CN105666467A - Three-degree-of-freedom serial-parallel rotating platform mechanism comprising slewing driving branched chain - Google Patents
Three-degree-of-freedom serial-parallel rotating platform mechanism comprising slewing driving branched chain Download PDFInfo
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- CN105666467A CN105666467A CN201610142639.2A CN201610142639A CN105666467A CN 105666467 A CN105666467 A CN 105666467A CN 201610142639 A CN201610142639 A CN 201610142639A CN 105666467 A CN105666467 A CN 105666467A
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- platform
- fixed
- branched chain
- parallel institution
- side chain
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
A three-degree-of-freedom serial-parallel rotating platform mechanism comprising a slewing driving branched chain comprises a parallel mechanism and a slewing mechanism, wherein the parallel mechanism comprises a fixed platform, a moving platform, three linear driving branched chains which adopt identical structures and connect the fixed platform with the moving platform as well as a constraint branched chain; two ends of each linear driving branched chain are connected with the fixed platform and the moving platform respectively, one end of a fixed bearing rod of the constraint branched chain is connected with the center of the fixed platform, and the other end of the fixed bearing rod is connected with the center of the moving platform; the slewing mechanism comprises an RRS slewing driving branched chain, an upper movement platform and a lower movement platform, slewing bearings are arranged between the upper movement platform and the moving platform and between the lower movement platform and the fixed platform, and centers of the two slewing bearings are located on the same axis; two ends of the RRS slewing driving branched chain are connected with the upper movement platform and the lower movement platform respectively. The rotating platform mechanism is high in bearing capacity, large in slewing range, capable of improving the unbalance loading condition and easy to machine and manufacture and has the bright application prospect.
Description
Technical field
The invention belongs to robot field, particularly to a kind of series-parallel connection rotatable platform mechanism.
Background technology
Three Degree Of Freedom rotatable platform has broad application prospects in a lot of occasions, such as aviation simulator, ship's motion simulator, tank simulator, earthquake simulator etc., in order to simulate various space motion attitude, the docking even at space spacecraft is also applied to some extent. But, existing Three Degree Of Freedom rotatable platform mainly has three kinds of versions: tandem, parallel and series-parallel mechanism, wherein series-parallel also it is series parallel type, it has been concentrated, and conventional serial mechanism work space is big, advantage flexibly of moving, also possess the advantage that parallel institution bearing capacity is big simultaneously, thus have a good application prospect.
Existing Three-freedom-degree hybrid rotatable platform, generally comprise parallel institution and slew gear two parts, parallel institution is bearing part, for realizing rolling, two degree of freedom of pitching, the slew gear of series connection is mainly used in realizing large-scale gyration, and slew gear and driving device thereof are all arranged in above or below parallel institution, in both cases, the driving device of slew gear is installed on revolute joint place so that parallel institution and slew gear all can become the load of the other side.
Summary of the invention
It is an object of the invention to provide that a kind of bearing capacity is high and revolution range the is big high performance Three-freedom-degree hybrid rotatable platform mechanism driving side chain containing revolution.
Technical scheme is as follows:
The present invention includes parallel institution and slew gear two parts, and wherein the moving platform of parallel institution is connected respectively through floating bearing with the lower motion platform of slew gear with the upper motion platform of slew gear, the fixed platform of parallel institution.
Described parallel institution includes the identical linear drives side chain of fixed platform, moving platform, connection fixed platform and the three of moving platform structures and a constrained branched chain. Wherein, one end of linear drives side chain is connected with fixed platform respectively through U pair, and its other end is connected with moving platform respectively through S pair, and three U sub-centers are evenly arranged in fixed platform edge, and three S sub-centers are evenly arranged in moving platform edge;One end of the fixed bearing bar of constrained branched chain is connected with fixed platform center, and the other end of this fixed bearing bar is connected with moving platform center by U pair.
Described slew gear includes a RRS revolution and drives side chain, upper motion platform and lower motion platform, upper motion platform is coupled with the moving platform in above-mentioned parallel institution by floating bearing, this floating bearing center is coaxial with the U sub-center of the constrained branched chain of above-mentioned parallel institution, lower motion platform is coupled with the fixed platform in parallel institution by external tooth type floating bearing, and above-mentioned two floating bearing center is on the same axis; Little gear is connected with the output shaft of motor, and this little gear engages with the gear wheel of external tooth type floating bearing; The outer peripheral face of described upper motion platform is provided with the connection sheet being connected as a single entity with it, the outer peripheral face of described lower motion platform is provided with the boss being connected as a single entity with it, described RRS revolution drives secondary by R and lower motion platform the boss of lower link of side chain to be connected, secondary by another R and upper connecting rod the one end of the other end of this lower link is connected, on this, secondary by S and upper motion platform the connection sheet of the other end of connecting rod connects, and two R secondary axises are parallel. By driving lower motion platform to turn round, lower motion platform drives RRS revolution to drive side chain that gyration is transferred to upper motion platform so that it is do gyration around moving platform.
The present invention compared with prior art has the advantage that
1, parallel institution part contains three driving side chains being arranged symmetrically with, and is used for realizing roll and pitch motion, substantially improves unbalance loading situation;
2, the driving device of slew gear is arranged in frame, and drives motion platform in a chain belt to turn round around parallel institution moving platform by a revolution, without the weight bearing top parallel institution, greatly increases the bearing capacity of this turntable;
3, the S secondary axis center of slew gear RRS side chain is without certain shaft axis secondary by the U of constrained branched chain so that processing is easy in mechanism, and cost reduces.
Accompanying drawing explanation
The master that accompanying drawing 1 is the present invention looks simplified schematic diagram.
Accompanying drawing 2 is the schematic perspective view of the present invention.
In figure: 1, fixed platform 2, lower motion platform 3, revolute pair A (R secondary) 4, lower link 5, motor A6, revolute pair B (R is secondary) 7, upper connecting rod 8, ball pivot A (S is secondary) 9, floating bearing 10, moving platform 11, upper motion platform 12, ball pivot B (S is secondary) 13, Hooke's hinge A (U is secondary) 14, fixed bearing bar 15, linear drives side chain 16, Hooke's hinge B (U is secondary) 17, motor B18, little gear 19, external tooth type floating bearing
Detailed description of the invention
In Fig. 1, the Three-freedom-degree hybrid rotatable platform schematic diagram shown in 2, the moving platform 10 of parallel institution is connected each through floating bearing with the lower motion platform 2 of slew gear with the upper motion platform 11 of slew gear, the fixed platform 1 of parallel institution.
The one end of the linear drives side chain 15 that three structures in described parallel institution are identical is connected with fixed platform respectively through Hooke's hinge B16, its other end is connected with moving platform respectively through ball pivot B12, and three Hooke's hinge centers are evenly arranged in fixed platform edge, three ball pivot centers are evenly arranged in moving platform edge; One end of the fixed bearing bar 14 of constrained branched chain is connected with fixed platform center, and the other end of this fixed bearing bar is connected with moving platform center by Hooke's hinge A13.
Upper motion platform in described slew gear is coupled with the moving platform in above-mentioned parallel institution by floating bearing 9, this floating bearing center and the Hooke's hinge central coaxial of constrained branched chain in above-mentioned parallel institution, lower motion platform is coupled with the fixed platform in parallel institution by external tooth type floating bearing 19, and the center of above-mentioned floating bearing and external tooth type floating bearing is on the same axis;Little gear 18 is connected with the output shaft of motor B17, and this little gear engages with the gear wheel of external tooth type floating bearing; The outer peripheral face of described upper motion platform is provided with the connection sheet being connected as a single entity with it, the outer peripheral face of described lower motion platform is provided with the boss being connected as a single entity with it, described RRS revolution drives the lower link 2 of side chain to be connected with the boss of lower motion platform by revolute pair A3, the other end of this lower link is connected with one end of upper connecting rod 7 by another revolute pair B6, on this, the other end of connecting rod is connected by the connection sheet of ball pivot A8 with upper motion platform, and two revolute pair axis are parallel. By driving lower motion platform to turn round, lower motion platform drives RRS revolution to drive side chain that gyration is transferred to upper motion platform so that it is do gyration around moving platform.
Claims (3)
1. the Three-freedom-degree hybrid rotatable platform mechanism driving side chain containing revolution, it is characterized in that: it includes parallel institution and slew gear two parts, wherein the moving platform of parallel institution is connected respectively through floating bearing with the lower motion platform of slew gear with the upper motion platform of slew gear, the fixed platform of parallel institution.
2. the Three-freedom-degree hybrid rotatable platform mechanism driving side chain containing revolution according to claim 1, it is characterised in that: described parallel institution includes the identical linear drives side chain of fixed platform, moving platform, connection fixed platform and the three of moving platform structures and a constrained branched chain. Wherein, one end of linear drives side chain is connected with fixed platform respectively through U pair, and its other end is connected with moving platform respectively through S pair, and three U sub-centers are evenly arranged in fixed platform edge, and three S sub-centers are evenly arranged in moving platform edge; One end of the fixed bearing bar of constrained branched chain is connected with fixed platform center, and the other end of this fixed bearing bar is connected with moving platform center by U pair.
3. the Three-freedom-degree hybrid rotatable platform mechanism driving side chain containing revolution according to claim 1, it is characterized in that: described slew gear includes a RRS revolution and drives side chain, upper motion platform and lower motion platform, upper motion platform is coupled with the moving platform in above-mentioned parallel institution by floating bearing, this floating bearing center is coaxial with the U sub-center of constrained branched chain in above-mentioned parallel institution, lower motion platform is coupled with the fixed platform in parallel institution by external tooth type floating bearing, above-mentioned two floating bearing center is on the same axis, described RRS revolution drives secondary by R and lower motion platform the boss of lower link of side chain to be connected, secondary by another R and upper connecting rod the one end of the other end of this lower link is connected, on this, secondary by S and upper motion platform the connection sheet of the other end of connecting rod connects, and two R secondary axises are parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610142639.2A CN105666467B (en) | 2016-03-14 | 2016-03-14 | A kind of Three-freedom-degree hybrid rotatable platform mechanism of the branch containing revolution driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610142639.2A CN105666467B (en) | 2016-03-14 | 2016-03-14 | A kind of Three-freedom-degree hybrid rotatable platform mechanism of the branch containing revolution driving |
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| CN105666467A true CN105666467A (en) | 2016-06-15 |
| CN105666467B CN105666467B (en) | 2018-06-08 |
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| CN201610142639.2A Active CN105666467B (en) | 2016-03-14 | 2016-03-14 | A kind of Three-freedom-degree hybrid rotatable platform mechanism of the branch containing revolution driving |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108340353A (en) * | 2018-03-12 | 2018-07-31 | 武汉理工大学 | A kind of imitative wrist joint submissive milling robot in parallel |
| CN113002698A (en) * | 2021-03-29 | 2021-06-22 | 清华大学 | Five-degree-of-freedom parallel mechanism with double-acting platform and carrier-borne stable platform |
| CN115816423A (en) * | 2022-09-20 | 2023-03-21 | 北京萌友智能科技有限公司 | Parallel mechanism holder device for robot, pose control method and controller |
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| CN108340353A (en) * | 2018-03-12 | 2018-07-31 | 武汉理工大学 | A kind of imitative wrist joint submissive milling robot in parallel |
| CN113002698A (en) * | 2021-03-29 | 2021-06-22 | 清华大学 | Five-degree-of-freedom parallel mechanism with double-acting platform and carrier-borne stable platform |
| CN115816423A (en) * | 2022-09-20 | 2023-03-21 | 北京萌友智能科技有限公司 | Parallel mechanism holder device for robot, pose control method and controller |
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| CN105666467B (en) | 2018-06-08 |
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