CN1141201C - Three-freedom two-force-rod parallel linking mechanism - Google Patents
Three-freedom two-force-rod parallel linking mechanism Download PDFInfo
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- CN1141201C CN1141201C CNB991226119A CN99122611A CN1141201C CN 1141201 C CN1141201 C CN 1141201C CN B991226119 A CNB991226119 A CN B991226119A CN 99122611 A CN99122611 A CN 99122611A CN 1141201 C CN1141201 C CN 1141201C
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- freedom
- screw nut
- slide block
- force
- linking mechanism
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Abstract
The present invention relates to a pure two-force-rod three-freedom parallel linking mechanism which is suitable for three-freedom operation occasions. The present invention is composed of a fixed platform, three groups of lead screw nut driving units, a slide block, six groups of transmission rods, a ball hinge, a hooke hinge and a motion platform, wherein three groups of lead screw nut driving units which are driven by a servo motor are perpendicularly arranged on the fixed platform, the slide block is fixedly connected with a lead screw nut, and each group of lead screw nut units is provided with two driving rods; one end of the driving rod is connected with the slide block by the hooke hinge or the ball hinge, and the other end is connected with the motion platform by the common point ball hinge. The present invention has the advantages of high rigidity, good stress characteristics and high driving efficiency.
Description
Technical field
The present invention relates to a kind of physical construction, specifically is a kind of three-freedom two-force-rod parallel linking mechanism that is applicable to Three Degree Of Freedom operation occasion.
Background technology
In existing lower-mobility parallel institution, rod member also bears the moment of flexure effect except that being subjected to the tension and compression effect, thereby not only can produce tension and compression deformation during this class mechanism stand under load, but also can produce flexural deformation.Because the deterioration of stress, cause that this type of mechanism's rigidity is low, resistance to shock is relatively poor.
Chinese patent (publication number is CN 1212197) discloses a kind of parallel institution of parallel-connection structure numerically-controlled machine, its structure be motion platform with slide block between be connected with single connecting rod, the motion of each branch is controlled separately.Chinese patent (publication number is CN 2309932Y) discloses a kind of three-freedom parallel device mechanism, has three one-movement-freedom-degrees, it is characterized in that having added between motion platform and stationary platform by the constraint mechanism that constitutes from moving platform, and deficiency is a complex structure.In addition, all there is the not enough problem of rigidity in both.
Summary of the invention
For overcoming the deficiency of said mechanism, the purpose of this invention is to provide a kind of have rigidity height, mechanical characteristic is good and transmission efficiency is high pure two force rod freedom degree parallel connection structure.
Parallel institution of the present invention is made up of stationary platform, three cocainine thick stick nut driver elements, slide block, six roots of sensation drive link, ball pivot, Hooke's hinge and motion platform, wherein: feed screw nut driver element and stationary platform by driven by servomotor are installed together, and slide block and feed screw nut are affixed; Every cocainine thick stick nut unit connects two drive links, and described drive link one end links to each other with slide block by Hooke's hinge or ball pivot respectively, and the other end links to each other with motion platform by the concurrent ball pivot;
Described every group of two drive links are installed in the feed screw nut driver element inboard or the outside; The installation direction of three cocainine thick stick nut driver elements on stationary platform is vertical or inclination mode; Drive link length can equate or is unequal; Parallel institution forward of the present invention is installed, and described stationary platform is positioned at the motion platform below; Or be inverted and install, stationary platform is positioned at the motion platform top.
The present invention has following advantage:
1. (degree of freedom N＜6=parallel institution is compared with other lower-mobilities owing to the present invention, its characteristics are that all rod members are pure two force rod, all be not subjected to moment of flexure, thereby mechanism can not produce flexural deformation when stand under load, so the present invention has rigidity height, advantage that mechanical characteristic is good.
2. because all rod members of the present invention and leading screw axis angle are less, so its transmission efficiency height.
3. applied range.The present invention adopts PRS kinematic chain structure, make the present invention not only avoid the use constraint mechanism, and will drive with constraint mechanism integrated, can be widely used in Three Degree Of Freedom operation occasion, as need to be applied to lathe, the electric platforms of Three Degree Of Freedom in machinery manufacturing industry, be applied to simulate the operation of seagoing vessel Three Degree Of Freedom at shipping industry, exercises such as all right in addition simulated tank, aircraft.
Description of drawings
Fig. 1 is a schematic diagram of mechanism of the present invention.
Fig. 2 is a mechanism of the present invention wiring layout front view.
Fig. 3 is a mechanism of the present invention wiring layout left view.
Fig. 4 is the one embodiment of the invention schematic diagram of mechanism.
Embodiment
Below in conjunction with accompanying drawing structure of the present invention and principle of work are described in further detail.
Embodiment 1
As shown in Figure 1, 2, 3, parallel institution of the present invention is made up of stationary platform, three cocainine thick stick nut driver elements, slide block, six roots of sensation drive link, ball pivot, Hooke's hinge and motion platform, wherein: the feed screw nut driver element 4 by driven by servomotor is vertically mounted on the stationary platform 1, and slide block 3 is affixed with feed screw nut; Every cocainine thick stick nut unit 4 connects two drive links 5, and described drive link 5 one ends link to each other with slide block 3 by Hooke's hinge 2 or ball pivot 6 respectively, and the other end links to each other with motion platform 7 by concurrent ball pivot 6;
Described six roots of sensation drive link 5 is installed in feed screw nut driver element 4 inboards, and described stationary platform 1 is installed in the motion platform below.
Principle of work of the present invention is:
The servomotor motion drives the leading screw rotation by synchronous cog belt, thereby the affixed slide block 3 of drive and feed screw nut moves, and slide block 3 drives respectively organizes drive link 5; Motion platform 7 obtains two rotational freedoms and a translational degree of freedom under the driving of each group drive link 5, in the assembling front view as shown in Figure 2, be around the rotational freedom of X-axis and Y-axis and along the translational degree of freedom of Z axle.Each group in the three cocainine thick stick nut driver elements 4 of the present invention all connects two drive links 5, two drive link 5 one ends link to each other with motion platform 7 by concurrent ball pivot 6, the other end links to each other with slide block 3 by Hooke's hinge 2 or ball pivot 6 respectively, two drive links 5 link to each other with slide block 3 constitute kinematic pair and on kinematics, be equivalent to a revolute pair, thereby, singly branch into the PRS kinematic chain, three group of branches and motion platform 7 and stationary platform 1 have constituted the 3-PRS parallel institution that the present invention proposes.
Embodiment 2
As shown in Figure 4, difference from Example 1 is: parallel institution of the present invention can be inverted installation, and described stationary platform 1 is installed in the top of described motion platform 7, and drive link 5 links to each other with slide block 3 by ball pivot 6.
The both available servomotor of the present invention drives ball guide screw nat and drives, and also can drive with Hydrauservo System, and also available pneumatic servo system drives; Described drive link 5 all can be installed in feed screw nut driver element 4 outsides; The installation direction of three cocainine thick stick nut driver elements 4 on stationary platform 1, also tiltable is installed; Described drive link 5 length also can be unequal.
Claims (5)
1. three-freedom two-force-rod parallel linking mechanism, form by stationary platform, feed screw nut driver element, slide block, six roots of sensation drive link, ball pivot, Hooke's hinge and motion platform, wherein: feed screw nut driver element (4) and stationary platform (1) by driven by servomotor are installed together, and slide block (3) is affixed with feed screw nut; It is characterized in that: every cocainine thick stick nut unit (4) connects two drive links (5), and described drive link (5) one ends link to each other with slide block (3) by Hooke's hinge (2) or ball pivot (6) respectively, and the other end links to each other with motion platform (7) by concurrent ball pivot (6).
2. according to the described three-freedom two-force-rod parallel linking mechanism of claim 1, it is characterized in that: described drive link (5) is installed in feed screw nut driver element (4) inboard or the outside.
3. according to the described three-freedom two-force-rod parallel linking mechanism of claim 1, it is characterized in that: the installation direction of described three cocainine thick stick nut driver elements (4) on stationary platform (1) is vertical or inclination mode.
4. according to the described three-freedom two-force-rod parallel linking mechanism of claim 1, it is characterized in that: described drive link (5) equal in length or unequal.
5. according to the described three-freedom two-force-rod parallel linking mechanism of claim 1, it is characterized in that: described stationary platform (1) forward is installed, and is positioned at motion platform (7) below; Or be inverted and install, in motion platform (7) top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB991226119A CN1141201C (en) | 1999-12-08 | 1999-12-08 | Three-freedom two-force-rod parallel linking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB991226119A CN1141201C (en) | 1999-12-08 | 1999-12-08 | Three-freedom two-force-rod parallel linking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1299117A CN1299117A (en) | 2001-06-13 |
| CN1141201C true CN1141201C (en) | 2004-03-10 |
Family
ID=5282602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB991226119A Expired - Fee Related CN1141201C (en) | 1999-12-08 | 1999-12-08 | Three-freedom two-force-rod parallel linking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1141201C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103985304A (en) * | 2014-05-20 | 2014-08-13 | 天津大学 | Folding type six-rod mechanism |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106157793B (en) * | 2016-08-30 | 2022-07-22 | 合肥磐石智能科技股份有限公司 | Separated multi-rod combined demonstration device |
-
1999
- 1999-12-08 CN CNB991226119A patent/CN1141201C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103985304A (en) * | 2014-05-20 | 2014-08-13 | 天津大学 | Folding type six-rod mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1299117A (en) | 2001-06-13 |
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