CN104827462B - There is the three-degree-of-freedom spherical parallel mechanism of passive side chain - Google Patents
There is the three-degree-of-freedom spherical parallel mechanism of passive side chain Download PDFInfo
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- CN104827462B CN104827462B CN201510230820.4A CN201510230820A CN104827462B CN 104827462 B CN104827462 B CN 104827462B CN 201510230820 A CN201510230820 A CN 201510230820A CN 104827462 B CN104827462 B CN 104827462B
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Abstract
The three-degree-of-freedom spherical parallel mechanism with passive side chain in a kind of Robotics field, comprise: the movement branched chain that moving platform, silent flatform, three root architectures are identical and one rotate side chain, wherein: the two ends of movement branched chain are connected with silent flatform with moving platform by ball pair respectively, the one end of rotating side chain is connected by revolute pair with silent flatform, and the other end is fixedly connected with moving platform. Movement branched chain is for being circumferentially uniformly distributed; Described rotation side chain is positioned at the centre of three movement branched chain. This device can be realized moving platform and do around fixing point the rotation of sphere three-dimensional, has rigidity high, and working space is large, and the features such as easy are installed. Simple and the each movement branched chain symmetrical configuration of this mechanism structure can be applicable to the application scenario of the spatial attitude such as robot shoulder joint, satellite positioning device location.
Description
Technical field
What the present invention relates to is the technology that a kind of Robot Design is manufactured field, specifically a kind of three freedom with passive side chainDegree sphere parallel mechanism.
Background technology
Parallel institution is conventionally connect and is formed by many side chains by moving platform and fixed platform, compared with serial mechanism, has structureThe advantages such as compactness, rigidity, bearing capacity is strong, accumulated error is little, therefore obtain widely in practical implementation. Three Degree Of FreedomSphere parallel mechanism, its moving platform can be realized three rotations around fixing point, therefore, can be used for flexible eye, waist joint, wristThe reparation of joint, shoulder joint and ankle-joint, also can be used for the lathe base in rotary table, the machine tooling of machiningLocation with work, also can be used for satellite positioning device etc.
Through the retrieval of prior art is found, Chinese patent literature CN101306534, open (bulletin) day 2008.11.19,A kind of biasing output three-degree-of-freedom spherical parallel mechanism with center sphere hinge is disclosed, it by three-degree-of-freedom spherical parallel mechanism,Center sphere hinge and biasing take-off lever unit composition, lower support bar 3 lower ends of its astrosphere face hinge and fixed platform 1 are fixing, underThe axis of support bar 3 is by the central point of fixed platform 1; The straight take-off lever of cylinder 8 is through moving platform 7 centers and fix with it or with ribPost moving sets connects; Straight take-off lever 8 upper ends connect firmly at center line intersection point A with biasing take-off lever 9, the straight take-off lever 8 of cylinder and biasingThe axis angle α h of take-off lever 9, α h span is 0 °～100 °, biased direction is for arbitrarily. But this technology has three to be containedThe side chain of three rotational freedoms, is subject to certain restrictions the range of movement of mechanism, and manufacture is installed not by sphere hinge place, centerJust.
Chinese patent literature CN102962840A, open (bulletin) day 2013.03.13, discloses one and has had symmetrical structureAnd without the parallel institution of associated movement, it has fixed and moving two platforms and three identical active branch of structure that are connected this two platform,Every active branch by a fixed platform moving sets being connected with fixed platform, moving platform moving sets being connected with moving platform andA three-degree-of-freedom spherical subchain that connects fixed platform moving sets and moving platform moving sets forms, and this sphere subchain comprises three axis and convergesMeet at the revolute pair of a bit, its intersection point is branch's central point; The central point of above-mentioned three branches forms a mid-plane, above-mentioned fixed,Moving two platforms are about this mid-plane symmetry, above-mentioned fixed platform moving sets and moving platform moving sets respectively with fixed and moving two platform inclination clothPut. But in this technology, in every side chain, all there are two moving sets, and bearing capacity is not high.
Chinese patent literature CN101924266A, open (bulletin) day 2010.12.22, discloses a kind of spherical three-degree-of-freedomParallel antenna structure system. It is made up of an antenna mount of an antenna reflector connection, and antenna mount is by upper and lower twoPlatform is connect and is formed by three identical branch road mechanisms of structure. Every branch road has upper mounting plate, upper garden arc support, lower garden arc to prop upFrame and lower platform all connect composition by 3 revolute pairs, and one of them revolute pair connects a motor. Upper mounting plate and antenna reflectorBe fixedly connected with, lower platform is connected with ground frame or antenna carrier frame, motor direct-drive or drive down garden arc by speed changerSupport, upper garden arc support and upper mounting plate and antenna reflector are made spherical three-degree-of-freedom and are rotated. This technology can satisfactorily resolve obtain satellite,Remote sensing telemetered signal and the data of the aircraft such as carrier rocket, realize antenna and " cross and push up " spatial domain Continuous Tracking, reaches hemisphere work skyTerritory or the hemisphere spatial domain of working above. But every side chain in this technology is by the secondary composition of 3R, and 9 revolute pairs in mechanism need to hand overIn a bit, this has increased the installation difficulty of mechanism, and range of movement is restricted.
Summary of the invention
The present invention is directed to prior art above shortcomings, propose a kind of three-degree-of-freedom spherical parallel machine with passive side chainStructure, has rigidity high, and working space is large, and the features such as easy are installed.
The present invention is achieved by the following technical solutions:
The present invention includes: the movement branched chain that moving platform, silent flatform, three root architectures are identical and one rotate side chain, wherein:The two ends of movement branched chain are connected with silent flatform with moving platform by ball pair respectively, and the one end and the silent flatform that rotate side chain pass through to rotateParafacies connects, and the other end is fixedly connected with moving platform.
Described movement branched chain is two-part rectilinear movement auxiliary structure, comprising: outer bar and the with it interior bar of socket.
Described rotation side chain comprises: the ears support being connected with silent flatform and one end be fixedly connected with moving platform the 4thStraight-bar, wherein: four ends of the ears support of intersection stack are connected with silent flatform by four revolute pairs respectively, and the 4th is straightBar, is connected with stack place that intersects of ears support by the 5th revolute pair.
Described movement branched chain adopts ball screw to drive, and described rotation side chain is passive side chain.
Technique effect
Compared with prior art, the middle pole of the present invention by particular design is secondary and with a moving sets containing two balls with threeSide chain combination, makes mechanism obtain larger range of movement and bearing capacity. In addition, the present invention is simple and compact for structure, and assembling is easy,Good rigidity, working space is large, mechanism kinematic is flexible, can be applicable to robot eye, waist joint, wrist joint, shoulder joint andAnkle-joint, range of movement is large and can be used for the occasion that satellite positioning device etc. needs three-degree-of-freedom spherical to rotate.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of middle pole;
In figure: moving platform, silent flatform, movement branched chain P1, rotate side chain, outer bar L11, interior bar L12, the 4th straight-bar L4、Ears support.
Detailed description of the invention
Below embodiments of the invention are elaborated, the present embodiment is implemented under taking technical solution of the present invention as prerequisite,Provided 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, the present embodiment comprises: moving platform, silent flatform, the movement branched chain P that three root architectures are identical1With oneRotate side chain, wherein: movement branched chain is connected with silent flatform respectively at moving platform with the two ends of rotating side chain.
Described movement branched chain P1For being circumferentially uniformly distributed, the diameter angle from the circumference center of circle to pin joint is 120 degree;Described rotation side chain is positioned at the centre of three movement branched chain.
Described movement branched chain P1Two ends respectively by secondary S of ball1、S2Be connected with silent flatform with moving platform.
Described movement branched chain P1For two-part rectilinear movement auxiliary structure, comprising: outer bar L11The interior bar L of socket with it12。
One end of described rotation side chain is connected by revolute pair with silent flatform, and the other end is fixedly connected with moving platform.
Described rotation side chain comprises: the ears support being connected with silent flatform and one end be fixedly connected with moving platform the 4thStraight-bar L4, wherein: four ends of the ears support of intersection stack are respectively by four revolute pair R1～R4Be connected with silent flatform,The 4th straight-bar L4, by the 5th revolute pair R5Be connected with stack place that intersects of ears support.
The secondary R of rotational motion that in the 4th described side chain, ears support is connected with silent flatform1、R2R with intersection3PhaseMeet at O point, fulcrum when this point is exactly moving platform motion.
Described movement branched chain P1Employing ball screw drives, and described rotation side chain is passive side chain.
This device can be realized moving platform and do around fixing point the rotation of sphere three-dimensional based on said structure.
Claims (5)
1. one kind has the three-degree-of-freedom spherical parallel mechanism of passive side chain, it is characterized in that, comprise: the movement branched chain that moving platform, silent flatform, three root architectures are identical and one rotate side chain, wherein: the two ends of movement branched chain are connected with silent flatform with moving platform by ball pair respectively, the one end of rotating side chain is connected by revolute pair with silent flatform, and the other end is fixedly connected with moving platform;
Described rotation side chain comprises: the 4th straight-bar that the ears support being connected with silent flatform and one end are fixedly connected with moving platform, wherein: four ends of the ears support of intersection stack are connected with silent flatform by four revolute pairs respectively, the 4th straight-bar, is connected with stack place that intersects of ears support by the 5th revolute pair.
2. three-degree-of-freedom spherical parallel mechanism according to claim 1, is characterized in that, described movement branched chain is for being circumferentially uniformly distributed; Described rotation side chain is positioned at the centre of three movement branched chain.
3. three-degree-of-freedom spherical parallel mechanism according to claim 1, is characterized in that, described movement branched chain is two-part rectilinear movement auxiliary structure, comprising: outer bar and the with it interior bar of socket.
4. three-degree-of-freedom spherical parallel mechanism according to claim 1, is characterized in that, the secondary intersection of rotational motion that in the 4th described side chain, ears support is connected with silent flatform intersects at a point, fulcrum when this point is exactly moving platform motion.
5. according to the three-degree-of-freedom spherical parallel mechanism described in above-mentioned arbitrary claim, it is characterized in that, described movement branched chain adopts ball screw to drive, and described rotation side chain is passive side chain.
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| CN201510230820.4A CN104827462B (en) | 2015-05-07 | 2015-05-07 | There is the three-degree-of-freedom spherical parallel mechanism of passive side chain |
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| CN201510230820.4A CN104827462B (en) | 2015-05-07 | 2015-05-07 | There is the three-degree-of-freedom spherical parallel mechanism of passive side chain |
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| CN104827462B true CN104827462B (en) | 2016-05-25 |
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| CN105406199B (en) * | 2015-12-21 | 2017-12-15 | 哈尔滨工业大学 | A kind of antenna array automatic butt adjusts platform |
| CN105459086B (en) * | 2015-12-21 | 2017-09-12 | 哈尔滨工业大学 | A kind of freedom degree parallel connection posture adjustment platform of horizontal direction and yaw steering |
| CN106003154B (en) * | 2016-06-08 | 2018-08-14 | 边绍康 | Bionical eye device, bionic eye equipment and picture construction method |
| CN108444632A (en) * | 2018-02-08 | 2018-08-24 | 上海交通大学 | Parallel-connection structure 6 DOF force measuring sensors based on SPS branches |
| CN108852565A (en) * | 2018-03-14 | 2018-11-23 | 北京工业大学 | A kind of artificial hand wrist joint in parallel of achievable circumduction |
| CN108646382B (en) * | 2018-03-30 | 2020-06-30 | 中国科学院上海光学精密机械研究所 | Flexible parallel three-dimensional rotation supporting and adjusting structure under heavy load |
| CN108836582B (en) * | 2018-04-16 | 2020-04-17 | 北京工业大学 | Three-degree-of-freedom serial-parallel hybrid artificial wrist joint |
| CN112659099B (en) * | 2020-11-17 | 2022-07-29 | 燕山大学 | Local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint |
| CN112874721A (en) * | 2021-04-02 | 2021-06-01 | 中国海洋大学 | Deck support combination device applied to floating support installation |
| CN113001525B (en) * | 2021-04-25 | 2022-03-29 | 西安科技大学 | Parallel mechanism with rotatable axis mechanical arm and movement method |
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