CN104626110A - Electric-drive and high-rigidity 6-DOF parallel platform - Google Patents
Electric-drive and high-rigidity 6-DOF parallel platform Download PDFInfo
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- CN104626110A CN104626110A CN201410843579.8A CN201410843579A CN104626110A CN 104626110 A CN104626110 A CN 104626110A CN 201410843579 A CN201410843579 A CN 201410843579A CN 104626110 A CN104626110 A CN 104626110A
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- connecting rod
- side chain
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- linear actuator
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Abstract
The invention discloses an electric-drive and high-rigidity 6-DOF parallel platform. The electric-drive and high-rigidity 6-DOF parallel platform comprises a drive device, a movable platform body, a fixed base and connection rod branch chains. The drive device comprises a linear actuator and a drive motor, the linear actuator and the drive motor are distributed in a plane of the fixed base in a center symmetric mode, movement output directions of the linear actuator are mutually in parallel but are not coplanar. Axes of output shafts of the drive motor are located in the same plane and are perpendicular to the movement output directions of the linear actuator. The connection rod branch chains are divided into a first set of connection rod branch chains and a second set connection rod branch chains. The first set of connection rod branch chains is composed of a linear driver and a rotational connection rod, the second set of connection rod branch chains is composed of two rotational connection rod, and both the first set of connection rod branch chains and the second set of connection rod branch chains are connected with the movable platform body in a center symmetric mode. The parallel platform is high in rigidity and bearing capacity, good in dynamic response characteristic, compact in structure, small in occupied space and meanwhile capable of effectively lowering the manufacturing cost and the maintaining cost and avoiding environment pollution.
Description
Technical field
The present invention relates to the parallel connection platform in theory of mechanisms field, especially a kind of electric drive high rigidity Six Degree-of-Freedom Parallel Platform.
Background technology
Parallel institution has the advantages such as precision is high, bearing capacity strong, Stability Analysis of Structures compared with serial mechanism.The parallel institution that current application is more, most configuration belongs to Stewart platform.For the parallel connection platform of this class formation, usually adopt by drive arrangement on moving platform and fixed pedestal, due to the arrangement restriction driven, driving force height is coupled, and the isotropism degree of mechanism is poor; Meanwhile, fixed on the moving platform by driver, the motion of the drive system compliant platform that quality is larger swings together, and the additional mass of drive system and rotary inertia will reduce the dynamic response characteristic of system.In addition, due to the restriction of arrangement of mechanism, mostly this type of parallel connection platform existing is to adopt large-scale servo-cylinder to drive, and is equipped with large-scale energy storage device, and device structure is comparatively large, and manufacture maintenance cost higher, the leakage of hydraulic oil easily causes environmental pollution; Because the rigidity of hydraulic cylinder own is relatively low, dynamic response postpones comparatively large, the rigidity of influential system entirety.
Summary of the invention
For above-mentioned prior art Problems existing, the invention provides and the present invention is directed to the deficiencies in the prior art, provide a kind of electric drive high rigidity Six Degree-of-Freedom Parallel Platform.
For solving the problem, the technical solution used in the present invention is: a kind of electric drive high rigidity Six Degree-of-Freedom Parallel Platform, comprises drive unit, moving platform, fixed pedestal and connecting rod side chain, described drive unit comprises linear actuator and drive motors, described linear actuator and drive motors are fixed on the same plane of described fixed pedestal, the direction that described linear actuator exports motion is parallel to each other but not coplanar, and the axis of the output shaft of described drive motors is in same plane and to export the direction of moving mutually vertical with described linear actuator, described connecting rod side chain is divided into first group of connecting rod side chain and second group of connecting rod side chain, described first group of connecting rod side chain is made up of linear actuator and pivot link, one end of the pivot link of first group of connecting rod side chain is connected with the output shaft of linear actuator by ball pivot or Hooke's hinge, the other end of first group of connecting rod side chain is connected with moving platform by ball pivot or Hooke's hinge, second group of described connecting rod side chain is made up of two sections of pivot links, one end of second group of connecting rod side chain is connected with the output shaft of drive motors by revolute pair, the other end of second group of connecting rod side chain is connected with moving platform by ball pivot or Hooke's hinge, connected by ball pivot or Hooke's hinge between two sections of pivot links of second group of connecting rod side chain, the pivot link be connected with drive motors has the rotation in the plane vertical with the output shaft of drive motors, the pivot link be connected with moving platform has the rotation in space.
Further, described linear actuator and the equal Central Symmetry of drive motors are distributed in the plane of described fixed pedestal, and the ball pivot that first group of connecting rod side chain and second group of connecting rod side chain are connected with moving platform or the equal Central Symmetry of Hooke's hinge are distributed on described moving platform.
The invention has the beneficial effects as follows: linear actuator and drive motors to be fixed on fixed pedestal but not on moving platform, in the process that moving platform is moved, the additional mass and the rotary inertia that participate in motion reduce greatly, can improve the dynamic response characteristic of system, reduce energy consumption; Connecting rod side chain on vertical direction can bear the power and torque that produce in motion process, improves rigidity and the bearing capacity of system; Adopt motor to drive and replace existing fluid power system, can reduction equipment structure, reduce and manufacture and maintenance cost, the rigidity of further raising system and response characteristic, avoid hydraulic oil to reveal the environmental pollution caused simultaneously; Platform structure of the present invention is compact in addition, and occupation of land space is relatively little.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of electric drive high rigidity Six Degree-of-Freedom Parallel Platform of the present invention;
Fig. 2 is the three-dimensional model diagram of a kind of electric drive high rigidity Six Degree-of-Freedom Parallel Platform of the embodiment of the present invention;
In figure: 1-1, linear actuator; 1-2, drive motors; 2, moving platform; 3, fixed pedestal; 4-1, first group of connecting rod side chain; 4-2, second group of connecting rod side chain; 5-1, the first output shaft; 5-2, the second output shaft; 6-11, first connecting rod ball pivot; 6-12, the first ball pivot; 6-21, second connecting rod ball pivot; 6-22, the second ball pivot.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As depicted in figs. 1 and 2, a kind of electric drive high rigidity Six Degree-of-Freedom Parallel Platform, comprises drive unit, moving platform 2, fixed pedestal 3 and connecting rod side chain; Described drive unit comprises three linear actuator 1-1 and three drive motors 1-2, linear actuator 1-1 and the equal Central Symmetry of drive motors 1-2 are fixed on the same plane of fixed pedestal 3, the direction that linear actuator 1-1 exports motion is parallel to each other but not coplanar, and the axis of the second output shaft 5-2 of drive motors 1-2 is in same plane and to export the direction of moving mutually vertical with linear actuator 1-1.
Described connecting rod side chain totally 6, is divided into first group of connecting rod side chain 4-1 and second group of connecting rod side chain 4-2, and often organizing connecting rod side chain has 3 connecting rod side chains, and first group connecting rod side chain 4-1 and the second group equal Central Symmetry of connecting rod side chain 4-2 is connected on moving platform 2; First group of connecting rod side chain 4-1 is made up of linear actuator 1-1 and pivot link, and one end of pivot link is connected with the first output shaft 5-1 of linear actuator 1-1 by first connecting rod ball pivot 6-11, and the other end is connected with moving platform 2 by the first ball pivot 6-12; Second group of connecting rod side chain 4-2 is made up of two sections of pivot links, one end of second group of connecting rod side chain 4-2 is connected with the second output shaft 5-2 of drive motors 1-2 by revolute pair, the other end is connected with moving platform by the second ball pivot 6-22, connected by second connecting rod ball pivot 6-21 between two sections of pivot links, can realize the rotation in the plane vertical with the second output shaft 5-2 of drive motors 1-2 with the pivot link that drive motors 1-2 is connected under driving effect, the pivot link be connected with moving platform 2 can rotation in implementation space.
Described linear actuator 1-1 can be made up of motor, shaft coupling, ball-screw, slide block and guide rail etc., motor is rigidly connected by shaft coupling and ball-screw, ball-screw is connected with slide block, slide block to be arranged on guide rail and to do rectilinear motion at vertical direction, one end of slide block is connected with one end of pivot link by ball pivot or Hooke's hinge as output shaft, motor drives ball screw turns by shaft coupling, and then drives slide block to do rectilinear motion along vertical direction on guide rail.
Linear actuator 1-1 and drive motors 1-2 is all fixed on fixed pedestal 3, and in the process that moving platform 2 is moved, the additional mass and the rotary inertia that participate in motion reduce greatly, improve the dynamic response characteristic of system, reduce energy consumption; Second group of connecting rod side chain 4-2 in the vertical direction can bear the power and torque that produce in motion process, improves rigidity and the bearing capacity of system; Linear actuator 1-1 and drive motors 1-2 is adopted to drive, can the overall structure of reduction equipment, structure comparison is compact, take up an area space relatively little, reduce manufacture and maintenance cost, the rigidity of further raising system and response characteristic, avoid hydraulic oil to reveal the environmental pollution caused simultaneously.
Claims (2)
1. an electric drive high rigidity Six Degree-of-Freedom Parallel Platform, comprises drive unit, moving platform, fixed pedestal and connecting rod side chain, it is characterized in that: described drive unit comprises linear actuator and drive motors, described linear actuator and drive motors are fixed on the same plane of described fixed pedestal, the direction that described linear actuator exports motion is parallel to each other but not coplanar, and the axis of the output shaft of described drive motors is in same plane and to export the direction of moving mutually vertical with described linear actuator, described connecting rod side chain is divided into first group of connecting rod side chain and second group of connecting rod side chain, described first group of connecting rod side chain is made up of linear actuator and pivot link, one end of the pivot link of first group of connecting rod side chain is connected with the output shaft of linear actuator by ball pivot or Hooke's hinge, the other end of first group of connecting rod side chain is connected with moving platform by ball pivot or Hooke's hinge, second group of described connecting rod side chain is made up of two sections of pivot links, one end of second group of connecting rod side chain is connected with the output shaft of drive motors by revolute pair, the other end of second group of connecting rod side chain is connected with moving platform by ball pivot or Hooke's hinge, connected by ball pivot or Hooke's hinge between two sections of pivot links of second group of connecting rod side chain, the pivot link be connected with drive motors has the rotation in the plane vertical with the output shaft of drive motors, the pivot link be connected with moving platform has the rotation in space.
2. electric drive high rigidity Six Degree-of-Freedom Parallel Platform according to claim 1, it is characterized in that: described linear actuator and the equal Central Symmetry of drive motors are distributed in the plane of described fixed pedestal, the ball pivot that described first group of connecting rod side chain and second group of connecting rod side chain are connected with moving platform or the equal Central Symmetry of Hooke's hinge are distributed on described moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410843579.8A CN104626110A (en) | 2014-12-30 | 2014-12-30 | Electric-drive and high-rigidity 6-DOF parallel platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410843579.8A CN104626110A (en) | 2014-12-30 | 2014-12-30 | Electric-drive and high-rigidity 6-DOF parallel platform |
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| CN104626110A true CN104626110A (en) | 2015-05-20 |
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| CN201410843579.8A Pending CN104626110A (en) | 2014-12-30 | 2014-12-30 | Electric-drive and high-rigidity 6-DOF parallel platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106725855A (en) * | 2016-06-08 | 2017-05-31 | 中国矿业大学 | A kind of series-parallel connection six degree of freedom minimally invasive surgical operation robot |
| CN111716330A (en) * | 2020-06-16 | 2020-09-29 | 燕山大学 | Synchronous parallel side 6-freedom branched chain leg and 6-freedom parallel posture adjusting platform thereof |
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| CN102773856A (en) * | 2012-08-29 | 2012-11-14 | 江西省机械科学研究所 | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion |
| CN102848375A (en) * | 2012-08-29 | 2013-01-02 | 江西省机械科学研究所 | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion |
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| US4976582A (en) * | 1985-12-16 | 1990-12-11 | Sogeva S.A. | Device for the movement and positioning of an element in space |
| US5715729A (en) * | 1994-11-29 | 1998-02-10 | Toyoda Koki Kabushiki Kaisha | Machine tool having parallel structure |
| RU2175729C2 (en) * | 1996-08-27 | 2001-11-10 | Роберт Бош Гмбх | Design of ignition coils for internal combustion engines |
| JPH10124122A (en) * | 1996-10-07 | 1998-05-15 | Gec Alsthom Syst & Service Sa | Parallel structure-type robot |
| EP1129829A1 (en) * | 2000-03-01 | 2001-09-05 | SIG Pack Systems AG | Robot for handling products in a three-dimensional space |
| CN101249653A (en) * | 2008-03-28 | 2008-08-27 | 天津大学 | Space three-translational parallel connection mechanism with far-rack single-lever |
| DE102008062958A1 (en) * | 2008-12-23 | 2010-07-01 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Robot e.g. delta robot, for attachment to packaging machine for transporting and positioning e.g. meat, has rods supported by ball joints and coupled by tight and/or pressure-proof connections that are attached to rods between joints |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106725855A (en) * | 2016-06-08 | 2017-05-31 | 中国矿业大学 | A kind of series-parallel connection six degree of freedom minimally invasive surgical operation robot |
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| CN111716330A (en) * | 2020-06-16 | 2020-09-29 | 燕山大学 | Synchronous parallel side 6-freedom branched chain leg and 6-freedom parallel posture adjusting platform thereof |
| CN111716330B (en) * | 2020-06-16 | 2021-06-11 | 燕山大学 | Synchronous parallel side 6-freedom branched chain leg and 6-freedom parallel posture adjusting platform thereof |
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Application publication date: 20150520 |