CN116901039A - Five-degree-of-freedom parallel mechanism with vertical guide rail capable of rotating at large angle - Google Patents
Five-degree-of-freedom parallel mechanism with vertical guide rail capable of rotating at large angle Download PDFInfo
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- CN116901039A CN116901039A CN202310958387.0A CN202310958387A CN116901039A CN 116901039 A CN116901039 A CN 116901039A CN 202310958387 A CN202310958387 A CN 202310958387A CN 116901039 A CN116901039 A CN 116901039A
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- branched chain
- connecting rod
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- parallel mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 41
- 238000009434 installation Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 239000000203 mixture Substances 0.000 abstract description 2
- 239000002131 composite material Substances 0.000 abstract 1
- 230000000694 effects Effects 0.000 abstract 1
Classifications
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- 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)
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Abstract
A five-degree-of-freedom parallel mechanism with vertical guide rails capable of rotating at large angles. The device comprises a fixed base, a parallel track, a movable platform, a first branched chain, a second branched chain, a third branched chain and a composite branched chain. The invention has the following effects: the parallel mechanism can realize movement in three directions of x, y and z and rotation in two directions of x and y. The invention has the advantages that: 1. the existence of the vertical guide rail can realize large-angle rotation of the movable platform, and the working space of the mechanism is increased to a certain extent. 2. The connecting rods used in the mechanism are square rods and plate-shaped rods, so that the traditional cylindrical rods are replaced, and the overall rigidity of the mechanism is improved. 3. The first branched chain, the second branched chain and the third branched chain have the same composition structure, so that the manufacturing and assembling difficulties of the integral parallel mechanism are reduced.
Description
Technical Field
The invention belongs to the technical field of parallel mechanisms, and particularly relates to a five-degree-of-freedom parallel mechanism with a vertical guide rail capable of rotating at a large angle.
Background
The parallel mechanism is a complex mechanical system formed by a movable platform and a plurality of branched chains connected with a frame in a parallel mode, and is widely applied to the aspects of intelligent equipment and the like due to the advantages of multiple types, good stability and the like, but as the workload increases and the working load increases, the parallel mechanism for searching a larger working space and higher rigidity is more and more focused by students.
The existence of the vertical track in the mechanism can meet the accuracy of movement of the mechanism direction, and large-angle rotation can be realized, so that a considerable working space is realized. The connecting rods are plate-shaped rods, so that the rigidity of the mechanism is further improved, and the mechanism has great application prospect.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a five-degree-of-freedom parallel mechanism with a vertical guide rail capable of rotating at a large angle.
In order to achieve the above purpose, the five-degree-of-freedom parallel mechanism with a vertical guide rail capable of rotating at a large angle provided by the invention comprises a fixed base, a vertical rail, a movable platform, a first branched chain, a second branched chain, a third branched chain, a fourth branched chain and a fifth branched chain; wherein the fixed base is rectangular plate-shaped and horizontally arranged, and three hook hinges are arranged on the fixed base; the vertical track is positioned on the opposite side edges of the third branched chain and comprises two mutually vertical linear guide rails; the Hooke hinges in the first branched chain and the second branched chain are symmetrically arranged about the yz plane, and the two Hooke hinges are positioned on two sides of the fixed base; the center of the Hooke hinge in the third branched chain is positioned in the negative y-axis direction; the movable platform is rectangular plate-shaped, and three spherical hinge supports, a first revolute pair support and a second revolute pair support are fixedly connected to the four sides of the movable platform respectively; the first branched chain, the second branched chain and the third branched chain have the same structure and comprise a hook joint, a first telescopic rod and a first spherical hinge, one ends of the three branched chains are connected with the fixed base through the hook joint, and the other ends of the three branched chains are connected with the movable platform through the first spherical hinge; the fourth branched chain consists of a first connecting rod, a second connecting rod and a first sliding block, one end of the fourth branched chain is connected with a beam type track in the vertical track through a moving pair by the first sliding block, and the other end of the fourth branched chain is connected with the movable platform through a hook joint by the first connecting rod; the fifth branched chain comprises a second sliding block, a second telescopic rod and a second spherical hinge, and one end of the fifth branched chain is connected with a column type track in the vertical track through a second sliding block in a moving pair; both ends of the first connecting rod and the second connecting rod are revolute pairs; the second connecting rod is connected with the first sliding block through a revolute pair; the second telescopic link and the second slider are connected with revolute pairs.
The installation mode of the vertical rail can be designed into parallel type according to actual working conditions.
The vertical track can realize the movement of the fourth branched chain and the fifth branched chain in two directions, so that the large-angle rotation of the movable platform can be realized by matching with the first branched chain, the second branched chain and the third branched chain.
The first connecting rod and the second connecting rod replace the traditional cylindrical rod, and both ends are revolute pairs.
All the rotating auxiliary shafts of the first connecting rod and the second connecting rod are parallel.
The five-degree-of-freedom parallel mechanism with the vertical guide rail capable of rotating in a large angle has the following advantages:
1. the existence of the vertical guide rail can realize large-angle rotation of the movable platform, and the working space of the mechanism is increased to a certain extent.
2. The connecting rods used in the mechanism are square rods and plate-shaped rods, so that the traditional cylindrical rods are replaced, and the overall rigidity of the mechanism is improved.
3. The first branched chain, the second branched chain and the third branched chain have the same composition structure, so that the manufacturing and assembling difficulties of the integral parallel mechanism are reduced.
Drawings
Fig. 1 is a perspective view 1 of a five-degree-of-freedom parallel mechanism with a vertical guide rail capable of rotating at a large angle.
Fig. 2 is a perspective view 2 of a five-degree-of-freedom parallel mechanism with a vertical guide rail capable of rotating at a large angle.
Fig. 3 is a top view of the five-degree-of-freedom parallel mechanism with the vertical guide rail capable of rotating in a large angle.
Fig. 4 is a perspective view of a movable platform with a five-degree-of-freedom parallel mechanism with a vertical guide rail capable of rotating at a large angle.
Fig. 5 is a perspective view of a first branched structure of the five-degree-of-freedom parallel mechanism with a vertical guide rail capable of rotating at a large angle.
Fig. 6 is a perspective view of the overall structure of the fifth branched telescopic rod with the five-degree-of-freedom parallel mechanism with the vertical guide rail capable of rotating at a large angle.
Fig. 7 is a perspective view of a first connecting rod with a five-degree-of-freedom parallel mechanism with a vertical guide rail capable of rotating at a large angle.
Fig. 8 is a perspective view of a second connecting rod with a five-degree-of-freedom parallel mechanism with a vertical guide rail capable of rotating at a large angle.
Detailed Description
The five-degree-of-freedom parallel mechanism with the vertical guide rail capable of rotating at a large angle provided by the invention is described in detail below with reference to the accompanying drawings and the specific embodiments.
As shown in fig. 1 to 8, the five-degree-of-freedom parallel mechanism with the vertical guide rail capable of rotating at a large angle provided by the invention comprises a fixed base 1, a vertical rail 2, a movable platform 3, a first branched chain I, a second branched chain II, a third branched chain III, a fourth branched chain IV and a fifth branched chain V; wherein, the fixed base 1 is rectangular plate-shaped and horizontally arranged, and three hook hinges 13 are arranged on the fixed base; the vertical track 2 is positioned at the opposite side of the third branched chain III and comprises two mutually vertical linear guide rails; the hook joints 13 in the first branched chain I and the second branched chain II are symmetrically arranged about the yz plane, and the two hook joints 13 are positioned on two sides of the fixed base 1; the center of the hook joint 13 in the third branched chain III is positioned in the negative y-axis direction; the movable platform 3 is rectangular plate-shaped, and three spherical hinge supports 8, a first revolute pair support 9 and a second revolute pair support 10 are fixedly connected to the four sides of the movable platform respectively; the first branched chain I, the second branched chain II and the third branched chain III have the same structure and comprise a hook joint 13, a first telescopic rod 14 and a first spherical hinge 15, one end of each of the three branched chains is connected with the fixed base 1 through the hook joint 13, and the other end of each of the three branched chains is connected with the movable platform 3 through the first spherical hinge 15; the fourth branched chain IV consists of a first connecting rod 4, a second connecting rod 5 and a first sliding block 6, one end of the fourth branched chain IV is connected with a beam type track in the vertical track 2 by a moving pair through the first sliding block 6, and the other end of the fourth branched chain IV is connected with the movable platform 3 by a hook hinge through the first connecting rod 4; the fifth branched chain V comprises a second sliding block 7, a second telescopic rod 11 and a second spherical hinge 15, and one end of the fifth branched chain V is connected with a column type track in the vertical track 2 through the second sliding block 7 in a moving pair; both ends of the first connecting rod 4 and the second connecting rod 5 are revolute pairs; the second connecting rod 5 is connected with the first sliding block 6 through a revolute pair; the second telescopic rod 11 is connected with the second sliding block 7 through a revolute pair.
The installation mode of the vertical rail 2 can be designed into parallel type according to the actual working condition.
The vertical track 2 can realize the movement of the fourth branched chain IV and the fifth branched chain V in two directions, so that the large-angle rotation of the movable platform 3 can be realized by matching with the first branched chain I, the second branched chain II and the third branched chain III.
The first connecting rod 4 and the second connecting rod 5 replace the traditional cylindrical rod, and both ends are revolute pairs.
All the axes of rotation of the first connecting rod 4 and the second connecting rod 5 are parallel.
The five-degree-of-freedom parallel mechanism with the vertical guide rail capable of rotating at a large angle provided by the embodiment selects the moving pairs of the first branched chain I, the second branched chain II and the third branched chain III and the moving pairs of the fourth branched chain IV and the fifth branched chain V, which are positioned, as driving pairs, and realizes five degrees of freedom by means of moving cooperation among the moving pairs. The working principle is as follows: the driving device is used for driving the driving pairs of the first branched chain I, the second branched chain II, the third branched chain III and the fourth branched chain IV to move in the same direction, and the driving pair of the fifth branched chain V is locked, so that the movement in the x direction is realized; locking the driving pair of the fourth branched chain IV and the fifth branched chain V, and driving the first branched chain I, the second branched chain II and the third branched chain III to move in the same direction by using a driving device, so that the movement in the y direction is realized; the driving device is used for driving the driving pairs of the first branched chain I, the second branched chain II, the third branched chain III and the fifth branched chain V to move in the same direction, and the driving pair of the fourth branched chain IV is locked, so that the movement in the z direction is realized; locking the driving pairs of the first branched chain I, the second branched chain II, the fourth branched chain IV and the fifth branched chain V, and driving the driving pair of the third branched chain III so as to realize movement around the x direction; and locking driving pairs of the third branched chain III, the fourth branched chain IV and the fifth branched chain V, and driving pairs of the first branched chain I and the second branched chain II to move in opposite directions, so that movement around the y direction is realized. Finally, the whole parallel mechanism realizes five degrees of freedom of three movements and two rotations.
Claims (5)
1. The utility model provides a five degrees of freedom parallel mechanism with but perpendicular guide rail wide angle rotation which characterized in that: the five-degree-of-freedom parallel mechanism with the vertical guide rail capable of rotating at a large angle comprises a fixed base (1), a vertical rail (2), a movable platform (3), a first branched chain (I), a second branched chain (II), a third branched chain (III), a fourth branched chain (IV) and a fifth branched chain (V); wherein the fixed base (1) is in a rectangular plate shape and is horizontally arranged with three hook hinges (13); the vertical track (2) is positioned at the opposite side of the third branched chain (III) and comprises two mutually vertical linear guide rails; the Hooke joints (13) in the first branched chain (I) and the second branched chain (II) are symmetrically arranged about the yz plane, and the two Hooke joints (13) are positioned at two sides of the fixed base (1); the center of the Hooke hinge (13) in the third branched chain (III) is positioned in the negative direction of the y axis; the movable platform (3) is rectangular plate-shaped, and three spherical hinge supports (8), a first revolute pair support (9) and a second revolute pair support (10) are fixedly connected to the four side surfaces of the movable platform respectively; the first branched chain (I), the second branched chain (II) and the third branched chain (III) have the same structure and comprise a hook joint (13), a first telescopic rod (14) and a first spherical hinge (15), one ends of the three branched chains are connected with the fixed base (1) through the hook joint (13), and the other ends of the three branched chains are connected with the movable platform (3) through the first spherical hinge (15); the fourth branched chain (IV) consists of a first connecting rod (4), a second connecting rod (5) and a first sliding block (6), one end of the fourth branched chain is connected with a beam type track in the vertical track (2) through the first sliding block (6) in a moving pair, and the other end of the fourth branched chain is connected with the movable platform (3) through the first connecting rod (4) in a Hooke joint; the fifth branched chain (V) comprises a second sliding block (7), a second telescopic rod (11) and a second spherical hinge (15), and one end of the fifth branched chain is connected with a column type track in the vertical track (2) through the second sliding block (7) in a moving pair; both ends of the first connecting rod (4) and the second connecting rod (5) are revolute pairs; the second connecting rod (5) is connected with the first sliding block (6) through a revolute pair; the second telescopic rod (11) is connected with the second sliding block (7) through a revolute pair.
2. The five degree-of-freedom parallel mechanism with vertical rails rotatable through large angles of claim 1, wherein: the installation mode of the vertical rail (2) can be designed into parallel type according to actual working conditions.
3. The five degree-of-freedom parallel mechanism with vertical rails rotatable through large angles of claim 1, wherein: the vertical track (2) can realize the movement of the fourth branched chain (IV) and the fifth branched chain (V) in two directions, so that the large-angle rotation of the movable platform (3) can be realized by matching with the first branched chain (I), the second branched chain (II) and the third branched chain (III).
4. The five degree-of-freedom parallel mechanism with vertical rails rotatable through large angles of claim 1, wherein: the first connecting rod (4) and the second connecting rod (5) replace the traditional cylindrical rod, and both ends are revolute pairs.
5. The five degree-of-freedom parallel mechanism with vertical rails rotatable through large angles of claim 1, wherein: all the rotating shafts of the first connecting rod (4) and the second connecting rod (5) are parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310958387.0A CN116901039A (en) | 2023-08-01 | 2023-08-01 | Five-degree-of-freedom parallel mechanism with vertical guide rail capable of rotating at large angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310958387.0A CN116901039A (en) | 2023-08-01 | 2023-08-01 | Five-degree-of-freedom parallel mechanism with vertical guide rail capable of rotating at large angle |
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| Publication Number | Publication Date |
|---|---|
| CN116901039A true CN116901039A (en) | 2023-10-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310958387.0A Pending CN116901039A (en) | 2023-08-01 | 2023-08-01 | Five-degree-of-freedom parallel mechanism with vertical guide rail capable of rotating at large angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116901039A (en) |
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2023
- 2023-08-01 CN CN202310958387.0A patent/CN116901039A/en active Pending
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