CN103921268A - Prrpr branched-chain parallel mechanism hole forming system for airplane assembling - Google Patents
Prrpr branched-chain parallel mechanism hole forming system for airplane assembling Download PDFInfo
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- CN103921268A CN103921268A CN201410151922.2A CN201410151922A CN103921268A CN 103921268 A CN103921268 A CN 103921268A CN 201410151922 A CN201410151922 A CN 201410151922A CN 103921268 A CN103921268 A CN 103921268A
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Abstract
The invention relates to a prrpr branched-chain parallel mechanism hole forming system for airplane assembling, and belongs to the technical field of mechanical arm operation. The prrpr branched-chain parallel mechanism hole forming system for airplane assembling comprises a fixed platform, a movable platform, a linear guide rail, a tail end actuator, a motor and a side motor, wherein the linear motor is fixed to the fixed platform, the tail end actuator is fixed to the movable platform. The fixed platform is connected with the movable platform through a left ups subchain, a right ups subchain and a prrpr subchain, wherein the left ups subchain and the the right ups subchain are opposite and of the same in structure, and the prrpr subchain deflects from the left ups subchain and the right ups subchain. The prrpr branched-chain parallel mechanism hole forming system for airplane assembling is simple and novel in structure, simple in control method, small in mechanism movement inertia and good in kinematics performance, and has the advantages that the hole forming tail end actuator can do five-freedom-degree movement including three-dimensional movement and two-dimensional rotation.
Description
Technical field
The present invention relates to a kind of three side chain parallel institution punching systems, belong to manipulator operation technique field.
Background technology
Along with developing rapidly of aircraft manufacturing industry, to aircraft mounting technology proposed high-quality, at a high speed, production requirement cheaply, must a large amount of adopt advanced automation mounting technology, the assembling that makes main housing construction, taking automatic punching and automatic riveting as main, replaces manual work mode.Robot hole technology is important application and the research direction of aircraft flexible assembly technology.Three kinds of mechanism forms of its main flow have three kinds at present: flexible guide rail robot automatic punching system, autonomous climbing robot automatic punching system, industrial machinery arm robot automatic punching system.
Serial mechanism is to be connected by kinematic pair by many rod members, and wherein a rod member is the open chain mechanism that frame forms, parallel institution be moving platform with fixed platform by least two independently kinematic chain be connected, mechanism has two or more frees degree, and a kind of close loop mechanism driving with parallel way.Parallel institution is compared with traditional serial mechanism, has without accumulated error, and precision is higher; Compact conformation, rigidity is high, and bearing capacity is large; Drive unit can be placed on fixed platform or approach the position of fixed platform, motion parts quality is light like this, speed is high, the features such as dynamic response is good, make to rise gradually in parallel machine world in recent years, develop into a kind of novel manufacturing equipment, can realize the functions such as the interlocked numerical controlled processing of multi-coordinate, assembling and measurement, more can meet the processing of complicated extraordinary part, compared with traditional machine tool, there is incomparable advantage.
Summary of the invention
The technical problem to be solved in the present invention is for prior art deficiency, propose a kind of make that drilling end effector has that three-dimensional mobile and bidimensional rotates five frees degree motions contain prrpr side chain parallel institution punching system for aircraft assembling.
The present invention is that the technical scheme that solves the problems of the technologies described above proposition is: a kind of for aircraft assembling containing prrpr side chain parallel institution punching system, comprise fixed platform, moving platform, be fixed on the line slideway of fixed platform and be fixed on the end effector on moving platform, also comprise motor and side motor, between described fixed platform and moving platform, be oppositely arranged by two and left and right ups subchain that structure is identical and one are connected with the prrpr subchain of left and right ups subchain biasing;
Described left and right ups subchain includes can be along the flexible drive rod of rod member length direction, and one end of drive rod is connected by ball pivot with moving platform, and the other end of drive rod is connected by Hooke's hinge with fixed platform;
Described prrpr subchain comprises slide block, the connecting-rods with constant lengh being connected by moving sets with line slideway and the outer drive rod that can stretch along rod member length direction, one end of connecting-rods with constant lengh is connected by the first revolute pair with slide block, the other end of connecting-rods with constant lengh is connected by the second revolute pair with one end of outer drive rod, and the other end of outer drive rod is connected by the 3rd revolute pair with moving platform;
Described left ups subchain and right ups subchain and moving platform pass through the 3rd space, revolute pair junction and in the same plane by the other end and the moving platform of ball pivot junction and outer drive rod;
The first revolute pair in the first revolute pair, the prrpr subchain of the first revolute pair of the Hooke's hinge of described left ups subchain, the Hooke's hinge of right ups subchain and the axis of the second revolute pair are parallel to each other, and the axis of the 3rd revolute pair in the second revolute pair, the prrpr subchain of the second revolute pair of the Hooke's hinge of described left ups subchain, the Hooke's hinge of right ups subchain is parallel to each other and is perpendicular with the axis of the first revolute pair of the Hooke's hinge of left ups subchain;
The second revolute pair of the Hooke's hinge of described left ups subchain or right ups subchain is driven by motor, and the first revolute pair in prrpr subchain is driven by side motor.
The present invention is connected with right ups subchain and a prrpr subchain of setovering with left ups subchain and right ups subchain by the left ups subchain being oppositely arranged by two between fixed platform and moving platform and structure is identical, brings thus:
1) utilize three side chains to realize three required translations two of drilling and rotate five frees degree, reduced the mutual interference of bar;
2) bindiny mechanism is simple, and working space is larger, and mechanism kinematic inertia is little, and dynamic performance is good;
3) the motion input and output of mechanism have partly decoupled, can realize part and control decoupling zero;
4) effectively solved the problem of parallel institution normal solution difficulty, for the accurate control of mechanism is laid a good foundation.
The variation of technique scheme is: described line slideway bearing of trend parallels with the axis of the first revolute pair of the Hooke's hinge of left ups subchain.
The variation of technique scheme is: described end effector comprises leading screw and feed screw nut, and the drive end of described leading screw is connected with servomotor, and described feed screw nut is connected with sports platform.
Brief description of the drawings
Below in conjunction with accompanying drawing, the invention will be further described:
Fig. 1 is the structural representation containing prrpr side chain parallel institution punching system of the embodiment of the present invention for aircraft assembling.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the left view of Fig. 1.
Fig. 4 is the structural representation of the prrpr side chain of Fig. 1.
Detailed description of the invention
Embodiment
The present embodiment for aircraft assembling containing prrpr side chain parallel institution punching system, as shown in Figure 1, Figure 2 and Figure 3, comprise fixed platform 1, moving platform 2, be fixed on the line slideway 3 of fixed platform 1 and be fixed on the end effector 4 on moving platform 2, also comprise motor 5 and side motor 6.
Between fixed platform 1 and moving platform 2, be oppositely arranged by two and the left ups subchain 7 that structure is identical, right ups subchain 8 and a prrpr subchain 9 of setovering with left ups subchain 7, right ups subchain 8 are connected.
Following table 1 is code and the free degree of various kinematic pairs:
Table 1
Wherein: moving sets (prismatic) is referred to as P; Revolute pair (revolute) is referred to as R; Ball pivot (spherical) is referred to as S; Hooke's hinge (Universal) is referred to as U; Letter in ups subchain and prrpr subchain is all the letter representations by the free degree in table 1.
Left ups subchain 7, right ups subchain 8 include can be along the flexible drive rod 10 of rod member length direction.One end of drive rod 10 is connected by ball pivot 11 with moving platform 2, and the other end of drive rod 10 is connected by Hooke's hinge 12 with fixed platform 1.
As shown in Figure 4, prrpr subchain 9 comprises slide block 13, the connecting-rods with constant lengh 14 being connected by moving sets with line slideway 3 and the outer drive rod 15 that can stretch along rod member length direction.One end of connecting-rods with constant lengh 14 is connected by the first revolute pair 16 with slide block 13, and the other end of connecting-rods with constant lengh 14 is connected by the second revolute pair 17 with one end of outer drive rod 15, and the other end of outer drive rod 15 is connected by the 3rd revolute pair 18 with moving platform 2.
Left ups subchain 7 and right ups subchain 8 are passed through the 3rd revolute pair 18 spaces, junction and in the same plane with moving platform 2 by the other end and the moving platform 2 of ball pivot junction and outer drive rod 15.
The first revolute pair 16 in the first revolute pair 20, the prrpr subchain 9 of the Hooke's hinge of the first revolute pair 19 of the Hooke's hinge of left ups subchain 7, right ups subchain 8 and the axis of the second revolute pair 17 are parallel to each other.The axis of the 3rd revolute pair 18 in the second revolute pair 22, the prrpr subchain 9 of the Hooke's hinge of the second revolute pair 21 of the Hooke's hinge of left ups subchain 7, right ups subchain 8 is parallel to each other and is perpendicular with the axis of the first revolute pair 19 of the Hooke's hinge of left ups subchain 7.
The second revolute pair 22 of the second revolute pair 21 of the Hooke's hinge of left ups subchain 7 or the Hooke's hinge of right ups subchain 8 is driven by motor 5, and the first revolute pair 16 in prrpr subchain 9 is driven by side motor 6.
Line slideway 3 bearing of trends of the present embodiment parallel with the axis of the first revolute pair 19 of the Hooke's hinge of left ups subchain 7.
The end effector 4 of the present embodiment comprises leading screw and feed screw nut, and the drive end of leading screw is connected with servomotor, and feed screw nut is connected with sports platform.
Drive rod 10 in left ups subchain 7, the right ups subchain 8 of the present embodiment and the outer drive rod 15 in prrpr subchain 9 be all self with drive unit, can order about rod member flexible along himself length direction.
First pre-set space coordinate system, the first revolute pair 16 in the first revolute pair 20, the prrpr subchain 9 of the Hooke's hinge of the first revolute pair 19 of the Hooke's hinge of left ups subchain 7, right ups subchain 8 and the axis of the second revolute pair 17 are all parallel with X-axis; The axis of the 3rd revolute pair 18 in the second revolute pair 22, the prrpr subchain 9 of the Hooke's hinge of the second revolute pair 21 of the Hooke's hinge of left ups subchain 7, right ups subchain 8 is all parallel with Y-axis, and Z-direction and X-axis and Y direction are perpendicular.
When real work, during by the drive rod of motor 5, left ups subchain 7 and the drive rod of right ups subchain 8, coordinate to drive to realize the movement of moving platform 2 in X-direction.
Coordinated to drive by the drive rod of the outer drive rod 15 of prrpr subchain 9, left ups subchain 7 and the drive rod of right ups subchain 8 simultaneously and realize the movement of moving platform 2 in Y direction.
Coordinated to drive by the outer drive rod 15 of the drive rod of the drive rod of left ups subchain 7, right ups subchain 8, prrpr subchain 9 and side motor 6 and realize the movement of moving platform 2 in Z-direction.
Coordinated to drive by the drive rod of the drive rod of left ups subchain 7, right ups subchain 8 and motor 5 and realize the rotation of moving platform 2 along Y-axis.
Coordinated to drive by the outer drive rod 15 of the drive rod of left ups subchain 7, right ups subchain 8, prrpr subchain 9 and side motor 6 and realize the rotation of moving platform 2 along X-axis.
The present invention is not limited to above-described embodiment.All employings are equal to replaces the technical scheme forming, and all drops on the protection domain of requirement of the present invention.
Claims (3)
- One kind for aircraft assembling containing prrpr side chain parallel institution punching system, comprise fixed platform, moving platform, be fixed on the line slideway of fixed platform and be fixed on the end effector on moving platform, it is characterized in that: also comprise motor and side motor, between described fixed platform and moving platform, be oppositely arranged by two and left and right ups subchain that structure is identical and one are connected with the prrpr subchain of left and right ups subchain biasing;Described left and right ups subchain includes can be along the flexible drive rod of rod member length direction, and one end of drive rod is connected by ball pivot with moving platform, and the other end of drive rod is connected by Hooke's hinge with fixed platform;Described prrpr subchain comprises slide block, the connecting-rods with constant lengh being connected by moving sets with line slideway and the outer drive rod that can stretch along rod member length direction, one end of connecting-rods with constant lengh is connected by the first revolute pair with slide block, the other end of connecting-rods with constant lengh is connected by the second revolute pair with one end of outer drive rod, and the other end of outer drive rod is connected by the 3rd revolute pair with moving platform;Described left ups subchain and right ups subchain and moving platform pass through the 3rd space, revolute pair junction and in the same plane by the other end and the moving platform of ball pivot junction and outer drive rod;The first revolute pair in the first revolute pair, the prrpr subchain of the first revolute pair of the Hooke's hinge of described left ups subchain, the Hooke's hinge of right ups subchain and the axis of the second revolute pair are parallel to each other, and the axis of the 3rd revolute pair in the second revolute pair, the prrpr subchain of the second revolute pair of the Hooke's hinge of described left ups subchain, the Hooke's hinge of right ups subchain is parallel to each other and is perpendicular with the axis of the first revolute pair of the Hooke's hinge of left ups subchain;The second revolute pair of the Hooke's hinge of described left ups subchain or right ups subchain is driven by motor, and the first revolute pair in prrpr subchain is driven by side motor.
- As claimed in claim 1 for aircraft assembling containing prrpr side chain parallel institution punching system, it is characterized in that: described line slideway bearing of trend parallels with the axis of the first revolute pair of the Hooke's hinge of left ups subchain.
- As claimed in claim 1 or 2 for aircraft assembling containing prrpr side chain parallel institution punching system, it is characterized in that: described end effector comprises leading screw and feed screw nut, the drive end of described leading screw is connected with servomotor, and described feed screw nut is connected with sports platform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410151922.2A CN103921268B (en) | 2014-04-15 | 2014-04-15 | For transporation by plane containing prrpr side chain parallel institution punching system |
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| CN201410151922.2A CN103921268B (en) | 2014-04-15 | 2014-04-15 | For transporation by plane containing prrpr side chain parallel institution punching system |
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| CN103921268A true CN103921268A (en) | 2014-07-16 |
| CN103921268B CN103921268B (en) | 2016-01-20 |
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Cited By (7)
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| CN104626125A (en) * | 2015-01-21 | 2015-05-20 | 江南大学 | 1T, (1T1R) and 1T four-degree-of-freedom decoupling series-parallel mechanism |
| CN104760037A (en) * | 2015-01-20 | 2015-07-08 | 江南大学 | (2T)&(1T1R) four-DOF (Degree of Freedom) decoupling and series-parallel connecting mechanism |
| CN104875192A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism |
| CN105127986A (en) * | 2015-10-20 | 2015-12-09 | 山东理工大学 | Decoupling type three-translation parallel robot |
| CN107425286A (en) * | 2017-07-07 | 2017-12-01 | 燕山大学 | A kind of Three Degree Of Freedom day line parallel supporting mechanism |
| WO2018076601A1 (en) * | 2016-10-25 | 2018-05-03 | 浙江理工大学 | Large-rotation angle two-rotational, one-translational parallel mechanism |
| CN115741647A (en) * | 2022-12-19 | 2023-03-07 | 吉林化工学院 | Mechanical arm for machine-building |
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| US5539291A (en) * | 1994-02-22 | 1996-07-23 | Office National D'etudes Et De Recherches Aerospatiales | Parallel-structure manipulator device for displacing and orienting an object in a cylindrical work space |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760037A (en) * | 2015-01-20 | 2015-07-08 | 江南大学 | (2T)&(1T1R) four-DOF (Degree of Freedom) decoupling and series-parallel connecting mechanism |
| CN104626125A (en) * | 2015-01-21 | 2015-05-20 | 江南大学 | 1T, (1T1R) and 1T four-degree-of-freedom decoupling series-parallel mechanism |
| CN104875192A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism |
| CN105127986A (en) * | 2015-10-20 | 2015-12-09 | 山东理工大学 | Decoupling type three-translation parallel robot |
| WO2018076601A1 (en) * | 2016-10-25 | 2018-05-03 | 浙江理工大学 | Large-rotation angle two-rotational, one-translational parallel mechanism |
| CN107425286A (en) * | 2017-07-07 | 2017-12-01 | 燕山大学 | A kind of Three Degree Of Freedom day line parallel supporting mechanism |
| CN115741647A (en) * | 2022-12-19 | 2023-03-07 | 吉林化工学院 | Mechanical arm for machine-building |
| CN115741647B (en) * | 2022-12-19 | 2023-08-11 | 吉林化工学院 | Mechanical arm for mechanical manufacturing |
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| CN103921268B (en) | 2016-01-20 |
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