CN104440875B - The 3-freedom parallel mechanism that working space is adjustable and method of adjustment thereof - Google Patents
The 3-freedom parallel mechanism that working space is adjustable and method of adjustment thereof Download PDFInfo
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- CN104440875B CN104440875B CN201410618331.1A CN201410618331A CN104440875B CN 104440875 B CN104440875 B CN 104440875B CN 201410618331 A CN201410618331 A CN 201410618331A CN 104440875 B CN104440875 B CN 104440875B
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Abstract
The invention discloses the 3-freedom parallel mechanism that a kind of working space is adjustable, comprise fixed platform (1), moving platform (2), and three side chains (4, 5, 6), each side chain comprises with lower component: the first slide rail (41, 51, 61), first slide block (42, 52, 62), first column (43, 53, 63), first moving sets (44, 54, 64), first cylindrical pair (45, 55, 65), first connecting rod (46, 56, 76) and the first spherical pair (47, 57, 67), first slide rail level is arranged on fixed platform, first uprights vertical is arranged on the first slide block, first slide block connects the first column, first moving sets is connected with the first column, first moving sets is connected with the first cylindrical pair, one end of first connecting rod is connected with the first cylindrical pair, the other end of first connecting rod is connected with the first spherical pair, first spherical pair is arranged on moving platform.The present invention reduces the torsional deformation of the stressed generation of column, has and is convenient to install, save regulating time, raise the efficiency, improve the features such as the precision of mechanism.
Description
Technical field
The present invention relates to the 3-freedom parallel mechanism that a kind of working space is adjustable, especially by a kind of 3-freedom parallel mechanism be made up of moving sets, cylindrical pair and spherical pair.
Background technology
Parallel institution also claims parallel robot, has many advantages relative to traditional serial mechanism, and as rigidity is large, bearing capacity is strong, and precision advantages of higher, receives the concern of many scholars and expand deep research.Parallel robot can make up many deficiencies of serial manipulator in many special application scenarios, forms complementary relationship with the serial manipulator of extensive use on applying.Parallel institution can overcome the very formidable difficult problem of a lot of serial mechanism, has again low cost concurrently simultaneously, flexibly, is easy to the advantage such as concentrated.
Most parallel robot is based on Stewart platform, but does not need 6DOF in a lot of occasion, and lower-mobility just can meet the demands.3-freedom parallel mechanism obtains certain application in industrial practice, as being applied to the fields such as integrated circuit processing, precision manufactureing, spacecraft.Wherein, (P is moving sets to have the 3-PRS of Three Degree Of Freedom, R is revolute pair, S is spherical pair) parallel institution is one of Typical Representative in minority carrier generation lifetime, because their free degree is less, simpler than six-degree-of-freedom parallel connection mechanism structure, economical cheap, control relatively easy, therefore have good application prospect, it has been used in parallel machine, the first-class field of machining center main shaft.
Much special character can be shown after the movement that minority carrier generation lifetime has the kinetic characteristic, particularly moving platform more complicated than six-degree-of-freedom parallel robot generally suffers restraints.Minority carrier generation lifetime also exists a lot of problem, and the problem that especially working space is little is more outstanding, and these problems add the difficulty of Limited-DOF Parallel Robot pattern synthesis.So find one can head it off, the parallel institution of being convenient to experimental study, can raise the efficiency, reduce manufacturing cost.
The size, shape, end pose accuracy, movement velocity, bearing capacity etc. of physical dimension on operating space of 3-PRS parallel institution have great impact.After mechanism size is fixing, working space is unadjustable, when studying different mechanism sizes, needing to build new mechanism, adding Experimental Hardware cost and time cost.
Summary of the invention
The working space that the present invention is directed to a kind of 3-PRS parallel institution is little, the problem of again building new mechanism section is needed when studying different working spaces, provide the adjustable working space parallel structure of a kind of 3-PRS, three columns can be regulated by slide rail, thus adjustment working space, effectively solve the problems referred to above.
The technical scheme that the present invention takes is:
The 3-freedom parallel mechanism that working space is adjustable, described parallel institution comprises fixed platform 1, moving platform 2, first side chain 4, second side chain 5 and the 3rd side chain 6,
Each side chain in described first side chain 4, second side chain 5 and the 3rd side chain 6 includes with lower component:
First slide rail 41,51,61, first slide block 42,52,62, first column 43,53,63, first moving sets 44,54,64, first cylindrical pair 45,55,65, first connecting rod 46,56,66 and the first spherical pair 47,57,67,
The syndeton of parts included in above-mentioned each side chain is: the first slide rail 41, 51, 61 levels are arranged on fixed platform 1, first slide rail 41, 51, the axis of 61 is parallel with the upper plane of fixed platform 1 and through the center of circle of fixed platform 1, first column 43, 53, 63 are vertically mounted on the first slide block 42, 52, on 62, first slide block 42, 52, the first column 43 is connected on 62, 53, 63, first moving sets 44, 54, 64 and first column 43, 53, 63 connect, first moving sets 44, 54, plane orthogonal on the axis of 64 and fixed platform 1, first moving sets 44, 54, 64 and first cylindrical pair 45, 55, 65 connect, first cylindrical pair 45, 55, the axis of 65 is parallel with the upper plane of fixed platform 1, first connecting rod 46, 56, one end of 66 and the first cylindrical pair 45, 55, 65 connect, first connecting rod 46, 56, the other end of 66 and the first spherical pair 47, 57, 67 connect, first spherical pair 47, 57, 67 are arranged on moving platform 2.
Further, the slide rail 41,51,61 in described each side chain is trapezoidal slide rail, and the chute that three slide blocks, 42,52,62 and three slide rails 41,51,61 coordinate is ladder chute.
Further, the upper plane of the slide rail 41,51,61 in described each side chain and side plane be respectively plane of orientation, opposite side plane is respectively by panel 410, and 510,610 hold out against with screw, by slide block 42,52,62 and column 43,53,63 fixing.
Further, when the slide rail 41,51,61 in described each side chain assembles with fixed platform 1, three slide rails 41,120 ° of angles between 51,61 axis are respectively by positioning key 48, and 58,68 ensure, at three slide rails 41, the side of 51,61 installs range finding digital display rule 49,59,69 respectively.
Further, at the first column 43,53,63 both sides increase by two symmetrical reinforcing props 411,511,611 respectively, described reinforcing prop 411,511,611 and the first column 43,53, and the distance between 63 is greater than the length of the screw of fastening panel 410,510,610.
Further, at the first column 43,53, the reinforcing prop 411 of 63 both sides installs clamping device 412,512 respectively, 612 and range finding grating scale 413,513,613.
Further again, 1 pedestal 3 that a Three-coordinate measurer is set on fixed platform.
A control method for the 3-freedom parallel mechanism that working space is adjustable, step is as follows:
S1, regulate three slide blocks 42,52, the screw of 62 sides, unclamps panel 410,510,610, makes three slide blocks 42,52,62 can at slide rail 41, and 51, be free to slide on 61;
S2, adjustment three columns 43,53, the clamping device 412,512 of 63 upper ends, the screw of 612, makes column 43,53, and 63 upper end beads at clamping device 412, can be free to slide in 512,612 chutes;
S3, adjustment three slide blocks 42,52,62, make three digital display rules 49,59,69 of finding range show identical, thus the lower end of three columns 43,53,63 is equal with fixed platform 1 centre distance;
S4, adjustment three slide blocks 42,52, the screw on 62, compresses panel 410,510,610;
S5, adjustment three columns 43,53,63 upper ends, make three grating scales 413,513 of finding range, the display of 613 is equal, thus the upper end of three columns 43,53,63 is equal with fixed platform 1 centre distance;
S6, according to composition errors such as three columns 43,53,63 stressed flexural deformations operationally, if the composition error of three column 43,53,63 upper ends is
, adjusting post 43 in the opposite direction, the position that 53,63 upper ends are fixing, compensates the composition error that stress deformation produces;
S7, adjustment three clamping devices 412,512, the screw of 612, steps up column 43,53,63 upper end beads.
Further, in step s 6, three columns 43,53, the method that 63 composition errors are determined is: three columns 43,53, the composition error scope of 63 upper ends is respectively
, wherein
be respectively three columns 43,53, the limit inferior error of the composition error of 63 upper ends,
be respectively three columns 43,53, the limes superiors error of the composition error of 63 upper ends, then three columns 43,53, the composition error of 63 upper ends
for:
。
The useful effect that the present invention has is:
1, the present invention regulates three columns can regulate working space easily and fast by slide rail, can be fixed fast by panel, is convenient to install, and saves regulating time, raises the efficiency.
2, the present invention is by the clamping device of three column upper ends, adjusting post upper end clamping position, and column compensates because of the stressed distortion caused, and improves the precision of mechanism.
3, three pairs of reinforcing props of the present invention adopt bilateral symmetry to arrange, reduce the torsional deformation of the stressed generation of column.
4, three connecting rods of the present invention can change extensible link into, by regulating the length of three connecting rods to obtain larger working space.
5, mechanism of the present invention is for the working space, forward position analysis, exercise performance etc. of research 3-PRS parallel institution, and have good economic benefit, by regulating working space fast, under can verifying different institutions size, various parameter is on the impact of performance indications.
6, error compensation control method provided by the invention, easy to adjust, easily determines.
Accompanying drawing explanation
Fig. 1 is structural scheme of mechanism of the present invention;
Fig. 2 is part scheme of erection of the present invention;
Fig. 3 is axis side view such as grade of the present invention.
In figure: 1, the pedestal of fixed platform 2, moving platform 3, Three-coordinate measurer
4, the first side chain 5, second side chain 6, the 3rd side chain
41, the first slide rail 51, second slide rail 61, the 3rd slide rail
42, the first slide block 52, second slide block 62, the 3rd slide block
43, the first column 53, second column 63, the 3rd column
44, the first moving sets 54, second moving sets 64, three moving sets
45, the first cylindrical pair 55, second cylindrical pair 65, three cylindrical pair
46, first connecting rod 56, second connecting rod 66, third connecting rod
47, the first spherical pair 57, second spherical pair 67, the 3rd spherical pair
48, positioning key 58, positioning key 68, positioning key
49, range finding digital display rule 59, range finding digital display rule 69, range finding digital display rule
410, panel 510, panel 610, panel
411, reinforcing prop 511, reinforcing prop 611, reinforcing prop
412, clamping device 512, clamping device 612, clamping device
413, range finding grating scale 513, range finding grating scale 613, range finding grating scale.
Detailed description of the invention
Below in conjunction with accompanying drawing and preferred embodiment, to according to detailed description of the invention provided by the invention, structure, feature and effect thereof, be described in detail as follows.
As shown in Fig. 1 ~ 3, the present invention includes fixed platform 1, moving platform 2, first side chain 4, second side chain 5 and the 3rd side chain 6, wherein:
1) the first side chain 4: comprise the first slide rail 41, first slide block 42, first column 43, first moving sets 44, first cylindrical pair 45, first connecting rod 46, first spherical pair 47, positioning key 48, range finding digital display rule 49, panel 410, reinforcing prop 411, clamping device 412 and range finding grating scale 413, first slide rail 41 is arranged on fixed platform 1 by bolt level, first slide rail 41 is located by positioning key 48 with fixed platform 1, the axis of the first slide rail 41 is parallel with plane on fixed platform 1 and through the center of circle of fixed platform 1, first slide block 42 is connected by panel 410 with the first slide rail 41, range finding digital display rule 49 is installed in first slide rail 41 side, range finding digital display rule 49 blade part and fixed platform 1 are fixed, the movable part of range finding digital display rule 49 is connected with the first slide block 42, first column 43 is vertically mounted on the first slide block 42, reinforcing prop 411 bolt fastener is vertically mounted on fixed platform 1, the upper end of reinforcing prop 411 is connected with clamping device 412, clamping device 412 is connected with the upper end of the first column 43, range finding digital display rule 413 is installed in first column 43 upper end, range finding digital display rule 413 blade part and reinforcing prop 411 upper end are fixed, movable part and column 43 are fixed, first moving sets 44 is connected with the first column 43, plane orthogonal on the axis of the first moving sets 44 and fixed platform 1, first moving sets 44 is connected with the first cylindrical pair 45, the axis of the first cylindrical pair 45 is parallel with plane on fixed platform 1, one end of first connecting rod 46 is connected with the first cylindrical pair 45, the other end of first connecting rod 46 is connected with the first spherical pair 47, first spherical pair 47 is arranged on moving platform 2, described range finding grating scale is the one of range finding digital display rule, range finding grating scale in the present invention also can replace with the range finding digital display rule of other types.
2) the second side chain 5: comprise the second slide rail 51, second slide block 52, second column 53, second moving sets 54, second cylindrical pair 55, second connecting rod 56, second spherical pair 57, positioning key 58, range finding digital display rule 59, panel 510, reinforcing prop 511, clamping device 512 and range finding grating scale 513, second slide rail 51 is arranged on fixed platform 1 by bolt level, second slide rail 51 is located by positioning key 58 with fixed platform 1, the axis of the second slide rail 51 is parallel with plane on fixed platform 1 and through the center of circle of fixed platform 1, second slide block 52 is connected by panel 510 with the second slide rail 51, range finding digital display rule 59 is installed in second slide rail 51 side, range finding digital display rule 59 blade part and fixed platform 1 are fixed, the movable part of range finding digital display rule 59 is connected with the second slide block 52, second column 53 is vertically mounted on the second slide block 52, reinforcing prop 511 bolt fastener is vertically mounted on fixed platform 1, the upper end of reinforcing prop 511 is connected with clamping device 512, clamping device 512 is connected with the upper end of the second column 53, range finding grating scale 513 is installed in second column 53 upper end, range finding grating scale 513 blade part and reinforcing prop 511 upper end are fixed, movable part and column 53 are fixed, second moving sets 54 is connected with the second column 53, plane orthogonal on the axis of the second moving sets 54 and fixed platform 1, second moving sets 54 is connected with the second cylindrical pair 55, the axis of the second cylindrical pair 55 is parallel with plane on fixed platform 1, one end of second connecting rod 56 is connected with the second cylindrical pair 55, the other end of second connecting rod 56 is connected with the second spherical pair 57, second spherical pair 57 is arranged on moving platform 2.
3) the 3rd side chain 6: comprise the 3rd slide rail 61, 3rd slide block 62, 3rd column 63, three moving sets 64, three cylindrical pair 65, third connecting rod 66, 3rd spherical pair 67, positioning key 68, range finding digital display rule 69, panel 610, reinforcing prop 611, clamping device 612 and range finding grating scale 613, 3rd slide rail 61 is arranged on fixed platform 1 by bolt level, 3rd slide rail 61 is located by positioning key 68 with fixed platform 1, the axis of the 3rd slide rail 61 is parallel with plane on fixed platform 1 and through the center of circle of fixed platform 1, 3rd slide block 62 is connected by panel 610 with the 3rd slide rail 61, range finding digital display rule 69 is installed in 3rd slide rail 61 side, range finding digital display rule 69 blade part and fixed platform 1 are fixed, the movable part of range finding digital display rule 69 is connected with the 3rd slide block 62, 3rd column 63 is vertically mounted on the 3rd slide block 62, reinforcing prop 611 bolt fastener is vertically mounted on fixed platform 1, the upper end of reinforcing prop 611 is connected with clamping device 612, clamping device 612 is connected with the upper end of the 3rd column 63, range finding grating scale 613 is installed in 3rd column 63 upper end, range finding grating scale 613 blade part and reinforcing prop 611 upper end are fixed, movable part and column 63 are fixed, three moving sets 64 is connected with the 3rd column 63, plane orthogonal on the axis of three moving sets 64 and fixed platform 1, three moving sets 64 is connected with three cylindrical secondary 65, the axis of three cylindrical pair 65 is parallel with plane on fixed platform 1, one end of third connecting rod 66 is connected with three cylindrical secondary 65, the other end of third connecting rod 66 is connected with the 3rd spherical pair 67, 3rd spherical pair 67 is arranged on moving platform 2.
When slide rail 41,51,61 in described mechanism in three branches and fixed platform 1 assemble, 120 ° of angles between three slide rail 41,51,61 axis ensure with positioning key 48,58,68; Slide rail 41,51,61 is trapezoidal slide rail, and on it, plane and a side plane are plane of orientation, and column 43,53,63 lower end is fixed by screw and panel 410,510,610 by opposite side plane; Three slide rails 41,51,61 and fixed platform 1 are bolted, and at slide rail 41, located by positioning key 48,58,68 between 51,61 and fixed platform 1, left and right sides plane is plane of orientation; The movement of three slide rails 41,51,61 can adopt manually, ball-screw or other linear actuator; Datum mark set up by three slide rails 41,51,61, range finding digital display rule 49,59,69 is installed, by adjusting slider 42,52,62 position, according to the data of range finding digital display rule 49,59,69, the centre distance of final guarantee three columns 43,53,63 and fixed platform 1 is equidistant; Panel 410,510,610 is installed in the side of three slide rails 41,51,61, when space has regulated, the distance of panel 410,510,610 and slide rail 41,51,61 is regulated by the screw of side, thus vertical columns 43,53,63 lower end, three columns 43,53,63 are connected by the mode such as bolt or welding with three slide blocks 42,52,62, ensure that on the axis of column 43,53,63 and fixed platform 1, plane keeps vertical relation.Three pairs of reinforcing props 411,511,611 and fixed platform 1 are bolted, clamping device 412,512,612 and range finding grating scale 413,513,613 are installed in three reinforcing prop 411,511,611 upper ends, by regulating the position of three columns 43,53,63 upper end, according to the data of range finding grating scale 413,513,613, the centre distance of final guarantee three columns 43,53,63 upper end and fixed platform 1 is equidistant, when adjustment completes, stepped up the bead of three columns 43,53,63 by clamping device 412,512,612.
On fixed platform 1 the pedestal 3 of a setting Three-coordinate measurer, when assembling and regulating working space, Three-coordinate measurer is fixed on the pedestal 3 of Three-coordinate measurer, the position of each component is measured by Three-coordinate measurer, carry out error modeling, parameter identification, error compensation to reduce error, improve the precision of mechanism.
The method of adjustment of the 3-freedom parallel mechanism that working space provided by the invention is adjustable, its step is as follows:
S1, the screw regulated on three slide block 42,52,62 sides, unclamp panel 410,510,610, three slide blocks 42,52,62 can be free to slide on slide rail 41,51,61;
The screw of the clamping device 412,512,612 of S2, adjustment three column 43,53,63 upper ends, enables column 43,53,63 upper end bead be free to slide in clamping device 412,512,612 chute;
S3, adjustment three slide blocks 42,52,62, make three grating scales 413,513,613 of finding range show identical, thus the lower end of three columns 43,53,63 is equal with fixed platform 1 centre distance;
S4, the screw regulated on three slide blocks 42,52,62, compress panel 410,510,610;
S5, adjustment three column 43,53,63 upper ends, make the display of three grating scales 413,513,613 of finding range equal, thus the upper end of three columns 43,53,63 is equal with fixed platform 1 centre distance;
S6, according to composition errors such as three columns 43,53,63 stressed flexural deformations operationally, if the composition error of three column 43,53,63 upper ends is
, the position that adjusting post 43,53,63 upper end is fixing in the opposite direction, compensates the composition error that stress deformation produces;
The screw of S7, adjustment three clamping devices 412,512,612, steps up column 43,53,63 upper end bead.
In step S6, the method that the composition error of three column 43,53,63 upper ends is determined is: the composition error scope of three column 43,53,63 upper ends is respectively
, wherein
be respectively the limit inferior error of the composition error of three columns 43,53,63 upper end,
be respectively the limes superiors error of the composition error of three columns 43,53,63 upper end, then the composition error of three column 43,53,63 upper ends
for:
The useful effect that the present invention has is:
1, the present invention regulates three columns can regulate working space easily and fast by slide rail, can be fixed fast by panel, is convenient to install, and saves regulating time, raises the efficiency.
2, the present invention is by the clamping device of three column upper ends, adjusting post upper end clamping position, and column compensates because of the stressed distortion caused, and improves the precision of mechanism.
3, three pairs of reinforcing props of the present invention adopt bilateral symmetry to arrange, reduce the torsional deformation of the stressed generation of column.
4, three connecting rods of the present invention can change extensible link into, by regulating the length of three connecting rods to obtain larger working space.
5, mechanism of the present invention is for the working space, forward position analysis, exercise performance etc. of research 3-PRS parallel institution, and have good economic benefit, by regulating working space fast, under can verifying different institutions size, various parameter is on the impact of performance indications.
6, error compensation control method provided by the invention, easy to adjust, easily determines.
The above; it is only preferred embodiment of the present invention; not any pro forma restriction is done to the present invention; as in Fig. 2, three moving sets 44,54,64 adopt servomotor and ball screw arrangement; also other forms such as linear electric motors can be adopted; the simple modification that those skilled in the art utilize the technology contents of above-mentioned prompting to make, equivalent variations or modification, all drop in protection scope of the present invention.
Claims (3)
1. the 3-freedom parallel mechanism that working space is adjustable, described parallel institution comprises fixed platform (1), moving platform (2), the first side chain (4), the second side chain (5) and the 3rd side chain (6),
Each side chain in described first side chain (4), the second side chain (5) and the 3rd side chain (6) includes with lower component:
First slide rail (41,51,61), the first slide block (42,52,62), the first column (43,53,63), the first moving sets (44,54,64), the first cylindrical pair (45,55,65), first connecting rod (46,56,66) and the first spherical pair (47,57,67)
The syndeton of parts included in above-mentioned each side chain is: the first slide rail (41, 51, 61) level is arranged on fixed platform (1), first slide rail (41, 51, 61) axis is parallel with the upper plane of fixed platform (1) and through the center of circle of fixed platform (1), first column (43, 53, 63) the first slide block (42 is vertically mounted on, 52, 62) on, first slide block (42, 52, 62) upper connection first column (43, 53, 63), first moving sets (44, 54, 64) with the first column (43, 53, 63) connect, first moving sets (44, 54, 64) axis and the upper plane orthogonal of fixed platform (1), first moving sets (44, 54, 64) with the first cylindrical pair (45, 55, 65) connect, first cylindrical pair (45, 55, 65) axis is parallel with the upper plane of fixed platform (1), first connecting rod (46, 56, 66) one end and the first cylindrical pair (45, 55, 65) connect, first connecting rod (46, 56, 66) the other end and the first spherical pair (47, 57, 67) connect, first spherical pair (47, 57, 67) be arranged on moving platform (2),
Slide rail (41 in described each side chain, 51,61) trapezoidal slide rail is, three slide blocks (42,52,62) with three slide rails (41,51,61) chute coordinated is ladder chute, it is characterized in that: the slide rail (41 in described each side chain, 51,61) upper plane and side plane are on one side respectively plane of orientation, and opposite side plane is respectively by panel (410,510,610) hold out against with screw, by slide block (42,52,62) and column (43,53,63) fixing.
2. the 3-freedom parallel mechanism that working space according to claim 1 is adjustable, is characterized in that: the slide rail (41,51 in described each side chain, 61) when assembling with fixed platform (1), three slide rails (41,51,61) 120 ° of angles between axis are respectively by positioning key (48,58,68) ensure, at three slide rails (41,51,61) side installs range finding digital display rule (49,59,69) respectively.
3. the 3-freedom parallel mechanism that working space according to claim 1 is adjustable, is characterized in that: at the first column (43,53,63) both sides increase by two symmetrical reinforcing props (411 respectively, 511,611), described reinforcing prop (411,511,611) distance and between the first column (43,53,63) is greater than fastening panel (410,510,610) length of screw.
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| CN104999458A (en) * | 2015-06-29 | 2015-10-28 | 张荣华 | Robot |
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| CN105150199B (en) * | 2015-10-27 | 2017-02-01 | 河南理工大学 | Structure-adjustable three-freedom-degree parallel mechanism |
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| CN105252524B (en) * | 2015-11-25 | 2017-01-25 | 河南理工大学 | Three-freedom-degree parallel mechanism with reinforcing pillars |
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| CN105459088A (en) * | 2015-12-29 | 2016-04-06 | 燕山大学 | One-rotating tri-skewing driving four-degree-of-freedom parallel robot |
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