CN102490178A - Spatial three-rotation one-translation parallel manipulator - Google Patents
Spatial three-rotation one-translation parallel manipulator Download PDFInfo
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- CN102490178A CN102490178A CN2011104148254A CN201110414825A CN102490178A CN 102490178 A CN102490178 A CN 102490178A CN 2011104148254 A CN2011104148254 A CN 2011104148254A CN 201110414825 A CN201110414825 A CN 201110414825A CN 102490178 A CN102490178 A CN 102490178A
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- branched chain
- active branched
- moving platform
- guide rail
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Abstract
The invention discloses a spatial three-rotation one-translation parallel manipulator. The manipulator comprises a first active branched chain, a second active branched chain, a third active branched chain and a fourth active branched chain which are arranged in a central hole of a frame along the same circumferential direction and have the same structure, wherein a first moving platform and a second moving platform which are arranged sequentially from top to bottom are arranged below the frame; each active branched chain comprises a connecting plate which is fixedly connected with the inner wall of the central hole of the frame; a guide rail sliding block structure is arranged on the connecting plate; a sliding block in the guide rail sliding block structure is fixedly connected with a sliding saddle; the sliding saddle can move on a guide rail in the guide rail sliding block structure along the direction parallel to the axis of the central hole of the frame under the drive of a driving device, and is connected with one end of a connecting rod through a rotation pair; and the first and second moving platforms are connected with each other through a screw nut pair. By the manipulator, the moving platforms and the active branched chains have low inertia and high dynamic properties.
Description
Technical field
The present invention relates to a kind of four-freedom parallel mechanical hand, particularly relate to a kind of parallel manipulator hand of realizing a three-rotational-freedom and a translational degree of freedom operation function.
Background technology
Can know according to patent US6431802, ZL200610013608.3, existing space three rotation-translation freedom degree parallel connection mechanisms, its way of realization is generally the hybrid connected structure form that space two rotation-translation parallel institution is aided with yaw.This space two rotation-translation parallel institution comprises fixed mount, moving platform and three side chains that structure is identical.Side chain is made up of drive unit, line slideway, planker, hinge and connecting rod.Planker and line slideway are arranged symmetrically on the fixed mount through moving sets, and connecting rod connects moving platforms through the hinges with three revolution frees degree, get hinge and are connected through having a revolution free degree between planker and connecting rod.Each side chain can move under the driving of drive unit separately, makes moving platform produce two with respect to fixed mount and rotates and translational degree of freedom.The electricity main shaft is installed on the moving platform, makes it produce the rotation around self axis, and then entire mechanism can realize the three rotation-translation frees degree.
This type of mechanism is because moving platform is installed electric main shaft, and the deficiency of its existence is: moving platform weight is excessive, influences the fast forward capability and the dynamic property of mechanism; Movement branched chain inertia is big, is difficult for realizing light-weight design.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, a kind of effective minimizing moving platform and moving link quality are provided, can realize the space three rotation-translation parallel manipulator hands of end effector pose adjustment.
In order to achieve the above object; Space of the present invention three rotation-translation parallel manipulator hands; It comprises interior the first, second, third and the 4th active branched chain with same structure of centre bore that is installed in frame along same circumferencial direction; Four active branched chain evenly are provided with each other at interval; The described first and the 3rd active branched chain is oppositely arranged, and the described second and the 4th active branched chain is oppositely arranged, and below described frame, is disposed with first moving platform and second moving platform from top to bottom; Each described active branched chain comprises the connecting plate that the center bore inner wall with frame is fixedly linked; The guide rail slide block structure is installed on described connecting plate, and slide block and saddle in the described guide rail slide block structure are fixedly linked, and described saddle can move on the guide rail of direction in the guide rail slide block structure of the centre hole axis line parallel of the driving lower edge of drive unit and frame; Described saddle links to each other with connecting rod one end through revolute pair; Wherein first links to each other with first moving platform through the hinges with three revolution frees degree with the third connecting rod other end, and second links to each other with second moving platform through the hinges with three revolution frees degree with the 4th connecting rod other end, passes through the screw pair connection between described first and second moving platforms; Leading screw one end of described screw pair and described vertical linking to each other of first moving platform are installed on second moving platform and with end effector through bearing with described threads of lead screw nut engaged and link to each other.
Space of the present invention three rotation-translation parallel manipulator hand beneficial effects are: the modular construction design, have the advantage direction of feed, and moving platform and movement branched chain inertia are little, and dynamic property is good.
Description of drawings
Fig. 1 is the structural representation of space of the present invention three rotation-translation parallel manipulator hands;
Fig. 2 is the vertical view of manipulator shown in Figure 1;
Fig. 3 is the structural representation of the active branched chain in the manipulator shown in Figure 1;
Fig. 4 is the structural representation of the moving platform in the manipulator shown in Figure 1;
Fig. 5 is the structural representation of the embodiment 1 that installs and uses of the present invention's manipulator shown in Figure 1.
The specific embodiment
Below in conjunction with accompanying drawing and instantiation the minimally invasive surgical operation robot based on the module joint of the present invention is made detailed description with little apparatus end.
Combine each width of cloth figure that the present invention is specified below again:
Space of the present invention three rotation-translation parallel manipulator hands; It comprises interior the first, second, third and the 4th active branched chain 1,2,11,12 with same structure of centre bore that is installed in frame along same circumferencial direction; Four active branched chain evenly are provided with each other at interval; The described first and the 3rd active branched chain is oppositely arranged; The described second and the 4th active branched chain is oppositely arranged, and below described frame, is disposed with first moving platform and second moving platform from top to bottom, and each described active branched chain comprises the connecting plate 14 that the center bore inner wall with frame is fixedly linked; The guide rail slide block structure is installed on described connecting plate, and slide block and saddle in the described guide rail slide block structure are fixedly linked.Described saddle can move on the guide rail 17 of direction in the guide rail slide block structure of the centre hole axis line parallel of the driving lower edge of drive unit and frame.Described saddle 16 links to each other with connecting rod one end through revolute pair; Wherein first with the third connecting rod other end through have three the revolution frees degree hinges link to each other with first moving platform; Second with the 4th connecting rod other end through have three the revolution frees degree hinges link to each other with second moving platform; Connect through screw pair between described first and second moving platforms; Leading screw one end in the described screw pair and described vertical linking to each other of first moving platform are installed on second moving platform and with end effector 7 through bearing 21 with described threads of lead screw nut engaged and link to each other.
Preferred described drive unit comprises rack-mounted servomotor 13, and an end of the output shaft of described servomotor and ball-screw 15 is fixedly linked, and described ball-screw forms screw pair with the nut that is installed on the saddle 16.
First active branched chain 1 described in Fig. 1, Fig. 2, the 3rd active branched chain 11 constitute the first main motion chain.First active branched chain 1 links to each other with frame 3 through connecting plate, and the lower end links to each other with first moving platform 9 through first hinge 4.The 3rd active branched chain 11 links to each other with frame 3 through connecting plate, and the lower end links to each other with first moving platform 9 through the 3rd hinge 10.First hinge 4 and the 3rd hinge 9 are spherical hinge, also can be other hinges with three turning powers, add the axis of rotation etc. like Hooke's hinge.Said second active branched chain 2, the 4th active branched chain 12 constitute the second main motion chain.Second active branched chain 2 links to each other with frame 3 through connecting plate, and the lower end links to each other with second moving platform 6 through second hinge 5.The 4th active branched chain 12 links to each other with frame 3 through connecting plate, and the lower end links to each other with second moving platform 6 through the 4th hinge 8.Second hinge 5 and the 4th hinge 8 are spherical hinge, also can be other hinges with three turning powers, add the axis of rotation etc. like Hooke's hinge.
Said first active branched chain 1, second active branched chain 2, the 3rd active branched chain 11, the 4th active branched chain 12 have identical frame for movement.Moving sets (like the guide rail slide block structure) connects connecting plate and saddle 16, and saddle 16 is connected with connecting rod 18 1 ends through revolute pair, and connecting rod 18 other ends connect moving platform through revolute pair.Said active branched chain can adopt servomotor to add the type of drive of ball-screw, also can adopt hydraulic pressure, structure such as pneumatic as type of drive.
Connecting plate described in Fig. 3 links to each other with the center bore inner wall of frame, and the slide block in described saddle and the guide rail slide block structure is fixedly linked, and described saddle links to each other with drive unit.A kind of embodiment as drive unit; Drive unit comprises the servomotor 13 that is installed on the frame 3; One end of the output shaft of described servomotor and ball-screw is fixedly linked; Servomotor 13 drives ball-screw 15 and rotates, and ball-screw 15 forms screw pair with the nut that is installed on the saddle 16, can the rotation of ball-screw 15 be converted into to move to be passed to saddle 16; Simultaneously, slide block is installed on the saddle, cooperatively interacting with guide rail 17 to guarantee that the saddle realization is mobile.
Said first moving platform 9, second moving platform 6 connect through screw pair.Nut 20 is installed on second moving platform 6 through bearing 21, and links to each other with end effector 7; Leading screw (can be ball-screw) 19 is installed on first moving platform 9.
As shown in Figure 4, space of the present invention three rotation-translation parallel manipulator hands can be realized the motion of four-degree-of-freedom.When first active branched chain 1, second active branched chain 2, the 3rd active branched chain 11, when the 4th active branched chain 12 has identical input, end effector 7 can be realized moving along the C axle.When the not input of second kinematic chain, first active branched chain 1 of first kinematic chain, when the 3rd active branched chain 11 has different inputs, first moving platform 9 can drive the rotation that terminal moving platform 7 is realized around the B axle.When the not input of first kinematic chain, second active branched chain 2 of second kinematic chain, when the 4th active branched chain 12 has different inputs, second moving platform 6 can drive the rotation that terminal moving platform 7 is realized around the A axle.When second active branched chain 2, the 4th active branched chain 12 of second kinematic chain has identical input; When first kinematic chain keeps static with respect to second kinematic chain; Leading screw 21 on first moving platform 9 moves along the C axle, drives nut 20 and rotates, thereby make end effector realize the rotation around the C axle.
Space of the present invention three rotation-translation parallel manipulator hands; Adopt four active branched chain to drive the version of two moving platforms, moving platform connects through screw pair, and leading screw moves the drive nut and rotates; Make end effector produce rotation, thereby realize the purpose of adjustment attitude around the C axle.
Space of the present invention three rotation-translation parallel manipulator hand operating positions general introduction: shown in Fig. 5 embodiment 1; With five-freedom parallel tool hand of the present invention as a module; Integrated with the long stroke guide rail unit of three directions, realize the working ability in the bigger working space.
The above description of this invention only is schematically, rather than restrictive, so embodiment of the present invention is not limited to the above-mentioned specific embodiment.If those of ordinary skill in the art is enlightened by it, under the situation that does not break away from aim of the present invention and claim institute protection domain, make other variations or modification, all belong to protection scope of the present invention.
Claims (2)
1. space three rotation-translation parallel manipulator hands; It is characterized in that: it comprises interior the first, second, third and the 4th active branched chain with same structure of centre bore that is installed in frame along same circumferencial direction; Four active branched chain evenly are provided with each other at interval; The described first and the 3rd active branched chain is oppositely arranged; The described second and the 4th active branched chain is oppositely arranged; Below described frame, be disposed with first moving platform and second moving platform from top to bottom, each described active branched chain comprises the connecting plate that the center bore inner wall with frame is fixedly linked, and the guide rail slide block structure is installed on described connecting plate; Slide block and saddle in the described guide rail slide block structure are fixedly linked; Described saddle can move on the guide rail of direction in the guide rail slide block structure of the centre hole axis line parallel of the driving lower edge of drive unit and frame, and described saddle links to each other with connecting rod one end through revolute pair, and wherein first links to each other with first moving platform through having three hinges that turn round the frees degree with the third connecting rod other end; Second with the 4th connecting rod other end through have three the revolution frees degree hinges link to each other with second moving platform; Connect through screw pair between described first and second moving platforms, leading screw one end of described screw pair and described vertical linking to each other of first moving platform are installed on second moving platform and with end effector through bearing with described threads of lead screw nut engaged and link to each other.
2. space according to claim 1 three rotation-translation parallel manipulator hands; It is characterized in that: described drive unit comprises rack-mounted servomotor; One end of the output shaft of described servomotor and ball-screw is fixedly linked, and described ball-screw forms screw pair with the nut that is installed on the saddle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011104148254A CN102490178A (en) | 2011-12-13 | 2011-12-13 | Spatial three-rotation one-translation parallel manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011104148254A CN102490178A (en) | 2011-12-13 | 2011-12-13 | Spatial three-rotation one-translation parallel manipulator |
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| CN102490178A true CN102490178A (en) | 2012-06-13 |
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| CN2011104148254A Pending CN102490178A (en) | 2011-12-13 | 2011-12-13 | Spatial three-rotation one-translation parallel manipulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103203741A (en) * | 2013-04-27 | 2013-07-17 | 安徽工业大学 | Three-degree-of-freedom parallel robot mechanism |
| CN109048987A (en) * | 2018-09-21 | 2018-12-21 | 南京理工大学 | A kind of parallel flexible waist mechanism |
| CN112497200A (en) * | 2020-11-11 | 2021-03-16 | 天津大学 | Three-degree-of-freedom high-rigidity robot |
| CN112497211A (en) * | 2020-11-11 | 2021-03-16 | 天津大学 | Three-degree-of-freedom robot with high rigidity |
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| US6431802B1 (en) * | 1998-11-03 | 2002-08-13 | Ds Technologie Werkzeugmaschinenbau Gmbh | Articulated tool head |
| JP2004017266A (en) * | 2002-06-20 | 2004-01-22 | Koyo Seiko Co Ltd | Parallel link manipulator |
| CN1843709A (en) * | 2006-04-30 | 2006-10-11 | 天津大学 | Parallel mechanism having two rotational and one translational motion freedom |
| CN101863024A (en) * | 2010-06-29 | 2010-10-20 | 天津大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
| US20110100145A1 (en) * | 2009-11-05 | 2011-05-05 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Rotation mechanism and robot using the same |
| CN201907121U (en) * | 2010-12-29 | 2011-07-27 | 天津大学 | Three-dimensional translational and one-dimensional rotational parallel mechanism |
-
2011
- 2011-12-13 CN CN2011104148254A patent/CN102490178A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6431802B1 (en) * | 1998-11-03 | 2002-08-13 | Ds Technologie Werkzeugmaschinenbau Gmbh | Articulated tool head |
| JP2004017266A (en) * | 2002-06-20 | 2004-01-22 | Koyo Seiko Co Ltd | Parallel link manipulator |
| CN1843709A (en) * | 2006-04-30 | 2006-10-11 | 天津大学 | Parallel mechanism having two rotational and one translational motion freedom |
| US20110100145A1 (en) * | 2009-11-05 | 2011-05-05 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Rotation mechanism and robot using the same |
| CN101863024A (en) * | 2010-06-29 | 2010-10-20 | 天津大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
| CN201907121U (en) * | 2010-12-29 | 2011-07-27 | 天津大学 | Three-dimensional translational and one-dimensional rotational parallel mechanism |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103203741A (en) * | 2013-04-27 | 2013-07-17 | 安徽工业大学 | Three-degree-of-freedom parallel robot mechanism |
| CN109048987A (en) * | 2018-09-21 | 2018-12-21 | 南京理工大学 | A kind of parallel flexible waist mechanism |
| CN109048987B (en) * | 2018-09-21 | 2021-11-09 | 南京理工大学 | Parallel flexible wrist mechanism |
| CN112497200A (en) * | 2020-11-11 | 2021-03-16 | 天津大学 | Three-degree-of-freedom high-rigidity robot |
| CN112497211A (en) * | 2020-11-11 | 2021-03-16 | 天津大学 | Three-degree-of-freedom robot with high rigidity |
| CN112497211B (en) * | 2020-11-11 | 2022-05-13 | 天津大学 | Three-degree-of-freedom robot with high rigidity |
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Application publication date: 20120613 |