CN103350417A

CN103350417A - Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation

Info

Publication number: CN103350417A
Application number: CN2013103198058A
Authority: CN
Inventors: 王攀峰; 赵学满
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2013-07-25
Filing date: 2013-07-25
Publication date: 2013-10-16
Anticipated expiration: 2033-07-25
Also published as: CN103350417B

Abstract

The invention discloses a parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation, comprising a fixed frame and a moving platform, five driving devices are fixedly connected to the fixed frame, and the moving platform includes a center plate and vertically penetrates through the center of the center plate The rocker is connected by Hooke hinge between the center plate and the rocker, and two ball rods are fixed on the upper end of the rocker; there are three first branch chains connected between the fixed frame and the center plate, and the fixed frame and the two There are two second branch chains connected between the ball head rods; the center plate is driven by the three first branch chains to realize three-dimensional translation, and the rocker is driven by the two second branch chains to realize relative to the center plate through the Hooke hinge. Two-dimensional rotation of the rocker, so that the rocker has three degrees of freedom in translation and two degrees of freedom in rotation. The invention has a simple and compact structure, uses the Hooke hinge to cleverly realize five degrees of freedom, reduces the complexity of the mechanism, and easily realizes high-speed, high-precision and complex grasping.

Description

Can realize the parallel institution of three-dimensional translating two-dimensional rotary

Technical field

The present invention relates to a kind of robot, particularly relate to a kind of parallel institution with space five-freedom of robot.

Background technology

The mechanism that at present domestic research to the space six-degree-of-freedom parallel connection mechanism still concentrates on machining or measures purposes, and less for the space six-degree-of-freedom parallel connection mechanism research of the high-speed motion realized that is applied to the material pick-and-place.

There is in the world minority to can be applicable to the space six-degree-of-freedom parallel connection mechanism of material pick-and-place.Patent documentation US20110097184A1 discloses a kind of parallel institution of realizing three-dimensional translating and Three dimensional rotation, comprises fixed mount, moving platform, Three Degree Of Freedom wrist and is arranged symmetrically in three side chains that structure is identical between described fixed mount and the moving platform; Be connected with drive unit on the described fixed mount; Described moving platform is connected with lower connecting axle; Every side chain comprises hack lever far away that nearly hack lever is parallel with two and drive end, connecting axle, and drive end is affixed on described nearly hack lever one end and the described fixed mount, and the other end is connected with connecting axle; Described two parallel hack lever far away one ends respectively with the two ends ball-joint of described upper connecting axle, the other end respectively with described lower connecting axle ball-joint; Described Three Degree Of Freedom wrist is fixed in described moving platform; Be connected with drive end between described two parallel hack levers far away; Drive end is affixed between described connecting axle one end and the described hack lever far away, and the other end and described Three Degree Of Freedom wrist input are affixed.The limitation of said mechanism is: the drive end of Three Degree Of Freedom wrist is fixed between two hack levers far away, increases quality and the inertia of these mechanism kinematic parts, affects the dynamic property of said mechanism, causes this mechanism to be difficult to realize high-speed motion.

Summary of the invention

For above-mentioned prior art, the invention provides a kind of parallel institution of realizing the three-dimensional translating two-dimensional rotary, have the characteristics of light inertia, high power density, can be used for the parallel manipulator with five freedom degrees of high-speed motion.

In order to solve the problems of the technologies described above, a kind of parallel institution of realizing the three-dimensional translating two-dimensional rotary of the present invention, comprise fixed mount and moving platform, be connected with five drive units on the described fixed mount, described moving platform comprises central plate and vertically through the rocking bar of central plate center, adopt Hooke's hinge to be rotationally connected between described central plate and the described rocking bar, the upper end of described rocking bar is fixed with two ball rods; Be connected with three the first side chains between described fixed mount and the central plate, be connected with two the second side chains between described fixed mount and described two ball rods; Described the first side chain is parallel to each other by nearly hack lever, upper connecting axle, two and isometric the first hack lever far away and lower connecting axle consists of; Described the second side chain is made of with lower connection spherical hinge nearly hack lever, upper connection spherical hinge, the second hack lever far away; In described the first side chain, be connected by revolute pair between one end of described nearly hack lever and the described fixed mount and affixed with the output of a drive unit, the other end of described nearly hack lever and described upper connecting axle are affixed, one end of two first hack levers far away respectively with described upper connecting axle ball-joint, the other end of two first hack levers far away respectively with described lower connecting axle ball-joint; Upper connecting axle, two parallel and isometric the first hack lever far away and lower connecting axles in every first side chain consist of a parallelogram sturcutre; In described the second side chain, be connected by revolute pair between one end of described nearly hack lever and the described fixed mount and affixed with the output of a drive unit, the other end of described nearly hack lever is by an end ball-joint of described upper connection spherical hinge and the described second hack lever far away, and the other end of the described second hack lever far away is by described lower connection spherical hinge and described ball rod ball-joint; Described central plate is realized three-dimensional translating under the drive of three the first side chains, thereby drive rocking bar and realize three-dimensional translating, described rocking bar is by realizing two-dimensional rotary with respect to described central plate by Hooke's hinge under the drive of two the second side chains, thereby make existing three translational degree of freedom of rocking bar, two rotational freedoms are arranged again.

Further, described Hooke's hinge comprises Hooke inner ring and Hooke outer ring, and described Hooke inner ring is connected with the Hooke outer ring rotating, and described Hooke inner ring and described rocking bar are affixed, and described Hooke outer ring and described central plate are rotationally connected.

Compared with prior art, the invention has the beneficial effects as follows:

The present invention is simple and compact for structure, need not enlarger, utilizes Hooke's hinge to realize cleverly five degree of freedom, has reduced mechanism complexity, has reduced heavy moving parts, has improved kinematic accuracy, easily realizes at a high speed crawl, and satisfies the requirement of complicated pick-and-place operation.

Description of drawings

Fig. 1 is the integrated model schematic diagram of the present invention's parallel institution that can realize the three-dimensional translating two-dimensional rotary;

Fig. 2 is the structural representation of moving platform among the present invention;

Fig. 3 is the structural representation of Hooke's hinge among the present invention.

Among the figure: 1-drive unit, 2-fixed mount, the nearly hack lever of 3-, the upper connection of 4-spherical hinge, the upper connecting axle of 5-, 6-the second hack lever far away, 6a, 6b-the first hack lever far away connect spherical hinge under the 7-, connecting axle under the 8-, 9-moving platform, the 10-central plate, 11-Hooke inner ring, 12-Hooke outer ring, 13-rocking bar.

The specific embodiment

Below in conjunction with the specific embodiment the present invention is described in further detail.

As shown in Figure 1, a kind of parallel institution of realizing the three-dimensional translating two-dimensional rotary of the present invention, comprise fixed mount 2 and moving platform 9, be connected with five drive units 1 on the described fixed mount 2, as depicted in figs. 1 and 2, described moving platform 9 comprises central plate 10 and vertically through the rocking bar 13 of central plate 10 centers, as shown in Figure 3, adopt Hooke's hinge to be rotationally connected between described central plate 10 and the described rocking bar 13, described Hooke's hinge comprises Hooke inner ring 11 and Hooke outer ring 12, described Hooke inner ring 11 is rotationally connected with Hooke outer ring 12, described Hooke inner ring 11 and described rocking bar 13 are affixed, described Hooke outer ring 12 is rotationally connected with described central plate 10, and the upper end of described rocking bar 13 is fixed with two ball rods.

As shown in Figure 1, be connected with three the first side chains between described fixed mount 2 and the central plate 10, be connected with two the second side chains between described fixed mount 2 and described two ball rods; Described the first side chain is parallel to each other by nearly hack lever 3, upper connecting axle 5, two and isometric the

first hack lever

6a, 6b far away and lower connecting axle 8 consists of; Described the second side chain is made of with lower connection spherical hinge 7 nearly hack lever 3, upper connection spherical hinge 4, the second hack lever 6 far away.In described the first side chain, be connected by revolute pair between one end of described nearly hack lever 3 and the described fixed mount 2 and affixed with the output of a drive unit 1, described drive unit 1 provides a rotational freedom for the nearly hack lever 3 affixed with it, the other end of described nearly hack lever 3 and described upper connecting axle 5 are affixed, the end of two

first hack lever

6a, 6b far away respectively with described upper connecting axle 5 ball-joints, the other end of two

first hack lever

6a, 6b far away respectively with described lower connecting axle 8 ball-joints; Upper connecting axle 5 in every first side chain, two the first parallel and

isometric hack lever

6a, 6b far away and lower connecting axle 8 consist of a parallelogram sturcutre; In described the second side chain, be connected by revolute pair between one end of described nearly hack lever 3 and the described fixed mount 2 and affixed with the output of a drive unit 1, the other end of described nearly hack lever 3 is by the end ball-joint of described upper connection spherical hinge 4 with the described second hack lever far away, and the other end of the described second hack lever far away is by described lower connection spherical hinge 7 and described ball rod ball-joint.

As depicted in figs. 1 and 2, described central plate 10 is realized three-dimensional translating under the drive of three the first side chains, thereby drive rocking bar 13 and realize three-dimensional translating, described rocking bar 13 is by realizing two-dimensional rotary with respect to described central plate 10 by Hooke's hinge under the drive of two the second side chains, thereby make rocking bar 13 existing three translational degree of freedom, two rotational freedoms are arranged again.

Simultaneously, when parallel manipulator with five freedom degrees motion of the present invention, upper connection spherical hinge in the second side chain only needs a place to provide the rotation around the second hack lever 6 far away to get final product with lower connection spherical hinge, Gu when replacing upper connection spherical hinge or lower connection spherical hinge with Hooke's hinge, described rocking bar 13 still can drive the two-dimensional rotary of realizing with respect to described central plate 10 by two the second side chains under the effect of Hooke's hinge, and then mechanism can realize three translational degree of freedom and three rotational freedoms equally.

The present invention compared with prior art, its difference is:

Five side chains among the present invention are divided into two groups, and one group comprises three the first side chains, and another group comprises two the second side chains, and central plate 10 is driven by three the first side chains and realizes three-dimensional translating, realizes three-dimensional translating thereby drive rocking bar 13; Under the drive of two the second side chains, rocking bar 13 is realized the two-dimensional rotary of relative central plate 10 by Hooke's hinge, thereby makes rocking bar 13 existing three translational degree of freedom, and two rotational freedoms are arranged again.

Among the present invention, replace connecting arbitrary place in spherical hinge 4 and the lower connection spherical hinge 7 by Hooke's hinge, the present invention can realize translational degree of freedom and two rotational freedoms of three directions equally.

Parallel manipulator with five freedom degrees of the present invention has been avoided enlarger, utilizes Hooke's hinge to realize cleverly five degree of freedom, its compact conformation, reduce mechanism complexity, reduced heavy moving parts, improved kinematic accuracy, easily realize at a high speed crawl, and satisfy the requirement of complicated pick-and-place operation.

Although top invention has been described in conjunction with figure; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present invention; in the situation that do not break away from aim of the present invention, can also make a lot of distortion, these all belong within the protection of the present invention.

Claims

1. A parallel mechanism that can realize three-dimensional translation and two-dimensional rotation, including a fixed frame (2) and a moving platform (9), and five driving devices (1) are fixedly connected to the fixed frame (2). Its features is that

The moving platform (9) includes a center plate (10) and a rocker (13) vertically penetrating through the center of the center plate (10), the center plate (10) and the rocker (13) are connected by Hooke is hingedly connected, and the upper end of the rocker (13) is fixed with two ball studs;

Three first branch chains are connected between the fixed frame (2) and the center plate (10), and two second branch chains are connected between the fixed frame (2) and the two ball studs; The first branch chain is composed of a near frame rod (3), an upper connecting shaft (5), two mutually parallel and equal-length first far frame rods (6a, 6b) and a lower connecting shaft (8); The two branch chains are composed of a near frame rod (3), an upper connecting ball hinge (4), a second far frame rod (6) and a lower connecting ball hinge (7);

In the first branch chain, one end of the proximal frame rod (3) is connected to the fixed frame (2) through a rotating pair, and is fixedly connected to the output end of a driving device (1). The other end of the frame rod (3) is fixedly connected to the upper connecting shaft (5), and one end of the two first distant frame rods (6a, 6b) is respectively ball-hinged to the upper connecting shaft (5), and the two second The other end of a remote frame rod (6a, 6b) is respectively ball-hinged with the lower connecting shaft (8); the upper connecting shaft (5) in each first branch chain, two parallel and equal-length first distal The frame rods (6a, 6b) and the lower connecting shaft (8) form a parallelogram structure;

In the second branch chain, one end of the proximal frame rod (3) is connected to the fixed frame (2) through a rotating pair, and is fixedly connected to the output end of a driving device (1). The other end of the frame rod (3) is ball-hinged with one end of the second remote frame rod through the upper connecting ball hinge (4), and the other end of the second remote frame rod is connected through the lower connecting ball hinge (7) ) is hinged with the ball head;

The center plate (10) realizes three-dimensional translation under the drive of three first branch chains, thereby driving the rocker (13) to realize three-dimensional translation, and the rocker (13) realizes three-dimensional translation under the drive of two second branch chains The two-dimensional rotation relative to the center plate (10) is realized through the Hooke hinge, so that the rocker (13) has not only three degrees of freedom in translation, but also two degrees of freedom in rotation.

2. The parallel mechanism that can realize three-dimensional translation and two-dimensional rotation according to claim 1 is characterized in that, the Hooke hinge comprises a Hooke inner ring (11) and a Hooke outer ring (12), and the Hooke hinge The inner ring (11) is rotationally connected with the Hooke outer ring (12), the Hooke inner ring (11) is fixedly connected to the rocker (13), and the Hooke outer ring (12) is connected to the center plate (10) Twist connection.