CN105328693A - Seven-freedom-degree three-branch parallel symmetric mechanism for plate splicing - Google Patents
Seven-freedom-degree three-branch parallel symmetric mechanism for plate splicing Download PDFInfo
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- CN105328693A CN105328693A CN201510626821.0A CN201510626821A CN105328693A CN 105328693 A CN105328693 A CN 105328693A CN 201510626821 A CN201510626821 A CN 201510626821A CN 105328693 A CN105328693 A CN 105328693A
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Abstract
The invention provides a seven-freedom-degree three-branch parallel symmetric mechanism for plate splicing. An upper platform 1 and a lower platform 2 of the parallel mechanism are the same. An upper rotating pair and a lower rotating pair which are driven by a motor are arranged in the central normal direction of the upper platform and the central normal direction of the lower platform respectively. The upper platform and the lower platform are connected through two SPS branches and one RRRRR branch, wherein the two SPS branches are each composed of ball pairs at the two ends and a translational pair driven by a middle linear motor; and the RRRRR branch is composed of five rotating pairs, and the first, third and fifth rotating pairs of the RRRRR branch are driven by the motor. The three branches between the upper platform and the lower platform of the mechanism have the mirror reflection symmetric feature, and continuous and efficient movement is achieved on the condition that system complexity is not increased on the basis of high-precision and high-rigidity positioning of the three parallel branches and the mirror reflection symmetric feature between the upper platform and the lower platform.
Description
Technical field
The present invention relates to parallel institution field, particularly a kind of seven freedom-three side chain for plate splicing symmetrical mechanism in parallel.
Background technology
For the mission requirements in ground or space tasks, a large amount of plate unit being spliced into the plane of large area-large span, parabola or other target surface, current general employing special tooling, mechanical arm or multi-arm robot realize the pickup of plate and location regulates.(1) special tooling is adopted can to realize the location adjustment of high accuracy, high rigidity, but need constantly to repeat " Mobile tool-reorientate frock at new splicing station " this operation with splicing process, or re-start pose adjustment with the movement replacing frock by assembling overall structure, said process obviously can cause splicing efficiency low, and the system architecture of reorientating frock is complicated.(2) mechanical arm of particular design or multi-arm robot is adopted can to realize the movement of robot body at difference splicing station, but due to serial mechanism precision, comparatively parallel institution is poor for rigidity, is difficult to meet the high accuracy of submillimeter level, high rigidity splicing requirement under the prerequisite of light-weight design simultaneously.(3) adopt existing diversified parallel institution (as steward platform, delta mechanism etc.) can realize high accuracy, high rigidity location regulate, but there is following weakness: on the one hand the sports envelope of its moving platform little be difficult to meet large-area sheet block structure (diameter is greater than 3 meters) pickup, movement and positioning action, do not possess the function be movably walking between different plate on the other hand yet.
Do not integrate movement-positioning function in current document and product, can realize the executing agency of high accuracy-high rigidity-high efficiency plate splicing.
Summary of the invention
The object of the present invention is to provide a kind of seven freedom-three side chain for plate splicing symmetrical mechanism in parallel, to solve the problem that the little one-level of existing plate splicing body sports envelope does not possess locomotive function between different plate.
For achieving the above object, the invention provides a kind of seven freedom-three side chain for plate splicing symmetrical mechanism in parallel, comprise three side chains of upper mounting plate, lower platform, the described upper mounting plate of connection and lower platform;
Described three side chains comprise the first side chain, second side chain and the 3rd side chain, the two ends of the 3rd side chain are connected with the first side chain of parallel connection and the two ends of the second side chain respectively, wherein, first side chain is secondary by the first ball be connected successively, translation is secondary, second ball pair composition, the structure of the second side chain is identical with the first side chain, 3rd side chain is by the first revolute be connected successively, second revolute, 3rd revolute, 4th revolute and the 5th revolute composition, wherein, first ball is secondary, second ball auxiliary structure is identical, first revolute, second revolute, 3rd revolute, 4th revolute and the 5th revolute structure identical,
Described upper mounting plate and lower platform lay respectively at the two ends of the first side chain and the second side chain, described upper mounting plate and lower platform are about the central cross-section specular of described three side chains, the centre normal direction of described upper mounting plate is provided with revolute, and the centre normal direction of described lower platform is provided with lower revolute;
Wherein, described upper revolute and lower revolute are provided with the end-of-arm tooling for picking up plate.
Preferably, described translation pair is connected with linear electric motors, is driven by linear electric motors; Described first revolute, the 3rd revolute, the 5th revolute are connected with electric rotating machine respectively, are driven by electric rotating machine; Described upper revolute and lower revolute are connected with electric rotating machine respectively, are driven by electric rotating machine.
Preferably, the plane specular that forms about upper revolute axis and lower rotation secondary axis of described first side chain, the second side chain.
Preferably, described upper revolute axis extended line is through the center of the second revolute, and lower rotation secondary axis extended line is through the center of the 4th revolute.
Preferably, described end-of-arm tooling is magnetic-type end-of-arm tooling, suction type end-of-arm tooling, two finger/tri-finger/tetra-finger clamp type end-of-arm toolings.
Seven freedom-three side chain for plate splicing provided by the invention symmetrical mechanism in parallel has following technique effect:
1) high accuracy and high rigidity requirement is realized by three side chain parallel institutions;
2) by the double specular design between upper mounting plate, lower platform, realize under the condition not increasing system complexity continuously, move efficiently and location.
Accompanying drawing explanation
Seven freedom-three side chain symmetrical mechanism oblique view in parallel that Fig. 1 provides for the preferred embodiment of the present invention;
The geometrical relationship schematic diagram of seven freedom-three side chain symmetrical mechanism in parallel that Fig. 2 provides for the preferred embodiment of the present invention.
Detailed description of the invention
For better the present invention being described, hereby with a preferred embodiment, and accompanying drawing is coordinated to elaborate to the present invention, specific as follows:
As shown in Figure 1, seven freedom-three side chain that the present embodiment provides symmetrical mechanism in parallel, comprises three side chains 3 of upper mounting plate 1, lower platform 2, connection upper mounting plate 1 and lower platform 2.Wherein, upper mounting plate 1 and lower platform 2 adopt three side chains 3 of 2SPS+RRRRR form to connect.Particularly, three side chains comprise the first side chain 31, second side chain 32 and the 3rd side chain 33.First side chain 31, second side chain 32 structure is identical and be arranged in parallel, it is 2SPS side chain, first side chain 31 is made up of the ball pair 311 be connected successively, translation pair 312, secondary 313 (not shown)s of ball, and the second side chain 32 comprises ball pair 321, translation pair 322, ball pair 323 respectively; 3rd side chain 33 is RRRRR side chain, and the two ends of the 3rd side chain 33 are connected with the first side chain 31 of parallel connection and the two ends of the second side chain 32 respectively, be specifically made up of the first revolute 331, second revolute 332, the 3rd revolute 333, the 4th revolute 334 and the 5th revolute 335 that are connected successively.Further, as shown in Figure 1, the two ends of translation pair 312 are connected with ball pair 311, ball secondary 313 respectively by a connecting rod, and similarly, the two ends of translation pair 322 are connected with ball pair 321, ball secondary 323 respectively by a connecting rod; Be connected by a connecting rod between second revolute 332 with the 3rd revolute 333, be also connected by a connecting rod between the 3rd revolute 333 with the 4th revolute 334.Wherein, the structure of ball pair 311, ball pair 313, ball pair 321, ball pair 323 is identical, the structure of translation pair 312, translation pair 322 is identical, and the first revolute 331, second revolute 332, the 3rd revolute 333, the 4th revolute 334 and the 5th revolute 335 structure are identical.
As shown in Figure 1, the centre normal direction of upper mounting plate 1 is provided with revolute 11, and the centre normal direction of lower platform 2 is provided with lower revolute 21; Upper revolute 11 and lower revolute 21 are respectively equipped with the end-of-arm tooling 12,22 for picking up plate.This end-of-arm tooling 12,22 can be magnetic-type end-of-arm tooling, suction type end-of-arm tooling, two refer to/tri-refer to/tetra-refer in clamp type end-of-arm toolings any one, or be set to the other forms of end-of-arm tooling picking up splicing block by those skilled in the art according to plate structure and interface features.
As shown in Figure 2, the structure of upper mounting plate 1 and lower platform 2 is identical, upper mounting plate 1 and lower platform 2 lay respectively at the two ends of the first side chain 31 and the second side chain 32, and about the central cross-section specular of three side chains 3, the plane specular that the first side chain 31, second side chain 32 is formed about the axis of upper revolute 11 and the axis of lower revolute 21.Upper revolute 11 axis extended line is through the center of the second revolute 332, and lower revolute 21 axis extended line is through the center of the 4th revolute 334.The setting of above-mentioned geometrical relationship, can simplify the inverse arithmetic of parallel institution better, is convenient to controller and carries out plate splicing work.
In this seven freedom-three side chain symmetrical mechanism in parallel, translation pair 312 in three side chains 3, translation pair 322 are connected with linear electric motors respectively, driven by linear electric motors, first revolute 331, the 3rd revolute 333 and the 5th revolute 335 are connected with electric rotating machine respectively, driven by electric rotating machine, therefore three side chains 3 have 5 frees degree; Upper revolute 11 and the lower revolute 21 of upper mounting plate 1 and lower platform 2 are also connected with electric rotating machine respectively, are driven by electric rotating machine, have 2 frees degree.In sum, this seven freedom-three side chain symmetrical mechanism in parallel has 7 frees degree altogether, can realize the adjustment of pose flexibly, rapidly.
Owing to there is symmetry between the upper mounting plate 1 of this parallel institution, lower platform 2, three side chains 3 wherein itself also have symmetry, so have interchangeability between upper mounting plate 1, lower platform 2, namely upper mounting plate 1, lower platform 2 all alternately can bear the role of positioning pedestal and end handgrip.Such as when the N number of plate of splicing, upper mounting plate 1 is fixed on as silent flatform and splices on N-1 complete plate, and lower platform 2 picks up as moving platform, moves and locate N number of plate; When the N number of plate splicing is complete splice N+1 plate again time, lower platform 2 just transfers silent flatform to and continues to be fixed on and spliced on complete N number of plate, and upper mounting plate 1 unclamps N-1 plate and transfers moving platform pickup to, move and locate N+1 plate ... circulated the splicing of multiple plate successively.Upper mounting plate 1 like this, lower platform 2 replace as silent flatform and moving platform successively and constantly repeat, this locomotive function between different plate unit of parallel institution is realized while completing the pickup of plate unit, movement and location, and whole process continuous high-efficient, and without the need to by external system.
This seven freedom-three side chain symmetrical mechanism in parallel, the location regulatory function of high accuracy, high rigidity is realized by three side chains in parallel, again by the mirror symmetric design between upper mounting plate, lower platform, under the condition not increasing system complexity, realize continuous, efficient locomotive function, high accuracy-high rigidity-high efficiency plate unit can be realized and splice continuously.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any those skilled in the art is in the technical scope that the present invention discloses; the distortion do the present invention or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (5)
1., for seven freedom-three side chain symmetrical mechanism in parallel for plate splicing, it is characterized in that, comprise three side chains of upper mounting plate, lower platform, the described upper mounting plate of connection and lower platform;
Described three side chains comprise the first side chain, second side chain and the 3rd side chain, the two ends of the 3rd side chain are connected with the first side chain of parallel connection and the two ends of the second side chain respectively, wherein, first side chain is secondary by the first ball be connected successively, translation is secondary, second ball pair composition, the structure of the second side chain is identical with the first side chain, 3rd side chain is by the first revolute be connected successively, second revolute, 3rd revolute, 4th revolute and the 5th revolute composition, wherein, first ball is secondary, second ball auxiliary structure is identical, first revolute, second revolute, 3rd revolute, 4th revolute and the 5th revolute structure identical,
Described upper mounting plate and lower platform lay respectively at the two ends of the first side chain and the second side chain, described upper mounting plate and lower platform are about the central cross-section specular of described three side chains, the centre normal direction of described upper mounting plate is provided with revolute, and the centre normal direction of described lower platform is provided with lower revolute;
Wherein, described upper revolute and lower revolute are provided with the end-of-arm tooling for picking up plate.
2. seven freedom-three side chain for plate splicing according to claim 1 symmetrical mechanism in parallel, is characterized in that, described translation pair is connected with linear electric motors, is driven by linear electric motors; Described first revolute, the 3rd revolute, the 5th revolute are connected with electric rotating machine respectively, are driven by electric rotating machine; Described upper revolute and lower revolute are connected with electric rotating machine respectively, are driven by electric rotating machine.
3. seven freedom-three side chain for plate splicing according to claim 1 symmetrical mechanism in parallel, is characterized in that, the plane specular that described first side chain, the second side chain are formed about upper revolute axis and lower rotation secondary axis.
4. seven freedom-three side chain for plate splicing according to claim 1 symmetrical mechanism in parallel, it is characterized in that, described upper revolute axis extended line is through the center of the second revolute, and lower rotation secondary axis extended line is through the center of the 4th revolute.
5. seven freedom-three side chain for plate splicing according to claim 1 symmetrical mechanism in parallel, is characterized in that, described end-of-arm tooling is magnetic-type end-of-arm tooling, suction type end-of-arm tooling, two finger/tri-finger/tetra-finger clamp type end-of-arm toolings.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510626821.0A CN105328693B (en) | 2015-09-28 | 2015-09-28 | A kind of three side chain of seven freedom parallel connection symmetrical mechanism for plate splicing |
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| CN201510626821.0A CN105328693B (en) | 2015-09-28 | 2015-09-28 | A kind of three side chain of seven freedom parallel connection symmetrical mechanism for plate splicing |
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| CN105328693A true CN105328693A (en) | 2016-02-17 |
| CN105328693B CN105328693B (en) | 2017-03-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009354A (en) * | 2017-04-24 | 2017-08-04 | 上海宇航***工程研究所 | The 2SPS+RRPRR robots grasping mechanism spliced for plate |
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| CN201799861U (en) * | 2010-09-07 | 2011-04-20 | 上海工程技术大学 | High-load three-rotation parallel connection mechanism |
| CN104889978A (en) * | 2015-07-01 | 2015-09-09 | 北京工业大学 | Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism |
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2015
- 2015-09-28 CN CN201510626821.0A patent/CN105328693B/en active Active
Patent Citations (5)
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| CN1311083A (en) * | 2001-02-27 | 2001-09-05 | 燕山大学 | Three free degree moving parallel connected robot mechanism |
| CN1644312A (en) * | 2005-02-06 | 2005-07-27 | 燕山大学 | Four freedom parallel robot mechanism with passive bound branch |
| CN1861328A (en) * | 2005-10-10 | 2006-11-15 | 燕山大学 | Adjustable 3,4,5-SPS type parallel mechanism experiment bench |
| CN201799861U (en) * | 2010-09-07 | 2011-04-20 | 上海工程技术大学 | High-load three-rotation parallel connection mechanism |
| CN104889978A (en) * | 2015-07-01 | 2015-09-09 | 北京工业大学 | Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009354A (en) * | 2017-04-24 | 2017-08-04 | 上海宇航***工程研究所 | The 2SPS+RRPRR robots grasping mechanism spliced for plate |
| CN107009354B (en) * | 2017-04-24 | 2020-05-12 | 上海宇航***工程研究所 | 2SPS + RRPRR robot grabbing mechanism for plate splicing |
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| CN105328693B (en) | 2017-03-29 |
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