CN106313017A - Two-freedom-degree parallel mechanism for improving load capacity - Google Patents
Two-freedom-degree parallel mechanism for improving load capacity Download PDFInfo
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- CN106313017A CN106313017A CN201610989566.0A CN201610989566A CN106313017A CN 106313017 A CN106313017 A CN 106313017A CN 201610989566 A CN201610989566 A CN 201610989566A CN 106313017 A CN106313017 A CN 106313017A
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- leg
- axis
- rotating shaft
- pedestal
- freedom
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 40
- 230000001737 promoting effect Effects 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a two-freedom-degree parallel mechanism for improving load capacity. The two-freedom-degree parallel mechanism comprises a machine frame, a movable platform, a first supporting foot, a second supporting foot and a third supporting foot, wherein the first supporting foot, the second supporting foot and the third supporting foot are connected between the machine frame and the movable platform. The second supporting foot and the third supporting foot are telescopic, the lower portion of the first supporting foot is rotatably installed on the machine frame through a first spherical hinge, the upper portion of the first supporting foot is rotatably installed on the movable platform through a first rotating shaft, the lower portion of the second supporting foot is rotatably installed on the machine frame through a cross-shaped connecting piece, the upper portion of the second supporting foot is rotatably connected to the movable platform through a second spherical hinge, the lower portion of the third supporting foot is rotatably installed on the machine frame through a fourth rotating shaft, and the upper portion of the third supporting foot is rotatably installed on the movable platform through a fifth rotating shaft. The two-freedom-degree parallel mechanism is high in rigidity and bearing capacity and simple in geometric structure and has good application prospect.
Description
Technical field
The present invention relates to parallel institution technical field, particularly relate to a kind of two-freedom parallel machine promoting load capacity
Structure.
Background technology
Parallel institution has high rigidity, high accuracy and the advantage of big bearing capacity, and research worker has invented a large amount of parallel connection
Mechanism, but major part is Three Degree Of Freedom and six-degree-of-freedom parallel connection mechanism, relates to the patent of invention of two-degree-of-freedom parallel mechanism
Seldom.And, general two-degree-of-freedom parallel mechanism is two branched structures, and bearing capacity is more weak, although some two-freedom is also
Online structure is three branched structures, but owing to kinematic pair distribution is not reasonable, causes stress distribution suffered by each branch irregular, some
Bigger stress bears in branch, and consume is relatively big, and the structure of some mechanism kinematic pairs is the most complicated, assembles the most difficult, and operation is not
Just.
Summary of the invention
In view of this, the invention provides a kind of simple in construction, bearing capacity is strong, assembling is easy and can effectively promote load
The two-degree-of-freedom parallel mechanism of ability.
The present invention provides a kind of two-degree-of-freedom parallel mechanism promoting load capacity, including frame and moving platform, and described two
Freedom degree parallel connection mechanism also includes the first leg, the second leg and the 3rd leg being connected between frame and moving platform, described
Second leg and the 3rd leg are the most scalable, and the bottom of described first leg is rotatably installed in described by one first spherical linkage
In frame, the top of described first leg is arranged on described moving platform by one first axis of rotation, described second leg
Bottom is rotatably installed in described frame by a cross connecting piece, and described cross connecting piece includes orthogonal second rotating shaft
With the 3rd rotating shaft, described second leg can be rotating around described second rotating shaft and the 3rd axis of rotation, the top of described second leg
Being rotatably connected on described moving platform by one second spherical linkage, one the 4th axis of rotation is passed through in the bottom of described 3rd leg
Being arranged in described frame, described 3rd leg can be around described 4th axis of rotation, and the top of described 3rd leg is by one the
Five axis of rotation are arranged on described moving platform.
Further, described frame is fixed with the first pedestal, the second pedestal and the 3rd base of distribution in equilateral triangle
Seat, described first spherical linkage is rotationally connected described first pedestal, and described second axis of rotation connects described second pedestal, described
4th axis of rotation connects described 3rd pedestal.
Further, described moving platform is fixed with the 4th pedestal of distribution, the 5th pedestal and the 6th in equilateral triangle
Pedestal, described first axis of rotation connects described 4th pedestal, and described second spherical linkage is rotationally connected described 5th pedestal, institute
State the 5th axis of rotation and connect described 6th pedestal.
Further, described first leg includes a constraining rod, the not flexible of described constraining rod, and described second leg includes
First drive rod and the second drive rod, described second drive rod does flexible fortune by the first moving sets in described first drive rod
Dynamic, described 3rd leg includes the 3rd drive rod and the 4th drive rod, and described 4th drive rod passes through the second moving sets described
Stretching motion is done in 3rd drive rod.
Further, the axis of described 3rd rotating shaft is vertical with the axis of described first moving sets, described 4th rotating shaft
Axis is parallel with the axis of described 5th rotating shaft and vertical with the axis of described second moving sets, the axis of described first rotating shaft with
The axis of described 5th rotating shaft is parallel.
Further, described first moving sets and described second moving sets are driven respectively, described first leg, described
The position of moving platform described in two legs and described 3rd leg co-controlling and attitude, it is achieved a rotational freedom and a shifting
Dynamic degree of freedom: the rotating shaft of rotational freedom is through the centre of sphere of the first spherical linkage and to be parallel to the direction of the first shaft axis,
The moving direction of one-movement-freedom-degree is the normal direction along the first shaft axis with the plane of constraining rod axis composition.
Further, described first moving sets and described second moving sets are all as active drive kinematic pair, type of drive
Drive or Driven by Hydraulic Cylinder for motor.
Technical scheme has the benefit that the two-degree-of-freedom parallel mechanism of the present invention includes three
Foot, mechanism's rigidity is high, and ability to bear is strong, and geometry is simple, assembles simple and convenient, has a good application prospect.
Accompanying drawing explanation
Fig. 1 is the structural representation of two-degree-of-freedom parallel mechanism of the present invention.
Fig. 2 is two-degree-of-freedom parallel mechanism post exercise structural representation of the present invention.
In figure: 1-frame, 11-the first pedestal, 12-the second pedestal, 13-the 3rd pedestal, 2-moving platform, 21-the 4th pedestal,
22-the 5th pedestal, 23-the 6th pedestal, 3-the first leg, 31-the first spherical linkage, 32-constraining rod, 33-the first rotating shaft, 4-
Two legs, 41-cross connecting piece, 411-the second rotating shaft, 412-the 3rd rotating shaft, 42-the first drive rod, 43-the first moving sets,
44-the second drive rod, 45-the second spherical linkage, 5-the 3rd leg, 51-the 4th rotating shaft, 52-the 3rd drive rod, 53-second moves
Dynamic pair, 54-the 4th drive rod, 55-the 5th rotating shaft.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is further described.
Refer to Fig. 1, The embodiment provides a kind of two-degree-of-freedom parallel mechanism promoting load capacity, including
First leg the 3, second leg 4 and the 3rd leg 5, frame 1 in parallel between frame 1, moving platform 2 and frame 1 and moving platform 2
On be fixed with in equilateral triangle the first pedestal the 11, second pedestal 12 and the 3rd pedestal 13 of distribution, be fixed with on the downside of moving platform 2
The 4th pedestal the 21, the 5th pedestal 22 and the 6th pedestal 23 of distribution in equilateral triangle.
First leg 3 includes constraining rod 32, constraining rod 32 not flexible, and the first spherical linkage is passed through in the lower end of constraining rod 32
31 are rotationally connected the first pedestal 11, and the upper end of constraining rod 32 is rotationally connected the 4th pedestal 21, therefore, constraint by the first rotating shaft 33
The lower end of bar 32 is carried out with the junction point of the first spherical linkage 31 for fulcrum in the spatial dimension that the first spherical linkage 31 retrains
Rotating, the upper end of constraining rod 32 can rotate around the first rotating shaft 33.
Second leg 4 includes cross connecting piece the 41, first drive rod 42 and the second drive rod 44.First drive rod 42 times
End is rotationally connected the second pedestal 12 by a cross connecting piece 41, and cross connecting piece 41 includes orthogonal second rotating shaft 411
With the 3rd rotating shaft 412, therefore, the first drive rod 42 can rotate rotating around the second rotating shaft 411 and the 3rd rotating shaft 412.First drives
Lever 42 connects the second drive rod 44, the first drive rod 42(cylinder barrel by the first moving sets 43) it is hollow, the second drive rod 44
(piston rod) does stretching motion by the first moving sets 43 in the first drive rod 42, thus regulates the height of the second leg 4.The
The upper end of two drive rods 44 is rotationally connected the 5th pedestal 22 by the second spherical linkage 45, and the second drive rod 44 is with the second spherical hinge
The junction point of chain 45 is that fulcrum rotates in the spatial dimension that the second spherical linkage 45 retrains.Wherein, the 3rd rotating shaft 412
Axis is vertical with the axis of the first moving sets 43.
3rd leg 5 includes the 4th rotating shaft the 51, the 3rd drive rod 52 and the 4th drive rod 54.The lower end of the 3rd drive rod 52
Being rotationally connected the 3rd pedestal 13 by the 4th rotating shaft 51, therefore, the 3rd drive rod 52 can rotate around the 4th rotating shaft 51.3rd drives
Lever 52(cylinder barrel) it is hollow, the 3rd drive rod 52(piston rod) connect the 4th drive rod 54 by the second moving sets 53, the 4th
Drive rod 54 can do stretching motion in the 3rd drive rod 52, thus regulates the height of the 3rd leg 5.4th drive rod 54 upper
End is rotationally connected the 6th pedestal 23 by the 5th rotating shaft 55, and the 4th drive rod 54 can rotate around the 5th rotating shaft 55.Wherein, the 4th
The axis of rotating shaft 51 is parallel with the axis of the 5th rotating shaft 55, and vertical with the axis of the second moving sets 53, the axle of the first rotating shaft 33
Line is parallel with the axis of described 5th rotating shaft 55.
It is the schematic diagram after the mechanism kinematic in Fig. 1 with reference to Fig. 2, Fig. 2.First rotating shaft 33 has axis a, and constraining rod 32 has
Having central axis b, the first spherical linkage 31 to have centre of sphere A, line c and through centre of sphere A and be parallel to axis a, line d is axis a and b group
Become the normal of plane.First moving sets 43 and the second moving sets 53 are driven respectively, wherein first leg the 3, second leg 4 and
The attitude of three leg 5 co-controlling moving platforms 2 realizes a rotational freedom and an one-movement-freedom-degree, turning of rotational freedom
Axle is line c, one-movement-freedom-degree d along the line direction.
In the embodiment of the present invention, the first moving sets 43 and the second moving sets 53 are all as active drive kinematic pair, driving side
Formula can be that motor drives or Driven by Hydraulic Cylinder.
In this article, the involved noun of locality such as forward and backward, upper and lower is with during in accompanying drawing, parts are positioned at figure and zero
Part position each other defines, and is intended merely to the clear and convenient of expression technology scheme.Should be appreciated that the described noun of locality
Use should not limit the scope that the application is claimed.
In the case of not conflicting, the feature in embodiment herein-above set forth and embodiment can be combined with each other.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (7)
1. promote a two-degree-of-freedom parallel mechanism for load capacity, including frame and moving platform, it is characterised in that: described two certainly
The first leg, the second leg and the 3rd leg that are connected between frame and moving platform is also included by degree parallel institution, described the
Two legs and the 3rd leg are the most scalable, and the bottom of described first leg is rotatably installed in described machine by one first spherical linkage
On frame, the top of described first leg is arranged on described moving platform by one first axis of rotation, under described second leg
Portion is rotatably installed in described frame by a cross connecting piece, described cross connecting piece include orthogonal second rotating shaft and
3rd rotating shaft, the bottom of described second leg can rotating around described second rotating shaft and the 3rd axis of rotation, described second leg
Top is rotatably connected on described moving platform by one second spherical linkage, and one the 4th rotating shaft is passed through in the bottom of described 3rd leg
Being rotatably installed in described frame, the bottom of described 3rd leg can be around described 4th axis of rotation, described 3rd leg upper
Portion is arranged on described moving platform by one the 5th axis of rotation.
2. the two-degree-of-freedom parallel mechanism promoting load capacity as claimed in claim 1, it is characterised in that: solid in described frame
Surely having the first pedestal, the second pedestal and the 3rd pedestal of distribution in equilateral triangle, described first spherical linkage is rotationally connected institute
Stating the first pedestal, described second axis of rotation connects described second pedestal, and described 4th axis of rotation connects described 3rd pedestal.
3. the two-degree-of-freedom parallel mechanism promoting load capacity as claimed in claim 1, it is characterised in that: on described moving platform
Being fixed with the 4th pedestal, the 5th pedestal and the 6th pedestal of distribution in equilateral triangle, described first axis of rotation connects described
4th pedestal, described second spherical linkage is rotationally connected described 5th pedestal, and described 5th axis of rotation connects described 6th base
Seat.
4. the two-degree-of-freedom parallel mechanism promoting load capacity as claimed in claim 1, it is characterised in that: described first leg
Including a constraining rod, the not flexible of described constraining rod, described second leg includes the first drive rod and the second drive rod, described
Two drive rods do stretching motion by the first moving sets in described first drive rod, and described 3rd leg includes the 3rd drive rod
With the 4th drive rod, described 4th drive rod does stretching motion by the second moving sets in described 3rd drive rod.
5. the two-degree-of-freedom parallel mechanism promoting load capacity as claimed in claim 4, it is characterised in that: described 3rd rotating shaft
Axis vertical with the axis of described first moving sets, the axis of described 4th rotating shaft parallel with the axis of described 5th rotating shaft and
Vertical with the axis of described second moving sets, the axis of described first rotating shaft is parallel with the axis of described 5th rotating shaft.
6. the two-degree-of-freedom parallel mechanism promoting load capacity as claimed in claim 4, it is characterised in that: described first moves
Secondary and described second moving sets is driven respectively, described first leg, described second leg and described 3rd leg co-controlling
The position of described moving platform and attitude, it is achieved a rotational freedom and an one-movement-freedom-degree, the rotating shaft of rotational freedom is
Through the centre of sphere of the first spherical linkage and be parallel to the direction of the first shaft axis, the moving direction of one-movement-freedom-degree is along first
The normal direction of the plane that shaft axis forms with constraining rod axis.
7. the two-degree-of-freedom parallel mechanism promoting load capacity as claimed in claim 4, it is characterised in that: described first moves
Secondary and described second moving sets is all as active drive kinematic pair, and type of drive is that motor drives or Driven by Hydraulic Cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610989566.0A CN106313017B (en) | 2016-11-10 | 2016-11-10 | A kind of two-degree-of-freedom parallel mechanism promoting load capacity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610989566.0A CN106313017B (en) | 2016-11-10 | 2016-11-10 | A kind of two-degree-of-freedom parallel mechanism promoting load capacity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106313017A true CN106313017A (en) | 2017-01-11 |
| CN106313017B CN106313017B (en) | 2018-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610989566.0A Expired - Fee Related CN106313017B (en) | 2016-11-10 | 2016-11-10 | A kind of two-degree-of-freedom parallel mechanism promoting load capacity |
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| Country | Link |
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| CN (1) | CN106313017B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856025A (en) * | 2017-12-20 | 2018-03-30 | 歌尔科技有限公司 | Robot and its angle adjusting mechanism |
| CN109774874A (en) * | 2019-02-19 | 2019-05-21 | 长沙学院 | Damper mechanism and cushion dashpot formula flexible connecting device |
Citations (5)
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| CN103144096A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Overconstraint-free asymmetric parallel mechanism with two rotations and one movement |
| JP2014233819A (en) * | 2013-06-04 | 2014-12-15 | 株式会社前田精密製作所 | Three degrees of freedom introduction mechanism and four degrees of freedom lifter mechanism |
| CN105856193A (en) * | 2016-05-10 | 2016-08-17 | 燕山大学 | Two-degree-of-freedom rotational parallel mechanism with two continuous rotating axes |
| CN105936044A (en) * | 2016-06-02 | 2016-09-14 | 燕山大学 | Complete decoupling type two-rotating, one-moving and 3-DOF (degree-of-freedom) parallel mechanism |
| CN206287134U (en) * | 2016-11-10 | 2017-06-30 | 中国地质大学（武汉） | A kind of two-degree-of-freedom parallel mechanism for lifting load capacity |
-
2016
- 2016-11-10 CN CN201610989566.0A patent/CN106313017B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103144096A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Overconstraint-free asymmetric parallel mechanism with two rotations and one movement |
| JP2014233819A (en) * | 2013-06-04 | 2014-12-15 | 株式会社前田精密製作所 | Three degrees of freedom introduction mechanism and four degrees of freedom lifter mechanism |
| CN105856193A (en) * | 2016-05-10 | 2016-08-17 | 燕山大学 | Two-degree-of-freedom rotational parallel mechanism with two continuous rotating axes |
| CN105936044A (en) * | 2016-06-02 | 2016-09-14 | 燕山大学 | Complete decoupling type two-rotating, one-moving and 3-DOF (degree-of-freedom) parallel mechanism |
| CN206287134U (en) * | 2016-11-10 | 2017-06-30 | 中国地质大学（武汉） | A kind of two-degree-of-freedom parallel mechanism for lifting load capacity |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856025A (en) * | 2017-12-20 | 2018-03-30 | 歌尔科技有限公司 | Robot and its angle adjusting mechanism |
| CN107856025B (en) * | 2017-12-20 | 2023-12-26 | 歌尔科技有限公司 | Robot and angle adjusting mechanism thereof |
| CN109774874A (en) * | 2019-02-19 | 2019-05-21 | 长沙学院 | Damper mechanism and cushion dashpot formula flexible connecting device |
| CN109774874B (en) * | 2019-02-19 | 2023-09-15 | 长沙学院 | Vibration reduction mechanism and buffer cylinder type flexible connecting device |
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| Publication number | Publication date |
|---|---|
| CN106313017B (en) | 2018-10-12 |
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Granted publication date: 20181012 |