Redundant-drive three-shaft series-parallel rotary platform

A three-axis turntable, parallel technology, used in large fixed members, metal processing mechanical parts, instruments, etc., can solve the problems of difficult to bear heavy load, structural asymmetry, singular mechanism, etc., and achieve high dynamic response performance, structural symmetry stiffness High, simple and symmetrical effect

Inactive Publication Date: 2010-07-14
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The most widely used three-axis rotary platform configuration is the three-axis series frame-type turntable, which uses servo motors to directly control the three shafts, and the control is simple and high-precision. However, since the load directly acts on the three shafts, the servo motor needs to have a large output. Torque can overcome the eccentric load moment, so it is difficult to achieve heavy load
The spherical 3-RRR (R stands for rotating pair) mechanism in the three-axis rotating platform is a fully symmetrical parallel configuration, but because it requires all rotating pair axes to meet at the center of rotation, it requires high processing and assembly precision, and it is easy to move The jamming phenomenon occurs, and it is difficult to bear heavy loads due to low stiffness; parallel 3-SPS / S (S spherical joint, P moving pair) mechanism, the middle restraint branch contains a spherical joint, and three moving pairs are used as the transmission drive, so that The upper platform can rotate around three axes, and has the advantages of large system rigidity and can bear heavy loads. However, due to the singularity of the mechanism when the three drive branches are coplanar with the middle branch, it takes a large amount of time for the upper platform to rotate around the axis vertical to the upper platform. Even the rotation around the axis cannot be realized due to the singularity, and the performance of each position in the working space is inconsistent
It can be seen that the existing three-axis rotating platform mechanism has problems such as structural asymmetry, low rigidity, difficulty in bearing heavy loads, and poor dynamic response when the load is large.
At present, with the enlargement of equipment, there are more and more demands for large-scale three-axis rotary platforms with heavy load and high dynamic response, but the above-mentioned three-axis turntables are difficult to meet the performance requirements

Method used

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Examples

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Embodiment 1

[0016] The redundant drive series-parallel three-axis turntable of this embodiment is as follows: figure 1 As shown, the series-parallel turntable is composed of a base platform 1, a middle platform 2, an upper platform 5, four driving branches distributed around, and a middle constraint branch. The middle constraint branch is fixedly connected to the middle platform 2 and passed through the fifth universal hinge U 5 Connected with the upper platform 5, the fifth universal hinge U 5 The axis of the rotating pair connecting the upper platform 5 is parallel to the table top of the upper platform 5, and the fifth universal joint U 5 Connect the rotating pair axis of the intermediate support rod 6 with the first rotating pair R 1 The axis is vertical; the four drive branches are all composed of cylinder 3 and connecting rod 4, the cylinder 3 and connecting rod 4 are connected by a moving pair, and the cylinder 3 and the middle platform 2 pass through the upper universal hinge (t...

Embodiment 2

[0018] The redundant drive series-parallel three-axis turntable of this embodiment is as follows: figure 2 As shown, the series-parallel turntable is composed of a base platform 1, a middle platform 2, an upper platform 5, four driving branches distributed around, and a middle constraint branch. The middle constraint branch is fixedly connected to the middle platform 2 and passed through the fifth universal hinge U 5 Connected with the upper platform 5, the fifth universal hinge U 5 The axis of the rotating pair connecting the upper platform 5 is parallel to the table top of the upper platform 5, and the fifth universal joint U 5 Connect the rotating pair axis of the intermediate support rod 6 with the first rotating pair R 1 The axis is vertical; the four drive branches are all composed of a cylinder 3 and a connecting rod 4, and the cylinder 3 and the connecting rod 4 are connected by a moving pair, and the two symmetrically arranged connecting rods 4 pass through the sec...

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Abstract

The invention provides a redundant-drive three-shaft series-parallel rotary platform. The series-parallel rotary platform consists of a base platform (1), a central platform (2), an upper platform (5), four drive branches distributed around and a central limiting branch, wherein the central limiting branch is fixedly connected with the central platform (2) and is connected with the upper platform (5) by a fifth universal joint (U5); the central platform (2), the upper platform (5), the central limiting branch and the drive branches form a two-shaft parallel rotary platform with redundant drive; and the base platform (1) is connected in series with the two-shaft parallel rotary platform by a first rotation pair (R1) to form the redundant-drive three-shaft series-parallel rotary platform. The redundant-drive three-shaft series-parallel rotary platform has the characteristics of simple and symmetric structure, high loading capacity, small performance difference within work space and the like.

Description

technical field [0001] The invention belongs to the field of multi-axis motion platforms, in particular to a redundant drive series-parallel three-axis rotating platform. Background technique [0002] In recent years, with the development of mechanism and control technology, multi-axis motion platforms have been used more and more widely in many fields. The three-axis rotating platform has a wide range of application requirements in many fields such as national defense and civilian use, and can be used as a stable platform, a motion simulator, and an auxiliary workbench for machine tool processing. Compared with the translation mechanism and the transfer mechanism, there are relatively few types of mechanisms with three-axis rotation. The most widely used three-axis rotary platform configuration is the three-axis series frame-type turntable, which uses servo motors to directly control the three shafts, and the control is simple and high-precision. However, since the load di...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23Q1/26B23Q1/74G12B9/10G12B5/00
Inventor 赵铁石
Owner YANSHAN UNIV
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