom plate 101 ;
  • the moving platform 2 includes a platen 201, two spherical hinge supports 601 and a second double rotating fitting 10; wherein a second double rotating fitting 10 is installed in the middle of one side of the platen 201, and the second double rotating fitting is installed.
  • a spherical hinge support 601 is respectively installed on the two sides of the two vertical sides of the side of the 10 away from the second double rotating fitting 10; the second double rotating fitting 10 cooperates with the platen 201 to form a third rotating pair 202,
  • the rotation axis of the third rotating pair 202 is parallel to the direction of the center line of the two spherical hinge supports 601, and the platen 201 can be twisted at a large angle around the rotation axis of the second rotating fitting 10;
  • first branch I and the second branch II are exactly the same, and both include a first double-rotating fitting 3, a first electric push rod 5 and a ball hinge 6; A spherical hinge support 601 on the platform 2 is connected to form a ball pair; one end of the first double rotating fitting 3 is connected with the other end of the first electric push rod 5 to form a first rotating pair 302, and the first rotating pair 302
  • the axis of rotation is parallel to the upper surface of the bottom plate 101, and the other end of the first double rotating fitting 3 is connected with a second rotating support 301 on the fixed platform 1 to form a second rotating pair 303.
  • the rotation of the second rotating pair 303 The axis is perpendicular to the rotation axis of the first rotating pair 302; the first electric push rod 5 can perform telescopic motion under the drive of its own first motor 4;
  • the third branch chain III is a composite branch chain, including a linear moving assembly 7, a linear driving assembly 70, a second electric push rod 8 and a fourth rotating support 9;
  • the linear moving assembly 7 includes a lower bottom plate 706, a connecting plate 704, two The guide rail 701 and two sliders 705;
  • the lower base plate 706 is fixed in the middle of the upper surface of the fixed platform 1;
  • the guide rail 701 is a linear guide rail, and the two guide rails 701 are symmetrically fixed on both sides of the upper surface of the lower base plate 706, and the extension direction is the same as that of the fixed platform 1.
  • the direction of the center line of the two second rotating supports 301 is vertical; the two sliding blocks 705 are respectively installed on the two guide rails 701 in a moving manner;
  • the linear drive assembly 70 includes a second motor 14, a lead screw 702 and a lead screw nut 703; the second motor 14 is fixed on the upper surface of one end of the lower base plate 706, the output shaft is connected to one end of the lead screw 702, and the lead screw 702 is parallel on the guide rail 701; the lead screw nut 703 is threaded on the lead screw 702 and the upper end is fixed on the bottom surface of the connecting plate 704; the second motor 14 drives the lead screw 702 to rotate, and drives the connecting plate 704 and the slider through the lead screw nut 703 705 moves along the guide rail 701; a fourth rotating support 9 is installed at the front end of the second electric push rod 8, and a fourth rotating pair is formed by connecting the fourth rotating support 9 with the second double rotating fitting 10 on the moving platform 2 203, the rotation axis of the fourth rotation pair
  • the bottom plate 101 is a rectangular plate-like structure.
  • the platen 201 is a box-shaped plate structure, and a weight-reducing hole is formed in the middle.
  • the four-degree-of-freedom parallel mechanism provided by the present invention with a large-angle twisting platform and a composite branch chain selects two first electric push rods 5, a second electric push rod 8 and a lead screw 702 as driving parts, which can realize the moving parts.
  • the platform 2 has four degrees of freedom in two movements and two rotations; the second electric push rod 8 on the third branch chain III is locked, and the second motor 14 on the third branch chain III is used to drive the lead screw 702 to rotate, and at the same time cooperate to drive the second electric push rod 8.
  • the first electric push rod 5 on one chain I and the second branch II is retractable, which can realize the freedom of movement of the moving platform 2 along the x-axis; the lead screw 702 on the third branch III is locked, and the first branch is driven respectively.
  • the first electric push rods 5 on the chain I and the second branch chain II expand and contract in the same direction and equidistantly, and correspondingly drive the second electric push rod 8 on the third branch chain III to expand and contract, which can realize the movement of the movable platform 2 along the z-axis.
  • the moving platform 2 can realize the movement degrees of freedom along the x and z axes and the rotational degrees of freedom around the x and y axes. Four degrees of freedom.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

一种具有可大角度扭转动平台和复合支链的四自由度并联机构。其包括定平台、动平台、第一支链、第二支链和第三支链，具有两平动两转动的自由度。本发明优点：首先，采用丝杠和电推杆复合支链的构型方式，在保证机构所需的自由度的到满足的同时，减少了机构的支链数，降低各支链之间的相互干涉，增大了机构的工作空间。其次，采用中间镂空的动平台结构，配合动平台上的双转动配件，在各支链的相互运动下，可实现动平台超过180度的大角度扭转。最后，有两条支链的结构完全相同，且结构简单，降低了制造加工难度的同时节省了制造成本。

Description

具有可大角度扭转动平台和复合支链的四自由度并联机构 技术领域
本发明属于并联机构技术领域，特别是涉及一种具有可大角度扭转动平台和复合支链的四自由度并联机构。
背景技术
并联机构是由多个运动支链在动平台和定平台之间并联而构成的多自由度机构。并联机构因具有刚度大、承载能力强、误差叠加少、运动精度高和控制简单等优点，已被广泛应用在数控加工中心、运动模拟器、触觉装置、微纳操作手等领域。
并联机构相对于串联结构而言，一个主要缺点是并联机构的工作空间，特别是转动自由度的范围受限制。复合支链是将两个或多个驱动电机布置在同一条支链上，当其应用到并联机构中，具有可以有效减少支链数量，简化机构整体结构，减少支链间的相互干涉，增大工作空间范围等优点。具有复合支链的并联机构可以显著提高运动性能，具有极大应用前景。
发明内容
为了解决上述问题，本发明的目的在于提供一种具有可大角度扭转动平台和复合支链的四自由度并联机构。
为了达到上述目的，本发明提供的具有可大角度扭转动平台和复合支链的四自由度并联机构包括定平台、动平台、第一支链、第二支链和第三支链；
其中，定平台包括底板和两个第二转动支座；两个第二转动支座分别固定在定平台的上表面两侧中间部位，并且中心轴线垂直于底板的上表面；
动平台包括台板、两个球铰支座和一个第二双转动配件；其中台板的一侧 边中部安装有一个第二双转动配件，与安装第二双转动配件的侧边相垂直的两个侧面上远离第二双转动配件的一端分别安装有一个球铰支座；第二双转动配件与台板相配合而构成第三转动副，第三转动副的回转轴线平行于两个球铰支座的中心连线方向，台板能够绕第二转动配件的回转轴线大角度扭转；
第一支链和第二支链的结构完全相同，均包括第一双转动配件、第一电推杆和球铰；第一电推杆的一端通过球铰与动平台上的一个球铰支座相连接而构成球副；第一双转动配件的一端与第一电推杆的另一端相连接而构成第一转动副，第一转动副的回转轴线平行于底板的上表面，第一双转动配件的另一端与定平台上的一个第二转动支座相连接而构成第二转动副，第二转动副的回转轴线垂直于第一转动副的回转轴线；第一电推杆能够在自身第一电机的驱动下进行伸缩运动；
第三支链为复合支链，包括直线移动组件、直线驱动组件、第二电推杆和第四转动支座；直线移动组件包括下底板、连接板、两条导轨和两个滑块；下底板固定在定平台的上表面中部；导轨为直线导轨，两条导轨对称固定在下底板的上表面两侧部位，并且延伸方向与定平台上两个第二转动支座的中心连线方向垂直；两个滑块分别以移动的方式安装在两条导轨上；连接板的底面同时连接在两个滑块的上表面上；直线驱动组件包括第二电机、丝杠以及丝杠螺母；第二电机固定在下底板的一端上表面上，输出轴连接丝杠的一端，并且丝杠平行于导轨；丝杠螺母螺纹连接在丝杠上且上端同时固定在连接板的底面上；第二电机驱动丝杠旋转，并通过丝杠螺母带动连接板与滑块沿导轨移动；第二电推杆的前端安装有一个第四转动支座，通过第四转动支座与动平台上的第二双转动配件连接而构成第四转动副，第四转动副的回转轴线与第三转动副的回转 轴线垂直；第二电推杆的后端固接在连接板的上表面；第二电推杆的伸缩是通过自身的第三电机来驱动的；第三支链Ⅲ包括第二电机和第三电机两个驱动电机，由两个驱动电机构成复合支链。
所述的底板为长方形板状结构。
所述的台板为方框形板状结构，中部形成有减重孔。
本发明提供的具有可大角度扭转动平台和复合支链的四自由度并联机构具有以下优点：
1、采用丝杠和电推杆复合支链的构型方式，在保证机构所需的自由度得到满足的同时，减少了机构的支链数，降低各支链之间的相互干涉，增大了机构的工作空间。
2、采用中间镂空的动平台结构，配合动平台上的双转动构件，在各支链的相互运动下，可实现动平台超过180度的大角度扭转。
3、有两条支链的结构完全相同，且结构简单，降低了制造加工难度的同时节省了制造成本。
附图说明
图1为本发明提供的具有可大角度扭转动平台和复合支链的四自由度并联机构结构示意图。
图2为本发明提供的具有可大角度扭转动平台和复合支链的四自由度并联机构中定平台结构示意图。
图3为本发明提供的具有可大角度扭转动平台和复合支链的四自由度并联机构中动平台结构示意图。
图4为本发明提供的具有可大角度扭转动平台和复合支链的四自由度并联 机构中第一支链或第二支链结构示意图。
图5为本发明提供的具有可大角度扭转动平台和复合支链的四自由度并联机构中第三支链结构示意图。
图6为本发明中第三支链中的直线移动组件与直线驱动组件结构示意图。
图中：1、定平台；101、底板；2、动平台；201、台板；202、第三转动副；203、第四转动副；3、第一双转动配件；301、第二转动支座；302、第一转动副；303、第二转动副；4、第一电机；5、第一电推杆；6、球铰；601、球铰支座；7、直线移动组件；70、直线驱动组件；701、导轨；702、丝杠；703、丝杠螺母；704、连接板；705、滑块；706、下底板；8、第二电推杆；9、第四转动支座；10、第二双转动配件；13、第三电机；14、第二电机。
具体实施方式
下面结合附图和具体实施例对本发明提供的具有可大角度扭转动平台和复合支链的四自由度并联机构进行详细说明。
如图1—图6所示，本发明提供的具有可大角度扭转动平台和复合支链的四自由度并联机构包括定平台1、动平台2、第一支链Ⅰ、第二支链Ⅱ和第三支链Ⅲ；
其中，定平台1包括底板101和两个第二转动支座301；两个第二转动支座301分别固定在定平台1的上表面两侧中间部位，并且中心轴线垂直于底板101的上表面；
动平台2包括台板201、两个球铰支座601和一个第二双转动配件10；其中台板201的一侧边中部安装有一个第二双转动配件10，与安装第二双转动配件10的侧边相垂直的两个侧面上远离第二双转动配件10的一端分别安装有一 个球铰支座601；第二双转动配件10与台板201相配合而构成第三转动副202，第三转动副202的回转轴线平行于两个球铰支座601的中心连线方向，台板201能够绕第二转动配件10的回转轴线大角度扭转；
第一支链Ⅰ和第二支链Ⅱ的结构完全相同，均包括第一双转动配件3、第一电推杆5和球铰6；第一电推杆5的一端通过球铰6与动平台2上的一个球铰支座601相连接而构成球副；第一双转动配件3的一端与第一电推杆5的另一端相连接而构成第一转动副302，第一转动副302的回转轴线平行于底板101的上表面，第一双转动配件3的另一端与定平台1上的一个第二转动支座301相连接而构成第二转动副303，第二转动副303的回转轴线垂直于第一转动副302的回转轴线；第一电推杆5能够在自身第一电机4的驱动下进行伸缩运动；
第三支链Ⅲ为复合支链，包括直线移动组件7、直线驱动组件70、第二电推杆8和第四转动支座9；直线移动组件7包括下底板706、连接板704、两条导轨701和两个滑块705；下底板706固定在定平台1的上表面中部；导轨701为直线导轨，两条导轨701对称固定在下底板706的上表面两侧部位，并且延伸方向与定平台1上两个第二转动支座301的中心连线方向垂直；两个滑块705分别以移动的方式安装在两条导轨701上；连接板704的底面同时连接在两个滑块705的上表面上；直线驱动组件70包括第二电机14、丝杠702以及丝杠螺母703；第二电机14固定在下底板706的一端上表面上，输出轴连接丝杠702的一端，并且丝杠702平行于导轨701；丝杠螺母703螺纹连接在丝杠702上且上端同时固定在连接板704的底面上；第二电机14驱动丝杠702旋转，并通过丝杠螺母703带动连接板704与滑块705沿导轨701移动；第二电推杆8的前端安装有一个第四转动支座9，通过第四转动支座9与动平台2上的第二双转动 配件10连接而构成第四转动副203，第四转动副203的回转轴线与第三转动副202的回转轴线垂直；第二电推杆8的后端固接在连接板704的上表面；第二电推杆8的伸缩是通过自身的第三电机13来驱动的；第三支链Ⅲ包括第二电机14和第三电机13两个驱动电机，由两个驱动电机构成复合支链。
所述的底板101为长方形板状结构。
所述的台板201为方框形板状结构，中部形成有减重孔。
现以丝杠702的延伸方向作为x轴方向，两个第二转动支座301的中心连线方向作为y轴方向，第二电推杆8的伸缩方向作为z轴方向，对本发明提供的具有可大角度扭转动平台和复合支链的四自由度并联机构的工作原理阐述如下：
本发明提供的具有可大角度扭转动平台和复合支链的四自由度并联机构选取两个第一电推杆5、一个第二电推杆8和一个丝杠702作为驱动件，可实现动平台2两移动和两转动共四个自由度；锁定第三支链Ⅲ上的第二电推杆8，利用第三支链Ⅲ上的第二电机14驱动丝杠702旋转，同时配合驱动第一支链Ⅰ和第二支链Ⅱ上第一电推杆5伸缩，可以实现动平台2沿x轴的移动自由度；锁定第三支链Ⅲ上的丝杠702，同时分别驱动第一支链Ⅰ和第二支链Ⅱ上的第一电推杆5同向等距伸缩，相应地驱动第三支链Ⅲ上的第二电推杆8伸缩，可实现动平台2沿z轴的移动自由度；锁定第三支链Ⅲ，同时分别驱动第一支链Ⅰ和第二支链Ⅱ上的第一电推杆5同向等距伸缩，可实现动平台2绕y轴的转动自由度；锁定第三支链Ⅲ，同时分别驱动第一支链Ⅰ和第二支链Ⅱ上的第一电推杆5反向等距伸缩，可实现动平台2绕x轴的转动自由度。通过第一支链Ⅰ、第二支链Ⅱ和第三支链Ⅲ各驱动件的运动，动平台2可实现沿x、z轴方向的移动自由度与绕x、y轴的转动自由度共四个自由度。

Claims (3)

  1. 一种具有可大角度扭转动平台和复合支链的四自由度并联机构，其特征在于：所述的具有可大角度扭转动平台和复合支链的四自由度并联机构包括定平台(1)、动平台(2)、第一支链(Ⅰ)、第二支链(Ⅱ)和第三支链(Ⅲ)；
    其中，定平台(1)包括底板(101)和两个第二转动支座(301)；两个第二转动支座(301)分别固定在定平台(1)的上表面两侧中间部位，并且中心轴线垂直于底板(101)的上表面；
    动平台(2)包括台板(201)、两个球铰支座(601)和一个第二双转动配件(10)；其中台板(201)的一侧边中部安装有一个第二双转动配件(10)，与安装第二双转动配件(10)的侧边相垂直的两个侧面上远离第二双转动配件(10)的一端分别安装有一个球铰支座(601)；第二双转动配件(10)与台板(201)相配合而构成第三转动副(202)，第三转动副(202)的回转轴线平行于两个球铰支座(601)的中心连线方向，台板(201)能够绕第二转动配件(10)的回转轴线大角度扭转；
    第一支链(Ⅰ)和第二支链(Ⅱ)的结构完全相同，均包括第一双转动配件(3)、第一电推杆(5)和球铰(6)；第一电推杆(5)的一端通过球铰(6)与动平台(2)上的一个球铰支座(601)相连接而构成球副；第一双转动配件(3)的一端与第一电推杆(5)的另一端相连接而构成第一转动副(302)，第一转动副(302)的回转轴线平行于底板(101)的上表面，第一双转动配件(3)的另一端与定平台(1)上的一个第二转动支座(301)相连接而构成第二转动副(303)，第二转动副(303)的回转轴线垂直于第一转动副(302)的回转轴线；第一电推杆(5)能够在自身第一电机(4)的驱动下进行伸缩运动；
    第三支链(Ⅲ)为复合支链，包括直线移动组件(7)、直线驱动组件(70)、 第二电推杆(8)和第四转动支座(9)；直线移动组件(7)包括下底板(706)、连接板(704)、两条导轨(701)和两个滑块(705)；下底板(706)固定在定平台(1)的上表面中部；导轨(701)为直线导轨，两条导轨(701)对称固定在下底板(706)的上表面两侧部位，并且延伸方向与定平台(1)上两个第二转动支座(301)的中心连线方向垂直；两个滑块(705)分别以移动的方式安装在两条导轨(701)上；连接板(704)的底面同时连接在两个滑块(705)的上表面上；直线驱动组件(70)包括第二电机(14)、丝杠(702)以及丝杠螺母(703)；第二电机(14)固定在下底板(706)的一端上表面上，输出轴连接丝杠(702)的一端，并且丝杠(702)平行于导轨(701)；丝杠螺母(703)螺纹连接在丝杠(702)上且上端同时固定在连接板(704)的底面上；第二电机(14)驱动丝杠(702)旋转，并通过丝杠螺母(703)带动连接板(704)与滑块(705)沿导轨(701)移动；第二电推杆(8)的前端安装有一个第四转动支座(9)，通过第四转动支座(9)与动平台(2)上的第二双转动配件(10)连接而构成第四转动副(203)，第四转动副(203)的回转轴线与第三转动副(202)的回转轴线垂直；第二电推杆(8)的后端固接在连接板(704)的上表面；第二电推杆(8)的伸缩是通过自身的第三电机(13)来驱动的；第三支链(Ⅲ)包括第二电机(14)和第三电机(13)两个驱动电机，由两个驱动电机构成复合支链。
  2. 根据权利要求1所述的具有可大角度扭转动平台和复合支链的四自由度并联机构，其特征在于：所述的底板(101)为长方形板状结构。
  3. 根据权利要求1所述的具有可大角度扭转动平台和复合支链的四自由度并联机构，其特征在于：所述的台板(201)为方框形板状结构，中部形成有减 重孔。
PCT/CN2021/142597 2020-12-07 2021-12-29 具有可大角度扭转动平台和复合支链的四自由度并联机构 WO2022122047A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011428276.1 2020-12-07
CN202011428276.1A CN112454337B (zh) 2020-12-07 2020-12-07 具有可大角度扭转动平台和复合支链的四自由度并联机构

Publications (1)

Publication Number Publication Date
WO2022122047A1 true WO2022122047A1 (zh) 2022-06-16

Family

ID=74801648

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/142597 WO2022122047A1 (zh) 2020-12-07 2021-12-29 具有可大角度扭转动平台和复合支链的四自由度并联机构

Country Status (2)

Country Link
CN (1) CN112454337B (zh)
WO (1) WO2022122047A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115256344A (zh) * 2022-07-21 2022-11-01 燕山大学 舱内大纵深条件下大重量设备全向运载调姿平台
CN117226459A (zh) * 2023-11-08 2023-12-15 之江实验室 传动系统连杆的安装工装
WO2024103759A1 (zh) * 2022-11-16 2024-05-23 天津大学 一种三支链五自由度的并联机器人

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112454337B (zh) * 2020-12-07 2022-08-05 中国民航大学 具有可大角度扭转动平台和复合支链的四自由度并联机构
CN113799104B (zh) * 2021-11-09 2023-09-29 中国民航大学 一种具有对称支链的四自由度并联机构
CN115056204B (zh) * 2022-07-15 2024-07-26 中国民航大学 一种含有正交三直线复合驱动支链的五自由度并联机构

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109877813A (zh) * 2019-04-24 2019-06-14 北京交通大学 一种大转角2t2r四自由度并联机构
US20200316770A1 (en) * 2017-12-25 2020-10-08 Shenzhen Institutes Of Advanced Technology Three-degree-of-freedom parallel mechanism
CN112454337A (zh) * 2020-12-07 2021-03-09 中国民航大学 具有可大角度扭转动平台和复合支链的四自由度并联机构

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101244560B (zh) * 2008-03-22 2010-06-23 燕山大学 具有不同结构驱动分支的三自由度并联机器人机构
CN101444892B (zh) * 2008-10-17 2010-12-08 电子科技大学 机械系统可重构的混联机床及其容错纠错方法
CN103112000A (zh) * 2013-03-18 2013-05-22 万新光学集团有限公司 一种用于高速搬运作业的二自由度平动并联机器人机构
CN103273356B (zh) * 2013-04-28 2015-09-30 清华大学 一种基于四自由度并联机构的多轴联动混联装置
CN104369182B (zh) * 2014-11-06 2016-04-06 燕山大学 一种4spr+2r型四自由度并联机构
CN105563467A (zh) * 2016-02-02 2016-05-11 常州大学 一种四自由度姿态调平机构
CN105666471B (zh) * 2016-03-29 2017-10-20 燕山大学 一种sps+upu+(2rps+r)型四自由度并联机器人
CN109940589B (zh) * 2019-04-01 2020-12-18 燕山大学 对称两转一移完全解耦并联机构
CN110450141B (zh) * 2019-08-30 2022-06-10 燕山大学 四支链六自由度混联机构
CN111331580B (zh) * 2020-03-17 2022-12-16 中国民航大学 一种动平台可翻转的六自由度并联机构

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200316770A1 (en) * 2017-12-25 2020-10-08 Shenzhen Institutes Of Advanced Technology Three-degree-of-freedom parallel mechanism
CN109877813A (zh) * 2019-04-24 2019-06-14 北京交通大学 一种大转角2t2r四自由度并联机构
CN112454337A (zh) * 2020-12-07 2021-03-09 中国民航大学 具有可大角度扭转动平台和复合支链的四自由度并联机构

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115256344A (zh) * 2022-07-21 2022-11-01 燕山大学 舱内大纵深条件下大重量设备全向运载调姿平台
WO2024103759A1 (zh) * 2022-11-16 2024-05-23 天津大学 一种三支链五自由度的并联机器人
CN117226459A (zh) * 2023-11-08 2023-12-15 之江实验室 传动系统连杆的安装工装
CN117226459B (zh) * 2023-11-08 2024-02-09 之江实验室 传动系统连杆的安装工装

Also Published As

Publication number Publication date
CN112454337A (zh) 2021-03-09
CN112454337B (zh) 2022-08-05

Similar Documents

Publication Publication Date Title
WO2022122047A1 (zh) 具有可大角度扭转动平台和复合支链的四自由度并联机构
WO2022077952A1 (zh) 一种含有恰约束和复合驱动支链的并联机构
CN100488735C (zh) 二自由度平面并联机器人机构
CN107443173B (zh) 一种具有可重构特性的大行程、高刚度串并混联机床
WO2022122048A1 (zh) 一种分体式五自由度并联机构
CN209125813U (zh) 一种新型五自由度并联机构
WO2022088508A1 (zh) 一种约束冗余的两转动两移动四自由度并联机构
CN113799104B (zh) 一种具有对称支链的四自由度并联机构
CN111267076A (zh) 一种高刚度冗余驱动并联机构
CN112873266A (zh) 仿人机器人及其二自由度模块化仿人机器人关节
CN111496765A (zh) 一种空间两转动和一移动的三自由度并联机构
CN112276910B (zh) 一种含有双滑轨复合支链的并联机构
CN205588291U (zh) 四自由度并联机构
CN112276912B (zh) 一种含有正交双直线驱动支链的并联机构
CN109079761B (zh) 一种含闭环支链的两转一移的并联机器人
CN207127626U (zh) 一种具有可重构特性的大行程、高刚度串并混联机床
CN111496766B (zh) 一种基于电动缸的三自由度并联机构
CN111604885B (zh) 一种含多轴转动支架的六自由度混联机器人
CN113442112A (zh) 并联式三轴线性机器人
CN114603538B (zh) 一种完全解耦的球面3r转动并联机构
CN115922674A (zh) 一种基于2upr-2rru机构的三自由度冗余并联末端力控执行器
CN112621716B (zh) 一种含有多滑轨和复合支链的并联机构
CN112428257B (zh) 一种具有复合驱动支链的六自由度并联机构
CN1231226A (zh) 平面双滑块三自由度虚拟轴机床结构
CN1056551C (zh) 双八面体框架式虚拟轴机床结构

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21902751

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21902751

Country of ref document: EP

Kind code of ref document: A1