CN108613647B - Three-degree-of-freedom plane parallel mechanism motion platform pose detection device - Google Patents

Abstract

A three-degree-of-freedom plane parallel mechanism moving platform position and attitude detection device, comprising a base, a moving platform and two detection mechanisms with the same structure, wherein the two detection mechanisms are respectively arranged on the diagonal lines of the rectangular base, and The moving platform is connected with the base through the connecting plate, and the moving platform is a three-free parallel mechanism, and is connected with the detection mechanism through the ball-head connecting rod; Both are equipped with a first-level slider, the upper end of the first-level slider is fixed with the lower plate, and the first-level magnetic scale is fixed on the side of the lower plate; two second-level guide rails are respectively fixed on both sides of the lower plate, crossing the direction of the first-level guide rail. There are secondary sliders on the guide rails, the upper ends of the secondary sliders are fixed with the upper plate, and the secondary magnetic scale is fixed on the side of the upper plate; the center of the upper plate is provided with a slot hole, and the ball end of the ball joint rod is inlaid into the slot hole, and the other end is a flange structure, which is fixedly connected with the moving platform. The invention has the advantages of simple structure, low cost, simple and quick detection method and high efficiency.

Description

Three-degree-of-freedom plane parallel mechanism motion platform pose detection device

technical field

The invention belongs to the technical field of detection, and in particular relates to a position and attitude detection device of a three-degree-of-freedom plane parallel mechanism.

Background technique

Parallel mechanism, also known as parallel robot, is a closed-loop mechanism composed of multiple parallel chains. Because of its advantages of high rigidity, strong bearing capacity, small error, high positioning accuracy, small motion quality and good dynamic performance, it is almost used. to all areas of industry.

Most of the industrial applications of parallel mechanisms are based on the Stewart platform to build a 6-DOF platform, but in practical applications, 6-DOF is sometimes not needed, and less than 6-DOF can meet the actual needs. Among them, the three-degree-of-freedom parallel mechanism is a typical few-degree-of-freedom parallel mechanism, such as a 3-PPR plane three-degree-of-freedom parallel mechanism with two movements and one rotation, because of its simple structure, small footprint and relatively simple control. It is widely used in various fields of industry. Due to the characteristics of the parallel mechanism, the three-degree-of-freedom parallel mechanism can achieve any attitude and position in the plane, which brings great difficulties to the real-time detection of the pose of the motion platform. There is no good detection device for real-time monitoring. The pose of the three-degree-of-freedom parallel mechanism.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a three-degree-of-freedom plane parallel mechanism motion platform pose detection device with simple structure, low cost, simple and fast detection method and high efficiency.

The technical scheme of the present invention is as follows:

The invention includes a base, a moving platform and two detection mechanisms with the same structure, wherein the two detection mechanisms are respectively arranged on the diagonal lines of the rectangular base and are connected with the base through a connecting plate, and the moving platform is three free parallel connection The mechanism is connected with the detection mechanism through the ball joint rod;

The detection mechanism includes a first-level guide rail, a first-level slider, a second-level guide rail, a second-level slider, a ball joint rod, an upper plate, a lower plate, a first-level magnetic ruler, a second-level magnetic ruler and a connecting plate, wherein the two The first-level guide rails are respectively fixed on both sides of the connecting plate. The first-level guide rails are provided with first-level sliders. The upper ends of the first-level sliders are fixed with the lower plate. The first-level guide rails and the first-level sliders constitute the first moving pair. The first-level magnetic ruler is fixed on the side of the lower plate parallel to the first-level guide rail; the two second-level guide rails are respectively fixed on both sides of the lower plate and cross the direction of the first-level guide rail. The upper end of the slider is fixedly connected with the upper plate, the secondary guide rail and the secondary sliding block form the second moving pair, the secondary magnetic scale is fixed on the side of the upper plate parallel to the secondary guide rail; The center of the plate is provided with a slot hole, the ball end of the ball head connecting rod is embedded in the slot hole, and the other end is a flange structure, which is fixedly connected with the moving platform.

During detection, the two magnetic scale mechanisms follow the moving pair to do synchronous movement, and the movement amount of the two groups of moving pairs can be directly obtained from the display of the magnetic scale mechanism.

得到动平台在Y轴方向上的移动量；当二个第二移动副同步运动，而二个第一移动副无运动时，可由二级磁尺检测出动平台沿平行于第二移动副X轴方向的移动量X1和X2，由计算公式

得到动平台在X轴方向上的移动量；当第一移动副与第二移动副均有运动时，则可根据第一移动副Y轴方向上的移动量Y与第二移动副X轴方向上的移动量X，通过计算公式

间接得出动平台绕Z轴的转动量α，其中r为检测装置对角线布置半径；球头连接杆带动检测机构的移动副跟随动平台做同步运动，从而检测出动平台的运动姿态。The detection mechanisms are respectively arranged on the diagonal of the base, and the first movement pair of the two detection mechanisms is parallel to the Y axis, and the second movement pair is parallel to the X axis; The moving directions are perpendicular to each other, and both are passive motions; the first moving pair and the second moving pair are both followed by the guide rail slider mechanism arranged in parallel, and the moving directions are perpendicular to each other; when the two first moving pairs move synchronously , and when the two second moving pairs do not move, the first-level magnetic ruler can detect the movement amount Y1 and Y2 of the moving platform along the direction parallel to the Y-axis of the first moving pair.

The movement amount of the moving platform in the Y-axis direction is obtained; when the two second moving pairs move synchronously and the two first moving pairs do not move, the secondary magnetic ruler can detect the moving platform along the X axis parallel to the second moving pair The amount of movement X1 and X2 in the direction is calculated by the formula

The movement amount of the moving platform in the X-axis direction is obtained; when both the first moving pair and the second moving pair are moving, the movement amount Y in the Y-axis direction of the first moving pair and the X-axis direction of the second moving pair can be obtained. The amount of movement on X, by calculating the formula

Indirectly, the rotation amount α of the moving platform around the Z axis can be obtained, where r is the diagonal arrangement radius of the detection device; the ball joint rod drives the mobile pair of the detection mechanism to follow the moving platform to perform synchronous movement, thereby detecting the movement posture of the moving platform.

Compared with the prior art, the present invention has the following advantages:

The mechanism is simple, the cost is low, the detection method is simple and fast, and the efficiency is high.

Description of drawings

Fig. 1 is the three-dimensional schematic diagram of the present invention;

Fig. 2 is a partial cross-sectional view of the present invention;

3 is a cross-sectional view of the detection mechanism of the present invention.

In the picture: 1-detection structure, 2-base, 3-moving platform, 4-first-level guide rail, 5-first-level slider, 6-first-level magnetic ruler, 7-lower plate, 8-secondary guide rail, 9 -Upper board, 10-ball head connecting rod, 11-secondary slider, 12-secondary magnetic ruler, 13-connecting plate.

Detailed ways

In the schematic diagrams of the three-degree-of-freedom parallel mechanism pose detection device shown in FIG. 1 and FIG. 2 , the base 2 is a rectangular frame, and two detection mechanisms 1 with the same structure are respectively arranged on the diagonal lines of the base, and are connected by connecting The plate 13 is connected with the base, the moving platform 3 is also a rectangular frame, the moving platform is a three-free parallel mechanism, and the moving platform is connected with the detection mechanism;

As shown in FIG. 3 , the two primary guide rails 4 in the detection mechanism package are respectively fixed on both sides of the connecting plate of the detection mechanism, the primary guide rails are provided with primary sliding blocks 5 , and the upper ends of the primary sliding blocks are connected with the lower plate 7 . Fixed connection, the first-level guide rail and the first-level slider constitute the first moving pair, the first-level magnetic ruler 6 is fixed on the side of the lower plate parallel to the first-level guide rail; the two second-level guide rails 8 are respectively fixed on both sides of the lower plate, The directions of the secondary guide rails are crossed. The secondary guide rails are provided with secondary sliding blocks 11. The upper ends of the secondary sliding blocks are fixedly connected with the upper plate 9. The secondary guide rails and the secondary sliding blocks form a second moving pair. The secondary magnetic ruler 12 It is fixed on the side of the upper plate parallel to the secondary guide rail; there is a bump under the middle of the upper plate, a slot hole is arranged in the center of the upper plate, the ball end of the ball joint rod 10 is embedded in the slot hole, and the other end is a The blue structure is fixedly connected with the moving platform.

The two magnetic scale mechanisms follow the moving pair to do synchronous movement, and the movement amount of the two groups of moving pairs can be directly obtained from the display of the magnetic scale mechanism.

得到动平台在Y轴方向上的移动量；当二个第二移动副同步运动，而二个第一移动副无运动时，可由二级磁尺检测出动平台沿平行于第二移动副X轴方向的移动量X1和X2，由计算公式

得到动平台在X轴方向上的移动量；当第一移动副与第二移动副均有运动时，则可根据第一移动副Y轴方向上的移动量Y与第二移动副X轴方向上的移动量X，通过计算公式

间接得出动平台绕Z轴的转动量α，其中r为检测装置对角线布置半径；球头连接杆带动检测机构的移动副跟随动平台做同步运动，从而检测出动平台的运动姿态。The detection mechanisms are respectively arranged on the diagonal of the base, and the first movement pair of the two detection mechanisms is parallel to the Y axis, and the second movement pair is parallel to the X axis; The moving directions are perpendicular to each other, and both are passive motions; the first moving pair and the second moving pair are both driven by the guide rail slider mechanism arranged in parallel, and the moving directions are perpendicular to each other; it can be seen from Figure 1 that when the two When one first moving pair moves synchronously, and the two second moving pairs do not move, the first-level magnetic ruler can detect the movement amount Y1 and Y2 of the moving platform along the direction parallel to the Y-axis of the first moving pair.

The movement amount of the moving platform in the Y-axis direction is obtained; when the two second moving pairs move synchronously and the two first moving pairs do not move, the secondary magnetic ruler can detect the moving platform along the X axis parallel to the second moving pair The amount of movement X1 and X2 in the direction is calculated by the formula

The movement amount of the moving platform in the X-axis direction is obtained; when both the first moving pair and the second moving pair are moving, the movement amount Y in the Y-axis direction of the first moving pair and the X-axis direction of the second moving pair can be obtained. The amount of movement on X, by calculating the formula

Indirectly, the rotation amount α of the moving platform around the Z axis is obtained, where r is the diagonal arrangement radius of the detection device; the ball joint rod drives the mobile pair of the detection mechanism to follow the moving platform to perform synchronous movement, so as to detect the movement posture of the moving platform.

The present invention is an auxiliary device in the mechanical mechanism, which is only used for real-time monitoring and detection of the position and posture changes of the moving platform. The base and moving platform mentioned in the invention are a representation of the base and the detecting platform of the detected platform.

Claims (1)

1. The utility model provides a three degree of freedom plane parallel mechanism moves platform position appearance detection device, its includes base, moves platform and two detection mechanism that the structure is the same, its characterized in that: the two detection mechanisms are respectively arranged on the diagonal line of the rectangular base and connected with the base through a connecting plate, and the movable platform is a three-free-plane parallel mechanism and is connected with the detection mechanisms through a ball head connecting rod; the detection mechanism comprises a first-stage guide rail, a first-stage slide block, a second-stage guide rail, a second-stage slide block, a ball head connecting rod, an upper plate, a lower plate, a first-stage magnetic scale, a second-stage magnetic scale and a connecting plate, wherein the two first-stage guide rails are respectively fixed on two sides of the connecting plate; two second-stage guide rails are respectively fixed on two sides of the lower plate and are crossed with the first-stage guide rails in the direction, second-stage sliding blocks are arranged on the second-stage guide rails, the upper ends of the second-stage sliding blocks are fixedly connected with the upper plate, the second-stage guide rails and the second-stage sliding blocks form a second moving pair, and second-stage magnetic rulers are fixed on the side faces of the upper plate parallel to the second-stage guide rails; the lower surface of the middle part of the upper plate is provided with a lug, the center of the upper plate is provided with a slotted hole, the ball head end of the ball head connecting rod is embedded into the slotted hole, and the other end of the ball head connecting rod is of a flange structure and is fixedly connected with the movable platform.

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