CN114147690B - Two-degree-of-freedom parallel adjustment platform mechanism based on four-bar tensioning integral structure - Google Patents
Two-degree-of-freedom parallel adjustment platform mechanism based on four-bar tensioning integral structure Download PDFInfo
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- CN114147690B CN114147690B CN202111511954.5A CN202111511954A CN114147690B CN 114147690 B CN114147690 B CN 114147690B CN 202111511954 A CN202111511954 A CN 202111511954A CN 114147690 B CN114147690 B CN 114147690B
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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 invention discloses a two-degree-of-freedom parallel adjustment platform mechanism based on a four-bar tensioning integral structure, which comprises a fixed platform, a working platform and a hollow sphere, wherein the fixed platform and the working platform are connected through the hollow sphere, and four uniformly distributed linear drivers, four uniformly distributed flexible hinges and two adjacently arranged elastic linear guide rail mechanisms are arranged between the fixed platform and the working platform. The invention combines the stretching integral structure with the parallel platform, achieves the characteristics of self balance and self stability, can reach a large span, and has extremely light dead weight.
Description
Technical Field
The invention relates to the technical field of space robot structures, in particular to a two-degree-of-freedom parallel adjustment platform mechanism based on a four-bar tensioning integral structure.
Background
The parallel mechanism is also called as a parallel robot mechanism and mainly comprises a motion platform and a fixed platform, and is a closed loop mechanism formed by connecting two or more branch motion chains. The parallel mechanism is usually formed by combining different components, for example, a traditional rigid mechanism is formed by connecting a plurality of rigid members by a kinematic pair, and the rigid members are subjected to relative movement by the kinematic pair.
However, the kinematic pair of the conventional rigid mechanism is complex in structure, and has unavoidable friction, abrasion and gaps, and errors generated in the machining process of the mechanical structure, which cannot well meet the design requirements of the modern space mechanism.
Therefore, providing a two-degree-of-freedom parallel adjustment platform mechanism based on a four-bar tensegrity structure for improving the motion precision is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a two-degree-of-freedom parallel adjustment platform mechanism based on a four-bar tensioning integral structure, which eliminates the clearance of a parallel mechanism kinematic pair, optimizes the parallel mechanism and improves the motion precision of the tensioning integral parallel mechanism.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a two degree of freedom parallel adjustment platform mechanisms based on four stretch-draw integral structure, includes fixed platform, work platform and hollow sphere, fixed platform with work platform passes through hollow sphere connects, and fixed platform with be provided with four evenly distributed's linear drive, four evenly distributed's flexible hinge and two adjacent elastic linear guide mechanisms who arranges between the work platform.
By adopting the scheme, the invention has the beneficial effects that:
the tension integral structure is combined with the parallel platform, so that the characteristics of self balance and self stability are achieved, a large span can be achieved, and the self weight is extremely light.
Further, the fixing platform comprises a ball seat and four support columns, and the four support columns are respectively fixed at the periphery of the ball seat and are uniformly distributed; the working platform and the fixed platform are coaxially and parallelly distributed; a through hole is formed in the center of the working platform; the upper part of the hollow sphere is sleeved in the through hole, and the lower part of the hollow sphere is placed and nested in the ball seat.
The beneficial effects that adopt the production of above-mentioned further technical scheme are, through the spacing of through-hole and ball seat, can guarantee that hollow spheroidal centre of sphere position is unchangeable.
Further, one end of the linear driver is hinged with the supporting column, and the other end of the linear driver is hinged with the working platform.
Further, one end of the flexible hinge is fixedly connected with the support column, and the other end of the flexible hinge is fixedly connected with the corner end of the working platform.
Further, the elastic linear guide mechanism includes:
the top end of the square guide rail is hinged with the working platform;
the first sliding block is nested on the square guide rail;
the second sliding block is nested on the square guide rail and positioned at the bottom of the first sliding block;
the second sliding block is connected with the cylindrical guide rail through a first linear bearing; two ends of the cylindrical guide rail are respectively fixed on two adjacent support columns;
the two spring assemblies are respectively sleeved at two ends of the cylindrical guide rail; the first sliding block is connected with the two spring assemblies through two connecting rods respectively.
Adopt the beneficial effect that above-mentioned further technical scheme produced to, square guide rail's top is articulated with work platform, can restrict work platform's rotation, realizes work platform two degrees of freedom upset functions, and under the combined action with flexible hinge both, can make work platform get back to steady state fast.
Further, the spring assembly comprises a first spring, a second linear bearing and a second spring, and the first spring, the second linear bearing and the second spring are sleeved at the end part of the cylindrical guide rail in sequence; the first sliding block is connected with the second linear bearing through the connecting rod.
Further, two ends of the linear driver are respectively connected with the support column and the working platform through spherical hinges.
Further, two ends of the flexible hinge are fixedly connected with the supporting column and the corner end of the working platform through hooks respectively.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a two-degree-of-freedom parallel adjustment platform mechanism based on a four-bar tensegrity structure;
fig. 2 is a schematic structural view of an elastic linear guide mechanism provided by the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 and 2, the embodiment of the invention discloses a two-degree-of-freedom parallel adjustment platform mechanism based on a four-bar tensioning integral structure, which comprises a fixed platform 1, a working platform 2 and a hollow sphere 3, wherein the fixed platform 1 and the working platform 2 are connected through the hollow sphere 3, and four uniformly distributed linear drivers 4, four uniformly distributed flexible hinges 5 and two adjacently arranged elastic linear guide mechanisms 6 are arranged between the fixed platform 1 and the working platform 2.
The invention combines the stretching integral structure with the parallel platform, achieves the characteristics of self balance and self stability, can reach a large span, and has extremely light dead weight.
Specifically, the fixed platform 1 comprises a ball seat 11 and four support columns 12, and the four support columns 12 are respectively fixed at the periphery of the ball seat 11 and are uniformly distributed; the working platform 2 and the fixed platform 1 are coaxially and parallelly distributed; a through hole is formed in the center of the working platform 2; the upper part of the hollow sphere 3 is sleeved in the through hole, and the lower part of the hollow sphere 3 is placed and nested in the ball seat 11.
Specifically, one end of the linear driver 4 is hinged with the support column 12, and the other end of the linear driver 4 is hinged with the working platform 2.
Specifically, one end of the flexible hinge 5 is fixedly connected with the support column 12, and the other end of the flexible hinge 5 is fixedly connected with the corner end of the working platform 2.
Specifically, the elastic linear guide mechanism 6 includes:
the top end of the square guide rail 61 is hinged with the working platform 2;
a first slider 62, the first slider 62 being nested on the square guide rail 61;
the second sliding block 63, the second sliding block 63 is nested on the square guide rail 61 and is positioned at the bottom of the first sliding block 62;
a cylindrical guide rail 64, the second slider 63 being connected to the cylindrical guide rail 64 by a first linear bearing 65; the two ends of the cylindrical guide rail 64 are respectively fixed on the two adjacent support columns 12;
two spring assemblies respectively sleeved at two ends of the cylindrical guide rail 64; the first slider 62 is connected to the two spring assemblies by two links 66, respectively.
Specifically, the spring assembly includes a first spring 67, a second linear bearing 68 and a second spring 69, where the first spring 67, the second linear bearing 68 and the second spring 69 are sleeved at the end of the cylindrical guide rail 64 in sequence; the first slider 62 is connected to the second linear bearing 68 by a connecting rod 66.
Specifically, two ends of the linear driver 4 are respectively connected with the support column 12 and the working platform 2 through spherical hinges.
Specifically, two ends of the flexible hinge 5 are fixedly connected with the support column 12 and the corner end of the working platform 2 through hooks 7 respectively.
The working principle of the invention is as follows: under initial condition, four flexible hinges are in the taut state, and two elastic linear guide mechanisms are in the compression state, for wholly providing initial stress, when work platform moves, because square guide rail is articulated with work platform, first slider moves on square guide rail for two second linear bearings move along cylindrical guide rail under the connecting rod effect, under first spring, second spring and flexible hinge combined action again, can make work platform get back to steady state fast.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. The two-degree-of-freedom parallel adjustment platform mechanism based on the four-bar tensioning integral structure is characterized by comprising a fixed platform, a working platform and a hollow sphere, wherein the fixed platform and the working platform are connected through the hollow sphere, and four uniformly distributed linear drivers, four uniformly distributed flexible hinges and two adjacently arranged elastic linear guide rail mechanisms are arranged between the fixed platform and the working platform;
the fixing platform comprises a ball seat and four support columns, and the four support columns are respectively fixed at the periphery of the ball seat and are uniformly distributed; the working platform and the fixed platform are coaxially and parallelly distributed; a through hole is formed in the center of the working platform; the upper part of the hollow sphere is sleeved in the through hole, and the lower part of the hollow sphere is placed and nested in the ball seat;
the elastic linear guide mechanism comprises:
the top end of the square guide rail is hinged with the working platform;
the first sliding block is nested on the square guide rail;
the second sliding block is nested on the square guide rail and positioned at the bottom of the first sliding block;
the second sliding block is connected with the cylindrical guide rail through a first linear bearing; two ends of the cylindrical guide rail are respectively fixed on two adjacent support columns;
the two spring assemblies are respectively sleeved at two ends of the cylindrical guide rail; the first sliding block is connected with the two spring assemblies through two connecting rods respectively; the spring assembly comprises a first spring, a second linear bearing and a second spring, and the first spring, the second linear bearing and the second spring are sleeved at the end part of the cylindrical guide rail in sequence; the first sliding block is connected with the second linear bearing through the connecting rod.
2. The two-degree-of-freedom parallel adjustment platform mechanism based on a four-bar tensegrity structure according to claim 1, wherein one end of the linear driver is hinged to the support column, and the other end of the linear driver is hinged to the working platform.
3. The two-degree-of-freedom parallel adjustment platform mechanism based on the four-bar tensegrity structure according to claim 1, wherein one end of the flexible hinge is fixedly connected with the support column, and the other end of the flexible hinge is fixedly connected with the corner end of the working platform.
4. The two-degree-of-freedom parallel adjustment platform mechanism based on the four-bar tensegrity structure according to claim 2, wherein two ends of the linear driver are respectively connected with the support column and the working platform through spherical hinges.
5. The two-degree-of-freedom parallel adjustment platform mechanism based on the four-bar tensegrity structure according to claim 3, wherein two ends of the flexible hinge are fixedly connected with the corner ends of the support column and the working platform through hooks respectively.
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| CN105856217A (en) * | 2016-05-11 | 2016-08-17 | 哈尔滨工程大学 | Four-rod tensegrity robot |
| CN106737571A (en) * | 2016-11-15 | 2017-05-31 | 常州大学 | A kind of multidimensional vibration reduction tensioning entirety parallel institution |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH07503188A (en) * | 1992-02-04 | 1995-04-06 | ファナック ロボティクス ノース アメリカ インコーポレイテッド | lightweight robot mechanism |
| US20040013509A1 (en) * | 1999-08-05 | 2004-01-22 | Roy Shambhu Nath | Parallel kinematics mechanism with a concentric spherical joint |
| CN100484728C (en) * | 2006-12-28 | 2009-05-06 | 山东理工大学 | Three-translation orthogonal decoupling parallel micromotion platform |
| CN104002302B (en) * | 2014-05-07 | 2015-09-16 | 燕山大学 | A kind of have virtual axle two, Three Degree Of Freedom tilter |
| CN106313002A (en) * | 2016-09-13 | 2017-01-11 | 浙江理工大学 | Spatial six-degree-of-freedom compliant parallel mechanism with large stroke and high precision |
| CN106426107B (en) * | 2016-11-15 | 2019-01-25 | 常州大学 | A kind of tensioning integral vibration isolation mechanism |
| CN110539815A (en) * | 2018-05-28 | 2019-12-06 | 长春工业大学 | Bionic foot type mechanism with terrain adaptability |
| CN111216102B (en) * | 2019-12-09 | 2022-06-14 | 燕山大学 | Main and auxiliary 3PSS + S type parallel self-stabilizing platform |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856217A (en) * | 2016-05-11 | 2016-08-17 | 哈尔滨工程大学 | Four-rod tensegrity robot |
| CN106737571A (en) * | 2016-11-15 | 2017-05-31 | 常州大学 | A kind of multidimensional vibration reduction tensioning entirety parallel institution |
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