CN104476540A - Novel dual annular guide rail double rotation parallel mechanism - Google Patents
Novel dual annular guide rail double rotation parallel mechanism Download PDFInfo
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- CN104476540A CN104476540A CN201410577214.5A CN201410577214A CN104476540A CN 104476540 A CN104476540 A CN 104476540A CN 201410577214 A CN201410577214 A CN 201410577214A CN 104476540 A CN104476540 A CN 104476540A
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- guide rail
- driven
- branched chain
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- axis
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Abstract
The invention discloses a novel dual annular guide rail double rotation parallel mechanism. The novel dual annular guide rail double rotation parallel mechanism comprises a static platform and a dynamic platform; a driven branched chain, a first drive branched chain and a second drive branched chain are connected between the static platform and the dynamic platform; the dynamic platform comprises a drive annular guide rail; a driven annular guide rail is fixed on the circumference of the inner wall of the drive annular guide rail; the symmetric center plane of the upper and lower surfaces of the driven annular guide rail coincides with the symmetric center plane of the upper and lower surfaces of the drive annular guide rail; and the center point of the driven annular guide rail coincides with the center point of the drive annular guide rail, so as to form the center point of the dynamic platform; the central axis of the driven annular guide rail coincides with the central axis of the drive annular guide rail; After employing the device, the rotation center point inside each branched chain coincides with each other; the driven branched chain limits the mobility of the drive branched chain; the driven branched chain of the mechanism is connected with the static platform and the dynamic platform, thus providing excellent rigidity performance for the mechanism in the perpendicular direction; due to the introduction of annular guide rails, the mechanism is more likely to achieve large angle rotation in two degrees of freedom.
Description
Technical field
The present invention relates to two one-rotation parallel mechanisms, relate generally to
novelcrossed Circle guide rail two one-rotation parallel mechanism.
Background technology
Two one-rotation parallel mechanisms are with a wide range of applications at industrial circle, can be used for the location tracking device of inter-satellite link satellite, robot shoulder/wrist joint, Minimally Invasive Surgery mechanical hand etc.It is large that above-mentioned application all requires that one-rotation parallel mechanism has rotational angle, motion flexibly, be easy to the advantages such as assembling, in addition, in order to better support satellite, robot arm, operating theater instruments etc. realize location tracking, the operations such as pose adjustment, two one-rotation parallel mechanisms must have certain rigidity property.
At present, the parallel institution proposed mainly has the following disadvantages: the two one-rotation parallel mechanism complex structures 1) proposed, easily interfere between rod member, large rotation angle cannot be realized, as described in patent CN 102079090 A and CN 102294693 A, mechanism is made up of many side chains, complex structure, and side chain composition comprises complicated hinge, limits turning power and the kinematic dexterity of mechanism; 2) existing mechanism cannot provide enough rigidity to complete action required, mechanism structure feature described by patent CN 102126212 A and CN103624559 A can wait and be all a class plane mechanism, it cannot provide enough support stiffness for mechanism's normal direction, therefore it cannot support satellite, robot arm etc. complete the operation of required tracing and positioning.
In sum, the equal Shortcomings of existing two one-rotation parallel mechanism, cannot meet the requirement of above-mentioned application.
Summary of the invention
The object of the invention is to the deficiency overcoming prior art, provide a kind of rotational angle large, rigidity property is superior, can support satellite, robot arm etc. complete the operations such as tracing and positioning
novelcrossed Circle guide rail two one-rotation parallel mechanism.
One of the present invention
novelcrossed Circle guide rail two one-rotation parallel mechanism, it comprises silent flatform and moving platform, driven side chain is connected with between described silent flatform and moving platform, first active branched chain and the second active branched chain, described moving platform comprises initiatively ring-shaped guide rail, the inwall circumference of described active ring-shaped guide rail is fixed with driven ring-shaped guide rail, described driven ring-shaped guide rail upper, ymmetry center plane below and described active ring-shaped guide rail upper, ymmetry center plane below coincides with one another, and driven annular guideway centreline's point and described active ring-shaped guide rail point coincides form moving platform central point, described driven annular guideway centreline axis and initiatively ring-shaped guide rail central axis overlap,
Described driven side chain comprises follower lever, driven hook hinge is fixed with at described follower lever top, described driven hook hinge comprises nearly frame axle and frame axle far away, described silent flatform is connected by the nearly frame axle of follower lever and driven hook hinge, described frame axle two ends far away are connected with a driven sliding block separately, described driven sliding block is connected with driven annular slide, described driven hook hinge central point and moving platform point coincides;
Described first active branched chain and the second active branched chain include the silent flatform revolute pair be fixed on silent flatform, lower link one end is rotationally connected by silent flatform revolute pair and silent flatform and the other end is rotationally connected with upper connecting rod one end by central rotational is secondary, the described upper connecting rod other end is connected with an active sliding block by hook hinge, active sliding block in first active branched chain is slidably connected with active ring-shaped guide rail, and the active sliding block in the second active branched chain is fixedly connected with active ring-shaped guide rail; Silent flatform revolute pair axis wherein in the first active branched chain, central rotational secondary axis and hook hinge frame far away axis are parallel to each other, silent flatform revolute pair axis in second active branched chain, central rotational secondary axis and hook hinge frame far away axis are parallel to each other, and the nearly frame axis of hook hinge of first and second active branched chain is all by moving platform central point.
Advantage of the present invention:
One of the present invention
novelcrossed Circle guide rail two one-rotation parallel mechanism, each side chain inner rotation central point coincides with one another, driven side chain restriction active branched chain locomotivity, the driven side chain of mechanism connects silent flatform and moving platform, can provide the rigidity property of superior vertical for mechanism, owing to introducing ring-shaped guide rail, mechanism is easier to realize two-freedom large rotation angle, can be applicable to hygienic trace location, the occasions such as robot shoulder/wrist joint pose adjustment.
Accompanying drawing explanation
fig. 1it is one of the present invention
novelthe structural representation of Crossed Circle guide rail two one-rotation parallel mechanism
figure;
fig. 2be
fig. 1the structural representation of the moving platform in shown mechanism
figure;
fig. 3be
fig. 1the structural representation of the driven side chain in shown mechanism
figure;
fig. 4be
fig. 1the structural representation of the first active branched chain in shown mechanism
figure;
fig. 5be
fig. 1the structural representation of the second active branched chain in shown mechanism
figure;
TranNum < b = "87" > < / b > the appended drawings marked: static platform 1 first active branched chain 2 second active branched chain driven branched chain 3 4 5 driven slider driven hook hinge 6 7 driven ring rail moving platform active ring rail 7 7-1-2 first static platform of rotation 8 the first connecting rod 9 on the first intermediate rotation 10, the first 11 first hook hinge 12 active sliding block 13 second static platform of rotation among 14 second connecting rod under 15 second rotation 16 on the second connecting rod 17 second 18 follower lever hook hinge 19 P the mobile platform center moving platform center axis of a first static platform of rotation axis b first intermediate rotation axis c first hook hinge hooke first hinge axis d nearly aircraft far axis rotation axis, f e second static platform among the second axis of rotation hooke g the second hinge axis plane far h second hook hinge near axis plane I active ring rail equivalent rotation pair of aa
Detailed description of the invention
Below in conjunction with
accompanying drawingthe present invention is described in detail with specific embodiment.
As
accompanying drawing instituteshow one of the present invention
novelcrossed Circle guide rail two one-rotation parallel mechanism, it comprises silent flatform 1 and moving platform 7, driven side chain 4 is connected with between described silent flatform 1 and moving platform 7, first active branched chain 2 and the second active branched chain 3, described moving platform comprises initiatively ring-shaped guide rail 7-2, the inwall circumference of described active ring-shaped guide rail is fixed with driven ring-shaped guide rail 7-1, described driven ring-shaped guide rail upper, ymmetry center plane below and described active ring-shaped guide rail upper, ymmetry center plane below coincides with one another, and driven annular guideway centreline's point and described active ring-shaped guide rail point coincides form moving platform central point, described driven annular guideway centreline axis and initiatively ring-shaped guide rail central axis overlap,
Described driven side chain comprises follower lever 19, driven hook hinge 5 is fixed with at described follower lever top, described driven hook hinge comprises nearly frame axle and frame axle far away, described silent flatform is connected by the nearly frame axle of follower lever and driven hook hinge, described frame axle two ends far away are connected with a driven sliding block separately, described driven sliding block and driven ring-shaped guide rail 7-1 are slidably connected, described driven hook hinge central point and moving platform point coincides;
Described first active branched chain and second initiatively includes the silent flatform revolute pair be fixed on silent flatform, lower link one end is rotationally connected by silent flatform revolute pair and silent flatform and the other end is rotationally connected with upper connecting rod one end by central rotational is secondary, the described upper connecting rod other end is connected with an active sliding block by hook hinge, active sliding block in first active branched chain is slidably connected with active ring-shaped guide rail, and the active sliding block in the second active branched chain is fixedly connected with active ring-shaped guide rail; Silent flatform revolute pair axis wherein in the first active branched chain, central rotational secondary axis and hook hinge frame far away axis are parallel to each other, silent flatform revolute pair axis in second active branched chain, central rotational secondary axis and hook hinge frame far away axis are parallel to each other, and the nearly frame axis of hook hinge of first and second active branched chain is all by moving platform central point.
Below again in conjunction with each width
figurethe present invention is described in detail.
as Fig. 1shown in, one of the present invention
novelcrossed Circle guide rail two one-rotation parallel mechanism is by silent flatform 1, moving platform 7 and be connected the first active branched chain 2, second active branched chain 3 of dynamic and static platform and driven side chain 4 is formed.
as Fig. 1with
fig. 2shown in, described moving platform 7 is made up of driven ring-shaped guide rail 7-1 and active ring-shaped guide rail 7-2 consolidation.Described driven ring-shaped guide rail 7-1 and driven sliding block 6 are slidably connected, and the active sliding block 13 of described active ring-shaped guide rail 7-2 and the first active branched chain is slidably connected, thus driven sliding block 6 and active sliding block 13 annularly can realize circumference continuous moving by track.The ymmetry center plane of described driven ring-shaped guide rail 7-1 top and bottom and the ymmetry center plane of described active ring-shaped guide rail 7-2 top and bottom coincide with one another, and described driven ring-shaped guide rail 7-1 central point and described active ring-shaped guide rail 7-2 point coincides, be moving platform center point P; Described driven annular guideway centreline axis and described active ring-shaped guide rail central axis overlap, and are moving platform central axis, represent with axis a.
as Fig. 1with
fig. 3shown in, described driven side chain 4 is by follower lever 19, and driven hook hinge 5 and driven sliding block 6 form.Described driven hook hinge 5 comprises nearly frame axle and frame axle far away, described silent flatform 1 is connected with the nearly frame axle of described driven hook hinge 5 by follower lever 19, described frame axle far away is connected with described driven sliding block 6, and described driven sliding block 6 is connected with the driven annular slide of described moving platform 7.Described driven hook hinge central point overlaps with moving platform center point P.
as Fig. 1with
fig. 4shown in, described first active branched chain 2 is by the first silent flatform revolute pair 8, first lower link 9, first central rotational pair 10, and connecting rod 11 on first, the first hook hinge 12 and active sliding block 13 form.Described silent flatform 1 is connected with described first lower link 9 one end by described first silent flatform revolute pair 8, described first lower link 9 other end is connected with connecting rod 11 one end on described first by described first central rotational secondary 10, on described first, connecting rod 11 other end is connected with described active sliding block 13 by described first hook hinge 12, and described active sliding block 13 and moving platform 7 initiatively ring-shaped guide rail are slidably connected.Described first silent flatform revolute pair axis b, described first central rotational secondary axis c and described first hook hinge frame far away axis d are parallel to each other, and described first hook hinge nearly frame axis e is by moving platform center point P.
as Fig. 1with
fig. 5shown in, described second active branched chain 3 comprises the second silent flatform revolute pair 14, second lower link 15, second central rotational pair 16, connecting rod 17 and the second hook hinge 18 and an active sliding block on second.Described silent flatform 1 is connected with described second lower link 15 one end by described second silent flatform revolute pair 14, described second lower link 15 other end is connected with connecting rod 17 one end on described second by described second central rotational secondary 16, on described second, connecting rod 17 other end is connected with an active sliding block by described second hook hinge 18, and described active sliding block is fixedly connected with moving platform 7.Described second silent flatform revolute pair axis f, described second central rotational secondary axis g and described second hook hinge frame far away axis h are parallel to each other, and described second hook hinge nearly frame axis i is by moving platform center point P.
With described first silent flatform revolute pair 8 and the second silent flatform revolute pair 14 for input queued switches, one of the present invention
novelcrossed Circle guide rail two one-rotation parallel mechanism can rotate by implementation space two-freedom.
as Fig. 1-
fig. 3shown in, described driven ring-shaped guide rail 7-1 and driven sliding block 6 structure can be equal to revolute pair, this equivalent revolute pair is moving platform central axis a by moving platform center point P, direction, in conjunction with driven hook hinge 5, described driven side chain 4 has space three-freedom turning power, and two pivot centers getting final product moving Platform center axis a and driven hook hinge 5 realize Three Degree Of Freedom and rotate.Central point due to driven hook hinge 5 is P, therefore the Three Degree Of Freedom center of rotation of driven side chain 4 is moving platform center point P.
as Fig. 1with
fig. 4shown in, described active ring-shaped guide rail and active sliding block 13 structure can be equal to revolute pair, this equivalent turns auxiliary shaft line aa is by moving platform center point P, direction is moving platform central axis a, in conjunction with described first silent flatform revolute pair 8, described first central rotational secondary 10 and described first hook hinge 12, described first active branched chain 2 has space three-freedom and rotates and two-freedom locomotivity, described first silent flatform revolute pair axis b, described first central rotational secondary axis c and described first hook hinge frame far away axis d is parallel to each other, described Equivalent Rotational secondary axis aa and described first hook hinge nearly frame axis e meets at moving platform center point P, therefore three pivot centers of described first active branched chain 2 respectively with the first silent flatform revolute pair axis b, Equivalent Rotational secondary axis aa is parallel with the first hook hinge nearly frame axis e.In sum, the Three Degree Of Freedom center of rotation of the first active branched chain 2 is moving platform center point P, and its two-freedom mobile axis is any two straight lines be not parallel to each other perpendicular to the first silent flatform revolute pair axis b in space.
as Fig. 1with
fig. 5shown in, under described second silent flatform revolute pair 14, described second central rotational secondary 16 and described second hook hinge 18 act on, described second active branched chain 3 has space two-freedom turning power and two-freedom locomotivity.Because described second silent flatform revolute pair axis f, described second central rotational secondary axis g and described second hook hinge frame far away axis h are parallel to each other, described second hook hinge nearly frame axis i is by moving platform center point P, therefore two centers of rotation of the second active branched chain 3 are moving platform center point P, its two-freedom pivot center is parallel with the second hook hinge frame far away axis h and the second hook hinge nearly frame axis i respectively, and its two-freedom mobile axis is any two straight lines be not parallel to each other perpendicular to described second silent flatform revolute pair axis f in space.
Because the three rotating centers of described first active branched chain 2, two centers of rotation of described second active branched chain 3 and the three rotating centers of described driven side chain 4 are moving platform center point P, therefore described moving platform 7 can realize the space two-freedom rotation that central point is P, its two center of rotation is moving platform center point P, and two-freedom pivot center is parallel with the second hook hinge frame far away axis h and the second hook hinge nearly frame axis i respectively.Simultaneously, under described first active branched chain 2, described second active branched chain 3 and the acting in conjunction of described driven side chain 4, the two-freedom locomotivity of described first active branched chain 2 and described second active branched chain 3 is limited by driven side chain 4, therefore described moving platform 7 only can realize moving Platform center point P, parallel with the second hook hinge frame far away axis h and the second hook hinge nearly frame axis i respectively two-freedom of pivot center rotates.(about the definition of fulcrum and plane of motion can refer to document " Herv é JM.The Lie group of rigid body displacements, a fundamental tool for mechanism design.Mech Mach Theory1999; 34:719-730. " (Herv é JM. rigid body displacement Lie subgroup, Fundamentals of Machine Design instrument. theory of mechanics 1999; 34:719-730. ")
The one of this patent design
novelthe moving platform of Crossed Circle guide rail two one-rotation parallel mechanism is made up of active ring-shaped guide rail and driven ring-shaped guide rail.Ring-shaped guide rail has complete cycle cornering rate, the impact of factor such as can to interfere between eliminating machine rod member, make mechanism have large rotation ability.One of the present invention
novelcrossed Circle guide rail two one-rotation parallel mechanism has middle driven side chain, and this side chain strengthens the support stiffness of mechanism, and can meet hygienic trace location, robot arm pose adjustment etc. are for the demand of mechanism's rigidity.
The above description of this invention is only schematic, instead of restrictive, so embodiments of the present invention are not limited to above-mentioned detailed description of the invention.If those of ordinary skill in the art enlightens by it, when not departing from present inventive concept and claim institute protection domain, making other change or modification, all belonging to protection scope of the present invention.
Claims (1)
1. novel bicyclic shape guide rail two one-rotation parallel mechanism, it comprises silent flatform and moving platform, it is characterized in that: between described silent flatform and moving platform, be connected with driven side chain, first active branched chain and the second active branched chain, described moving platform comprises initiatively ring-shaped guide rail, the inwall circumference of described active ring-shaped guide rail is fixed with driven ring-shaped guide rail, described driven ring-shaped guide rail upper, ymmetry center plane below and described active ring-shaped guide rail upper, ymmetry center plane below coincides with one another, and driven annular guideway centreline's point and described active ring-shaped guide rail point coincides form moving platform central point, described driven annular guideway centreline axis and initiatively ring-shaped guide rail central axis overlap,
Described driven side chain comprises follower lever, driven hook hinge is fixed with at described follower lever top, described driven hook hinge comprises nearly frame axle and frame axle far away, described silent flatform is connected by the nearly frame axle of follower lever and driven hook hinge, described frame axle two ends far away are connected with a driven sliding block separately, described driven sliding block is connected with driven annular slide, described driven hook hinge central point and moving platform point coincides;
Described first active branched chain and second initiatively includes the silent flatform revolute pair be fixed on silent flatform, lower link one end is rotationally connected by silent flatform revolute pair and silent flatform and the other end is rotationally connected with upper connecting rod one end by central rotational is secondary, the described upper connecting rod other end is connected with an active sliding block by hook hinge, active sliding block in first active branched chain is slidably connected with active ring-shaped guide rail, and the active sliding block in the second active branched chain is fixedly connected with active ring-shaped guide rail; Silent flatform revolute pair axis wherein in the first active branched chain, central rotational secondary axis and hook hinge frame far away axis are parallel to each other, silent flatform revolute pair axis in second active branched chain, central rotational secondary axis and hook hinge frame far away axis are parallel to each other, and the nearly frame axis of hook hinge of first and second active branched chain is all by moving platform central point.
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| CN201410577214.5A CN104476540B (en) | 2014-10-24 | 2014-10-24 | A kind of novel bicyclic shape guide rail two one-rotation parallel mechanism |
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| CN201410577214.5A CN104476540B (en) | 2014-10-24 | 2014-10-24 | A kind of novel bicyclic shape guide rail two one-rotation parallel mechanism |
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| CN104476540A true CN104476540A (en) | 2015-04-01 |
| CN104476540B CN104476540B (en) | 2016-01-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106125770A (en) * | 2016-07-22 | 2016-11-16 | 西安电子科技大学 | A kind of azimuth pitch moves two axle bed framves |
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| CN102294693A (en) * | 2011-08-18 | 2011-12-28 | 浙江工业大学 | Double-freedom degree rotation parallel mechanism |
| CN103624559A (en) * | 2013-11-25 | 2014-03-12 | 燕山大学 | Two-rotating complete decoupling parallel mechanism |
| CN204235547U (en) * | 2014-10-24 | 2015-04-01 | 天津大学 | A kind of novel bicyclic shape guide rail two one-rotation parallel mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10212A (en) * | 1853-11-08 | Grain thresher and separator | ||
| WO2008104167A2 (en) * | 2007-02-28 | 2008-09-04 | Technische Universität Braunschweig | Singularity-based machine test and calibration method |
| CN102126212A (en) * | 2010-12-24 | 2011-07-20 | 燕山大学 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
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| CN102294693A (en) * | 2011-08-18 | 2011-12-28 | 浙江工业大学 | Double-freedom degree rotation parallel mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106125770A (en) * | 2016-07-22 | 2016-11-16 | 西安电子科技大学 | A kind of azimuth pitch moves two axle bed framves |
| CN106125770B (en) * | 2016-07-22 | 2019-06-07 | 西安电子科技大学 | A kind of two axle bed frame of orientation-pitching movement |
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| CN104476540B (en) | 2016-01-20 |
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