CN103286771A - Spatial three-rotational-freedom parallel connecting mechanism - Google Patents

Abstract

Translated fromChinese

本发明公开了一种空间三转动自由度并联机构，它包括机架，在所述的机架的上方设置有一个动平台，所述机架呈圆形布置结构，在所述的机架上设置有圆形导向滑轨，第一、第二、第三主动支链空间三对称分布于所述机架与动平台之间，所述的第一、第二、第三主动支链具有相同的结构，每一个主动支链包括与导向滑轨相连构成移动副的滑鞍，所述滑鞍与连杆的一端活动相连，所述连杆的另一端通过具有三转动自由度的铰链与所述动平台相连。本发明并联机构结构简单，便于制造安装，姿态能力强，动态性能好。

The invention discloses a three-rotation-degree-of-freedom parallel mechanism in space, which includes a frame, and a moving platform is arranged above the frame, and the frame is arranged in a circular structure. A circular guide rail is provided, and the spaces of the first, second, and third active branch chains are three-symmetrically distributed between the frame and the moving platform. The first, second, and third active branch chains have the same structure, each active branch chain includes a sliding saddle connected with the guide rail to form a moving pair, the saddle is movably connected with one end of the connecting rod, and the other end of the connecting rod is connected to the connecting rod through a hinge with three rotational degrees of freedom. connected to the moving platform. The parallel mechanism of the invention has the advantages of simple structure, convenient manufacture and installation, strong attitude ability and good dynamic performance.

Description

Translated fromChinese

一种空间三转动自由度并联机构A Parallel Mechanism with Three Rotational Degrees of Freedom in Space

技术领域technical field

本发明涉及一种并联机构，特别是涉及一种可实现三转动自由度作业功能的并联机构。The invention relates to a parallel mechanism, in particular to a parallel mechanism capable of realizing the operation function of three rotation degrees of freedom.

背景技术Background technique

根据专利ZL200910054381、ZL201210182195.7等可知，现有的空间三转动自由度并联机构，主要有两种实现形式：其一，机架与末端动平台之间通过两(或三)条无约束运动支链及一条三自由度恰约束支链相连，支链上均设置驱动装置，每条支链可单独在驱动装置的驱动下运动，使动平台相对于机架产生空间三转动；其二，采用两自由度并联机构与单自由度转头串联的形式。According to patents ZL200910054381, ZL201210182195.7, etc., the existing three-rotation-degree-of-freedom parallel mechanism in space mainly has two realization forms: first, two (or three) unconstrained motion supports are used between the frame and the terminal moving platform. Chain and a three-degree-of-freedom just-constrained branch chain are connected, and driving devices are installed on the branch chains, and each branch chain can move independently under the drive of the driving device, so that the moving platform generates three spatial rotations relative to the frame; secondly, using A form in which a two-degree-of-freedom parallel mechanism is connected in series with a single-degree-of-freedom rotor.

此类机构存在的不足是：各支链结构组成复杂，支链内各运动副布置较困难，对加工与装配要求苛刻，制造成本高，末端执行器惯性大，无约束支链与恰约束支链负载相差大，影响机构的动态性能。The shortcomings of this type of mechanism are: the structure of each branch chain is complex, the arrangement of the kinematic pairs in the branch chain is difficult, the requirements for processing and assembly are harsh, the manufacturing cost is high, the inertia of the end effector is large, the unconstrained branch chain and the precisely constrained branch The chain load varies greatly, which affects the dynamic performance of the mechanism.

发明内容Contents of the invention

本发明的目的在于克服已有技术的缺点，提供一种结构简单、安装方便、承载能力高且工作空间大，可实现末端执行器空间三转动的一种空间三转动自由度并联机构。The purpose of the present invention is to overcome the shortcomings of the prior art, and provide a parallel mechanism with three degrees of freedom in space, which has simple structure, convenient installation, high bearing capacity and large working space, and can realize three rotations in space of the end effector.

本发明的一种空间三转动自由度并联机构，它包括机架，在所述的机架的上方设置有一个动平台，所述机架呈圆形布置结构，在所述的机架上设置有圆形导向滑轨，第一、第二、第三主动支链空间三对称分布于所述机架与动平台之间，所述的第一、第二、第三主动支链具有相同的结构，每一个主动支链包括与导向滑轨相连构成移动副的滑鞍，所述滑鞍与连杆的一端活动相连，所述连杆的另一端通过具有三转动自由度的铰链与所述动平台相连。A space three-rotation-degree-of-freedom parallel mechanism of the present invention comprises a frame, a moving platform is arranged above the frame, the frame is arranged in a circular structure, and a moving platform is arranged on the frame There are circular guide rails, and the first, second, and third active branch chains are three-symmetrically distributed between the frame and the moving platform. The first, second, and third active branch chains have the same structure, each active branch chain includes a sliding saddle connected with a guide rail to form a moving pair, the saddle is movably connected with one end of the connecting rod, and the other end of the connecting rod is connected to the connected to the moving platform.

本发明的空间三自由度并联机构有益效果是：模块化结构设计，结构简单，便于制造安装，姿态能力强，动态性能好。当驱动装置驱动第一、第二、第三主动支链产生相同的运动时，动平台实现垂直于动平台法线方向的转动，且最大转角可达到360°，当驱动装置驱动三条主动支链产生不同的输入时，动平台可实现另外两个方向的转动，故本发明机构具有空间三转动自由度，且具有较大的姿态工作空间。The beneficial effects of the space three-degree-of-freedom parallel mechanism of the present invention are: modular structure design, simple structure, easy manufacture and installation, strong posture capability and good dynamic performance. When the driving device drives the first, second and third active branch chains to produce the same motion, the moving platform can rotate perpendicular to the normal direction of the moving platform, and the maximum rotation angle can reach 360°. When the driving device drives the three active branch chains When different inputs are generated, the moving platform can realize rotation in two other directions, so the mechanism of the present invention has three rotational degrees of freedom in space, and has a larger attitude work space.

附图说明Description of drawings

图1为本发明的一种空间三转动自由度并联机构的结构示意图；Fig. 1 is a structural schematic diagram of a parallel mechanism with three rotational degrees of freedom in space according to the present invention;

图2是图1所示的并联机构的工作结构示意图；Fig. 2 is a schematic diagram of the working structure of the parallel mechanism shown in Fig. 1;

图3是图2所示的并联机构的工作结构中的驱动装置部分示意图。Fig. 3 is a partial schematic diagram of the driving device in the working structure of the parallel mechanism shown in Fig. 2 .

具体实施方式Detailed ways

下面结合附图和具体实施例对本发明作以详细描述。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

如附图所示本发明的一种空间三转动自由度并联机构，它包括机架7，在所述的机架的上方设置有一个动平台1，所述机架呈圆形，在所述的机架上设置有圆形导向滑轨，第一、第二、第三主动支链空间三对称即彼此之间空间对称的分布于所述机架与动平台之间，所述的第一、第二、第三主动支链具有相同的结构，每一个主动支链包括与导向滑轨相连构成移动副的滑鞍，所述滑鞍与连杆的一端活动相连，所述连杆的另一端通过具有三转动自由度的铰链与所述动平台相连。As shown in the accompanying drawings, a space three-rotation degree of freedom parallel mechanism of the present invention includes aframe 7, a moving platform 1 is arranged above the frame, the frame is circular, and The frame of the frame is provided with a circular guide rail, and the first, second, and third active branch chain spaces are three-symmetrical, that is, they are space-symmetrically distributed between the frame and the moving platform. 1. The second and the third active branch chains have the same structure. Each active branch chain includes a sliding saddle connected with the guide slide rail to form a moving pair, and the sliding saddle is movably connected with one end of the connecting rod. One end is connected with the moving platform through a hinge with three rotational degrees of freedom.

优选的所述滑鞍与连杆的一端通过转动副相连，所述转动副轴线始终与移动副的瞬时轴线方向一致。当然也可以在滑鞍上固定连接一个滑轨，连杆的一端为滑块，所述的滑块与滑轨滑动相连构成第一移动副，所述的滑块轴线与连杆轴线共线同样可实现末端执行器的空间三转动。Preferably, the saddle is connected with one end of the connecting rod through a rotating pair, and the axis of the rotating pair is always in the same direction as the instantaneous axis of the moving pair. Of course, a slide rail can also be fixedly connected to the saddle, and one end of the connecting rod is a slide block, and the slide block is slidably connected with the slide rail to form the first moving pair, and the axis of the slide block is collinear with the axis of the connecting rod. The three-dimensional rotation of the end effector can be realized.

优选的所述的具有三转动自由度的铰链为球铰链。Preferably, the hinge with three rotational degrees of freedom is a ball hinge.

下面再结合每一幅图对本发明加以详细说明：The present invention is described in detail below again in conjunction with each figure:

图1中机架7呈圆形布置结构，所述圆形机架7上设有圆形导向滑轨，所述第一主动支链、第二主动支链、第三主动支链分布于所述机架7与动平台1之间，所述机架7与所述第一主动支链、第二主动支链、第三主动支链通过移动副相连。所述移动副可采用附图所示导轨滑块结构，即机架7上固定连接圆形导向滑轨，主动支链2的一端设置滑鞍，所述圆形导向滑轨与所述滑鞍配合形成移动副。所述移动副可采用伺服电机加小/大伞齿轮的驱动方式，也可采用液压等结构作为驱动方式。Frame 7 in Fig. 1 is circular arrangement structure, and describedcircular frame 7 is provided with circular guide rail, and described first active branch chain, second active branch chain, the 3rd active branch chain are distributed in all Between theframe 7 and the moving platform 1, theframe 7 is connected with the first active branch chain, the second active branch chain, and the third active branch chain through a moving pair. Described mobile pair can adopt guide rail slide block structure shown in the accompanying drawing, promptly is fixedly connected circular guide rail onframe 7, and one end of active branch chain 2 is provided with slide saddle, and described circular guide slide rail and described slide saddle Cooperate to form a mobile pair. The moving pair can be driven by a servo motor plus a small/large bevel gear, or a hydraulic structure can be used as a drive.

所述具有三转动自由度的铰链也可采用其他具有三转动能力的铰链形式，如三个两两正交的转动副组成的铰链等。The hinge with three rotational degrees of freedom may also adopt other forms of hinges with three rotational capabilities, such as a hinge composed of three two-by-two orthogonal rotational pairs.

所述第一主动支链由第一滑鞍6A、第一转动副5A、第一连杆4A、第一球铰链3A组成。第一滑鞍6A与机架圆形导向滑轨构成移动副，第一滑鞍6A通过第一转动副5A与第一连杆4A的一端相连，第一转动副5A轴线始终与所述移动副的瞬时轴线方向一致，第一连杆4A的另一端通过第一球铰链3A与动平台1相连。The first active branch chain is composed of a first slidingsaddle 6A, a first rotatingpair 5A, a first connectingrod 4A, and afirst ball hinge 3A. Thefirst saddle 6A and the circular guide rail of the frame constitute a moving pair, thefirst saddle 6A is connected with one end of the first connectingrod 4A through the firstrotating pair 5A, and the axis of the firstrotating pair 5A is always connected with the moving pair The direction of the instantaneous axis is the same, and the other end of the first connectingrod 4A is connected with the moving platform 1 through thefirst ball joint 3A.

所述第二主动支链由第二滑鞍6B、第二转动副5B、第二连杆4B、第二球铰链组成。第二滑鞍6B与机架圆形导向滑轨构成移动副，第二滑鞍6B通过第二转动副5B与第二连杆4B的一端相连，第二转动副5B轴线始终与所述移动副的瞬时轴线方向一致，第二连杆4B的另一端通过第二球铰链与动平台1相连。The second active branch chain is composed of a second slidingsaddle 6B, a second rotatingpair 5B, a second connectingrod 4B, and a second ball hinge. Thesecond saddle 6B and the frame circular guide rail constitute a moving pair, thesecond saddle 6B is connected with one end of the second connectingrod 4B through the second rotatingpair 5B, and the axis of the secondrotating pair 5B is always connected with the moving pair The direction of the instantaneous axis is the same, and the other end of the second connectingrod 4B is connected with the moving platform 1 through the second ball joint.

所述第三主动支链由第三滑鞍6C、第三转动副5C、第三连杆4C、第三球铰链3C组成。第三滑鞍6C与机架圆形导向滑轨构成移动副，第三滑鞍6C通过第三转动副5C与第三连杆4C的一端相连，第三转动副5C轴线始终与所述移动副的瞬时轴线方向一致，第三连杆4C的另一端通过第三球铰链3C与动平台1相连。The third active branch chain is composed of athird saddle 6C, a third rotatingpair 5C, a third connectingrod 4C, and athird ball hinge 3C. Thethird saddle 6C and the circular guide rail of the frame constitute a moving pair, thethird saddle 6C is connected with one end of the third connectingrod 4C through the third rotatingpair 5C, and the axis of the third rotatingpair 5C is always connected with the moving pair The direction of the instantaneous axis is the same, and the other end of the third connectingrod 4C is connected with the moving platform 1 through thethird ball hinge 3C.

本装置的运动过程为：The movement process of this device is:

如图2和3所示，移动副作为机构的驱动装置，该空间三转动并联机构采用伺服电机加小/大伞齿轮的驱动方式。第一大伞齿轮10A与滑鞍固定相连，伺服电机8经由第一小伞齿轮9A将转动传至第一大伞齿轮10A，第一大伞齿轮10A（第一大伞齿轮10A与滑鞍固定相连）带动第一滑鞍6A平动，从而实现第一主动支链的驱动。第二大伞齿轮10B与滑鞍固定相连，伺服电机经由第二小伞齿轮将转动传至第二大伞齿轮10B，第二大伞齿轮10B带动第二滑鞍6B平动，从而实现第二主动支链的驱动。第三大伞齿轮10C与滑鞍固定相连，伺服电机经由第三小伞齿轮将转动传至第三大伞齿轮10C，第三大伞齿轮10C带动第三滑鞍6C平动，从而实现第三主动支链的驱动。As shown in Figures 2 and 3, the mobile pair is used as the driving device of the mechanism, and the space three-rotation parallel mechanism adopts the drive mode of servo motor plus small/large bevel gear. The firstlarge bevel gear 10A is fixedly connected with the saddle, theservo motor 8 transmits the rotation to the firstlarge bevel gear 10A via the firstsmall bevel gear 9A, and the firstlarge bevel gear 10A (the firstlarge bevel gear 10A is fixed with the saddle) connected) drives the first slidingsaddle 6A to move in translation, so as to realize the driving of the first active branch chain. The secondlarge bevel gear 10B is fixedly connected with the saddle, the servo motor transmits the rotation to the secondlarge bevel gear 10B through the second small bevel gear, and the secondlarge bevel gear 10B drives the second slidingsaddle 6B to move in translation, thereby realizing the second Driven by active branching. The thirdlarge bevel gear 10C is fixedly connected with the saddle, the servo motor transmits the rotation to the thirdlarge bevel gear 10C through the third small bevel gear, and the thirdlarge bevel gear 10C drives the third slidingsaddle 6C to move in translation, thereby realizing the third Driven by active branching.

所述移动副作为机构的驱动装置，当所述驱动装置驱动第一主动支链、第二主动支链、第三主动支链产生相同的输入时，所述动平台1可实现绕动平台法线Z轴的转动，最大转角可达360°，当所述驱动装置驱动第一主动支链、第二主动支链、第三主动支链产生不同的输入时，所述动平台1可实现绕X、Y轴转动。The moving pair is used as the driving device of the mechanism. When the driving device drives the first active branch chain, the second active branch chain, and the third active branch chain to generate the same input, the moving platform 1 can realize the orbiting platform method The rotation of the line Z axis can reach a maximum rotation angle of 360°. When the driving device drives the first active branch chain, the second active branch chain, and the third active branch chain to generate different inputs, the moving platform 1 can realize the rotation around the X, Y axis rotation.

以上对本发明的描述仅仅是示意性的，而不是限制性的，所以，本发明的实施方式并不局限于上述的具体实施方式。如果本领域的普通技术人员受其启示，在不脱离本发明宗旨和权利要求所保护范围的情况下，做出其他变化或变型，均属于本发明的保护范围。The above description of the present invention is only illustrative rather than restrictive, so the embodiments of the present invention are not limited to the above-mentioned specific embodiments. If a person of ordinary skill in the art is inspired by it, without departing from the gist of the present invention and the protection scope of the claims, other changes or modifications are made, all of which belong to the protection scope of the present invention.

Claims (4)

1. space three-freedom connection-in-parallel mechanism, it comprises frame, above described frame, be provided with a moving platform, it is characterized in that: the rounded arrangement of described frame, described frame is provided with circular directive slide track, first, second, the 3rd active branched chain space three is symmetrically distributed between described frame and the moving platform, described first, second, the 3rd active branched chain has identical structure, each active branched chain comprises linking to each other with directive slide track and constitutes the saddle of moving sets, one end of described saddle and connecting rod is movably connected, and the other end of described connecting rod links to each other with described moving platform by the hinge with three-rotational-freedom.

2. space three-freedom connection-in-parallel mechanism according to claim 1, it is characterized in that: described saddle links to each other by revolute pair with an end of connecting rod, and the described revolute pair axis instantaneous axis direction with moving sets all the time is consistent.

3. space three-freedom connection-in-parallel mechanism according to claim 1, it is characterized in that: be fixedly connected with a slide rail at described saddle, one end of connecting rod is slide block, and described slide block slides to link to each other with slide rail and constitutes first moving sets, described slide block axis and connecting rod axis conllinear.

4. according to the described new spatial 3-freedom parallel mechanism of one of claim 1-3, it is characterized in that: described hinge with three-rotational-freedom is spherical hinge.

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