CN102275161A - Three-rotation spherical motion mechanism - Google Patents

Three-rotation spherical motion mechanism Download PDF

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Publication number
CN102275161A
CN102275161A CN201110189904XA CN201110189904A CN102275161A CN 102275161 A CN102275161 A CN 102275161A CN 201110189904X A CN201110189904X A CN 201110189904XA CN 201110189904 A CN201110189904 A CN 201110189904A CN 102275161 A CN102275161 A CN 102275161A
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China
Prior art keywords
revolute pair
moving platform
rotating
circular arc
side chain
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CN201110189904XA
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Chinese (zh)
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沈惠平
杨廷力
李菊
唐琳
朱小蓉
王振
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Changzhou University
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Changzhou University
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Priority to CN201110189904XA priority Critical patent/CN102275161A/en
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Abstract

The invention relates to a three-rotation spherical motion mechanism, which comprises an upper moving platform, a lower static platform and a three branch chains with same structure, wherein the branch chains are connected with the upper moving platform and the lower static platform, wherein one end of a circular-arc rod I on the first branch chain is connected with the lower static platform through a rotating pair I, the other end of the circular-arc rod I on the first branch chain is connected with one end of a member I through a rotating pair II, and the other end of the member I is connected with the upper moving platform through a spherical hinge; moreover, on the three branch chains, axial lines of six rotating pairs, namely, the rotating pair I and the rotating pair II at two ends of the circular-arc rod I, a rotating pair III and a rotating pair IV at two ends of a circular-arc rod II as well as a rotating pair V and a rotating pair VI at two ends of a circular-arc rod III, are necessarily intersected into the same rotating center point, and the positions of the spherical hinge I, a spherical hinge II and a spherical hinge III cannot be located on the same straight line. The three-dimensional rotating output of the upper moving platform can be realized by driving the three rotating pairs arranged on the three branch chains and connected with the lower static platform. The spherical motion mechanism has the advantages of simple structure, larger working space and easiness in manufacture and installation and can be used as an executing mechanism of a parallel machine tool, an operating platform and a robot joint.

Description

A kind of three rotate spheric mechanism
Technical field
The present invention relates to the executing agency of a kind of virtual axis machine in parallel, operation element platform and joint of robot, specifically provide a kind of novel Three dimensional rotation spheric mechanism for parallel-connection structure virtual axis machine, operation element platform and joint of robot.
Background technology
Parallel institution has obtained extensive use in fields such as virtual-shaft machine tool, coordinate measuring machine, workbench, manipulators, except 6-SPS, the 6-RSS typical case parallel-connection structure of 6DOF, the free degree is 2～5 lower-mobility parallel institution in addition, and they have bigger practical value on the industrial production of reality.Study the more D translation mechanism that has, (U.S. Patent number: 5656905,1997), its main feature is position and direction decoupling zero as Delta mechanism, Star Like mechanism, TsaiShi three translation mechanisms.
The Three dimensional rotation parallel institution also can be widely used in occasions such as machining, radar tracking, stage illumination, lighting, joint of robot, Canada scholar Gosselin studies, designs " dexterous eye " based on sphere parallel mechanism the earliest, afterwards, more domestic scholars have also proposed some sphere parallel mechanisms or device, example: patent documentation ZL022090649, ZL200810055018.6,201010126955.3, described Three dimensional rotation parallel institutions such as 201010274735.5.
In a word, comparatively speaking, the pattern of Three dimensional rotation parallel institution is also fewer, needs the practicability new architecture that compages are simple, control decoupling zero, good rigidity.
Summary of the invention
The novel three-dimensional that the objective of the invention is will provide simple in structure, control decoupling zero, good rigidity rotates spheric mechanism.
First kind three of the present invention is rotated spheric mechanism, gone up three identical side chains of structure of moving platform (3) and following silent flatform (0) by last moving platform (3), following silent flatform (0) and connection and form, an end of the circular arc bar one (1) on article one side chain and following silent flatform (0) are with revolute pair one (R 11) after the connection, the other end is with revolute pair two (R 12) be connected with an end of member one (2), the other end of member one (2) and last moving platform (3) are with ball pivot one (S 13) connect; Further, the revolute pair one (R of circular arc bar one (1) two end on article one side chain 11) and revolute pair two (R 12), the revolute pair three (R of circular arc bar two (4) two ends on the second side chain 22) and revolute pair four (R 21), the revolute pair five (R of circular arc bar three (5) two ends on the 3rd side chain 32) and revolute pair six (R 31), the axis of totally six revolute pairs must intersect at same fulcrum (O '), and goes up the ball pivot one (S on the moving platform (3) 13), ball pivot two (S 23), ball pivot three (S 33) the position can not be point-blank.
Second kind three of the present invention is rotated spheric mechanism, gone up three identical side chains of structure of moving platform (3) and following silent flatform (0) by last moving platform (3), following silent flatform (0) and connection and form, an end of the circular arc bar one (1) on article one side chain and last moving platform (3) are with revolute pair one (R 13) after the connection, the other end is with revolute pair two (R 12) be connected with an end of member one (2), the other end of member one (2) and following silent flatform (0) are with ball pivot one (S 11) connect; Further, the revolute pair one (R of circular arc bar one (1) two end on article one side chain 13) and revolute pair two (R 12), the revolute pair three (R of circular arc bar two (4) two ends on the second side chain 23) and revolute pair four (R 22), the revolute pair five (R of circular arc bar three (5) two ends on the 3rd side chain 32) and revolute pair six (R 33), the axis of totally six revolute pairs must intersect at same fulcrum (O '), and the ball pivot one (S on the silent flatform (0) down 11), ball pivot two (S 21), ball pivot three (S 31) the position can not be point-blank.
That these two kinds of mechanisms have is simple in structure, working space is big, make advantage is installed easily, control is convenient etc., can provide possibility for the exploitation and the practicability of Three dimensional rotation parallel machine, workbench, radar tracking, stage illumination, lighting, joint of robot.
Description of drawings
Accompanying drawing 1 is a kind of structural representation of the present invention.
Accompanying drawing 2 is an another kind of structural representation of the present invention.
The specific embodiment
Below by accompanying drawing and example technology of the present invention is given to illustrate further.
It is first embodiment of the present invention that shown in the accompanying drawing 1 a kind of three rotates spheric mechanism, three identical side chains of structure that it goes up moving platform 3 and following silent flatform 0 by last moving platform 3, following silent flatform 0 and connection are formed, and an end of the circular arc bar 1 on article one side chain and following silent flatform 0 are with revolute pair one R 11After the connection, the other end is with revolute pair two R 12Be connected with an end of member 1, the other end of member 1 and last moving platform 3 are with ball pivot one S 13Connect; Further, revolute pair one R of circular arc bar one 1 two ends on article one side chain 13With revolute pair two R 12, revolute pair three R of circular arc bar 242 ends on the second side chain 23With revolute pair four R 22, revolute pair five R of circular arc bar 352 ends on the 3rd side chain 32With revolute pair six R 33, the axis of totally six revolute pairs must intersect at same fulcrum O ', and goes up ball pivot one S on the moving platform 3 13, ball pivot two S 23, the ball pivot Three S's 33The position can not be point-blank.
Three revolute pair R under driving on the silent flatform 0 11, R 21And R 31, just can realize that moving platform 3 is around the three rotation sphere output movements that rotate central point O '.
It is an alternative embodiment of the invention that shown in the accompanying drawing 2 a kind of three rotates spheric mechanism, gone up three identical side chains of structure of moving platform 3 and following silent flatform 0 by last moving platform 3, following silent flatform 0 and connection and form, an end of the circular arc bar 1 on article one side chain and last moving platform 3 are with revolute pair one R 13After the connection, the other end is with revolute pair two R 12Be connected with an end of member 1, the other end of member 1 and following silent flatform 0 are with ball pivot one S 11Connect; Further, revolute pair one R of circular arc bar one 1 two ends on article one side chain 13With revolute pair two R 12, revolute pair three R of circular arc bar 242 ends on the second side chain 23With revolute pair four R 22, revolute pair five R of circular arc bar 352 ends on the 3rd side chain 32With revolute pair six R 33, the axis of totally six revolute pairs must intersect at same fulcrum O ', and ball pivot one S on the following silent flatform 0 11, ball pivot two S 21, the ball pivot Three S's 31The position can not be point-blank.
Three revolute pair R in the driving on the moving platform 3 13, R 23And R 33, just can realize that moving platform 3 is around the three rotation sphere output movements that rotate central point O '.
The structural design of these two kinds of spheric mechanisms and drive control etc. all routinely mechanical ﹠ electrical technology carry out design and installation, and simple in structure, working space is big, make and install easily, can be used as virtual-shaft machine tool, workbench, radar tracking, the stage illumination, lighting of parallel-connection structure, the executing agency of joint of robot.

Claims (2)

1. one kind three is rotated spheric mechanism, by last moving platform (3), following silent flatform (0) and connect three identical side chains of structure going up moving platform (3) and following silent flatform (0) and form, an end that it is characterized in that the circular arc bar one (1) on article one side chain and following silent flatform (0) are with revolute pair one (R 11) after the connection, the other end is with revolute pair two (R 12) be connected with an end of member one (2), the other end of member one (2) and last moving platform (3) are with ball pivot one (S 13) connect; Further, the revolute pair one (R of circular arc bar one (1) two end on article one side chain 11) and revolute pair (R 12), the revolute pair three (R of circular arc bar two (4) two ends on the second side chain 22) and revolute pair four (R 21), the revolute pair five (R of circular arc bar three (5) two ends on the 3rd side chain 32) and revolute pair six (R 31), the axis of totally six revolute pairs must intersect at same fulcrum (O '), and goes up the ball pivot one (S on the moving platform (3) 13), ball pivot two (S 23), ball pivot three (S 33) the position can not be point-blank.
2. one-rotation parallel mechanism, by last moving platform (3), following silent flatform (0) and connect three identical side chains of structure going up moving platform (3) and following silent flatform (0) and form, it is characterized in that end of the circular arc bar one (1) on article one side chain and last moving platform (3) are with revolute pair one (R 13) after the connection, the other end is with revolute pair two (R 12) be connected with an end of member one (2), the other end of member one (2) and following silent flatform (0) are with ball pivot one (S 11) connect; Further, the revolute pair one (R of circular arc bar one (1) two end on article one side chain 13) and revolute pair two (R 12), the revolute pair three (R of circular arc bar two (4) two ends on the second side chain 23) and revolute pair four (R 22), the revolute pair five (R of circular arc bar three (5) two ends on the 3rd side chain 32) and revolute pair six (R 33), the axis of totally six revolute pairs must intersect at same fulcrum (O '), and the ball pivot one (S on the silent flatform (0) down 11), ball pivot two (S 21), ball pivot three (S 31) the position can not be point-blank.
CN201110189904XA 2011-07-08 2011-07-08 Three-rotation spherical motion mechanism Pending CN102275161A (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102962839A (en) * 2012-12-12 2013-03-13 常州大学 Vibrating screen mechanism with three-dimensional independent output motion
CN103522279A (en) * 2013-09-23 2014-01-22 天津大学 Full symmetric space three-rotational-freedom parallel mechanism
CN103567141A (en) * 2013-07-17 2014-02-12 江苏大学 Three-dimensional moving vibrating screen mechanism
CN104875196A (en) * 2015-06-10 2015-09-02 上海交通大学 Space posture alignment parallel mechanism with three-dimensional rotation characteristic moving platform
CN107097217A (en) * 2017-06-21 2017-08-29 东莞爱创机器人科技有限公司 A kind of moving platform has the sphere parallel mechanism of re-configurability
CN107139164A (en) * 2017-06-21 2017-09-08 东莞爱创机器人科技有限公司 A kind of sphere parallel mechanism
CN107414798A (en) * 2017-09-04 2017-12-01 中国科学院沈阳自动化研究所 Two-freedom-degree parallel mechanism
CN108858156A (en) * 2018-08-31 2018-11-23 常州大学 A kind of sphere parallel mechanism of zero degree of coupling and mobile decoupling
CN110861071A (en) * 2019-10-30 2020-03-06 北京交通大学 Two-rotation parallel mechanism with virtual rotation center
CN112050711A (en) * 2019-06-07 2020-12-08 卡尔蔡司工业测量技术有限公司 Rotary probe for a measuring device and measuring device

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CN2762940Y (en) * 2005-01-04 2006-03-08 浙江理工大学 Spherical surface three-freedom parallel mechanism
CN1769005A (en) * 2005-11-23 2006-05-10 天津理工大学 Large-workspace three-dimensional moving parallel robot mechansim
CN101244560A (en) * 2008-03-22 2008-08-20 燕山大学 Three freedom parallel robot mechanism with different structure drive branches
US20100313695A1 (en) * 2007-10-31 2010-12-16 Michael Valasek Device for a body's spherical motion control
CN101924266A (en) * 2010-06-12 2010-12-22 上海大学 Spherical three-degree-of-freedom parallel mechanism antenna structure system

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CN101244560A (en) * 2008-03-22 2008-08-20 燕山大学 Three freedom parallel robot mechanism with different structure drive branches
CN101924266A (en) * 2010-06-12 2010-12-22 上海大学 Spherical three-degree-of-freedom parallel mechanism antenna structure system

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102962839A (en) * 2012-12-12 2013-03-13 常州大学 Vibrating screen mechanism with three-dimensional independent output motion
CN103567141A (en) * 2013-07-17 2014-02-12 江苏大学 Three-dimensional moving vibrating screen mechanism
CN103522279A (en) * 2013-09-23 2014-01-22 天津大学 Full symmetric space three-rotational-freedom parallel mechanism
CN104875196A (en) * 2015-06-10 2015-09-02 上海交通大学 Space posture alignment parallel mechanism with three-dimensional rotation characteristic moving platform
CN107097217A (en) * 2017-06-21 2017-08-29 东莞爱创机器人科技有限公司 A kind of moving platform has the sphere parallel mechanism of re-configurability
CN107139164A (en) * 2017-06-21 2017-09-08 东莞爱创机器人科技有限公司 A kind of sphere parallel mechanism
CN107414798A (en) * 2017-09-04 2017-12-01 中国科学院沈阳自动化研究所 Two-freedom-degree parallel mechanism
CN108858156A (en) * 2018-08-31 2018-11-23 常州大学 A kind of sphere parallel mechanism of zero degree of coupling and mobile decoupling
CN112050711A (en) * 2019-06-07 2020-12-08 卡尔蔡司工业测量技术有限公司 Rotary probe for a measuring device and measuring device
US11543230B2 (en) 2019-06-07 2023-01-03 Carl Zeiss Industrielle Messtechnik Gmbh Articulating probe
CN110861071A (en) * 2019-10-30 2020-03-06 北京交通大学 Two-rotation parallel mechanism with virtual rotation center
CN110861071B (en) * 2019-10-30 2021-01-08 北京交通大学 Two-rotation parallel mechanism with virtual rotation center

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Application publication date: 20111214