CN106671067A - Three-branched-chain six-degree-of-freedom parallel connection mechanism provided with arc-shaped movement pair - Google Patents
Three-branched-chain six-degree-of-freedom parallel connection mechanism provided with arc-shaped movement pair Download PDFInfo
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- CN106671067A CN106671067A CN201710143935.9A CN201710143935A CN106671067A CN 106671067 A CN106671067 A CN 106671067A CN 201710143935 A CN201710143935 A CN 201710143935A CN 106671067 A CN106671067 A CN 106671067A
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- arc
- curved rod
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- stage casing
- chain
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- 230000007246 mechanism Effects 0.000 title claims abstract description 27
- 230000005611 electricity Effects 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004899 motility Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a three-branched-chain six-degree-of-freedom parallel connection mechanism provided with an arc-shaped movement pair. The three-branched-chain six-degree-of-freedom parallel connection mechanism comprises a fixed platform, a movable platform and three branched chains in the same structure; and the three branched chains are arranged between the movable platform and the fixed platform, and are uniformly arranged on the fixed platform in the circumferential direction by taking the movable platform as the center. The three-branched-chain six-degree-of-freedom parallel connection mechanism is characterized in that each branched-chain comprises a supporting frame, a rear section arc-shaped link rod, a middle section arc-shaped link rod and a front section arc-shaped link rod; the lower parts of the supporting frames are fixedly arranged on the fixed platform; the first driving motors are arranged at the upper parts of the supporting frames; an output shaft of one first driving motor is fixedly connected with one end of one rear section arc-shaped link rod correspondingly; second driving motors are arranged at the other ends of the rear section arc-shaped link rods; an output shaft of one second driving motor is fixedly connected with one end of one middle section arc-shaped link rod correspondingly; arc-shaped cavities are formed in the other ends of the middle section arc-shaped link rods; and one end of one front section arc-shaped link rod is inserted into one arc-shaped cavity of one middle section arc-shaped link rod correspondingly.
Description
Technical field
The present invention relates to Industrial Robot Technology field, and in particular to a kind of three side chain six with arc moving sets is freely
Degree parallel institution.
Background technology
Parallel institution (Parallel Mechanism, abbreviation PM), can be defined as moving platform and fixed platform by least
Two independent kinematic chains are connected, and mechanism has two or more degree of freedom, and the one kind driven with parallel way is closed
Ring mechanism.It has the characteristics that：(1) without cumulative error, precision is higher；(2) driving means are placed on fixed platform or are close to
The position of fixed platform, such motion parts are lightweight, and speed is high, and dynamic response is good；(3) compact conformation, rigidity is high, bearing capacity
Greatly；(4) full symmetric parallel institution has preferable isotropism；(5) the features such as work space is less, is widely used in sky
Between the field such as equipment, active shock, surgical operating instrument, lathe, nano-positioning device packaging for foodstuff.
There are 2~6 degree of freedom current parallel institution more.Existing disclosed parallel institution is (including non-fully parallel machine
Structure) there are 87 kinds, wherein 3,6DOF respectively accounts for 40%, 4DOF accounts for 6%, 5DOF accounts for 3.5%, and 2DOF is accounted for
10.5%.From the point of view of by above ratio, due to the restriction of rod member, 2DOF mechanism species is seldom rational；4th, 5DOF
Parallel institution is pitiably little, its reason be people also do not find a kind of approach can the movement of 3, space, 3 rotate from
Disassembled to come by degree, for parallel institution, this is a very very difficult thing；Another reason is from symmetrical configuration
Angle is set out, 4, the parallel institution of 5DOF be difficult possess this requirement.And 6DOF robot in real life, due to it
Single side chain is easy to keep six independent degrees, so most widely used.And existing 6DOF parallel robot is most
It is on the basis of Stewart six-degree-of-freedom parallel connection mechanisms, to change the species of kinematic pair in branch, put in order and direction etc.
Develop and come.
The side chain of existing six-degree-of-freedom parallel robot is mostly SPS, UPS, RUS type structure, such as Patent No.
The Chinese patent of ZL201410388991.5 discloses a kind of three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot drive mechanism, and the mechanism includes three
Structure identical side chain, each side chain is attached by two connecting rods by way of bearing pin connection, and two connecting rods are straight line
Connecting rod, and slide block is driven by leading screw and then drives first connecting rod to rotate, it is disadvantageous in that branched form is excessively complicated, right
Claim the required precision installed too high, the load of first connecting rod carrying is larger.The patent application of Application No. 201610879835.8
A kind of Three Degree Of Freedom robot is disclosed, the side chain of the robot drives drive link to rotate by motor, and then drives rotation
Telescoping mechanism is rotated, and rotation telescoping mechanism is semicircular structure, and drive link is linear type, and it is disadvantageous in that work
When, work space is less, to rotate and be susceptible to interference between telescoping mechanism.
The content of the invention
For the deficiencies in the prior art, the technical problem to be solved in the present invention is to design a kind of with arc moving sets
Three-branch chain six-freedom degree parallel mechanism.The mechanism has three side chains, and each side chain is connected in the form of arc moving sets
Connect, and be configured with two drivings, opposing coupler between driving so that the mechanism is empty with higher motility and larger work
Between；And the forms of motion of side chain is relatively easy, mechanism precision in operation and quality are easily guaranteed that；In addition, can
To need to be applied to the fields higher to required precision such as lathe, robot detection according to different.
The present invention solves the technical scheme of the technical problem employing and is to provide a kind of three side chains with arc moving sets
Six-degree-of-freedom parallel connection mechanism, including fixed platform, moving platform and three structure identical side chains, three side chains are arranged on moving platform
And fixed platform between, and centered on moving platform, it is evenly distributed in the circumferential direction on the stationary platform；It is characterized in that：
Each side chain includes bracing frame, back segment curved rod, stage casing curved rod and leading portion curved rod, the support
Frame bottom fixedly mounts on the stationary platform, and on the top of bracing frame the first motor is provided with, the first motor it is defeated
Shaft is fixedly connected with back segment curved rod one end, and the other end of back segment curved rod is provided with the second motor, and second drives
The output shaft of galvanic electricity machine is fixedly connected with one end of stage casing curved rod, has arc empty in the other end of stage casing curved rod
Chamber, in the arc-shaped cavity of one end insertion stage casing curved rod of leading portion curved rod, and leading portion curved rod can be along stage casing
Arc-shaped cavity in curved rod does arc movement, and the other end of leading portion curved rod is connected by the way of ball pivot with moving platform
Connect.
Compared with prior art, the invention has the beneficial effects as follows：
1) present invention adopts three structure identical side chains, and each side chain to be combined by three curved rods, extremely
With one heart, leading portion curved rod can do arc movement to few two curved rods along in the cavity of stage casing curved rod, each
Chain is driven by two motors, simple and reliable for structure, and moving platform motion is more steady, and using curved rod form,
The working place of mechanism can be dramatically increased, the motility of its operation is improved.
2) parallel institution of the present invention can be directed to the different field of application, the such as lathe or medical diagnosiss of fast accurate positioning
Apparatus field, can realize the quick of moving platform as main drive source using the motor that a back segment curved rod is connected
Positioning, the connected motor of another stage casing curved rod as coordinated drive source, to help moving platform to realize the essence of position
Degree is adjusted.
3) parallel institution simple structure of the present invention, driving force is strong, moving platform stable movement, have higher isotropism with
And flexibility ratio, the fields such as lathe, medical surgical equipment, robot testing equipment can be applied to according to different demands.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structural representation of the stage casing curved rod 5 in the present invention；
Fig. 3 is the branched structure schematic diagram in the present invention；
In figure, 1. fixed platform, 2. bracing frame, 3. the first motor, 4. back segment curved rod, 5. stage casing arc connect
Bar, 6. leading portion curved rod, 7. moving platform, 8. the second motor, 9. cavity, 10. ball pivot.
Specific embodiment
The present invention is described in further detail with reference to embodiment and accompanying drawing, but not in this, as weighing to the application
The restriction of the claimed scope of profit.
The present invention with arc moving sets three-branch chain six-freedom degree parallel mechanism (abbreviation mechanism or parallel institution, referring to
Fig. 1-3) including fixed platform 1, moving platform 7 and three structure identical side chains, three side chains are arranged on moving platform and fix flat
It is evenly distributed in the circumferential direction in fixed platform 7 between platform, and centered on moving platform；
Each side chain includes a bracing frame 2 and three curved rods (i.e. back segment curved rod 4, stage casing curved rod 5
With leading portion curved rod 6), the bottom of support frame as described above 2 is fixedly mounted in fixed platform 1, and on the top of bracing frame is provided with
One motor 3, the output shaft of the first motor 3 is fixedly connected with the one end of back segment curved rod 4, back segment curved rod 4
The other end is provided with the second motor 8, and the output shaft of the second motor 8 is fixedly connected with one end of stage casing curved rod 5,
There is arc-shaped cavity 9, the arc of stage casing curved rod 5 is inserted in one end of leading portion curved rod 6 in the other end of stage casing curved rod 5
In shape cavity, and leading portion curved rod 6 and the concyclic heart of stage casing curved rod 5, leading portion curved rod 6 can connect along stage casing arc
Arc-shaped cavity in bar 5 does arc movement, and the other end of leading portion curved rod 6 is connected by the way of ball pivot 10 with moving platform 7.
It is rectangle, oval or circle etc. that further characteristic of the invention is the longitudinal section of the arc-shaped cavity 9, arc
The shape of cavity matches with the profile of leading portion curved rod 6, can guarantee that leading portion curved rod 6 along in stage casing curved rod 5
Arc-shaped cavity do arc movement.
The operation principle of three-branch chain six-freedom degree parallel mechanism of the present invention with arc moving sets be：By controlling each
The first motor being arranged on side chain on bracing frame, drives leading portion curved rod around the axle of the output shaft of the first motor
Line is rotated；Meanwhile, second motor of the drive installation on leading portion curved rod drives stage casing curved rod to drive around second
The output shaft rotation of galvanic electricity machine, and then cause leading portion curved rod to do arc shifting along the arc-shaped cavity in the curved rod of stage casing
It is dynamic so that tri- side chains of moving platform Jing drive to realize the motion of six-freedom degree.
Side chain of the present invention is adoptedType structure, by arcuate movement pairConfiguration so that mechanism has higher
Flexibility ratio and larger work space.
The present invention does not address part and is applied to prior art.
Claims (2)
1. a kind of three-branch chain six-freedom degree parallel mechanism with arc moving sets, including fixed platform, moving platform and three knots
Structure identical side chain, three side chains are arranged between moving platform and fixed platform, and centered on moving platform, along the circumferential direction
Even arrangement is on the stationary platform；It is characterized in that：
Each side chain includes bracing frame, back segment curved rod, stage casing curved rod and leading portion curved rod, under support frame as described above
Portion fixedly mounts on the stationary platform, and on the top of bracing frame the first motor, the output shaft of the first motor are provided with
It is fixedly connected with back segment curved rod one end, the other end of back segment curved rod is provided with the second motor, and second drives electricity
The output shaft of machine is fixedly connected with one end of stage casing curved rod, has arc-shaped cavity in the other end of stage casing curved rod, front
In the arc-shaped cavity of one end insertion stage casing curved rod of section curved rod, and leading portion curved rod can connect along stage casing arc
Arc-shaped cavity in bar does arc movement, and the other end of leading portion curved rod is connected by the way of ball pivot with moving platform.
2. the three-branch chain six-freedom degree parallel mechanism with arc moving sets according to claim 1, it is characterised in that institute
The longitudinal section for stating arc-shaped cavity is rectangle, oval or circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710143935.9A CN106671067B (en) | 2017-03-13 | 2017-03-13 | A kind of three-branch chain six-freedom degree parallel mechanism with arc prismatic pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710143935.9A CN106671067B (en) | 2017-03-13 | 2017-03-13 | A kind of three-branch chain six-freedom degree parallel mechanism with arc prismatic pair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106671067A true CN106671067A (en) | 2017-05-17 |
| CN106671067B CN106671067B (en) | 2018-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710143935.9A Expired - Fee Related CN106671067B (en) | 2017-03-13 | 2017-03-13 | A kind of three-branch chain six-freedom degree parallel mechanism with arc prismatic pair |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110454656A (en) * | 2019-08-14 | 2019-11-15 | 上海卫星工程研究所 | Frame-type dual mechanisms and its application method |
| US11458614B2 (en) * | 2017-06-09 | 2022-10-04 | Shenzhen Institutes Of Advanced Technology | 2 degree-of-freedoms decoupling parallel mechanism |
| CN115256355A (en) * | 2022-09-27 | 2022-11-01 | 山东六识智能科技有限公司 | Space arbitrary point arrival device |
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| CN103639712A (en) * | 2013-11-25 | 2014-03-19 | 浙江理工大学 | Three-rotation-spherical-parallel-connection mechanism |
| CN104827463A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair |
| EP2540454B1 (en) * | 2011-06-28 | 2015-08-26 | CAE Consulting & Engineering GmbH | Hybrid robot on the basis of three linear actuators with intersecting axles, a parallelism maintainer, a multifunctional pivotal link, a multi-axle pivotal link and a spatial orientation unit |
| CN104985590A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | six-freedom-degree parallel mechanism achieving partial decoupling |
| CN105291095A (en) * | 2015-11-27 | 2016-02-03 | 中国地质大学（武汉） | Six-freedom-degree heavy-load leveling robot mechanism |
| CN106426091A (en) * | 2016-10-09 | 2017-02-22 | 邯郸学院 | Three-freedom-degree robot |
| CN206519947U (en) * | 2017-03-13 | 2017-09-26 | 河北工业大学 | A kind of three-branch chain six-freedom degree parallel mechanism with arc prismatic pair |
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2017
- 2017-03-13 CN CN201710143935.9A patent/CN106671067B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2540454B1 (en) * | 2011-06-28 | 2015-08-26 | CAE Consulting & Engineering GmbH | Hybrid robot on the basis of three linear actuators with intersecting axles, a parallelism maintainer, a multifunctional pivotal link, a multi-axle pivotal link and a spatial orientation unit |
| CN103639712A (en) * | 2013-11-25 | 2014-03-19 | 浙江理工大学 | Three-rotation-spherical-parallel-connection mechanism |
| CN104827463A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair |
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| CN105291095A (en) * | 2015-11-27 | 2016-02-03 | 中国地质大学（武汉） | Six-freedom-degree heavy-load leveling robot mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11458614B2 (en) * | 2017-06-09 | 2022-10-04 | Shenzhen Institutes Of Advanced Technology | 2 degree-of-freedoms decoupling parallel mechanism |
| CN110454656A (en) * | 2019-08-14 | 2019-11-15 | 上海卫星工程研究所 | Frame-type dual mechanisms and its application method |
| CN110454656B (en) * | 2019-08-14 | 2021-09-14 | 上海卫星工程研究所 | Frame type dual mechanism and using method thereof |
| CN115256355A (en) * | 2022-09-27 | 2022-11-01 | 山东六识智能科技有限公司 | Space arbitrary point arrival device |
| CN115256355B (en) * | 2022-09-27 | 2023-01-13 | 山东六识智能科技有限公司 | Space arbitrary point arrival device |
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| CN106671067B (en) | 2018-09-18 |
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Granted publication date: 20180918 |