CN108189009A - A kind of six-freedom parallel containing composite drive stablizes posture adjustment cabin - Google Patents
A kind of six-freedom parallel containing composite drive stablizes posture adjustment cabin Download PDFInfo
- Publication number
- CN108189009A CN108189009A CN201810071143.XA CN201810071143A CN108189009A CN 108189009 A CN108189009 A CN 108189009A CN 201810071143 A CN201810071143 A CN 201810071143A CN 108189009 A CN108189009 A CN 108189009A
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- China
- Prior art keywords
- connect
- branch
- connecting rod
- sliding block
- sliding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000002131 composite material Substances 0.000 title claims abstract description 33
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 15
- 230000004308 accommodation Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000000087 stabilizing effect Effects 0.000 description 2
- QFLWZFQWSBQYPS-AWRAUJHKSA-N (3S)-3-[[(2S)-2-[[(2S)-2-[5-[(3aS,6aR)-2-oxo-1,3,3a,4,6,6a-hexahydrothieno[3,4-d]imidazol-4-yl]pentanoylamino]-3-methylbutanoyl]amino]-3-(4-hydroxyphenyl)propanoyl]amino]-4-[1-bis(4-chlorophenoxy)phosphorylbutylamino]-4-oxobutanoic acid Chemical compound CCCC(NC(=O)[C@H](CC(O)=O)NC(=O)[C@H](Cc1ccc(O)cc1)NC(=O)[C@@H](NC(=O)CCCCC1SC[C@@H]2NC(=O)N[C@H]12)C(C)C)P(=O)(Oc1ccc(Cl)cc1)Oc1ccc(Cl)cc1 QFLWZFQWSBQYPS-AWRAUJHKSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A kind of six-freedom parallel of branch containing composite drive stablizes posture adjustment cabin, it includes nacelle, pedestal, connect base the composite drive branch identical with the two-strip structure of nacelle and single driving branch, Liang Tiao composite drives branch and two single driving branches are diagonally set, the both ends of the slideway base of rotatable slideway in composite drive branch are connect respectively with nacelle, two sliding rails are located at slideway base both sides, and two leading screws are located among two sliding rails；Upper and lower sliding block connect with threads of lead screw and is slidably connected with sliding rail respectively, and upper connecting rod is connect with top shoe and pedestal, is connected in the middle part of lower link and sliding block and upper connecting rod, motor is connect with leading screw；Slideway base in single driving branch is connected with nacelle, and sliding rail is located among slideway base, and sliding block connect with threads of lead screw and is slidably connected with sliding rail, and connecting rod is connect with sliding block and pedestal, and motor is connect with leading screw.Accommodation space of the present invention is big, and branch occupies little space, and impulse stroke is big, and overall load ability is strong.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of six degree of freedom stablizes posture adjustment cabin.
Background technology
Naval vessel rides the sea, and is influenced usually to generate surging, heaving, heave, rolling, pitching and revolution by wave, six
Degree of freedom shelter can handle the shaking from naval vessel, provide a stable working environment without relative acceleration, can be used as hand
Art room, laboratory, lobby etc., while also can be as the stabilized platform of certain precision instruments.
Discovery is investigated to current stabilizing cabin：Patent CN03147712.7 proposes a kind of six axis parallel-moving type dynamic analogs
Intend device, each branch is comprising a composite drive, but distribution, below upper mounting plate, whole height is excessively high, accounts for
It is big with space.Patent CN201620087798.2, it is proposed that a kind of six-degree-of-freedom vibration isolation device, six SUP branches are uniformly distributed,
P pairs allow upper mounting plate to make nacelle shape upper, and suitable for stablizing shelter, boiler-plate etc., but distribution is under upper mounting plate
Side, whole height is excessively high, and occupied space is big.Other major part stabilizing cabin is using stewart parallel institutions, and stewart is simultaneously
Online structure has the characteristics that rigidity is big, bearing capacity is strong, site error is not accumulative, but branch is arranged in nacelle lower section or four
In week, the limited size of upper mounting plate is in the distribution of branch, and the heave of big stroke needs branch's excessively occupied space, is unfavorable for narrow
The placement in place.
Invention content
Numbers of branches is reduced under the premise of ensureing that upper mounting plate degree of freedom is six, divide the purpose of the present invention is to provide one kind
The six-freedom parallel containing composite drive that branch occupies little space, rigidity is big, bearing capacity is strong stablizes posture adjustment cabin.
The present invention includes nacelle, pedestal, connect base the composite drive branch identical with the two-strip structure of nacelle and two
The identical single driving branch of structure, by the rectangular distribution, Liang Tiao composite drives branch and two single driving branches are distinguished for four branches
Diagonal setting or composite drive branch are located at two endpoints of rectangle long side, and two single driving branches are located at another long side of rectangle
Two endpoints；There are two types of structures for the composite drive branch, the first is S (RRRPP) R structures, including top shoe, is glided
Block, upper connecting rod, lower link and rotatable slideway, rotatable slideway include two sliding rails, two leading screws, a slideway base,
The top and bottom of middle slideway pedestal are connect respectively by revolute pair with nacelle, revolute pair axis vertical or with nacelle into 0 to 60
Angle is spent, two sliding rails are arranged in parallel along above-mentioned revolute pair axis in slideway base both sides, and two leading screws are parallel with two sliding rails
And it is arranged among two sliding rails；It is slidably connected while top shoe is connect with a threads of lead screw with two sliding rails, sliding block
It is slidably connected while connection with another threads of lead screw with two sliding rails；Top shoe is connected by one end of revolute pair and upper connecting rod
It connects, shaft is vertical with leading screw, and sliding block is connected by one end of revolute pair and lower link, and shaft is vertical with leading screw, lower company
The other end of bar in the middle part of revolute pair and upper connecting rod by being connected, and shaft is vertical with leading screw, and the other end of upper connecting rod passes through ball pair
It is connect with pedestal；Top shoe, sliding block, upper connecting rod, lower link, slideway have collectively constituted planar five-bar mechanism, the upper connecting rod,
The lower link is arch；Two motors are connect with leading screw, are respectively driven sliding block and are moved along sliding rail.
Second of structure of composite drive branch be S (RSSPP) structure, including top shoe, sliding block, upper connecting rod, under
Connecting rod and ground way, ground way include two sliding rails, two leading screws, a slideway base, wherein slideway base both ends with
Nacelle is connected, and two sliding rails are vertical or are arranged in parallel with nacelle into 0 to 60 degree angles in slideway base both sides, and two leading screws are in two
It is arranged in parallel among sliding rail with two sliding rails；It slides and connects with two sliding rails while top shoe is connect with a threads of lead screw
It connects, is slidably connected while sliding block is connect with another threads of lead screw with two sliding rails；Top shoe passes through ball pair and upper connecting rod
One end connection, sliding block connected by one end of ball pair and lower link, and the other end of lower link passes through revolute pair and upper connecting rod
Middle part be connected, shaft is vertical with leading screw, and the other end of upper connecting rod is connect by ball pair with pedestal, the upper connecting rod, described
Lower link is arch；Two motors are connect with leading screw, and driving sliding block is moved along sliding rail.
Single driving branches into SUP branches, including connecting rod, slideway base, sliding block, sliding rail and leading screw, wherein slideway base
It is connected with nacelle, sliding rail is vertical or is located among slideway base into 0 to 60 degree angles with nacelle, and sliding block is connect with threads of lead screw
It is slidably connected simultaneously with sliding rail, one end of connecting rod is connect by Hooke's hinge with sliding block, and the other end of connecting rod passes through ball pair and pedestal
Connection, motor are connect with leading screw, and driving sliding block is moved along sliding rail.
Liang Tiao composite drives branch has six drivings altogether with two single driving branches, when two drivings of composite drive branch
I.e. slide position is determined when determining, the branch to nacelle there are one along the power of slide direction and one perpendicular to slide direction
Power；When the single driving of single driving branch determines that i.e. slide position determines, to nacelle, there are one along Hooke's hinge axis for the branch
The power of intersection point and ball sub-center line；As long as four branches are according to certain location arrangements, in the reachable tree of nacelle, four
Branch can constrain the degree of freedom of nacelle six direction to the constraint reaction that nacelle provides, i.e. nacelle possesses determining posture.Four
There are many distribution forms in branch, and wherein composite drive branch is diagonally distributed by rectangle, composite drive branch is distributed by rectangle long side
Form can allow branch provide constraint reaction have These characteristics.In this way, six driving pairs are moved according to certain rule, nacelle
It can carry out six degree of freedom posture adjustment and then realize to stablize.
The present invention has the following advantages that compared with prior art：
1st, numbers of branches is reduced under the premise of guarantee upper mounting plate degree of freedom is six, branch occupies little space.
2nd, since branch is evenly distributed with surrounding, nacelle can make cuboid as compartment, just have sufficiently large envelope in this way
Close space.
3rd, because prismatic pair is arranged in nacelle, the lift of nacelle is very big, can meet the steady demand significantly heaved,
Also what can be dropped is very low convenient for personnel's disengaging.
Description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 1；
Fig. 2 is the three-dimensional simplified schematic diagram of the composite drive branch of S (RRRPP) R of the embodiment of the present invention 1；
Fig. 3 is the three-dimensional simplified schematic diagram of the composite drive branch of the S (RSSPP) of the embodiment of the present invention 2；
Fig. 4 is the three-dimensional simplified schematic diagram of single driving branch of the present invention；
Fig. 5 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 2；
In figure：Connect under the mono- driving branch of 1- nacelles, 2-, 3- composite drives branch, 4- pedestals, 5- flexural pivots, 6- upper connecting rods, 7-
Bar, 8- sliding blocks, 9- top shoes, the rotatable slideways of 10-, 11- slideway bases, 12- sliding rails, 13- leading screws, 14- Hooke's hinges, 15-
Sliding block, 16- ground ways.
Specific embodiment：
Embodiment 1
Six-freedom parallel shown in Fig. 1 is stablized in the schematic diagram of posture adjustment cabin, four branches by the rectangular distribution, two-strip structure
The single driving branch 2 respectively diagonal setting identical with two-strip structure of identical composite drive branch 3, passes through two composite drives point
Branch and two single driving branch connect bases 4 and nacelle 1；As shown in Fig. 2, composite drive branches into S (RRRPP) R structures, can revolve
The top and bottom for turning the slideway base 11 in slideway 10 are connect respectively by revolute pair with nacelle, the vertical side in revolute pair axis edge
To two sliding rails 12 are parallel with above-mentioned revolute pair axis and are arranged in slideway base both sides, and two leading screws 13 are put down with two sliding rails
It goes and is arranged among two sliding rails；It is slidably connected, glides with two sliding rails while top shoe 9 is connect with a threads of lead screw
It is slidably connected while block 8 is connect with another threads of lead screw with two sliding rails；Top shoe passes through revolute pair and the one of upper connecting rod 6
End connection, shaft is vertical with leading screw, and sliding block is connect by revolute pair with one end of lower link 7, and shaft is vertical with leading screw,
The other end of lower link in the middle part of revolute pair and upper connecting rod by being connected, and shaft is vertical with leading screw, and the other end of upper connecting rod passes through
Flexural pivot 5 is connect with pedestal；Top shoe, sliding block, upper connecting rod, lower link, rotatable slideway have collectively constituted planar five-bar mechanism,
Two motors are connect with leading screw, are respectively driven sliding block and are moved along sliding rail.
As shown in figure 4, single drive branches into SUP branches, the slideway base in ground way is connected with nacelle, and sliding rail is vertical
It is located among slideway base, is slidably connected while sliding block 15 is connect with threads of lead screw with sliding rail, one end of connecting rod passes through Hooke
Hinge 14 is connect with sliding block, and the other end of connecting rod is connect by ball pair with pedestal, and motor is connect with leading screw, and driving sliding block is moved along sliding rail
It is dynamic.
Embodiment 2
As shown in figure 5, four branches are by the rectangular distribution, the identical composite drive branch 3 of two-strip structure is located at rectangle long side
Two endpoints, the identical single driving branch 2 of two-strip structure is located at two endpoints of another long side of rectangle.It is as shown in figure 3, compound
11 both ends of slideway base of ground way 16 are connected with nacelle in driving branch, and two sliding rails 12 are parallel into 15 degree of angles with nacelle
Slideway base both sides are arranged in, two leading screws 13 are parallel with two sliding rails and are arranged among two sliding rails；Top shoe 9 and one
Threads of lead screw is slidably connected while connection with two sliding rails, while sliding block 8 is connect with another threads of lead screw and two
Sliding rail is slidably connected；Top shoe is connect by ball pair with one end of upper connecting rod 6, and sliding block passes through ball pair and one end of lower link 7
Connection, the other end of lower link is connected by revolute pair with the middle part of upper connecting rod, and shaft is vertical with leading screw, upper connecting rod it is another
End is connect by ball pair with pedestal；Two motors are connect with leading screw, and sliding block is moved along sliding rail in driving.
Other components are identical with connection relation and embodiment 1.
Claims (4)
1. a kind of six-freedom parallel of branch containing composite drive stablizes posture adjustment cabin, including nacelle, pedestal, connect base and cabin
The single driving branch identical with two-strip structure of the identical composite drive branch of the two-strip structure of body, it is characterised in that：Described four
By the rectangular distribution, Liang Tiao composite drives branch and two single driving branches are diagonally set respectively, the composite drive branch for branch
Including top shoe, sliding block, upper connecting rod, lower link and rotatable slideway, rotatable slideway include two sliding rails, two leading screws,
One slideway base, the wherein top and bottom of slideway base are connect respectively by revolute pair with nacelle, revolute pair axis vertical
Or with nacelle into 0 to 60 degree angles, two sliding rails are arranged in parallel along above-mentioned revolute pair axis in slideway base both sides, two leading screws
It is parallel with two sliding rails and be arranged among two sliding rails；It is slided while top shoe is connect with a threads of lead screw with two sliding rails
Dynamic connection, is slidably connected while sliding block is connect with another threads of lead screw with two sliding rails；Top shoe by revolute pair with
Upper connecting rod one end connection, shaft is vertical with leading screw, sliding block by one end of revolute pair and lower link connect, shaft and
Leading screw is vertical, and by being connected in the middle part of revolute pair and upper connecting rod, shaft is vertical with leading screw for the other end of lower link, upper connecting rod it is another
One end is connect by ball pair with pedestal；Top shoe, sliding block, upper connecting rod, lower link, rotatable slideway have collectively constituted plane five
Linkage, two motors connect with leading screw, respectively drive sliding block and moved along sliding rail；
Single driving branch includes connecting rod, sliding block, two sliding rails, a leading screw and a slideway base, wherein slideway base
It is connected with nacelle, sliding rail is vertical or is arranged in parallel with nacelle into 0 to 60 degree angles in slideway base both sides, leading screw and two sliding rails
It is parallel and be arranged among two sliding rails, it is slidably connected while sliding block is connect with threads of lead screw with sliding rail, one end of connecting rod leads to
It crosses Hooke's hinge to connect with sliding block, the other end of connecting rod is connect by ball pair with pedestal, and motor is connect with leading screw, and driving sliding block edge is sliding
Rail moves.
2. the six-freedom parallel of the branch according to claim 1 containing composite drive stablizes posture adjustment cabin, it is characterised in that：Institute
State four branches by the rectangular distribution, the identical composite drive branch of two-strip structure is located at two endpoints of rectangle long side, two knots
The identical single driving branch of structure is located at two endpoints of another long side of rectangle.
3. the six-freedom parallel of the branch according to claim 1 containing composite drive stablizes posture adjustment cabin, it is characterised in that：Institute
State composite drive branch include top shoe, sliding block, upper connecting rod, lower link and ground way, ground way include two sliding rails,
Two leading screws, a slideway base, wherein slideway base are connected with nacelle, and two sliding rails are vertical or pressed from both sides with nacelle into 0 to 60 degree
Angle is arranged in parallel in slideway base both sides, and two leading screws are parallel with two sliding rails and are arranged among two sliding rails；Top shoe with
It is slidably connected while the connection of one threads of lead screw with two sliding rails, while sliding block is connect with another threads of lead screw and two
Sliding rail is slidably connected；Top shoe is connected by one end of ball pair and upper connecting rod, and sliding block passes through ball pair and one end of lower link
Connection, two ball pair centre of sphere lines are parallel with leading screw；The other end of lower link is connected by revolute pair with the middle part of upper connecting rod,
Shaft is vertical with leading screw, and the other end of upper connecting rod is connect by ball pair with pedestal；Two motors are connect with leading screw, and then are driven
Sliding block is moved along sliding rail.
4. the six-freedom parallel of the branch according to claim 1 containing composite drive stablizes posture adjustment cabin, it is characterised in that：Institute
State upper connecting rod, the lower link shape is arch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810071143.XA CN108189009A (en) | 2018-01-25 | 2018-01-25 | A kind of six-freedom parallel containing composite drive stablizes posture adjustment cabin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810071143.XA CN108189009A (en) | 2018-01-25 | 2018-01-25 | A kind of six-freedom parallel containing composite drive stablizes posture adjustment cabin |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108189009A true CN108189009A (en) | 2018-06-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810071143.XA Pending CN108189009A (en) | 2018-01-25 | 2018-01-25 | A kind of six-freedom parallel containing composite drive stablizes posture adjustment cabin |
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| Country | Link |
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| CN (1) | CN108189009A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142741A (en) * | 2019-05-17 | 2019-08-20 | 燕山大学 | Mixed connection frame-type moves shelter |
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| CN104786215A (en) * | 2015-05-04 | 2015-07-22 | 奇瑞汽车股份有限公司 | Cylindrical coordinate type robot |
| CN105291094A (en) * | 2015-11-27 | 2016-02-03 | 中国地质大学（武汉） | Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism |
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| CN207915452U (en) * | 2018-01-25 | 2018-09-28 | 燕山大学 | A kind of six-freedom parallel stabilization posture adjustment cabin of the branch containing composite drive |
-
2018
- 2018-01-25 CN CN201810071143.XA patent/CN108189009A/en active Pending
Patent Citations (7)
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|---|---|---|---|---|
| CN101104264A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Precision assembling mechanical arm with parallel structure six-dimension force sensing |
| CN101407059A (en) * | 2008-11-06 | 2009-04-15 | 燕山大学 | Four-freedom degree industrial robot |
| CN104786215A (en) * | 2015-05-04 | 2015-07-22 | 奇瑞汽车股份有限公司 | Cylindrical coordinate type robot |
| US20160368216A1 (en) * | 2015-06-18 | 2016-12-22 | Teco Image Systems Co., Ltd. | Steel wire transmission system for three-dimensional printer and adjusting mechanism thereof |
| CN105291094A (en) * | 2015-11-27 | 2016-02-03 | 中国地质大学（武汉） | Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism |
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Non-Patent Citations (1)
| Title |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110142741A (en) * | 2019-05-17 | 2019-08-20 | 燕山大学 | Mixed connection frame-type moves shelter |
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Application publication date: 20180622 |
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