CN114310852A - Long-arm compound drive six-degree-of-freedom parallel mechanism - Google Patents
Long-arm compound drive six-degree-of-freedom parallel mechanism Download PDFInfo
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- CN114310852A CN114310852A CN202210117987.XA CN202210117987A CN114310852A CN 114310852 A CN114310852 A CN 114310852A CN 202210117987 A CN202210117987 A CN 202210117987A CN 114310852 A CN114310852 A CN 114310852A
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Abstract
A long-arm compound drive six-freedom-degree parallel mechanism. It comprises a base, a near-end driver and a far-end executor; the base comprises three first hinged supports, three second hinged supports and a bottom plate; the far-end actuator comprises a long-arm operating rod, a spherical hinge and a movable platform; the invention has the advantages that: the parallel mechanism has six degrees of freedom, and can be fast and well adapted to different processing conditions. The operating rod of the mechanism adopts the rigid long rod, can swing greatly, enables the movable platform to have a larger working space, and makes up the defect that the working space of the parallel mechanism is narrow. The mechanism adopts a special deformation Hooke hinge design, and an inclined hinged support is arranged on a bottom plate of the parallel mechanism, so that the stress condition of the telescopic rod can be well improved, and the stability of the mechanism is improved. The parallel mechanism is provided with three groups of identical driving branched chains, so that the production cost can be greatly reduced.
Description
Technical Field
The invention belongs to the technical field of parallel mechanisms, and particularly relates to a long-arm compound drive six-degree-of-freedom parallel mechanism.
Background
The skin is a main bearing part of the airplane, belongs to a space complex free-form surface, and is easily corroded and rubbed by air to be damaged in the flying process, so that the flying safety of the airplane is damaged. Therefore, in order to ensure the flight safety of the aircraft, maintenance work including grinding needs to be performed on the aircraft skin in time.
At present, the polishing work of the skin still mainly depends on manual work, the problems of low polishing efficiency, poor precision, high cost and the like exist, and the development of automatic polishing equipment based on a robot is urgently needed to replace manual work. The parallel mechanism has good performance, can better replace manpower to carry out grinding work of the aircraft skin, can stably and continuously work, effectively improves the grinding speed and precision of the skin, reduces the maintenance cost of the aircraft, and has great economic value. Therefore, the Chinese patent publication No. CN202010188841.5 discloses a six-degree-of-freedom parallel mechanism and adopts a compound driving mode, but the mechanism has the defects of poor working space, isotropy, stress performance of a telescopic rod and the like.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a long-arm compound drive six-degree-of-freedom parallel mechanism.
In order to achieve the aim, the long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention comprises a base, a near-end driver and a far-end actuator;
the base comprises three first hinged supports, three second hinged supports and a bottom plate; the three first hinged supports are arranged at the outer side part of the top surface of the bottom plate in a centrosymmetric mode; the three second hinged supports are arranged on the inner side of the top surface of the bottom plate in a centrosymmetric mode; the top surfaces of the first hinged support and the second hinged support are inclined surfaces which are inclined relative to the top surface of the bottom plate, each first hinged support and one second hinged support form a pair and are symmetrical relative to the center of a symmetrical point, the three symmetrical points form a regular triangle, and the center of the regular triangle is superposed with the center of the bottom plate;
the near-end driver comprises a first branched chain, a second branched chain and a third branched chain which have the same structure and are respectively arranged on a pair of first hinged support and a pair of second hinged support; each branched chain comprises a motor, a telescopic cylinder, a base and a deformed Hooke hinge; the lower ends of the two bases are respectively hinged to the first hinged support and the second hinged support, so that a first rotating pair and a second rotating pair are respectively formed, the rotating axis of the first rotating pair is parallel to the inclined plane of the first hinged support, and the rotating axis of the second rotating pair is parallel to the inclined plane of the second hinged support; each base is simultaneously provided with a motor and a telescopic cylinder, and the output end of the motor is connected with the inner end of a push rod on the telescopic cylinder; the deformed Hooke's joint comprises a long shaft and a short shaft; the long shaft comprises a middle circular shaft and two semi-long shafts, one ends of the two semi-long shafts are respectively connected to two ends of the middle circular shaft, and the axes of the two semi-long shafts have included degrees; the short shafts comprise shaft seats and two semi-short shafts, one ends of the two semi-short shafts are respectively connected to two side surfaces of the shaft seats, a central round hole is formed in the middle of the shaft seats along the axis direction perpendicular to the semi-short shafts, and the central round hole is sleeved on the middle round shaft of the long shaft in a rotating mode to form a fifth rotating pair; the two semi-long shafts are respectively hinged at the outer ends of push rods on the two telescopic cylinders, so that a third rotating pair and a fourth rotating pair are respectively formed, and the axes of the two semi-long shafts are respectively parallel to the rotating axes of the first rotating pair and the second rotating pair;
the far-end actuator comprises a long-arm operating lever, a spherical hinge and a movable platform; the upper ends of the three long-arm operating levers are respectively connected to the bottom surface of the movable platform at intervals in a centrosymmetric mode through a spherical hinge, the lower ends of the three long-arm operating levers are respectively hinged with the short shafts on the three branched chains to form a sixth revolute pair, and the rotation axis of the sixth revolute pair is overlapped with the axis of the short shaft.
The bottom plate is of a regular triangle plate-shaped structure; the first hinged support and the second hinged support are identical in structure.
The included angle between the axes of two semi-major axes on the deformed hooke joint is 150 DEG
The long arm operating lever adopts a rigid long rod.
The movable platform is of a regular triangle plate-shaped structure.
The long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention has the following advantages:
1. the operating rod adopts the rigidity stock, can swing by a wide margin, makes the movable platform have great working space, remedies the narrow and small defect in parallel mechanism working space.
2. The parallel mechanism has a special deformation Hooke's hinge design, the bottom plate is provided with the hinged support, the upper part of the hinged support is provided with the inclined plane, and the design can well improve the stress condition of the telescopic rod and greatly increase the stability of the mechanism.
3. The first branched chain, the second branched chain and the third branched chain have the same structure, so that the production and maintenance cost can be greatly reduced.
Drawings
Fig. 1 is a schematic structural view of a long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention.
Fig. 2 is a schematic diagram of a baseplate structure in a long-arm compound-drive six-degree-of-freedom parallel mechanism provided by the invention.
Fig. 3 is a schematic structural diagram of a bottom plate and a near-end driver in a long-arm compound-drive six-degree-of-freedom parallel mechanism provided by the invention.
Fig. 4 is a schematic structural view of a distal end actuator in a long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention.
Fig. 5 is a schematic diagram of a deformed hooke hinge structure in a long-arm compound-driven six-degree-of-freedom parallel mechanism provided by the invention.
Fig. 6 is a schematic view of a long axis structure of a deformed hooke joint in a long-arm compound-drive six-degree-of-freedom parallel mechanism provided by the invention.
Fig. 7 is a schematic structural view of a short shaft of a deformed hooke joint in a long-arm compound-drive six-degree-of-freedom parallel mechanism provided by the invention.
Detailed Description
The long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention is explained in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 7, the long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention comprises a base 1, a near-end driver 2 and a far-end actuator 3;
wherein the base 1 comprises three first articulated supports 101, three second articulated supports 102 and a bottom plate 103; three first hinge supports 101 are arranged at the outer side part of the top surface of the bottom plate 103 in a centrosymmetric manner; three second hinged supports 102 are arranged on the inner side of the top surface of the bottom plate 103 in a centrosymmetric manner; the top surfaces of the first and second hinged supports 101 and 102 are inclined surfaces which are inclined relative to the top surface of the bottom plate 103, each first and second hinged supports 101 and 102 is a pair and is centrosymmetric about a symmetric point 104, the three symmetric points 104 form a regular triangle, and the center of the regular triangle is coincident with the center of the bottom plate 103;
the proximal driver 2 comprises a first branched chain I, a second branched chain II and a third branched chain III which have the same structure and are respectively arranged on a pair of first articulated support 101 and a pair of second articulated support 102; each branched chain comprises a motor 4, a telescopic cylinder 5, a base 6 and a deformed Hooke hinge 7; the lower ends of the two bases 6 are respectively hinged on the first hinged support 101 and the second hinged support 102, so as to respectively form a first rotating pair 11 and a second rotating pair 12, and the rotating axis of the first rotating pair 11 is parallel to the inclined surface of the first hinged support 101, and the rotating axis of the second rotating pair 12 is parallel to the inclined surface of the second hinged support 102; each base 6 is simultaneously provided with a motor 4 and a telescopic cylinder 5, and the output end of the motor 4 is connected with the inner end of a push rod on the telescopic cylinder 5; the deformed hooke joint 7 comprises a long shaft 701 and a short shaft 702; the long shaft 701 comprises a middle circular shaft 703 and two semi-long shafts 704, one ends of the two semi-long shafts 704 are respectively connected with two ends of the middle circular shaft 703, and the axial lines of the two semi-long shafts 704 have a clamping degree; the short shaft 702 comprises a shaft seat 707 and two semi-short shafts 706, one end of each of the two semi-short shafts 706 is connected to two side surfaces of the shaft seat 707, a central circular hole 705 is formed in the middle of the shaft seat 707 along the direction perpendicular to the axis of the semi-short shaft 706, and the central circular hole 705 is rotatably sleeved on the middle circular shaft 703 of the long shaft 701 to form a fifth revolute pair 15; the two semi-long shafts 704 are respectively hinged at the outer ends of push rods on the two telescopic cylinders 5, so that a third rotating pair 13 and a fourth rotating pair 14 are respectively formed, and the axes of the two semi-long shafts 704 are respectively parallel to the rotating axes of the first rotating pair 11 and the second rotating pair 12;
the far-end actuator 3 comprises a long-arm operating rod 8, a spherical hinge 9 and a movable platform 10; the upper ends of three long-arm operating levers 8 are respectively connected to the bottom surface of the movable platform 10 at intervals through a spherical hinge 9 in a centrosymmetric manner, the lower ends of the three long-arm operating levers are respectively hinged with the short shafts 702 on the three branched chains to form a sixth revolute pair 16, and the rotation axis of the sixth revolute pair 16 is overlapped with the axis of the short shaft 702.
The bottom plate 103 is of a regular triangle plate-shaped structure; the first pivoting support 101 has the same structure as the second pivoting support 102.
The included angle between the axes of the two semi-long shafts 704 on the deformed Hooke's hinge 7 is 150 degrees.
The long-arm operating rod 8 adopts a rigid long rod.
The movable platform 10 is in a regular triangle plate-shaped structure.
Now, the vertical direction of the top surface of the bottom plate 1 is taken as the z-axis direction, the edge of the front end is taken as the y-axis direction, and the x-axis direction is determined by the right-hand rule, and the working principle of the long-arm compound drive six-degree-of-freedom parallel mechanism provided by the invention is explained as follows:
when the long-arm compound drive six-degree-of-freedom parallel mechanism is used for polishing the aircraft skin, the six motors 4 are firstly driven, and the six telescopic cylinders 5 are used as driving pairs, so that two moving degrees of freedom at one end of the long-arm operating lever 8 are driven, the long-arm operating lever 8 rotates around two rotating axes of the deformation hooke hinge 7, the other end of the long-arm operating lever 8 has three moving degrees of freedom, meanwhile, the moving platform 10 is connected with the long-arm operating lever 8 through the spherical hinge 9, the moving platform 10 obtains 3 rotating degrees of freedom and 3 moving degrees of freedom, the three branched chains have the same structure, 2 control parameters are respectively provided, and the six degrees of freedom of the moving platform 10 are controlled by 6 control parameters.
Claims (5)
1. A long-arm compound drive six-degree-of-freedom parallel mechanism is characterized in that: the long-arm compound drive six-degree-of-freedom parallel mechanism comprises a base (1), a near-end driver (2) and a far-end actuator (3);
wherein the base (1) comprises three first articulated supports (101), three second articulated supports (102) and a bottom plate (103); the three first hinged supports (101) are arranged at the outer side part of the top surface of the bottom plate (103) in a centrosymmetric mode; the three second hinged supports (102) are arranged on the inner side of the top surface of the bottom plate (103) in a centrosymmetric mode; the top surfaces of the first hinged support (101) and the second hinged support (102) are inclined surfaces which are inclined relative to the top surface of the bottom plate (103), each first hinged support (101) and one second hinged support (102) form a pair and are centrosymmetric relative to a symmetric point (104), the three symmetric points (104) form a regular triangle, and the center of the regular triangle is coincided with the center of the bottom plate (103);
the near-end driver (2) comprises a first branched chain (I), a second branched chain (II) and a third branched chain (III) which have the same structure and are respectively arranged on a pair of first hinged support (101) and a pair of second hinged support (102); each branched chain comprises a motor (4), a telescopic cylinder (5), a base (6) and a deformation Hooke joint (7); the lower ends of the two bases (6) are respectively hinged on the first hinged support (101) and the second hinged support (102), so that a first rotating pair (11) and a second rotating pair (12) are respectively formed, the rotating axis of the first rotating pair (11) is parallel to the inclined surface of the first hinged support (101), and the rotating axis of the second rotating pair (12) is parallel to the inclined surface of the second hinged support (102); each base (6) is simultaneously provided with a motor (4) and a telescopic cylinder (5), and the output end of the motor (4) is connected with the inner end of a push rod on the telescopic cylinder (5); the deformation Hooke's hinge (7) comprises a long shaft (701) and a short shaft (702); the long shaft (701) comprises a middle circular shaft (703) and two semi-long shafts (704), one ends of the two semi-long shafts (704) are respectively connected to two ends of the middle circular shaft (703), and the axial lines of the two semi-long shafts (704) have included degrees; the short shaft (702) comprises a shaft seat (707) and two semi-short shafts (706), one ends of the two semi-short shafts (706) are respectively connected to two side surfaces of the shaft seat (707), a central round hole (705) is formed in the middle of the shaft seat (707) along the direction perpendicular to the axis of the semi-short shafts (706), and the central round hole (705) is sleeved on the middle round shaft (703) of the long shaft (701) in a rotating mode to form a fifth rotating pair (15); the two semi-long shafts (704) are respectively hinged at the outer ends of push rods on the two telescopic cylinders (5) to respectively form a third revolute pair (13) and a fourth revolute pair (14), and the axes of the two semi-long shafts (704) are respectively parallel to the rotation axes of the first revolute pair (11) and the second revolute pair (12);
the far-end actuator (3) comprises a long-arm operating lever (8), a spherical hinge (9) and a movable platform (10); the upper ends of the three long-arm operating levers (8) are respectively connected to the bottom surface of the movable platform (10) through a spherical hinge (9) at intervals in a centrosymmetric mode, the lower ends of the three long-arm operating levers are respectively hinged with the short shafts (702) on the three branched chains to form a sixth revolute pair (16), and the rotation axis of the sixth revolute pair (16) is overlapped with the axis of the short shaft (702).
2. The long-arm compound drive six-degree-of-freedom parallel mechanism according to claim 1, characterized in that: the bottom plate (103) is of a regular triangular plate-shaped structure; the first hinged support (101) and the second hinged support (102) are identical in structure.
3. The long-arm compound drive six-degree-of-freedom parallel mechanism according to claim 1, characterized in that: the included angle between the axes of the two semi-long shafts (704) on the deformed Hooke's hinge (7) is 150 degrees.
4. The long-arm compound drive six-degree-of-freedom parallel mechanism according to claim 1, characterized in that: the long arm operating rod (8) adopts a rigid long rod.
5. The long-arm compound drive six-degree-of-freedom parallel mechanism according to claim 1, characterized in that: the movable platform (10) is of a regular triangle plate-shaped structure.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021112912338 | 2021-10-28 | ||
| CN202111291233 | 2021-10-28 |
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| CN114310852A true CN114310852A (en) | 2022-04-12 |
| CN114310852B CN114310852B (en) | 2023-09-26 |
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| CN202210117987.XA Active CN114310852B (en) | 2021-10-28 | 2022-02-08 | Six-degree-of-freedom parallel mechanism driven by long arm compound |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0834383A1 (en) * | 1996-10-07 | 1998-04-08 | Gec Alsthom Systemes Et Services Sa | Robot with a parallel structure |
| CN2917981Y (en) * | 2006-04-05 | 2007-07-04 | 浙江工业大学 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
| CN102357882A (en) * | 2011-09-30 | 2012-02-22 | 汕头大学 | Rope and rod hybrid-driven six-degree-of-freedom parallel robot with few branched chains |
| WO2017092105A1 (en) * | 2015-12-04 | 2017-06-08 | 中国科学院深圳先进技术研究院 | Radiation therapy bed with multiple degrees of freedom |
| CN108161490A (en) * | 2017-12-27 | 2018-06-15 | 北京交通大学 | A kind of redundant drive five-freedom parallel machine tool with big corner |
| CN113319827A (en) * | 2021-07-07 | 2021-08-31 | 天津大学 | Five-degree-of-freedom complete parallel machining robot |
-
2022
- 2022-02-08 CN CN202210117987.XA patent/CN114310852B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0834383A1 (en) * | 1996-10-07 | 1998-04-08 | Gec Alsthom Systemes Et Services Sa | Robot with a parallel structure |
| CN2917981Y (en) * | 2006-04-05 | 2007-07-04 | 浙江工业大学 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
| CN102357882A (en) * | 2011-09-30 | 2012-02-22 | 汕头大学 | Rope and rod hybrid-driven six-degree-of-freedom parallel robot with few branched chains |
| WO2017092105A1 (en) * | 2015-12-04 | 2017-06-08 | 中国科学院深圳先进技术研究院 | Radiation therapy bed with multiple degrees of freedom |
| CN108161490A (en) * | 2017-12-27 | 2018-06-15 | 北京交通大学 | A kind of redundant drive five-freedom parallel machine tool with big corner |
| CN113319827A (en) * | 2021-07-07 | 2021-08-31 | 天津大学 | Five-degree-of-freedom complete parallel machining robot |
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| CN114310852B (en) | 2023-09-26 |
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