CN104690717B - There is the sub-driver element of redundancy of unbalance loading self-coordinating ability - Google Patents
There is the sub-driver element of redundancy of unbalance loading self-coordinating ability Download PDFInfo
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- CN104690717B CN104690717B CN201510033822.4A CN201510033822A CN104690717B CN 104690717 B CN104690717 B CN 104690717B CN 201510033822 A CN201510033822 A CN 201510033822A CN 104690717 B CN104690717 B CN 104690717B
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Abstract
A kind of can strengthen carrying and there is the sub-driver element of redundancy of unbalance loading self-coordinating ability, comprise: mechanism base, with the moving platform of load coordination organization and output mechanism, mechanism base is connected with moving platform, load coordination organization is arranged in moving platform, and the two ends of output mechanism are flexibly connected with load coordination organization and mechanism base respectively; The present invention can be used for output or the carrying of unidirectional power, and output device can be made under the effect of sub-driver element on the direction vertical with mechanism base plane normal to carry out power for total or position exports.Load coordination organization can move along mechanism base plane normal direction in the course of the work, also can carry out the rotation of one or more free degree around coordination hinge.
Description
Technical field
What the present invention relates to is a kind of technology of mechanical transmission fields, specifically a kind of sub-driver element of redundancy with unbalance loading self-coordinating ability.
Background technology
The advantages such as the high accuracy that parallel institution has due to it, high rigidity, high-mechanic, at present gradually widely use by industrial circle.But under normal conditions, because each actuation movement of parallel institution and the end platform free degree intercouple, especially for redundant drive (driving number redundant work spatial degrees of freedom) mechanism, the control of mechanism have very high requirement.The current overwhelming majority needs the control device of complicated calculating and precision to realize to the control mode of parallel institution especially redundantly actuated parallel mechanism, this control mode improves the cost of whole equipment, make system become complicated, and the situation of job insecurity may be occurred.
Through finding the retrieval of prior art, open (bulletin) the day 2013.08.07 of Chinese patent literature CN103231254A, disclose a kind of redundant drive 3-freedom parallel mechanism with two motion platform, comprise lower platform, frame and four independence telescopic adjustment branches; Moving sets includes the slide block coordinated with slide; The drive unit of described moving sets is the screw mechanism of driven by motor, and wherein containing the leading screw being driven slide block by thread matching structure, rail axis and leading screw axis are all perpendicular to ground.But the mechanism of this technology employing redundant drive, is the problem ensureing the stable and solution side chain internal force that mechanism runs, above requires higher, easily occur the problem that whole mechanism damages in control system (control algolithm and hardware system).
Summary of the invention
The present invention is directed to prior art above shortcomings, propose a kind of sub-driver element of redundancy with unbalance loading self-coordinating ability, used for reference the mentality of designing of redundantly actuated parallel mechanism, by increasing isolated degree of freedom, solve internal force coordination problem, avoid the generation of side chain internal force; Simultaneously by using mechanical stability principle, changing the physical dimension of moving platform, enabling mechanism carry out stable control to itself, even if device originally spontaneously can adjust the distribution of load in time there is unbalance loading, thus decrease the demand to external control.Which decreases manufacturing cost while ensure that job stability.This ability must be able to be demonstrate,proved by the stability principle in mechanics.
The advantage of parallel institution, by solving redundantly actuated parallel mechanism Problems existing, is incorporated into the design of sub-driver element by the present invention.General redundancy actuating mechanism, is the stability of the generation and work of avoiding side chain internal force, needs comparatively accurate algorithm and external control means, which adds the difficulty using redundant drive.The present invention, by increasing the free degree of mechanism's moving platform and suitably changing its geometric parameter, makes mechanism itself have the ability of unbalance loading self-coordinating, namely keeps the ability of job stability.On this basis, the mentality of designing of redundancy actuating mechanism is incorporated into design one seed driver element, this device, while maintenance parallel institution advantage, solves the problem in parallel institution demand for control.This invention both can be used alone in the operating mode for high-mechanic, also legacy drive can be replaced as the output device of power as a unit using overall for this device.
The present invention is achieved by the following technical solutions:
The present invention includes: mechanism base, with the moving platform of load coordination organization and output mechanism, wherein: mechanism base is connected with moving platform, load coordination organization is arranged in moving platform, and the two ends of output mechanism are flexibly connected with load coordination organization and mechanism base respectively.
Described mechanism base is connected by least two sub-driver elements with between moving platform.
Described load coordination organization comprises: the link be fixedly connected with moving platform and slip are arranged at the coordination hinge connecting seat in link, wherein: the one end of coordinating hinge connecting seat and output mechanism is rotationally connected by coordinating hinge.
The unbalance loading self-coordinating ability of this mechanism is that the position relationship by coordinating the plane that spherical hinge center is formed on hinge and moving platform realizes.Namely when load acts on end output mechanism and directing mechanism pedestal direction time, between the plane that the position of coordinating hinge should be formed at each hinge centres of mechanism base and moving platform each hinge centres plane that form.When load action direction deviates from mechanism base, coordinate the opposite side that hinge position should be positioned at the plane that each hinge centres of moving platform is formed.When moving platform, under extraneous perturbation action, unbalance loading occurs, when ensureing that sub-drive unit drives power is constant, moving platform has the ability that spontaneously can return to even year state, namely gets back to the equilbrium position of moving platform.The proof of this unbalance loading self-coordinating ability can be obtained by the Theory of Stability in classical mechanics.
Technique effect
Compared with prior art, the advantage of redundantly actuated parallel mechanism is incorporated in driver design by the present invention, and avoids redundantly actuated parallel mechanism to the requirement of external control simultaneously.Energy structure of the present invention reduces the complexity of control system, reduces system development costs and ensure that sub-driver element stable operation ability simultaneously.The sub-driver element of adjustable multiple all cloth can significantly improve the bearing capacity of whole mechanism.Whole mechanism also can replace traditional linear actuator to use as driver element, improves the mechanical property of single linear actuator.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2, Fig. 3 are respectively load coordination organization and the overall schematic coordinating hinge position adjusting device;
In figure: 1 mechanism base, 2 mechanism base universal couplings, 3 sub-driver elements, 4 connecting rods, 5 spherical hinges, 6 moving platforms, 7 links, 8 coordinate hinge connecting seat, 9 local moving sliders, 10 elastic devices, 11 coordination hinge, 12 output mechanisms, 13 moving sets, 14 position limiting structures.
Detailed description of the invention
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figure 1, 2, 3, this example comprises: mechanism base 1, with the moving platform 6 of load coordination organization and output mechanism 12, wherein: mechanism base 1 is connected with moving platform 6, load coordination organization is arranged in moving platform 6, and the two ends of output mechanism 12 are flexibly connected with load coordination organization and mechanism base 1 respectively.
Described mechanism base 1 is connected by least two sub-driver elements 3 with between moving platform 6.
Described sub-driver element 3 can adopt the conventional linear drivers such as straight-line electric cylinder or hydraulic cylinder to realize, when carrying out position and exporting, sub-driver element 3 drives moving platform 6 and then drives output mechanism 12 power output or displacement, each sub-driver element 3 exports identical driving force, and the displacement namely exported is identical with the displacement of end.
Described load coordination organization comprises: the link 7 be fixedly connected with moving platform 6 and the coordination hinge connecting seat 8 be arranged in link 7 that slides, wherein: coordinate hinge connecting seat 8 and be rotationally connected by coordinating hinge 11 with one end of output mechanism 12.
The slip that described coordination hinge connecting seat 8 is realized in link 7 by guide rail slide block mechanism 9.
Elastic device 10 is provided with between the link 7 of described coordination hinge connecting seat 8.
Described link 7 is provided with position-limit mechanism 14.
The other end of described output mechanism 12 is connected with the moving sets 13 be arranged in mechanism base 1, the direction of this moving sets 13 is parallel with the normal direction of the plane that the center of coordinating hinge 11 is formed, and therefore output mechanism 12 reality only has the free degree along moving sets 13 axis direction.
Under normal circumstances, the control of many driving mechanisms, especially redundant drive (driving number redundant work spatial degrees of freedom) mechanism needs the control device of complicated calculating and precision to realize, improve the cost of whole equipment, and make system become complicated, and the situation of job insecurity may be there is.This mechanism's Main Function exports multiple driving force.Under normal circumstances, more the structure of how sub-driver element enters a rigid mechanism out, and this just needs comparatively complicated control device, otherwise can produce the problems such as side chain internal force, unbalance loading.For solving this problem, this mechanism, by increasing load coordination organization around the free degree coordinating hinge rotation, enables mechanism itself have the ability coordinating unbalance loading, and can not produce side chain internal force.Simultaneously the method weakens the demand of calculating to control and control aspect greatly, improves the stability of whole system while reducing cost.
The sub-driver element of multiple all cloth can improve power fan-out capability or the bearing capacity of whole mechanism, therefore can be used for the situation that high-mechanic operating mode or single sub-driver element mechanical characteristic do not meet job requirement.
Export unidirectional power because this mechanism can stablize, therefore integrally can substitute conventional linear driver as output unit in order to improve the mechanical property of system by unit under specific occasion.
The specific works process of described load coordination organization describes as follows: when group driver element is in off working state, coordinates the co-planar that hinge 11 is formed with spherical hinge 5 center on moving platform under the regulating action of spring 10.When external load act on output mechanism and directing mechanism pedestal 1 time, coordinate hinge 11 and move to mechanism base direction owing to being subject to External Force Acting, stop when moving to link spacing place 14 and keep stablizing.Coordination hinge 11 now makes load coordination organization under the effect of this direction load, have the ability of unbalance loading self-coordinating with the position relationship of moving platform spherical hinge 5.If loading direction deviates from mechanism base 1, then coordinate hinge 11 and move to the spacing place of the link deviating from mechanism base, now load coordination organization still has the unbalance loading self-coordinating ability under this direction load effect.Therefore for the load that different directions applies, this device all has unbalance loading self-coordinating ability.In the design of this sub-driver element, the range of movement coordinating hinge connecting seat 8 is unsuitable long, if moving range is long, can affects mechanism's output accuracy and produce certain hysteresis quality.
Whole device has the multiple free degree according to the difference of concrete configuration, but is mainly included as following two kinds: the first is moving along outbound course, and this free degree does not rely on concrete mechanism configuration and necessarily exists; The second is the rotation of load coordination organization around coordination hinge, and this number of degrees of freedom is relevant with concrete configuration, is namely associated with the number of degrees of freedom, of this device.Whole device makes output mechanism carry out stable power or the output of position by the effect of sub-driver element.And ensureing under the identical prerequisite of sub-driver element power output, to rotate generation unbalance loading even if whole mechanism is moving platform under outside perturbation action, get back to even year state gradually in the effect Xia Yenengshi mechanism of load coordination organization.The realization of this function depends on the stability principle in mechanics.
Device described in the present embodiment can carry out adaptive adjustment under different application environment, and the hinge in such as mechanism base also can use spherical hinge, and the number of driving also can increase or reduce, and can environmentally do suitable increase and decrease.Load coordination organization also can determine according to concrete operating mode, if direction is identical all the time for load, then coordinates hinge position and can be fixed on moving platform side, and do not need to use coordination hinge position adjusting device.
Claims (7)
1. one kind has the sub-driver element of redundancy of unbalance loading self-coordinating ability, it is characterized in that, comprise: mechanism base, with the moving platform of load coordination organization and output mechanism, wherein: mechanism base is connected with moving platform, load coordination organization is arranged in moving platform, and the two ends of output mechanism are flexibly connected with load coordination organization and mechanism base respectively;
Described load coordination organization comprises: the link be fixedly connected with moving platform and slip are arranged at the coordination hinge connecting seat in link, wherein: the one end of coordinating hinge connecting seat and output mechanism is rotationally connected by coordinating hinge, when carrying out position and exporting, sub-drive unit drives moving platform and then drive output mechanism power output or displacement, each sub-driver element exports identical driving force, and the displacement namely exported is identical with the displacement of end.
2. the sub-driver element of redundancy with unbalance loading self-coordinating ability according to claim 1, it is characterized in that, described mechanism base is connected by least two sub-driver elements with between moving platform.
3. the sub-driver element of redundancy with unbalance loading self-coordinating ability according to claim 2, it is characterized in that, when the number of described sub-driver element is two, whole mechanism is plane mechanism, and the hinge be arranged in mechanism base and load coordination organization be connected with sub-driver element is revolute pair; When the number of group driver element is more than three, whole mechanism is space parallel mechanism, and that be connected with sub-driver element, in mechanism base hinge is universal coupling or spherical hinge, the moving platform of load coordination organization is spherical hinge.
4. the sub-driver element of redundancy with unbalance loading self-coordinating ability according to claim 1, is characterized in that, the slip that described coordination hinge connecting seat is realized in link by guide rail slide block mechanism.
5. the sub-driver element of redundancy with unbalance loading self-coordinating ability according to claim 1, is characterized in that, be provided with elastic device between the link of described coordination hinge connecting seat.
6. the sub-driver element of redundancy with unbalance loading self-coordinating ability according to claim 1, it is characterized in that, the other end of described output mechanism is connected with the moving sets be arranged in mechanism base, the direction of this moving sets is parallel with the normal direction of the plane that the center of coordinating hinge is formed, and therefore output mechanism reality only has the free degree along moving sets axis direction.
7. the sub-driver element of redundancy with unbalance loading self-coordinating ability according to claim 1 or 4 or 5, it is characterized in that, described link is provided with position-limit mechanism.
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Citations (5)
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| US6145405A (en) * | 1994-03-02 | 2000-11-14 | Renishaw Plc | Coordinate positioning machine |
| CN1586807A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation |
| CN101530969A (en) * | 2009-04-02 | 2009-09-16 | 上海交通大学 | Redundancy actuating mechanism with dynamic stability |
| CN103101050A (en) * | 2013-03-05 | 2013-05-15 | 清华大学 | Novel plane two-degree-of-freedom redundant drive parallel moving platform |
| CN103231254A (en) * | 2013-04-22 | 2013-08-07 | 浙江理工大学 | Redundant drive three-freedom-degree parallel mechanism with double motion platforms |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140257091A1 (en) * | 2013-03-11 | 2014-09-11 | The Board Of Trustees Of The Leland Stanford Junior University | Master-slave apparatus and approach |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6145405A (en) * | 1994-03-02 | 2000-11-14 | Renishaw Plc | Coordinate positioning machine |
| CN1586807A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation |
| CN101530969A (en) * | 2009-04-02 | 2009-09-16 | 上海交通大学 | Redundancy actuating mechanism with dynamic stability |
| CN103101050A (en) * | 2013-03-05 | 2013-05-15 | 清华大学 | Novel plane two-degree-of-freedom redundant drive parallel moving platform |
| CN103231254A (en) * | 2013-04-22 | 2013-08-07 | 浙江理工大学 | Redundant drive three-freedom-degree parallel mechanism with double motion platforms |
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