CN109531548A - A kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform - Google Patents
A kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform Download PDFInfo
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- CN109531548A CN109531548A CN201811626234.1A CN201811626234A CN109531548A CN 109531548 A CN109531548 A CN 109531548A CN 201811626234 A CN201811626234 A CN 201811626234A CN 109531548 A CN109531548 A CN 109531548A
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- 239000004744 fabric Substances 0.000 description 2
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- 230000005611 electricity Effects 0.000 description 1
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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
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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
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Abstract
The present invention provides a kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform, driving branch including upper mounting plate, lower platform and four connection upper mounting plates and lower platform, wherein, driving branch is uniformly distributed on lower platform, and the axis of two adjacent driving branches is mutually perpendicular to, the axis of two opposite driving branches is parallel to each other, towards on the contrary.It is stuck that the arrangement form of the driving branch is not easy motion platform at work, it moves smooth, simultaneously, using the form of parallel drive, keep structure of the invention compact, possess lower podium level, suitable for various working environments and possess very big bearing capacity, can be widely applied to the work requirements such as movement simulation, stable compensation, the posture adjustment vibration isolation under case of heavy load.
Description
Technical field
The present invention relates to a kind of especially a kind of orthogonal branches redundant drive heavy duty planes of planar three freedom motion platform
Three-degree-of-freedom motion platform.
Background technique
Motion platform is widely used in various industrial productions, posture adjustment vibration isolation, stablizes the fields such as compensation, certainly for plane three
By degree motion platform, existing planar three freedom motion platform mostly uses greatly the concatenated mode of multilayer movable joint to realize end
Hold the output requirement of component.It is flat that the patent of invention of Patent No. CN201510367309 provides a kind of planar three freedom movement
Platform leads to including pedestal, X-direction parallel moving mechanism, Y direction parallel moving mechanism and the Z axis rotating mechanism set gradually from the bottom up
The compound motion of X-direction parallel moving mechanism, Y direction parallel moving mechanism and Z axis rotating mechanism is crossed, it is final to realize workbench three
The movement of freedom degree；Structure is simple, and assembly efficiency is high, easy to operate.But invention height is larger, bearing capacity is low.
Summary of the invention
The purpose of the present invention is to provide a kind of low clearance, greatly carries, moves smooth and possess the flat of larger working space
Face Three-degree-of-freedom motion platform.
Specifically, the present invention provides a kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform comprising
The driving branch that upper mounting plate, lower platform and four are arranged between the upper mounting plate and lower platform,
Four drivings branch is uniformly distributed on lower platform, wherein the axis of two opposite driving branches is mutually flat
The axis of row, two adjacent driving branches is mutually perpendicular to,
The driving branch is connect by first movement pair with the lower platform, and the driving branch passes through the second prismatic pair
It is connect with the upper mounting plate, the direction of the first movement pair is consistent with driving branch's own axes direction, two neighboring driving
The axis of second prismatic pair of branch is mutually perpendicular to each other；
The driving branch includes driving device, active connection and intermediate link block, and the active connection is in
Between connected by revolute pair between link block, the revolute pair is perpendicular to plane where driving branch's axis；
Connected between the active connection and the lower platform by first movement pair, the intermediate link block with it is described
It is connected between upper mounting plate by the second prismatic pair.
Preferably, the midpoints of the axis and lower platform of opposite two drivings branch is equidistant, two opposite drives
The axis of dynamic branch is distributed in the two sides at midpoint.
Preferably, the described second mobile secondary axis surrounds square on upper mounting plate.
Preferably, the driving device is driving cylinder, and the driving cylinder in driving cylinder attachment base by means of being installed, institute
Cylinder barrel and the driving cylinder attachment base for stating driving cylinder are hinged, the cylinder rod of driving cylinder be flexibly connected that frame is hinged, two opposite drivings
The cylinder rod of the driving cylinder of branch is stretched out contrary.
Preferably, the driving cylinder two sides set that there are two along the identical first straight of driving branch's axis direction arrangement
Line guide rail, the linear slider of two first straight line guide rails respectively be flexibly connected frame and be fixedly connected, intermediate link block and upper mounting plate
Connected by second straight line guide rail, wherein the sliding rail of second straight line guide rail is fixedly connected with upper mounting plate, second straight line guide rail it is straight
Line sliding block is fixedly connected with intermediate link block.
Preferably, the driving device is lead-screw driving device, and the lead-screw driving device includes driving motor, motor peace
It shelves, lead screw support base, lead screw and feed screw nut, the motor mounting rack are fixedly mounted on lower platform, the driving electricity
Machine is mounted on motor mounting rack, and the lead screw connects lower platform so that lead screw can only be along its own axis by lead screw support base
It rotates, the input terminal of lead screw described in the output axis connection of the driving motor, the feed screw nut is fixed on the flexible connection
On frame, the feed screw nut is connect with lead screw by screw pair, the output shaft of the driving motor of two opposite driving branches
Towards on the contrary.
Preferably, the lead screw two sides set there are two along driving branch's axis direction arrangement identical first straight line
Guide rail, the linear slider of two first straight line guide rails respectively be flexibly connected frame and be fixedly connected, intermediate link block and upper mounting plate are logical
The connection of second straight line guide rail is crossed, wherein the sliding rail of second straight line guide rail is fixedly connected with upper mounting plate, the straight line of second straight line guide rail
Sliding block is fixedly connected with intermediate link block.
Preferably, the axis of the second straight line guide rail of two neighboring driving branch is mutually perpendicular to each other.
Preferably, it is flat to be provided with a collapsible three-degree-of-freedom motion for the lower part of the lower platform or the top of the upper mounting plate
Platform, the upper mounting plate of the collapsible Three-degree-of-freedom motion platform can be realized x-axis and the y-axis rotation relative to its lower platform, z-axis
Mobile single or compound motion.
Preferably, the lower platform is the semiclosed box-structure of cuboid.
The present invention has the advantage that compared with prior art
1. the present invention possesses lower podium level so that structure of the invention is compact using four driving branches in parallel,
Suitable for various working environments.The parallel-connection structure of redundant drive makes the present invention possess larger bearing capacity.
2. adjacent driven branch axis vertical take-off of the invention, the opposite arrangement for driving branch's axis parallel keeps movement flat
Platform be not easy at work it is stuck, move it is smooth.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of embodiment 1.
Fig. 2 is the schematic three dimensional views that branched layout form is driven in embodiment 1.
Fig. 3 is the partial enlarged view of driving cylinder and driving cylinder attachment base hinge portion in Fig. 1.
Fig. 4 is the partial enlarged view of driving cylinder and driving cylinder active link frame hinge portion in Fig. 1.
Fig. 5 is the schematic three dimensional views that branched layout form is driven in embodiment 2.
Fig. 6 is the partial enlarged view of the C portion of Fig. 5.
Fig. 7 is the three dimensional structure diagram of embodiment 3.
Fig. 8 is the three dimensional structure diagram of embodiment 4.
Specific embodiment
Below with reference to the attached drawing exemplary embodiment that the present invention will be described in detail, feature and aspect.It is identical attached in attached drawing
Icon note indicates element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, unless special
It does not point out, it is not necessary to attached drawing drawn to scale.
The present invention provides a kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform, as shown in Figure 1, it is wrapped
Include upper mounting plate 12, lower platform 11 and four driving branches 13 being arranged between the upper mounting plate and lower platform.
Four driving branches are uniformly distributed on lower platform 11, wherein the axis of two opposite driving branches 13 is mutually flat
The axis of row, two adjacent driving branches 13 is mutually perpendicular to.
Branch 13 is driven to connect by first movement pair with lower platform 11, driving branch 13 is put down by the second prismatic pair with upper
Platform 12 connects, and the direction of first movement pair is consistent with driving branch's own axes direction, and the second of two neighboring driving branch moves
Secondary axis is moved to be mutually perpendicular to each other.
Preferably, each driving branch 13 includes driving device, active connection and intermediate link block, and activity is even
It is connected between fitting and intermediate link block by revolute pair, revolute pair is perpendicular to plane where driving branch's axis.
Preferably, it is connected between active connection and lower platform 11 by first movement pair, intermediate link block and upper mounting plate
It is connected between 12 by the second prismatic pair.
Preferably, the midpoints of the axis and lower platform of opposite two drivings branch is equidistant, two opposite drives
The axis of dynamic branch is distributed in the two sides at midpoint.
Preferably, the axis of the second prismatic pair of four driving branches surrounds square on upper mounting plate.
Preferably, lower platform 11 is the semiclosed box-structure of cuboid.
Wherein, working principle of the present invention is as follows:
The present invention provides a kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform, as shown in Figure 1, it is wrapped
Include upper mounting plate 12, lower platform 11 and four driving branches 13 being arranged between the upper mounting plate and lower platform.
Four driving branches are uniformly distributed on lower platform 11, wherein the axis of two opposite driving branches 13 is mutually flat
The axis of row, two adjacent driving branches 13 is mutually perpendicular to.
Branch 13 is driven to connect by first movement pair with lower platform 11, driving branch 13 is put down by the second prismatic pair with upper
Platform 12 connects, and the direction of first movement pair is consistent with driving branch's own axes direction, and the second of two neighboring driving branch moves
Secondary axis is moved to be mutually perpendicular to each other.
Driving branch is provided with drive cylinder and is flexibly connected frame or feed screw nut flexible connection frame, at work, driving point
Drive cylinder flexible connection frame is flexibly connected frame with feed screw nut and can only move along a straight line along the axis direction of driving branch in branch, when
Driving cylinder cylinder rod stretched out with specific rule, is retracted or when driving motor is with specific regular forward and reverse rotation, and upper mounting plate can be with
Realize the linear motion along x-axis, the linear motion along y-axis, along the rotation of z-axis etc. is single or compound motion form.
Specific embodiment 1
It is flat in Fig. 1, Fig. 2, Fig. 3 and a kind of orthogonal branches redundant drive heavy duty planar three freedom movement shown in Fig. 4
Platform, including upper mounting plate 12, lower platform 11, four identical driving branches 13 for connecting upper mounting plate 12 and lower platform 11.Under
Platform 11 is the semiclosed box-structure of cuboid.
Every driving branch include driving cylinder 1303, driving cylinder attachment base 1302, driving cylinder flexible connection frame 1309 with
And intermediate link block 1306.The axis of driving cylinder 1303 is consistent with the place driving axis of branch 13, and cylinder barrel is connect with driving cylinder
Seat 1302 is hinged, and it is hinged that cylinder rod is flexibly connected frame 1309 with driving cylinder.
1303 two sides of driving cylinder are set there are two the identical first straight line guide rail 1307 along branch's axis direction arrangement,
The linear slider 1308 to match respectively with two sides first straight line sliding rail 1307 is fixedly connected with the frame 1309 that is flexibly connected of driving cylinder,
The flexible connection frame 1309 of driving cylinder is connect with intermediate link block 1306 by revolute pair, and the revolute pair is perpendicular to driving branched shaft
Plane where line.
Intermediate link block 1306 is connect with upper mounting plate 12 by second straight line guide rail, wherein the sliding rail of second straight line guide rail
1304 are fixedly connected with upper mounting plate 12, and the linear slider 1305 of second straight line guide rail is fixedly connected with intermediate link block 1306, phase
It is mutually perpendicular between the axis of the second straight line guide rail 1304 of adjacent two drivings branch.
Four driving branches 13 are uniformly distributed on lower platform 11, wherein the axis of two opposite driving units 13 is mutual
1303 cylinder rod of driving cylinder stretching parallel and therein is contrary, and the axis of adjacent two drivings branch 13 is mutually perpendicular to, and four
It drives in branch 13, the driving cylinder 1303 in each branch stretches out four sides that direction is respectively directed to lower platform 11.
Wherein, the often opposite two driving axis of branch 13 and being equidistant for the midpoint of lower platform 11, and divide respectively
Two sides of the cloth at midpoint.
The axis of the second straight line guide rail 1304 of four driving branches surrounds square on upper mounting plate 12.
Specific embodiment 2
A kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform shown in Fig. 5, including upper mounting plate 21,
Lower platform 22, four identical driving branches 23 for connecting upper mounting plate 21 and lower platform 22.
Driving branch 23 includes driving motor 2301, motor mounting rack 2310, lead screw support base 2311, lead screw 2302, silk
Thick stick nut 2308, feed screw nut are flexibly connected frame 2309, intermediate link block 2305.The axis of lead screw 2302 and place drive branch
23 axis are consistent, and motor mounting rack 2310 is fixedly mounted on lower platform 22, and driving motor 2301 is mounted on motor mounting rack
On 2310, lead screw 2302 connects lower platform 22 by lead screw support base 2311, drive lead screw 2302 can only along own axis
The input terminal of dynamic 2301 output shaft of motor connection lead screw 2302, feed screw nut 2308, which is fixed on, to be flexibly connected 2309 on frame, lead screw
Nut 2308 is connect with lead screw 2302 by screw pair.
2302 two sides of lead screw are set there are two the identical first straight line guide rail 2304 along branch's axis direction arrangement, point
It is not flexibly connected frame 2309 with feed screw nut with the linear slider 2303 that two sides first straight line sliding rail 2304 matches to be fixedly connected, silk
Thick stick nut is flexibly connected frame 2309 and is connect with intermediate link block 2305 by revolute pair, and the revolute pair is perpendicular to driving branch's axis
Place plane.
Intermediate link block 2305 is connect with upper mounting plate 21 by second straight line guide rail, wherein the sliding rail of second straight line guide rail
2307 are fixedly connected with upper mounting plate 21, and second straight line guide rail slide block 2306 is fixedly connected with intermediate link block 2305, two neighboring
It is mutually perpendicular between the axis of the second straight line guide rail 2307 of branch.Four driving branches 23 are uniformly distributed on lower platform 22,
Wherein the axis of opposite two driving branches 23 is parallel to each other and 2301 output shaft of motor is towards on the contrary, adjacent two drivings point
The axis of branch 23 is mutually perpendicular to, and in four driving branches 23, the driving motor 2301 in each driving branch drives feed screw nut
It is flexibly connected four sides that frame 2309 is respectively directed to lower platform 22 far from the direction of motor 2301.
Wherein, the often opposite two driving axis of branch 23 and being equidistant for the midpoint of lower platform 21, and divide respectively
Two sides of the cloth at midpoint.
The axis of four second straight line guide rails 2307 surrounds square on upper mounting plate 22.
Specific embodiment 3
As shown in fig. 7, a kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform, including upper mounting plate
12, four identical driving branches 13 of lower platform 11, connection upper mounting plate 12 and lower platform 11.Lower platform 11 is cuboid
Semiclosed box-structure.
Four driving branches 13 are uniformly distributed on lower platform 11, wherein the axis of two opposite driving branches 13 is mutual
In parallel, the axis of adjacent two driving branches 13 is mutually perpendicular to.
Branch 13 is driven to connect by first movement pair with lower platform 11, driving branch 13 is put down by the second prismatic pair with upper
Platform 12 connects, and the direction of first movement pair is consistent with driving branch's own axes direction, and the second of two neighboring driving branch moves
Secondary axis is moved to be mutually perpendicular to each other.
The present embodiment adds one collapsible three freely on the basis of embodiment 1 or embodiment 2, in the lower part of lower platform 11
Motion platform 4 is spent, the x-axis relative to its lower platform, y-axis rotation may be implemented in the upper mounting plate of the motion platform, and z-axis moves single
Or compound motion form constitutes a 6-dof motion platform after adding the Three-degree-of-freedom motion platform.
Specific embodiment 4
As shown in figure 8, a kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform, including upper mounting plate
12, four identical driving branches 13 of lower platform 11, connection upper mounting plate 12 and lower platform 11.Lower platform 11 is cuboid
Semiclosed box-structure.
Four driving branches 13 are uniformly distributed on lower platform 11, wherein the axis of two opposite driving branches 13 is mutual
In parallel, the axis of adjacent two driving branches 13 is mutually perpendicular to.
Branch 13 is driven to connect by first movement pair with lower platform 11, driving branch 13 is put down by the second prismatic pair with upper
Platform 12 connects, and the direction of first movement pair is consistent with driving branch's own axes direction, and the second of two neighboring driving branch moves
Secondary axis is moved to be mutually perpendicular to each other.
The present embodiment adds a collapsible Three Degree Of Freedom on the basis of embodiment 1 or embodiment 2 on upper mounting plate 12
Motion platform 4, the upper mounting plate of the motion platform may be implemented the x-axis relative to its lower platform, y-axis rotation, mobile single of z-axis or
Compound motion form constitutes a 6-dof motion platform after adding the Three-degree-of-freedom motion platform.
The present invention has the advantage that compared with prior art
1. the present invention possesses lower podium level so that structure of the invention is compact using four driving branches in parallel,
Suitable for various working environments.The parallel-connection structure of redundant drive makes the present invention possess larger bearing capacity.
2. adjacent driven branch axis vertical take-off of the invention, the opposite arrangement for driving branch's axis parallel keeps movement flat
Platform be not easy at work it is stuck, move it is smooth.
Finally, it should be noted that above-described embodiments are merely to illustrate the technical scheme, rather than to it
Limitation；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that:
It can still modify to technical solution documented by previous embodiment, or to part of or all technical features into
Row equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (10)
1. a kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform, it is characterised in that: it include upper mounting plate, under
Platform and four driving branches being arranged between the upper mounting plate and lower platform,
Four drivings branch is uniformly distributed on lower platform, wherein the axis of two opposite driving branches is parallel to each other,
The axis of two adjacent driving branches is mutually perpendicular to,
The driving branch is connect by first movement pair with the lower platform, and the driving branch passes through the second prismatic pair and institute
Upper mounting plate connection is stated, the direction of the first movement pair is consistent with driving branch's own axes direction, two neighboring driving branch
The second prismatic pair axis each other be mutually perpendicular to,
The driving branch includes driving device, active connection and intermediate link block, and the active connection and centre connect
Connect between block by revolute pair connect, the revolute pair perpendicular to driving branch's axis where plane,
It is connected between the active connection and the lower platform by first movement pair, the intermediate link block and described flat
It is connected between platform by the second prismatic pair.
2. orthogonal branches redundant drive heavy duty planar three freedom motion platform according to claim 1, it is characterised in that:
The midpoint of the axis and lower platform of two opposite driving branches is equidistant, the axis distribution of two opposite driving branches
In the two sides at midpoint.
3. orthogonal branches redundant drive heavy duty planar three freedom motion platform according to claim 1, it is characterised in that:
The axis of second prismatic pair of four driving branches surrounds square on upper mounting plate.
4. orthogonal branches redundant drive heavy duty planar three freedom motion platform according to claim 1, it is characterised in that:
The driving device is driving cylinder, and the driving cylinder in driving cylinder attachment base by means of being installed, the cylinder barrel of the driving cylinder
It is hinged with driving cylinder attachment base, the cylinder rod of driving cylinder be flexibly connected that frame is hinged, the driving cylinder of two opposite driving branches
Cylinder rod is stretched out contrary.
5. orthogonal branches redundant drive heavy duty planar three freedom motion platform according to claim 4, it is characterised in that:
The driving cylinder two sides set there are two along driving branch's axis direction arrangement identical first straight line guide rail, two first
The linear slider of linear guide respectively be flexibly connected frame and be fixedly connected, intermediate link block and upper mounting plate pass through second straight line guide rail
Connection, wherein the sliding rail of second straight line guide rail is fixedly connected with upper mounting plate, and the linear slider of second straight line guide rail is connect with centre
Block is fixedly connected.
6. orthogonal branches redundant drive heavy duty planar three freedom motion platform according to claim 1, it is characterised in that:
The driving device is lead-screw driving device, and the lead-screw driving device includes driving motor, motor mounting rack, lead screw support
Seat, lead screw and feed screw nut, the motor mounting rack are fixedly mounted on lower platform, and the driving motor is mounted on motor peace
It shelves, the lead screw connects lower platform so that lead screw can only be rotated along its own axis by lead screw support base, the driving
The input terminal of lead screw described in the output axis connection of motor, the feed screw nut are fixed on the flexible connection frame, the lead screw
Nut is connect with lead screw by screw pair, and the direction of the output shaft of the driving motor of two opposite driving branches is opposite.
7. orthogonal branches redundant drive heavy duty planar three freedom motion platform according to claim 6, it is characterised in that:
The lead screw two sides are set there are two the identical first straight line guide rail along driving branch's axis direction arrangement, and two first straight
The linear slider of line guide rail respectively be flexibly connected frame and be fixedly connected, intermediate link block is connected with upper mounting plate by second straight line guide rail
It connects, wherein the sliding rail of second straight line guide rail is fixedly connected with upper mounting plate, the linear slider of second straight line guide rail and intermediate link block
It is fixedly connected.
8. orthogonal branches redundant drive heavy duty planar three freedom motion platform, feature according to claim 5 or 7 exist
In: the axis of the second straight line guide rail of two neighboring driving branch is mutually perpendicular to each other.
9. orthogonal branches redundant drive heavy duty planar three freedom motion platform according to claim 1, it is characterised in that:
The lower part of the lower platform or the top of the upper mounting plate are provided with a collapsible Three-degree-of-freedom motion platform, and described collapsible three
The upper mounting plate of freedom degree motion platform can be realized x-axis and the y-axis rotation relative to its lower platform, and z-axis moves single or multiple
Resultant motion.
10. orthogonal branches redundant drive heavy duty planar three freedom motion platform according to claim 1, feature exist
In: the lower platform is the semiclosed box-structure of cuboid.
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| CN201811626234.1A CN109531548A (en) | 2018-12-28 | 2018-12-28 | A kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform |
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| CN201811626234.1A CN109531548A (en) | 2018-12-28 | 2018-12-28 | A kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform |
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| CN110193743A (en) * | 2019-05-09 | 2019-09-03 | 徐州重型机械有限公司 | A kind of alignment positioning device and to boring machine |
| CN110142741A (en) * | 2019-05-17 | 2019-08-20 | 燕山大学 | Mixed connection frame-type moves shelter |
| CN111098291A (en) * | 2019-12-20 | 2020-05-05 | 南京全控航空科技有限公司 | Orthogonal branch redundancy driven multi-degree-of-freedom motion platform |
| CN111098291B (en) * | 2019-12-20 | 2021-01-19 | 南京全控航空科技有限公司 | Orthogonal branch redundancy driven multi-degree-of-freedom motion platform |
| CN114619215A (en) * | 2022-03-17 | 2022-06-14 | 上海智能制造功能平台有限公司 | PR-2PP double-platform equipment for intelligent assembly |
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