CN1730235A - Redundant parallel mechanism with six degrees of freedom - Google Patents
Redundant parallel mechanism with six degrees of freedom Download PDFInfo
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- CN1730235A CN1730235A CN 200510093402 CN200510093402A CN1730235A CN 1730235 A CN1730235 A CN 1730235A CN 200510093402 CN200510093402 CN 200510093402 CN 200510093402 A CN200510093402 A CN 200510093402A CN 1730235 A CN1730235 A CN 1730235A
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Abstract
The invention discloses a redundant parallel mechanism with six degrees of freedom, which comprises a movable platform, a static platform of circular guide structure with four slide blocks to form move pair, and four branching chains that every one has an end to fix on bottom of movable platform and another end connected to slide block to form revolving pair. In the invention, it can select any chain as redundant chain and the other chains as move chain to increase the rigidity of machine and avoid the odd configuration of machine; the combination form of guide rail and slide block increases the axial work space; the circular guide rail can realize the large range movement for movable platform and increase greatly the attitude space.
Description
Technical field
The present invention relates to a kind of redundant parallel mechanism with six degrees of freedom that can be used as the agent structure of parallel machine.
Background technology
Parallel machine is the lathe based on parallel institution (Parallel Mechanism).Parallel institution generally has a fixed platform and a moving platform, and both interconnect by many side chains, by changing the length and the orientation thereof of side chain, realizes that moving platform moves in certain space.This mechanism is used for machine industry, is cutter or workpiece is installed on the moving platform, and position by adjusting moving platform and attitude realize the relative motion between cutter and the workpiece, thereby finishes the processing to part.
Parallel machine has that stiffness/weight ratio is big, response speed is fast, be suitable for Machining Complicated Profile, machine tool structure is simple, technical value added is high, machine tool component is convenient to modularized design and advantage such as batch process.But the working space of parallel machine is very little, and especially configuration space generally is no more than 30 ° for the six-degree-of-freedom parallel bed, is difficult to adapt to the needs of high inclination-angle multi-coordinate numerical control operation.In addition, because the kinematic pair majority of parallel machine is a hinge, the precision of hinge, gap and contact problem such as rigidity make the available accuracy of parallel machine and rigidity reduce greatly.So little, actual accessible precision of working space and rigidity are low to be the main cause that influences parallel machine practicability.
The principal element that influences the parallel machine working space is structural constraint and unusual position shape.Improve working space and mainly contain following several method: improve axial parallel machine tool structure (1); (2) adopt mixed parallel-connection structure; (3) adopt the guide rail slide block structure; (4) adopt redundant method etc.Adopt new version, topology layout and change structural parameters etc. can improve the mechanism structure constraint, enlarge working space; But unusual position shape is the inherent characteristic of parallel institution, and when parallel machine was in unusual position shape, its moving platform had unnecessary uncontrollable free degree, the load force that with joint efforts can't the balance moving platform be subjected to of each side chain at this moment, and parallel machine has also just lost control.Parallel machine not only should be avoided being operated in unusual position shape but also should work away from unusual position shape.Redundant method can be eliminated the unusual of parallel institution, realizes crossing over configuration space, especially adopts the redundant drive can be so that the orientation capability of moving platform increases.
Summary of the invention
The purpose of this invention is to provide the superfluous She's parallel institution of a kind of six degree of freedom, described redundant parallel mechanism with six degrees of freedom is little at the parallel institution working space, the shortcoming that configuration space is little, change the movement relation of moving platform with the annexation of ball pivot, revolute pair respectively by the side chain two ends, solved the adjustment of the unusual pose of workpiece on the parallel institution of patent application of the present invention effectively with respect to ring-shaped guide rail.
The present invention is a kind of redundant parallel mechanism with six degrees of freedom, comprises a moving platform, a silent flatform and four side chains, and described silent flatform is the ring-shaped guide rail structure, and a plurality of slide blocks are installed on the ring-shaped guide rail, and slide block slides on ring-shaped guide rail and forms moving sets; One end of side chain is a ball pivot, and is installed in the bottom of moving platform by ball pivot, and the other end of side chain is connected and forms revolute pair on the slide block.
Described redundant parallel mechanism with six degrees of freedom constitutes by a moving platform, ring-shaped guide rail, four side chains with suitable four slide blocks that have of side chain.
Described redundant parallel mechanism with six degrees of freedom, by a moving platform, a ring-shaped guide rail, four side chains and three slide blocks, a ball-and-socket hinge device constitutes.
Described redundant parallel mechanism with six degrees of freedom, the top of its slide block is arranged with left support abutment and right support abutment, has axis hole on the left support abutment, has axis hole on the right support abutment, and the bottom of slide block is provided with chute; Be fastened on the ring-shaped guide rail by the chute on four slide blocks and realize being slidingly connected of four slide blocks and ring-shaped guide rail.
Described redundant parallel mechanism with six degrees of freedom, its side chain is made up of the expansion link that has ball pivot, sleeve, motor, screw mandrel and screw, motor, screw mandrel and screw are installed in the sleeve, bearing fixing is on sleeve lining, the output axle head of motor is connected with a shaft coupling, and screw mandrel is fixed on the shaft coupling and by bearings, nut sleeve is connected on the screw mandrel, expansion link is connected on the screw by screw, and expansion link and sleeve joint are provided with protecting cover.
Described redundant parallel mechanism with six degrees of freedom can be chosen a side chain arbitrarily as redundancy branched chain, can be used as movement branched chain with other side chains of its symmetry.
The advantage of redundant parallel mechanism with six degrees of freedom of the present invention: it combines the method for multiple raising parallel machine working space (1), has at first adopted the version of redundancy branched chain, and the existence of redundancy branched chain has improved the rigidity of lathe; Secondly the employing of redundant drive can be avoided the unusual position of machine tool structure shape, enlarges the working space of lathe, and two redundant drive can be eliminated the unusual of mechanism fully; At last, the form of guide rail slide block structure can improve lead rail axis to working space, and the employing of ring-shaped guide rail can realize that moving platform moves on a large scale on the circumferencial direction, thereby makes the working space of lathe on the whole circumference direction, and configuration space is improved greatly.(2) generally speaking, the orientation capability of traditional parallel institution is all very little.Compare with traditional parallel-connection structure, the moving platform of this structure can all can be realized the deflection of 90 degree on circumference 360 degree directions.(3) version of mechanism is equivalent to the combination of multiple 3RPS mechanism, so mechanism also has large-scale translation space.Be that this structure can make mechanism realize bigger configuration space on big locational space basis.
Description of drawings
Fig. 1 is the structure chart of the superfluous She's parallel institution of six degree of freedom of the present invention.
Fig. 2 is the structure chart of first slide block.
Fig. 3 is the cutaway view of first side chain.
Fig. 4 is another structure chart of redundant parallel mechanism with six degrees of freedom of the present invention.
Among the figure: 1. moving platform 21. first side chains 211. sleeves 212. expansion links 213. protecting covers 241. motors 215. shaft couplings 216. bearings 217. leading screws 218. screws 22. second side chains 23. the 3rd side chain 24. the 4th side chain 31. first slide blocks 311. left support abutments 312. right support abutments 313. axis holes 314. chutes 32. second slide blocks 33. the 3rd slide block 34. Four-sliders 4. ring-shaped guide rails 5. ball pivots 6. ball pivots
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
See also shown in Figure 1ly, the present invention is a kind of redundant parallel mechanism with six degrees of freedom, is made of a moving platform 1, ring-shaped guide rail 4, four 21,22,23 and 24 and four slide blocks 31,32,33 and 34 of side chain.First slide block 31, second slide block 32, the 3rd slide block 33 and 34 4 slide blocks of Four-slider are installed on the ring-shaped guide rail 4, and slide block slides on ring-shaped guide rail 4 and forms moving sets.One end of first side chain 21, second side chain 22, the 3rd side chain 23 and the 4th side chain 24 is installed in four positions of moving platform 1 bottom symmetrically by ball pivot, moving platform 1 is a quadrangle platform, and the other end of first side chain 21, second side chain 22, the 3rd side chain 23 and the 4th side chain 24 correspondence respectively is connected on first slide block 31, second slide block 32, the 3rd slide block 33 and the Four-slider 34 and forms revolute pair.
See also shown in Figure 2ly, its each slide block structure of redundant parallel mechanism with six degrees of freedom in the present invention is identical, so only one of them slide block is carried out open explanation in this application.The top of first slide block 31 is arranged with left support abutment 311 and right support abutment 312, has axis hole on the left support abutment 311, and the bottom that has axis hole 313, the first slide blocks 31 on the right support abutment 312 is provided with chute 314; Be fastened on the ring-shaped guide rail 4 by the chute on four slide blocks and realize being slidingly connected of four slide blocks and ring-shaped guide rail 4.
See also shown in Figure 3ly, its each branched structure of redundant parallel mechanism with six degrees of freedom in the present invention is identical, so only one of them side chain is carried out open explanation in this application.First side chain 21 is made up of the expansion link 212 that has ball pivot, sleeve 211, motor 214, screw mandrel 217 and screw 218, motor 214, screw mandrel 217 and screw 218 are installed in the sleeve 211, bearing 216 is fixed on sleeve 211 inwalls, the output axle head of motor 214 is connected with a shaft coupling 215, screw mandrel 217 is fixed on the shaft coupling 215 and by bearing 216 and supports, screw 218 is socketed on the screw mandrel 217, expansion link 212 is connected on the screw 218 by screw, and expansion link 212 is provided with protecting cover 213 with sleeve 211 joints.When work, drive screw mandrel 217 rotations by motor 214 and make screw 218 produce rectilinear motion, thereby make expansion link 213 in sleeve 211, make stretching motion.
In the present invention, can choose a side chain arbitrarily as redundancy branched chain, the side chain symmetrical with it is as movement branched chain.If choose the 3rd side chain 23 as redundancy branched chain, with first side chain 21, second side chain 22 and the 4th side chain 24 of its symmetry as movement branched chain.
See also shown in Figure 4ly, in order to determine redundancy branched chain comparatively easily, the two ends of a side chain all adopt ball-and-socket hinge device (being ball pivot 5) to connect therein, then two ends be the side chain of ball pivot as redundancy branched chain, the side chain symmetrical with it is as movement branched chain.The structure of ball pivot can be common ball-and-socket hinge device, also can be that application number is 200520103803.6 compound spherical hinge articulation mechanism.
The operation principle of redundant parallel mechanism with six degrees of freedom is: this mechanism is eight driving redundant parallel mechanism with six degrees of freedom, four drivings act on four and drive slide block, i.e. first slide block 31, second slide block 32, produce circular motion on the 3rd slide block 33 and the Four-slider 34 along ring-shaped guide rail 4, four scalable side chains, i.e. first side chain 21, second side chain 22, there are four to drive the stretching motion of realizing four side chains on the 3rd side chain 23 and the 4th side chain 24, it is redundancy branched chain that one side chain is arranged in four scalable side chains, it is a symmetrical mechanism, side chain all can be used as its movement branched chain arbitrarily, and might as well get the 3rd side chain 23 is example for redundancy branched chain.23 pairs of redundancy branched chains realize that motion of mechanism is inoperative, but the existence of redundancy branched chain 23 makes in the mechanism kinematic process and avoid the dead-centre position, realize crossing over unusual position shape, enlarge working space, can improve the rigidity of mechanism simultaneously.First side chain 21, second side chain 22 and the 4th side chain 24 in movement branched chain produces axial stretching motion by 217 of screw mandrels, driving first slide block 31, second slide block 32 and Four-slider 34 in the slide block produces when ring-shaped guide rail 4 moves, six drive acting in conjunction, make moving platform realize the motion of six-freedom degree, can make moving platform 1 realize that on all directions deflection angle reaches 90 ° deflection on a large scale.The stretching motion of being realized by motor-driven in the movement branched chain and driven slide block movement will keep coordinated movement of various economic factors relation with the motion of other movement branched chain, realize that jointly mechanism eight drives the motion of six degree of freedom.Promptly the stretching motion of first side chain 21 and the sliding motion of first slide block 31 on ring-shaped guide rail 4 will keep coordinated movement of various economic factors relation with the motion of second side chain 22 and the 4th side chain 24.In like manner obtain the movement relation of second side chain 22 and the 4th side chain 24.
Claims (8)
1, a kind of redundant parallel mechanism with six degrees of freedom comprises moving platform, silent flatform and side chain, it is characterized in that: described silent flatform is ring-shaped guide rail (a 4) structure, and ring-shaped guide rail is equipped with a plurality of slide blocks on (4), and slide block is gone up to slide at ring-shaped guide rail (4) and formed moving sets; One end of side chain is ball pivot (6), and ball pivot (6) is installed in the bottom of moving platform (1), and the other end of side chain is connected and forms revolute pair on the slide block.
2, redundant parallel mechanism with six degrees of freedom according to claim 1 is characterized in that: constitute by a moving platform (1), a ring-shaped guide rail (4), four side chains (21,22,23 and 24) with suitable four slide blocks (31,32,33 and 34) that have of side chain.
3, redundant parallel mechanism with six degrees of freedom according to claim 1, it is characterized in that: by a moving platform (1), a ring-shaped guide rail (4), four side chains (21,22,23 and 24) and three slide blocks (31,32 and 34), a ball pivot (5) mechanism constitutes.
4, according to claim 1 or 2 or 3 described redundant parallel mechanism with six degrees of freedom, it is characterized in that: the top of described first slide block (31) is arranged with left support abutment (311) and right support abutment (312), left support abutment has axis hole on (311), have axis hole (313) on the right support abutment (312), the bottom of first slide block (31) is provided with chute (314); Be fastened on ring-shaped guide rail (4) by the chute on four slide blocks and go up being slidingly connected of four slide blocks of realization and ring-shaped guide rail (4).
5, according to claim 1 or 2 or 3 described redundant parallel mechanism with six degrees of freedom, it is characterized in that: described first side chain (21) is by the expansion link that has ball pivot (212), sleeve (211), motor (214), screw mandrel (217) and screw (218) are formed, motor (214), screw mandrel (217) and screw (218) are installed in the sleeve (211), bearing (216) is fixed on sleeve (211) inwall, the output axle head of motor (214) is connected with a shaft coupling (215), screw mandrel (217) is fixed on shaft coupling (215) and goes up and supported by bearing (216), screw (218) is socketed on the screw mandrel (217), expansion link (212) is connected on the screw (218) by screw, and expansion link (212) is provided with protecting cover (213) with sleeve (211) joint.
6, redundant parallel mechanism with six degrees of freedom according to claim 1 and 2 is characterized in that: described the 3rd side chain (23) is a redundancy branched chain, with first side chain (21), second side chain (22) and the 4th side chain (24) of its symmetry be movement branched chain.
7, according to claim 1 or 3 described redundant parallel mechanism with six degrees of freedom, it is characterized in that: described two ends are that the side chain of ball-and-socket hinge device is a redundancy branched chain, with first side chain (21), second side chain (22) and the 4th side chain (24) of its symmetry be movement branched chain.
8, according to claim 1 or 2 or 3 described redundant parallel mechanism with six degrees of freedom, it is characterized in that: described moving platform (1) can realize that on all directions deflection angle reaches 90 °.
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| CN 200510093402 CN1730235A (en) | 2005-08-29 | 2005-08-29 | Redundant parallel mechanism with six degrees of freedom |
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| CN 200510093402 CN1730235A (en) | 2005-08-29 | 2005-08-29 | Redundant parallel mechanism with six degrees of freedom |
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