CN104589308A - Multi-rotating-pair mechanism - Google Patents

Multi-rotating-pair mechanism Download PDF

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Publication number
CN104589308A
CN104589308A CN201410677744.7A CN201410677744A CN104589308A CN 104589308 A CN104589308 A CN 104589308A CN 201410677744 A CN201410677744 A CN 201410677744A CN 104589308 A CN104589308 A CN 104589308A
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CN
China
Prior art keywords
pair
rod
chain
cylindrical
revolute
Prior art date
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Pending
Application number
CN201410677744.7A
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Chinese (zh)
Inventor
李军安
黄漫卿
何卫华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GUANGXI ZHITONG ENERGY SAVING ENVIRONMENTAL PROTECTION TECHNOLOGY Co Ltd
Original Assignee
GUANGXI ZHITONG ENERGY SAVING ENVIRONMENTAL PROTECTION TECHNOLOGY Co Ltd
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Priority to CN201410677744.7A priority Critical patent/CN104589308A/en
Publication of CN104589308A publication Critical patent/CN104589308A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a multi-rotating-pair mechanism which is composed of a movable platform, a fixed platform and three branched chains connected to the movable platform and the fixed platform. The first branched chain and the second branched chain in the three branched chains are of the same structure and are each composed of two rotating pairs, a cylindrical pair and connecting rods between the rotating pairs and the cylindrical pair from top to bottom. The third branched chain in the three branched chains is composed of a ball pair, two rotating pairs, a cylindrical pair and connecting rods between the ball pair, the rotating pairs and the cylindrical pair from top to bottom. By means of the movable platform of a parallel robot mechanism, the movement output of three movements can be achieved, multiple freedom degrees are achieved, a kinematic model is simple, and the structural rigidity is improved.

Description

A kind of many revolute pair mechanisms
Technical field
The present invention relates to mechanical field, relate in particular to a kind of many revolute pair mechanisms.
Background technology
Parallel institution (Parallel Mechanism, be called for short PM), can be defined as moving platform and fixed platform by least two independently kinematic chain be connected, mechanism has two or more frees degree, and with a kind of close loop mechanism that parallel way drives.
Parallel robot mechanism is widely used in the technical fields such as robot, Digit Control Machine Tool, sensor, inching operation, manufacture processing, and researcher have also been invented a lot of parallel institution.But existing parallel robot mechanism still comes with some shortcomings, the problems such as poor in manufacturability, complex structure, manufacturing cost are high.
Summary of the invention
The object of the invention is to the shortcoming and defect for above-mentioned prior art, a kind of many revolute pair mechanisms are provided.
For achieving the above object, present invention employs following technical scheme:
A kind of many revolute pair mechanisms, it is characterized in that: be made up of three side chains of above-mentioned two platforms of motion platform, fixed platform and connection, the first side chain in described three side chains is identical with the second branched structure, these two side chains are all made up of two revolute pairs, a cylindrical pair and the connecting rod between them from top to bottom, and the 3rd side chain in three articles of side chains is made up of a ball pair, two revolute pairs, a cylindrical pair and the connecting rods between them from top to bottom;
First side chain first on one end of connecting rod is connected with motion platform by the first revolute pair, on first, the other end of connecting rod passes through the second revolute pair and is connected with one end of the first lower link, and the other end of the first lower link passes through the first cylindrical pair and is connected with fixed platform;
Second side chain second on one end of connecting rod is connected with motion platform by the 3rd revolute pair, on second, the other end of connecting rod passes through the 4th revolute pair and is connected with one end of the second lower link, and the other end of the second lower link passes through the second cylindrical pair and is connected with fixed platform;
3rd side chain the 3rd on connecting rod one end by first ball pair be connected with motion platform, on 3rd, the other end of connecting rod is connected with one end of connecting rod in the 3rd by the 5th revolute pair, in 3rd, the other end of connecting rod is connected with one end of the 3rd lower link by the 6th revolute pair, and the other end of the 3rd lower link is connected with fixed platform by three cylindrical pair;
Wherein, the three cylindrical pair of the first cylindrical pair of the first side chain, the second cylindrical pair of the second side chain and the 3rd side chain is the driving pair of mechanism.
Preferably, described motion platform is isosceles triangle.
Preferably, described motion platform is isosceles right triangle, and wherein the line of the first revolute pair central point and the first ball sub-center point and the line angle of the 3rd revolute pair central point and the first ball sub-center point are 90 °.
Compared with prior art, the invention has the beneficial effects as follows:
The motion platform of parallel robot mechanism of the present invention can realize the movement output of three movements, has multiple degrees of freedom and kinematics model is simple, improves the rigidity of structure.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below.
Fig. 1 is the structured flowchart of the mechanism of the embodiment of the present invention.
Wherein: 1-motion platform, 2-first ball is secondary, 3-the 5th revolute pair, 4-the 6th revolute pair, 5-three cylindrical is secondary, 6-first revolute pair, 7-second revolute pair, 8-first cylindrical pair, 9-the 3rd revolute pair, 10-the 4th revolute pair, 11-second cylindrical pair, 12-fixed platform, connecting rod on L1-the 3rd, connecting rod in L2-the 3rd, L3-the 3rd lower link, connecting rod on L4-first, L5-first lower link, connecting rod on L6-second, L7-second lower link.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.
As shown in Figure 1, a kind of many revolute pair mechanisms, be made up of motion platform 1, fixed platform 12 and three side chains being connected above-mentioned two platforms, the first side chain in described three side chains is identical with the second branched structure, these two side chains are all made up of two revolute pairs, a cylindrical pair and the connecting rod between them from top to bottom, and the 3rd side chain in three articles of side chains is made up of a ball pair, two revolute pairs, a cylindrical pair and the connecting rods between them from top to bottom;
First side chain first on one end of connecting rod L4 be connected with motion platform 1 by the first revolute pair 6, on first, the other end of connecting rod L4 is connected with one end of the first lower link L5 by the second revolute pair 7, and the other end of the first lower link L5 is connected with fixed platform by the first cylindrical pair 8;
Second side chain second on one end of connecting rod L6 be connected with motion platform 1 by the 3rd revolute pair 9, on second, the other end of connecting rod L6 is connected with one end of the second lower link L7 by the 4th revolute pair 10, and the other end of the second lower link L7 is connected with fixed platform by the second cylindrical pair 11;
3rd side chain the 3rd on one end of connecting rod L1 be connected with motion platform 1 by the first ball secondary 2, on 3rd, the other end of connecting rod L1 is connected with one end of connecting rod L2 in the 3rd by the 5th revolute pair 3, in 3rd, the other end of connecting rod L2 is connected with one end of the 3rd lower link L3 by the 6th revolute pair 4, and the other end of the 3rd lower link L3 is connected with fixed platform by three cylindrical secondary 5;
Wherein, the second cylindrical pair 11 of the first cylindrical pair 8, second side chain of the first side chain and the three cylindrical secondary 5 of the 3rd side chain are the driving pair of mechanism.
Preferably, described motion platform 1 is isosceles triangle.
Preferably, described motion platform 1 is isosceles right triangle, and wherein the line of the first revolute pair 6 central point and secondary 2 central points of the first ball and the line angle of the 3rd revolute pair 9 central point and secondary 2 central points of the first ball are 90 °.
Based on the embodiment in the present invention, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, and any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (3)

1. revolute pair mechanism more than a kind, it is characterized in that: be made up of motion platform (1), fixed platform (12) and three side chains being connected above-mentioned two platforms, the first side chain in described three side chains is identical with the second branched structure, these two side chains are all made up of two revolute pairs, a cylindrical pair and the connecting rod between them from top to bottom, and the 3rd side chain in three articles of side chains is made up of a ball pair, two revolute pairs, a cylindrical pair and the connecting rods between them from top to bottom;
First side chain first on one end of connecting rod (L4) be connected with motion platform (1) by the first revolute pair (6), on first, the other end of connecting rod (L4) is connected with one end of the first lower link (L5) by the second revolute pair (7), and the other end of the first lower link (L5) is connected with fixed platform by the first cylindrical pair (8);
Second side chain second on one end of connecting rod (L6) be connected with motion platform (1) by the 3rd revolute pair (9), on second, the other end of connecting rod (L6) is connected with one end of the second lower link (L7) by the 4th revolute pair (10), and the other end of the second lower link (L7) is connected with fixed platform by the second cylindrical pair (11);
3rd side chain the 3rd on one end of connecting rod (L1) be connected with motion platform (1) by the first ball pair (2), on 3rd, the other end of connecting rod (L1) is connected with one end of connecting rod (L2) in the 3rd by the 5th revolute pair (3), in 3rd, the other end of connecting rod (L2) is connected with one end of the 3rd lower link (L3) by the 6th revolute pair (4), and the other end of the 3rd lower link (L3) is connected with fixed platform by three cylindrical pair (5);
Wherein, the three cylindrical pair (5) of first cylindrical pair (8) of the first side chain, second cylindrical pair (11) of the second side chain and the 3rd side chain is mechanism driving is secondary.
2. the many revolute pair mechanisms of one according to claim 1, is characterized in that: described motion platform (1) is isosceles triangle.
3. the many revolute pair mechanisms of one according to claim 2, it is characterized in that: described motion platform (1) is isosceles right triangle, wherein the line of the first revolute pair (6) central point and the first ball pair (2) central point and the line angle of the 3rd revolute pair (9) central point and the first ball pair (2) central point are 90 °.
CN201410677744.7A 2014-11-21 2014-11-21 Multi-rotating-pair mechanism Pending CN104589308A (en)

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Application Number Priority Date Filing Date Title
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Publications (1)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104874542A (en) * 2015-05-26 2015-09-02 江苏大学 3R parallel vibrating screen for fly maggot separating
CN105710863A (en) * 2016-03-30 2016-06-29 冯基洲 Novel parallel robot
CN105710862A (en) * 2016-03-30 2016-06-29 冯基洲 Parallel mechanism
CN105710861A (en) * 2016-03-30 2016-06-29 冯基洲 Robot
CN107414801A (en) * 2017-09-13 2017-12-01 长沙展朔轩兴信息科技有限公司 Three-dimensional translating parallel robot mechanism

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1304820A (en) * 2001-02-28 2001-07-25 中国石化集团金陵石油化工有限责任公司 3D parallel translation mechanism for virtual-axle machine tool and robot
CN1769004A (en) * 2005-11-23 2006-05-10 天津理工大学 Three-dimensional translating parallel robot mechanism
JP4235931B2 (en) * 2000-04-14 2009-03-11 株式会社安川電機 Parallel link robot
CN101700621A (en) * 2009-11-03 2010-05-05 天津理工大学 Full decoupled three-dimensional moving parallel robot mechanism
CN201979513U (en) * 2011-03-16 2011-09-21 安徽理工大学 2-PRR (Planning Release Record) and PPRR (Persistent Programming Research Report) three-degree-of-freedom spatial parallel robot mechanism
CN104002298A (en) * 2014-05-12 2014-08-27 燕山大学 Two-moving and one-rotating decoupling parallel robot mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4235931B2 (en) * 2000-04-14 2009-03-11 株式会社安川電機 Parallel link robot
CN1304820A (en) * 2001-02-28 2001-07-25 中国石化集团金陵石油化工有限责任公司 3D parallel translation mechanism for virtual-axle machine tool and robot
CN1769004A (en) * 2005-11-23 2006-05-10 天津理工大学 Three-dimensional translating parallel robot mechanism
CN101700621A (en) * 2009-11-03 2010-05-05 天津理工大学 Full decoupled three-dimensional moving parallel robot mechanism
CN201979513U (en) * 2011-03-16 2011-09-21 安徽理工大学 2-PRR (Planning Release Record) and PPRR (Persistent Programming Research Report) three-degree-of-freedom spatial parallel robot mechanism
CN104002298A (en) * 2014-05-12 2014-08-27 燕山大学 Two-moving and one-rotating decoupling parallel robot mechanism

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104874542A (en) * 2015-05-26 2015-09-02 江苏大学 3R parallel vibrating screen for fly maggot separating
CN105710863A (en) * 2016-03-30 2016-06-29 冯基洲 Novel parallel robot
CN105710862A (en) * 2016-03-30 2016-06-29 冯基洲 Parallel mechanism
CN105710861A (en) * 2016-03-30 2016-06-29 冯基洲 Robot
CN107414801A (en) * 2017-09-13 2017-12-01 长沙展朔轩兴信息科技有限公司 Three-dimensional translating parallel robot mechanism

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Application publication date: 20150506