CN105835034B - The mobile roll-over table of Three Degree Of Freedom industry - Google Patents
The mobile roll-over table of Three Degree Of Freedom industry Download PDFInfo
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- CN105835034B CN105835034B CN201610231327.9A CN201610231327A CN105835034B CN 105835034 B CN105835034 B CN 105835034B CN 201610231327 A CN201610231327 A CN 201610231327A CN 105835034 B CN105835034 B CN 105835034B
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- 238000003466 welding Methods 0.000 abstract description 4
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
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- Engineering & Computer Science (AREA)
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Abstract
一种三自由度工业移动翻转台，它包括基座、运动平台以及接基座和运动平台的两条运动支链。所述两条运动支链中的第二运动支链包括四个H形连杆、两个伸缩杆和十个转动轴，其中，四个H形连杆均通过转动轴转动连接，第一伸缩杆通过转动轴与第一H形连杆和第四H形连杆转动连接，第二伸缩杆通过转动轴与第四H形连杆和基座的一端转动连接；所述两条运动支链中的第一运动支链除了没有第二伸缩杆及其联接件以外，其它部件和部件间的连接关系与第二运动支链相同。本发明机构运动学算法简单、精度高、承载能力强、结构简单、移动范围和翻转能力大及工艺性好，特别适合与焊接机器人联动，用于大型复杂零件的焊接。
A three-degree-of-freedom industrial mobile overturning table includes a base, a motion platform, and two motion branch chains connected to the base and the motion platform. The second kinematic branch chain in the two kinematic branch chains includes four H-shaped connecting rods, two telescopic rods and ten rotating shafts, wherein, the four H-shaped connecting rods are all rotatably connected through the rotating shafts, and the first telescopic The rod is rotatably connected with the first H-shaped connecting rod and the fourth H-shaped connecting rod through the rotating shaft, and the second telescopic rod is rotatably connected with the fourth H-shaped connecting rod and one end of the base through the rotating shaft; the two motion branch chains Except that the first kinematic branch chain does not have the second telescopic rod and its coupling, other components and the connection relationship between the components are the same as the second kinematic branch chain. The mechanism of the invention has simple kinematics algorithm, high precision, strong bearing capacity, simple structure, large moving range and flipping ability, and good manufacturability, and is especially suitable for linkage with a welding robot for welding large and complex parts.
Description
技术领域technical field
本发明涉及一种并联机构，特别是一种工业平台。The invention relates to a parallel mechanism, in particular to an industrial platform.
背景技术Background technique
并联结构的工业移动翻转台是近几十年出现的新型工业平台，这种工业平台通常由基座、运动平台和以并联方式连接两者的多条运动分支组成，其驱动部件可以安装在基座上或基座附近，使它与串联结构的工业平台相比具有一些独特的性能，如刚度大、对称性好、结构紧凑和动力学性能好等。斯帝瓦特(Stewart)平台是最典型的六自由度并联平台，这种平台由运动平台、基座和连接两者的六条可伸缩运动支链组成，通过六个运动支链的伸缩运动使运动平台实现任意位置与姿态的六维空间运动，该种平台亦即具有六个自由度。但是，现代生产中的许多实际工业操作平台只需要具有部分自由度，如分别具有二、三、四和五自由度的操作平台，其中，具有二维移动和一维转动的且具有实用性的三自由度工业移动翻转台并不多见。The industrial mobile turning table with parallel structure is a new type of industrial platform that has appeared in recent decades. This industrial platform is usually composed of a base, a motion platform and multiple motion branches connected in parallel. Its driving components can be installed on the base. On the seat or near the base, it has some unique properties compared with the industrial platform of the series structure, such as high rigidity, good symmetry, compact structure and good dynamic performance. The Stewart platform is the most typical six-degree-of-freedom parallel platform. This platform consists of a motion platform, a base and six scalable motion chains connecting the two. The telescopic motion of the six motion chains makes the movement The platform realizes the six-dimensional space movement of any position and attitude, and this kind of platform has six degrees of freedom. However, many actual industrial operating platforms in modern production only need to have partial degrees of freedom, such as operating platforms with two, three, four and five degrees of freedom respectively, among which, the practical ones with two-dimensional movement and one-dimensional rotation Three-degree-of-freedom industrial mobile flip tables are rare.
发明内容Contents of the invention
本发明的目的在于提供一种结构简单、精度高、承载能力强、移动范围和翻转能力大、工艺性好的可以实现在垂直面内的二维移动和绕一水平轴的转动的三自由度工业移动翻转台。The purpose of the present invention is to provide a three-degree-of-freedom device with simple structure, high precision, strong bearing capacity, large moving range and overturning ability, and good manufacturability, which can realize two-dimensional movement in a vertical plane and rotation around a horizontal axis. Industrial mobile turning table.
本发明包括基座、运动平台以及连接基座和运动平台两端的两条运动支链。所述两条运动支链中的第二运动支链包括四个H形连杆、两个伸缩杆和十个转动轴，其中，第一H形连杆和第三H形连杆的一端分别通过第三转动轴和第四转动轴与第二H形连杆的一端和中下部转动连接，所述第二H形连杆的另一端通过第一转动轴与运动平台转动连接，所述第一H形连杆和第三H形连杆的另一端分别通过第六转动轴和第五转动轴与第四H形连杆的中上部和一端转动连接，所述第四H形连杆的另一端通过第二转动轴与基座转动连接，所述第一H形连杆和第三H形连杆互相平行，所述第二H形连杆和第四H形连杆互相平行；第一伸缩杆的一端通过第七转动轴与所述第一H形连杆的中间一部位转动连接，该第一伸缩杆的另一端通过第九转动轴与所述第四H形连杆的下部转动连接，第二伸缩杆的一端通过第八转动轴与第四H形连杆的中部转动连接，该第二伸缩杆的另一端通过第十转动轴与基座的一端转动连接；所述所有转动轴互相平行且水平设置；所述两条运动支链中的第一运动支链除了没有第二伸缩杆及其联接件以外，其它部件及部件间的连接关系与第二运动支链相同；工件或夹具安装在运动平台上，通过三个运动支链的三个伸缩杆的驱动，可实现运动平台在垂直面内的二维移动和绕一水平轴的转动。The invention comprises a base, a motion platform and two motion branch chains connecting the two ends of the base and the motion platform. The second kinematic branch chain in the two kinematic branch chains includes four H-shaped connecting rods, two telescopic rods and ten rotating shafts, wherein one end of the first H-shaped connecting rod and the third H-shaped connecting rod are respectively One end and the middle and lower part of the second H-shaped connecting rod are rotatably connected through the third rotating shaft and the fourth rotating shaft, and the other end of the second H-shaped connecting rod is rotatably connected with the motion platform through the first rotating shaft. The other ends of the first H-shaped connecting rod and the third H-shaped connecting rod are rotatably connected to the middle and upper part and one end of the fourth H-shaped connecting rod through the sixth rotating shaft and the fifth rotating shaft respectively, and the fourth H-shaped connecting rod The other end is rotatably connected to the base through the second rotating shaft, the first H-shaped connecting rod and the third H-shaped connecting rod are parallel to each other, and the second H-shaped connecting rod and the fourth H-shaped connecting rod are parallel to each other; One end of a telescopic rod is rotatably connected to the middle part of the first H-shaped connecting rod through the seventh rotating shaft, and the other end of the first telescopic rod is connected to the lower part of the fourth H-shaped connecting rod through the ninth rotating shaft. Rotationally connected, one end of the second telescopic rod is rotationally connected with the middle part of the fourth H-shaped connecting rod through the eighth rotating shaft, and the other end of the second telescopic rod is rotationally connected with one end of the base through the tenth rotating shaft; The rotation axes are parallel to each other and arranged horizontally; the first kinematic branch chain in the two kinematic branch chains has the same connection relationship as the second kinematic branch chain except that there is no second telescopic rod and its coupling; The workpiece or fixture is installed on the motion platform, driven by the three telescopic rods of the three motion branches, the two-dimensional movement of the motion platform in the vertical plane and the rotation around a horizontal axis can be realized.
本发明与现有技术相比具有如下优点：Compared with the prior art, the present invention has the following advantages:
1、具有明确运动特性，即，在垂直面内的二维移动和绕一水平轴的转动。1. It has clear motion characteristics, that is, two-dimensional movement in a vertical plane and rotation around a horizontal axis.
2、机构运动学算法简单、精度高、承载能力强、结构简单、移动范围和翻转能力大及工艺性好。2. The kinematic algorithm of the mechanism is simple, high precision, strong bearing capacity, simple structure, large moving range and turning ability, and good craftsmanship.
3、本发明在现代工业领域有广泛的应用前景，特别适合与焊接机器人联动，用于大型复杂零件的焊接。3. The present invention has broad application prospects in modern industrial fields, and is especially suitable for linkage with welding robots for welding large and complex parts.
附图说明Description of drawings
图1为本发明的立体示意简图。Fig. 1 is a three-dimensional schematic diagram of the present invention.
图2为本发明第二运动支链的立体示意简图。Fig. 2 is a three-dimensional schematic diagram of the second kinematic branch chain of the present invention.
在图中：1.基座、2.第一运动支链、3.第二运动支链、4.运动平台、5.第一转动轴、6.第二转动轴、7.第一H形连杆、8.第三转动轴、9.第四转动轴、10.第二H形连杆、11.第三H形连杆、12.第七转动轴、13.第五转动轴、14.第四H形连杆、15.第六转动轴、16.第一伸缩杆、17.第八转动轴、18.第二伸缩杆、19.第十转动轴、20.第九转动轴。In the figure: 1. base, 2. first kinematic branch, 3. second kinematic branch, 4. motion platform, 5. first rotation axis, 6. second rotation axis, 7. first H-shape Connecting rod, 8. The third rotating shaft, 9. The fourth rotating shaft, 10. The second H-shaped connecting rod, 11. The third H-shaped connecting rod, 12. The seventh rotating shaft, 13. The fifth rotating shaft, 14 . The fourth H-shaped connecting rod, 15. The sixth rotating shaft, 16. The first telescopic rod, 17. The eighth rotating shaft, 18. The second telescopic rod, 19. The tenth rotating shaft, 20. The ninth rotating shaft.
具体实施方式detailed description
在图1和图2所示的三自由度工业移动翻转台示意图中，基座1和运动平台4的两端分别通过第一运动支链2和第二运动支链3连接，所述第二运动支链包括四个H形连杆、两个伸缩杆和十个转动轴，其中，第一H形连杆7和第三H形连杆11的一端分别通过第三转动轴8和第四转动轴9与第二H形连杆10的一端和中下部转动连接，所述第二H形连杆的另一端通过第一转动轴5与运动平台转动连接，所述第一H形连杆和第三H形连杆的另一端分别通过第六转动轴15和第五转动轴13与第四H形连杆14的中上部和一端转动连接，所述第四H形连杆的另一端通过第二转动轴6与基座转动连接，所述第一H形连杆和第三H形连杆互相平行，所述第二H形连杆和第四H形连杆互相平行；第一伸缩杆16的一端通过第七转动轴12与所述第一H形连杆的中间一部位转动连接，该第一伸缩杆的另一端通过第九转动轴20与所述第四H形连杆的下部转动连接，第二伸缩杆18的一端通过第八转动轴17与第四H形连杆的中部转动连接，该第二伸缩杆的另一端通过第十转动轴19与基座的一端转动连接；所述所有转动轴互相平行且水平设置；所述第一运动支链除了没有第二伸缩杆18及其联接件以外，其它部件及部件间的连接关系与第二运动支链相同；工件或夹具安装在运动平台上，通过三个运动支链的三个伸缩杆的驱动，可实现运动平台在垂直面内的二维移动和绕一水平轴的转动。In the schematic diagram of the three-degree-of-freedom industrial mobile turnover table shown in Figure 1 and Figure 2, the two ends of the base 1 and the motion platform 4 are respectively connected by the first motion branch chain 2 and the second motion branch chain 3, the second The motion branch chain includes four H-shaped connecting rods, two telescopic rods and ten rotating shafts, wherein one end of the first H-shaped connecting rod 7 and the third H-shaped connecting rod 11 pass through the third rotating shaft 8 and the fourth rotating shaft respectively. The rotating shaft 9 is rotationally connected with one end and the middle and lower part of the second H-shaped connecting rod 10, and the other end of the second H-shaped connecting rod is rotationally connected with the motion platform through the first rotating shaft 5, and the first H-shaped connecting rod and the other end of the third H-shaped connecting rod are rotatably connected with the middle upper part and one end of the fourth H-shaped connecting rod 14 through the sixth rotating shaft 15 and the fifth rotating shaft 13 respectively, and the other end of the fourth H-shaped connecting rod The second rotating shaft 6 is rotationally connected to the base, the first H-shaped connecting rod and the third H-shaped connecting rod are parallel to each other, and the second H-shaped connecting rod and the fourth H-shaped connecting rod are parallel to each other; the first H-shaped connecting rod is parallel to each other; One end of the telescopic rod 16 is rotationally connected to the middle part of the first H-shaped connecting rod through the seventh rotating shaft 12, and the other end of the first telescopic rod is connected to the fourth H-shaped connecting rod through the ninth rotating shaft 20. The lower part of the second telescopic rod 18 is rotationally connected with the middle part of the fourth H-shaped connecting rod through the eighth rotating shaft 17, and the other end of the second telescopic rod is rotated with one end of the base through the tenth rotating shaft 19 connection; all the rotation axes are parallel to each other and arranged horizontally; except that the first kinematic branch chain does not have the second telescopic rod 18 and its couplings, other components and the connection relationship between the components are the same as the second kinematic branch chain; the workpiece Or the fixture is installed on the motion platform, driven by the three telescopic rods of the three motion branch chains, the two-dimensional movement of the motion platform in the vertical plane and the rotation around a horizontal axis can be realized.
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| Application Number | Priority Date | Filing Date | Title |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610231327.9A CN105835034B (en) | 2016-04-14 | 2016-04-14 | The mobile roll-over table of Three Degree Of Freedom industry |
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| CN105835034A CN105835034A (en) | 2016-08-10 |
| CN105835034B true CN105835034B (en) | 2017-11-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106903672A (en) * | 2017-03-29 | 2017-06-30 | 燕山大学 | Two branch's Three Degree Of Freedom industrial robots |
| CN108608412B (en) * | 2018-05-04 | 2020-08-21 | 北京交通大学 | A platform assembly and a parallel mobile robot having the same |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2511447Y (en) * | 2001-12-31 | 2002-09-18 | 天津大学 | Parallel robot mechanism with two dimensions |
| CN102145487A (en) * | 2011-02-11 | 2011-08-10 | 中国电力科学研究院 | Rotary input robot for testing oscillating performance of overhead power transmission line |
| CN102441891A (en) * | 2011-10-12 | 2012-05-09 | 燕山大学 | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2262428B1 (en) * | 2005-04-04 | 2007-11-16 | Fundacion Fatronik | ROBOT PARALLEL OF FOUR DEGREES OF LIBERTY WITH UNLIMITED ROTATION. |
| CA2633395C (en) * | 2007-06-01 | 2016-05-31 | Socovar, Societe En Commandite | Parallel manipulator |
| JP5212797B2 (en) * | 2008-05-19 | 2013-06-19 | 国立大学法人 名古屋工業大学 | Haptic manipulator |
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2016
- 2016-04-14 CN CN201610231327.9A patent/CN105835034B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2511447Y (en) * | 2001-12-31 | 2002-09-18 | 天津大学 | Parallel robot mechanism with two dimensions |
| CN102145487A (en) * | 2011-02-11 | 2011-08-10 | 中国电力科学研究院 | Rotary input robot for testing oscillating performance of overhead power transmission line |
| CN102441891A (en) * | 2011-10-12 | 2012-05-09 | 燕山大学 | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation |
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