CN105150199A - Structure-adjustable three-freedom-degree parallel mechanism - Google Patents
Structure-adjustable three-freedom-degree parallel mechanism Download PDFInfo
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Abstract
The invention discloses a structure-adjustable three-freedom-degree parallel mechanism which comprises a fixed platform, a movable platform and three branches. Each branch comprises an adjusting part, a column, a moving pair, a rotating pair, a connecting rod and a spherical pair, wherein the adjusting part consists of a sliding rail, a slide block, an inlaid strip and a screw. The sliding rail of the adjusting part is horizontally installed on the fixed platform and is matched with a sliding groove formed in the lower portion of the slide block, the column is vertically installed on the slide block, the moving pair is connected with the column, the axis of the moving pair is perpendicular to the sliding groove formed in the lower portion of the slide block and is connected with the rotating pair, the axis of the rotating pair is parallel to the upper plane of the fixed platform, one end of the connecting rod is connected with the rotating pair, the other end of the connecting rod is connected with the spherical pair, and the spherical pair is installed on the movable platform. The angles of the three columns are adjusted through the sliding rails and the sliding grooves, the arrangement form of the connecting rods can be conveniently and quickly adjusted, installation is facilitated through quick fixing of the inlaid strips and the screws, the adjusting time is saved, and the efficiency is improved.
Description
Technical field
The present invention relates to the 3-freedom parallel mechanism that a kind of structure is adjustable, especially by a kind of 3-freedom parallel mechanism be made up of moving sets, revolute pair and spherical pair, belong to robot application technical field.
Background technology
Parallel institution also claims parallel robot, is one of Liang great branch of robot.Compared with serial manipulator, parallel robot has that rigidity is large, bearing capacity is strong, precision advantages of higher.In a lot of occasion, do not need to have six-freedom degree, frame for movement and the simple lower-mobility mechanism of control system just can meet the demands well.Wherein, 3-PRS (P is moving sets, and R is revolute pair, and S the is spherical pair) parallel institution with three degree of freedom is one of most typical representative, obtains the extensive concern of International Industry circle and academia, and has dropped into large quantifier elimination.Some particular configuration of 3-PRS parallel institution obtain successful Application in the industrial production.
3-PRS parallel institution represents a class mechanism, comprise three identical branches, and each branch has moving sets, revolute pair and a spherical pair.Under different types of structure, different structure size, the characteristic, performance etc. of 3-PRS parallel institution are widely different.In order to fully study, make it obtain and applying more widely, usually need to build MECHANISMS--HARDWARE platform for different structure types, different physical dimensions.Patent " 3-freedom parallel mechanism that working space is adjustable and method of adjustment thereof " (application number: 201410618331.1) for the specific class of establishment of one (linkage arrangement form), provide the 3-PRS parallel institution that a kind of working space is adjustable, can adjustment structure size under this specific configuration, be very easy to research.(application number: adjustable (fortune) moving platform 201510041594.5) provided goes for different 3-PRS parallel institution types (linkage arrangement form), when building 3-PRS parallel institution, (fortune) moving platform need not re-design patent " the adjustable motion platform of 3-freedom parallel mechanism and control method ".But when studying different 3-PRS parallel institution types, the part such as new fixed platform, column also needs to rebuild, thus adds Experimental Hardware cost and time cost.
Summary of the invention
The present invention is directed to a class 3-PRS parallel institution in the process of research different types of structure, need the technical problem of again building new fixed platform, column etc., provide the 3-PRS parallel institution that a kind of structure is adjustable, by the angle regulating three columns to turn over, thus the arrangement form of regulating connecting rod, form different structure types, efficiently solve above-mentioned technical problem.
The technical scheme that the present invention takes is:
The 3-freedom parallel mechanism that structure is adjustable, comprises fixed platform 1, moving platform 2, first side chain 3, second side chain 4 and the 3rd side chain 5,
Each side chain in described first side chain 3, second side chain 4 and the 3rd side chain 5 includes with lower component:
First adjustment member 31,41,51, first column 32,42,52, first moving sets 33,43,53, first revolute pair 34,44,54, first connecting rod 35,45,55 and the first spherical pair 36,46,56,
First adjustment member 31,41,51 is made up of the first slide rail 311,411,511, first slide block 312,412,512, first panel 313,413,513 and screw 314,414,514,
The syndeton of parts included in above-mentioned each side chain is: the first slide rail 311,411,511 and the first panel 313,413,513 is arranged on the first slide block 312, within the chute of 412,512 bottoms, screw 314,414,514 are arranged on the first slide block 312,412, in the screwed hole of 512 sides
First adjustment member 31, 41, the first slide rail 311 on 51, 411, 511 levels are arranged on fixed platform 1, first slide rail 311, 411, 511 and first slide block 312, 412, the chute of 512 bottoms coordinates, first column 32, 42, 52 are vertically mounted on the first slide block 312, 412, on 512, first slide block 312, 412, the first column 32 is connected on 512, 42, 52, first moving sets 33, 43, 53 and first column 32, 42, 52 connect, first moving sets 33, 43, plane orthogonal on the axis of 53 and fixed platform 1, first moving sets 33, 43, 53 and first revolute pair 34, 44, 54 connect, first revolute pair 34, 44, the axis of 54 is parallel with the upper plane of fixed platform 1, first connecting rod 35, 45, one end of 55 and the first revolute pair 34, 44, 54 connect, first connecting rod 35, 45, the other end of 55 and the first spherical pair 36, 46, 56 connect, first spherical pair 36, 46, 56 are arranged on moving platform 2,
The projection of the respective axis of symmetry on fixed platform 1 of three slide rails 311,411,511 intersects at a point O, and between 120 ° of angles each other,
The cross section of three slide rails 311,411,511 is trapezoidal, and the inner side of trapezoid cross section is hypotenuse, outside is right-angle side; The cross section of the chute of three slide block (312,412,512) bottoms is trapezoidal, and the inner side of trapezoid cross section is hypotenuse, outside is right-angle side,
Three slide rails 311,411,511 are circular arc, circular arc slide rail 311, the inner side of 411,511 is taper seat, outside is the face of cylinder, each slide rail 311,411, the axis of taper seat and the dead in line on the face of cylinder, outside inside 511, three slide rails 311,411,511 medial surfaces are respectively P1, P2, P3 with the subpoint of axis on fixed platform 1 that overlap of lateral surface, three subpoints P1, P2, P3 are equilateral triangle, the center of circle of the circle that P1, P2, P3 determine and three slide rails 41,51,61 the axis of symmetry projection intersection point O overlap
Three slide blocks 312,412 coordinated with three slide rails 311,411,511, the chute of 512 bottoms is circular arc, and the inner side of arc chute is taper seat, outside is the face of cylinder, the axis of taper seat and the dead in line on the face of cylinder, outside inside each chute.
Further, slide block 312 in each side chain, upper plane and the inner side taper seat of the chute of 412,512 bottoms are locating surface; Slide rail 311,411, upper plane and the inner side taper seat of 511 are locating surface, and the opposite side face of cylinder is by circular arc panel 313,413,513 screw 314,414, and 514 hold out against, by slide block 311,411,511 and column 32,42,52 fixing.
Further, slide block 312,412, in the both sides that the trapezoid cross section of the chute of 512 bottoms is parallel, the length of minor face is greater than slide rail 311,411, the length on the Zhong Chang limit, both sides that the trapezoid cross section of 511 is parallel.
Further again, three slide blocks 312,412,512 tops all arrange round rectangle through hole, and a side of three slide blocks 312,412,512 is all provided with screwed hole, and screwed hole axis is vertical with the external cylindrical surface of chute.
The useful effect that the present invention has is: by slide rail and chute regulate three columns separately around P1, P2, P2 point the angle that turns over of the vertical line of process, can the arrangement form of regulating connecting rod quickly and easily, fixed fast by panel and screw, be convenient to install, save regulation time, raise the efficiency; Slide block is provided with round rectangle through hole, makes three columns adjustable in fixed platform radial direction, the needs of the column of different size, slide block, revolute pair can be met; A large amount of different configurations can be adjusted according to the needs of research, greatly save the cost that mechanical hardware builds.
Accompanying drawing explanation
Fig. 1 is mechanism provided by the invention scheme of erection;
Fig. 2 is the top view after fixed platform provided by the invention and slide rail assemble;
Fig. 3 is adjustment member provided by the invention and the location diagram such as fixed platform, column;
Fig. 4 is the axonometric drawing of adjustment member provided by the invention;
Fig. 5 is the upward view of slide block provided by the invention;
Fig. 6 is the chute of slide block bottom provided by the invention and the cross sectional shape figure of slide rail;
Fig. 7 is a kind of node configuration sketch that the present invention may be adjusted to;
Fig. 8 is that the present invention may be adjusted to a kind of node configuration top view corresponding with Fig. 7;
Fig. 9 is a kind of node configuration sketch that the present invention may be adjusted to;
Figure 10 is that the present invention may be adjusted to a kind of node configuration top view corresponding with Fig. 9;
Figure 11 is a kind of node configuration sketch that the present invention may be adjusted to;
Figure 12 is that the present invention may be adjusted to a kind of node configuration top view corresponding with Figure 11.
In figure: 1, fixed platform 2, moving platform
3, the first side chain 4, second side chain 5, the 3rd side chain
31, the first adjustment member 41, second adjustment member 51, the 3rd adjustment member
32, the first column 42, second column 52, the 3rd column
33, the first moving sets 43, second moving sets 53, three moving sets
34, the first revolute pair 44, second revolute pair 54, the 3rd revolute pair
35, first connecting rod 45, second connecting rod 55, third connecting rod
36, the first spherical pair 46, second spherical pair 56, the 3rd spherical pair
311, the first slide rail 411, second slide rail 511, the 3rd slide rail
312, the first slide block 412, second slide block 512, the 3rd slide block
313, the first panel 413, second panel 513, the 3rd panel
314, screw 414, screw 514, screw.
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 ~ 5, the 3-freedom parallel mechanism that structure provided by the invention is adjustable comprises fixed platform 1, moving platform 2, first side chain 3, second side chain 4 and the 3rd side chain 5, wherein:
1) the first side chain 3: comprise the first adjustment member 31, first column 32, first moving sets 33, first revolute pair 34, first connecting rod 35 and the first spherical pair 36, first adjustment member 31 is made up of the first slide rail 311, first slide block 312, first panel 313 and screw 314, first slide rail 311 and the first panel 313 are arranged within the chute of the first slide block 312 bottom, and screw 314 is arranged in the screwed hole of the first slide block 312 side, the first slide rail 311 level on first adjustment member 31 is arranged on fixed platform 1, first slide rail 311 coordinates with the chute of the first slide block 312 bottom, first column 32 is vertically mounted on the first slide block 312, first slide block 312 connects the first column 32, first moving sets 33 is connected with the first column 32, plane orthogonal on the axis of the first moving sets 33 and fixed platform 1, first moving sets 33 is connected with the first revolute pair 34, the axis of the first revolute pair 34 is parallel with the upper plane of fixed platform 1, one end of first connecting rod 35 is connected with the first revolute pair 34, the other end of first connecting rod 35 is connected with the first spherical pair 36, first spherical pair 36 is arranged on moving platform 2.
2) the second side chain 4: comprise two adjustment member 41, second column 42, second moving sets 43, second revolute pairs 44, second connecting rod 45 and the second spherical pair 46, second adjustment member 41 is made up of the second slide rail 411, second slide block 412, second panel 413 and screw 414, second slide rail 411 and the second panel 413 are arranged within the chute of the second slide block 412 bottom, and screw 414 is arranged in the screwed hole of the second slide block 412 side, the second slide rail 411 level on second adjustment member 41 is arranged on fixed platform 1, second slide rail 411 coordinates with the chute of the second slide block 412 bottom, second column 42 is vertically mounted on the second slide block 412, second slide block 412 connects the second column 42, second moving sets 43 is connected with the second column 42, plane orthogonal on the axis of the second moving sets 43 and fixed platform 1, second moving sets 43 is connected with the second revolute pair 44, the axis of the second revolute pair 44 is parallel with the upper plane of fixed platform 1, one end of second connecting rod 45 is connected with the second revolute pair 44, the other end of second connecting rod 45 is connected with the second spherical pair 46, second spherical pair 46 is arranged on moving platform 2.
3) the 3rd side chain 5: comprise three adjustment members 51, the 3rd column 52, three moving sets 53, the 3rd revolute pair 54, third connecting rod 55 and the 3rd spherical pair 56, 3rd slide rail 511 and the 3rd panel 513 are arranged within the chute of the 3rd slide block 512 bottom, and screw 514 is arranged in the screwed hole of the 3rd slide block 512 side, 3rd adjustment member 51 is made up of the 3rd slide rail 511, the 3rd slide block 512, the 3rd panel 513 and screw 514, the 3rd slide rail 511 level on 3rd adjustment member 51 is arranged on fixed platform 1, 3rd slide rail 511 coordinates with the chute of the 3rd slide block 512 bottom, 3rd column 52 is vertically mounted on the 3rd slide block 512, 3rd slide block 512 connects the 3rd column 52, three moving sets 53 is connected with the 3rd column 52, plane orthogonal on the axis of three moving sets 53 and fixed platform 1, three moving sets 53 is connected with the 3rd revolute pair 54, the axis of the 3rd revolute pair 54 is parallel with the upper plane of fixed platform 1, one end of third connecting rod 55 is connected with the 3rd revolute pair 54, the other end of third connecting rod 55 is connected with the 3rd spherical pair 56, 3rd spherical pair 56 is arranged on moving platform 2.
The respective projection of the axis of symmetry on fixed platform 1 of three slide rails 41,51,61 intersects at a point O, and between 120 ° of angles each other, as straight line OP1, OP2, the OP3 in Fig. 2 is three projections.
As shown in Figure 6, the cross section of slide rail 311,411,511 is trapezoidal, and the inner side of trapezoid cross section is hypotenuse, outside is right-angle side; The cross section of the chute of three slide block (312,412,512) bottoms is trapezoidal, and the inner side of trapezoid cross section is hypotenuse, outside is right-angle side.
As Fig. 2, Fig. 3, shown in Fig. 4 and Fig. 5, slide rail 311, 411, 511 are circular arc, circular arc slide rail (311, 411, 511) inner side is taper seat, outside is the face of cylinder, each slide rail 311, 411, the axis of taper seat and the dead in line on the face of cylinder, outside inside 511, three slide rails 311, 411, 511 medial surfaces are respectively P1 with the subpoint of axis on fixed platform 1 that overlap of lateral surface, P2, P3, three subpoint P1, P2, P3 is equilateral triangle, P1, P2, the center of circle of the circle that P3 determines and three slide rails 41, 51, 61 the axis of symmetry projection intersection point O overlap.Pi in Fig. 3 represents P1, P2, P3, i.e. i=1,2,3.
As shown in Figure 5, the chute of three slide blocks 312,412,512 bottom coordinated with three slide rails 311,411,511 is circular arc, the inner side of arc chute is taper seat, outside is the face of cylinder, the axis of taper seat and the dead in line on the face of cylinder, outside inside each chute.
As shown in Figure 3, in each side chain, the upper plane of the chute of slide block 312,412,512 bottom and inner side taper seat are locating surface; Upper plane and the inner side taper seat of slide rail 311,411,511 are locating surface, and the opposite side face of cylinder is held out against by circular arc panel 313,413,513 screw 314,414,514, slide block 311,411,511 and column 32,42,52 are fixed.
As shown in Figure 6, in the both sides that the trapezoid cross section of the chute of slide block 312,412,512 bottom is parallel, the length of minor face is greater than the length on parallel Zhong Chang limit, both sides, the trapezoid cross section of slide rail 311,411,511.In Fig. 6, the shape of the trapezoid cross section of the chute of the trapezoid cross section of slide rail 311,411,511 and slide block 312,412,512 bottom represented with same schematic diagram, it is measure-alike for not representing them.
As shown in Figure 4, a side of slide block 312,412,512 is all provided with screwed hole, and screwed hole axis is vertical with the external cylindrical surface of chute.After mounting, the internal conical surface of slide rail 311,411,511 coordinates as a locating surface with the internal conical surface of the chute of slide block 312,412,512, the upper plane of slide rail 311,411,511 coordinates as another locating surface with the upper plane of the chute of slide block 312,412,512 bottom, the external cylindrical surface of panel 313,413,513 and the face of cylinder of chute are affixed, the inner cylinder face of panel 313,413,513 and the face of cylinder of slide block 312,412,512 are affixed, and the axes normal of screw 314,414,514 is in the face of cylinder of panel 313,413,513.In fact, the above-mentioned face of cylinder and taper seat are not the complete face of cylinder and taper seat, just a part.
The circular arc of slide rail 311,411,511 can be complete full circle, may also be a part of circular arc; Slide rail 311,411,511 can be an entirety, may also be multiple slide rail and is spliced; Slide rail 311,411,511 can be fixed on fixed platform 1 by modes such as screws.Just schematically, fixed platform 1 can be arbitrary shape to the shape of the fixed platform 1 provided in Fig. 1, Fig. 2 and Fig. 3, might not be the slab construction of explicit existence, as long as reliably can install, carry the structure of associated components.On fixed platform 1 in above-mentioned, plane can be virtual presence, i.e. the actual equivalent plane worked.
As shown in Figure 4, three slide block 312,412,512 tops all arrange round rectangle through hole, by these round rectangle through holes, column 32,42,52 and slide block 312,412,512 are fixed together with bolt.When the relative position of adjusting post 32,42,52 and slide block 312,412,512, make the central point Qi (i=1 of the gyroaxis of each revolute pair 34,44,54,2,3) the center of circle Pi (i=1 of the arc place circle of the projection on fixed platform 1 and three slide blocks 312,412,512,2,3) overlap respectively, namely Q1 and P1 overlaps, Q2 and P2 overlaps, Q3 and P3 overlaps, as shown in Figure 3.
In Fig. 2 and Fig. 3, P1, P2, P3 are vertical with the centre of gyration of revolute pair 34,44,54 with the line at corresponding slide block 312,412,512 center, according to this feature adjustment slide block 312,412,512 position on slide rail 311,411,511, namely the angle that slide block 312,412,512 turns over when P1, P2, P3 rotate is adjusted, then insert panel 313,413,513, hold out against with screw 314,414,514.
Mechanism provided by the invention may be adjusted to the 3-PRS parallel institution of a lot of structure type, and Fig. 8,10,12 gives 3 kinds of typical configurations that mechanism provided by the invention is adjusted to, and the structure diagram of corresponding 3-PRS parallel institution is respectively as shown in Fig. 7,9,11.The position of slide block 312,412,512 is as shown in the black rectangle square in Fig. 8,10,12.In fact, the configuration that Fig. 1 is corresponding is Fig. 7 and Fig. 8.
The above; it is only preferred embodiment of the present invention; not do any pro forma restriction to the present invention, 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 (4)
1. the 3-freedom parallel mechanism that a structure is adjustable, it is characterized in that: described parallel institution comprises fixed platform (1), moving platform (2), the first side chain (3), the second side chain (4) and the 3rd side chain (5)
Each side chain in first side chain (3), the second side chain (4) and the 3rd side chain (5) includes with lower component:
First adjustment member (31,41,51), the first column (32,42,52), the first moving sets (33,43,53), the first revolute pair (34,44,54), first connecting rod (35,45,55) and the first spherical pair (36,46,56)
First adjustment member (31,41,51) is by the first slide rail (311,411,511), the first slide block (312,412,512), the first panel (313,413,513) and screw (314,414,514) composition
The syndeton of parts included in above-mentioned each side chain is: the first slide rail (311, 411, 511) and the first panel (313, 413, 513) the first slide block (312 is arranged on, 412, 512) within the chute of bottom, screw (314, 414, 514) the first slide block (312 is arranged on, 412, 512) in the screwed hole of side, first adjustment member (31, 41, 51) the first slide rail (311 on, 411, 511) level is arranged on fixed platform (1), first slide rail (311, 411, 511) with the first slide block (312, 412, 512) chute of bottom coordinates, first column (32, 42, 52) the first slide block (312 is vertically mounted on, 412, 512) on, first slide block (312, 412, 512) upper connection first column (32, 42, 52), first moving sets (33, 43, 53) with the first column (32, 42, 52) connect, first moving sets (33, 43, 53) axis and the upper plane orthogonal of fixed platform (1), first moving sets (33, 43, 53) with the first revolute pair (34, 44, 54) connect, first revolute pair (34, 44, 54) axis is parallel with the upper plane of fixed platform (1), first connecting rod (35, 45, 55) one end and the first revolute pair (34, 44, 54) connect, first connecting rod (35, 45, 55) the other end and the first spherical pair (36, 46, 56) connect, first spherical pair (36, 46, 56) be arranged on moving platform (2),
The projection of the axis of symmetry on fixed platform (1) that three slide rails (311,411,511) are respective intersects at a point O, and between 120 ° of angles each other,
The cross section of three slide rails (311,411,511) is trapezoidal, and the inner side of trapezoid cross section is hypotenuse, outside is right-angle side; The cross section of the chute of three slide block (312,412,512) bottoms is trapezoidal, and the inner side of trapezoid cross section is hypotenuse, outside is right-angle side,
Three slide rails (311, 411, 511) circular arc is, circular arc slide rail (311, 411, 511) inner side is taper seat, outside is the face of cylinder, each slide rail (311, 411, 511) the inner side axis of taper seat and the dead in line on the face of cylinder, outside, three slide rails (311, 411, 511) medial surface is respectively P1 with the subpoint of axis on fixed platform (1) that overlap of lateral surface, P2, P3, three subpoint P1, P2, P3 is equilateral triangle, P1, P2, the center of circle of the circle that P3 determines and three slide rails (41, 51, 61) the intersection point O of axis of symmetry projection overlaps,
The chute of three slide blocks (312,412, the 512) bottom coordinated with three slide rails (311,411,511) is circular arc, the inner side of arc chute is taper seat, outside is the face of cylinder, the axis of taper seat and the dead in line on the face of cylinder, outside inside each chute.
2. the 3-freedom parallel mechanism that structure according to claim 1 is adjustable, is characterized in that: in each side chain, the upper plane of the chute of slide block (312,412,512) bottom and inner side taper seat are locating surface; Upper plane and the inner side taper seat of slide rail (311,411,511) are locating surface, the opposite side face of cylinder is held out against by circular arc panel (313,413,513) screw (314,414,514), slide block (311,411,511) and column (32,42,52) is fixed.
3. the 3-freedom parallel mechanism that structure according to claim 2 is adjustable, it is characterized in that: slide block (312,412,512) in the both sides that the trapezoid cross section of the chute of bottom is parallel, the length of minor face is greater than slide rail (311,411,511) length on the Zhong Chang limit, both sides that trapezoid cross section is parallel.
4. the 3-freedom parallel mechanism that structure according to claim 3 is adjustable, it is characterized in that: three slide blocks (312,412,512) top all arranges round rectangle through hole, a side of three slide blocks (312,412,512) is all provided with screwed hole, and screwed hole axis is vertical with the external cylindrical surface of chute.
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| CN106426088A (en) * | 2016-09-13 | 2017-02-22 | 浙江理工大学 | Large-stroke and high-accuracy type spacial two-rotation and one-moving flexible parallel-connecting mechanism |
| WO2018072247A1 (en) * | 2016-10-17 | 2018-04-26 | 中国科学院深圳先进技术研究院 | Parallel mechanism with three links and three degrees of freedom |
| TWI757959B (en) * | 2020-03-27 | 2022-03-11 | 國立成功大學 | 3-axis parallel linear robot |
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| WO2018072247A1 (en) * | 2016-10-17 | 2018-04-26 | 中国科学院深圳先进技术研究院 | Parallel mechanism with three links and three degrees of freedom |
| US10710249B2 (en) | 2016-10-17 | 2020-07-14 | Shenzhen Institutes Of Advanced Technology Chinese Academy Of Sciences | 3 DOF parallel mechanism with 3 branched-chains |
| TWI757959B (en) * | 2020-03-27 | 2022-03-11 | 國立成功大學 | 3-axis parallel linear robot |
| JP7140419B2 (en) | 2020-03-27 | 2022-09-21 | ナショナル チェン クン ユニバーシティー | 3-axis parallel linear robot |
| US11745365B2 (en) | 2020-03-27 | 2023-09-05 | National Cheng Kung University | 3-axis parallel linear robot |
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