CN201573206U - Four freedom-degree space parallel mechanism with two-movement two-rotation - Google Patents
Four freedom-degree space parallel mechanism with two-movement two-rotation Download PDFInfo
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- CN201573206U CN201573206U CN2010203005061U CN201020300506U CN201573206U CN 201573206 U CN201573206 U CN 201573206U CN 2010203005061 U CN2010203005061 U CN 2010203005061U CN 201020300506 U CN201020300506 U CN 201020300506U CN 201573206 U CN201573206 U CN 201573206U
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Abstract
The utility model discloses a four freedom-degree space parallel mechanism with two-movement two-ration, comprising a static platform, a movable platform and four branches for connecting the static platform and the movable platform, wherein the first branch comprises a rotation joint a, a movable joint a and an universal hinge a which are connected in turn from the static platform to the movable platform; the second branch comprises a rotation joint b, a movable joint b and a universal hinge b which are connected in turn from the static platform to the movable platform; the third branch comprises a ball joint a, a movable joint c and a ball joint b which are connected in turn from the static platform to the movable platform; the fourth branch comprises a ball joint c, a movable joint d and a ball joint d which are connected in turn from the static platform to the movable platform. The parallel mechanism and the movable platform have two-dimentional movement and two-dimentional rotation output and non-desired output movement is constant. The four freedom-degree space parallel mechanism with two-movement two-rotation has features of compact structure, high rigidity and good stress character and is used as the optional model of a parallel robot, an imaginary axle parallel machine tool, an imaginary axle coordinate measuring machine and a joystick operation device.
Description
Technical field
The utility model belongs to robot, machine tool technology field, is specifically related to a kind ofly have two and move two four-freedom space parallel mechanisms that rotate.
Background technology
Parallel institution is made up of moving platform, silent flatform and the 2-6 bar branch road that connects two platforms.With respect to serial mechanism, parallel institution has advantages such as rigidity is big, bearing capacity is strong, precision is high, the deadweight duty ratio is little.And lower-mobility (free degree is less than 6) parallel institution has characteristics such as simple in structure, that cost is low, kinematics solution is simple relatively again with respect to the 6DOF parallel institution.Thereby the lower-mobility parallel institution has wide application prospect in industries such as industrial robot, imaginary axis numerical control parallel lathe, coordinate measuring machine, motion simulator and Medical Robots.
In existing four-freedom parallel mechanism, major part is three to move an one-rotation parallel mechanism, can not satisfy application requirements widely, as realizing the four-degree-of-freedom operation of 2 D rotation and 2 D translation.
The utility model content
The purpose of this utility model provides a kind ofly to be had two and moves two four-freedom space parallel mechanisms that rotate, can be used as the optional type of parallel robot, imaginary axis parallel machine, imaginary axis coordinate measuring machine, joystick manipulation device, overcome existing two problems that move the two four-degree-of-freedom class of establishment deficiencies of rotating.
The technical scheme that the utility model adopted is, a kind of have two and move two four-freedom space parallel mechanisms that rotate, comprise silent flatform, moving platform and four branch roads that are connected silent flatform and moving platform, article one, branch road comprises the revolute pair a that connects successively from the silent flatform to the moving platform, moving sets a and universal hinge a, the second branch road comprises the revolute pair b that connects successively from the silent flatform to the moving platform, moving sets b and universal hinge b, article three, branch road comprises the secondary a of ball that connects successively from the silent flatform to the moving platform, moving sets c and secondary b of ball, article four, branch road comprises the secondary c of ball that connects successively from the silent flatform to the moving platform, moving sets d and secondary d of ball, article one in the branch road in the axis a of universal hinge a and the second branch road axis c of universal hinge b coaxial, article one branch road and second branch road constitute planar loop.
Characteristics of the present utility model also are,
Parallel to each other and the planar loop that constitute perpendicular to article one branch road and second branch road of the axis of revolute pair b in the axis of revolute pair a and the second branch road in the axis d of universal hinge b, article one branch road in the axis b of universal hinge a, the second branch road in article one branch road wherein.
The beneficial effects of the utility model are:
(1) this mechanism structure compactness, the rigidity height;
(2) moving platform in this mechanism has two-dimensional shift and two-dimensional rotation output, and the motion of non-desired output is constant;
(3) this mechanism mechanical characteristic is good.
In sum, technical solutions of the utility model have higher utility and wide application prospect, for technical fields such as parallel robot, numerical control parallel lathe, coordinate measuring machine provide a kind of new architecture.
Description of drawings
Fig. 1 the utlity model has two structural representations that move a kind of embodiment of two four-freedom space parallel mechanisms that rotate;
Fig. 2 the utlity model has two structural representations that move the another kind of embodiment of two four-freedom space parallel mechanisms that rotate.
Among the figure, 1. silent flatform, 2. moving platform, 3. revolute pair a, 4. moving sets a, 5. universal hinge a, 6. revolute pair b, 7. moving sets b, 8. universal hinge b, 9. secondary a of ball, 10. moving sets c, 11. secondary b of ball, 12. secondary c of ball, 13. moving sets d, 14. secondary d of ball, 15. axis a, 16. axis b, 17. axis c, 18. axis d.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is elaborated.
The utlity model has the two a kind of embodiment that move two four-freedom space parallel mechanisms that rotate, as shown in Figure 1, comprise silent flatform 1, moving platform 2 and four branch roads that are connected silent flatform 1 and moving platform 2, article one, branch road comprises the 2 revolute pair a3 that connect successively from silent flatform 1 to moving platform, moving sets a4 and universal hinge a5, the second branch road comprises the 2 revolute pair b6 that connect successively from silent flatform 1 to moving platform, moving sets b7 and universal hinge b8, article three, branch road comprises the 2 secondary a9 of ball that connect successively from silent flatform 1 to moving platform, moving sets c10 and secondary b11 of ball, article four, branch road comprises the 2 secondary c12 of ball that connect successively from silent flatform 1 to moving platform, moving sets d13 and secondary d14 of ball, article one branch road and second branch road are arranged on the same side.Wherein, article one, branch road and second branch road constitute planar loop, article one in the branch road in the axis a15 of universal hinge a5 and the second branch road axis c17 of universal hinge b8 coaxial, the parallel to each other and plane that constitute perpendicular to article one branch road and second branch road of the axis of revolute pair b6 in the axis of revolute pair a3 and the second branch road in the axis d18 of universal hinge b8, article one branch road in the axis b16 of universal hinge a5, the second branch road in article one branch road.
The utlity model has the two another kind of embodiment that move two four-freedom space parallel mechanisms that rotate, as shown in Figure 2, comprise silent flatform 1, moving platform 2 and four branch roads that are connected silent flatform 1 and moving platform 2, article one, branch road comprises the 2 revolute pair a3 that connect successively from silent flatform 1 to moving platform, moving sets a4 and universal hinge a5, the second branch road comprises the 2 revolute pair b6 that connect successively from silent flatform 1 to moving platform, moving sets b7 and universal hinge b8, article three, branch road comprises the 2 secondary a9 of ball that connect successively from silent flatform 1 to moving platform, moving sets c10 and secondary b11 of ball, article four, branch road comprises the 2 secondary c12 of ball that connect successively from silent flatform 1 to moving platform, moving sets d13 and secondary d14 of ball, article one branch road and second prop up the setting of curb diagonal.Wherein, article one, branch road and second branch road constitute planar loop, article one in the branch road in the axis a15 of universal hinge a5 and the second branch road axis c17 of universal hinge b8 coaxial, the parallel to each other and plane that constitute perpendicular to article one branch road and second branch road of the axis of revolute pair b6 in the axis of revolute pair a3 and the second branch road in the axis d18 of universal hinge b8, article one branch road in the axis b16 of universal hinge a5, the second branch road in article one branch road.
The course of work of the present utility model is, control the input of moving sets a4, moving sets b7, moving sets c10 and moving sets d13 on four branch roads, moving platform 2 can realize that two move and two rotation outputs, wherein two one-movement-freedom-degrees are that moving platform 2 can move on the plane that article one branch road and second branch road constitute, and wherein two rotational freedoms are that moving platform 2 can rotate as rotating shaft around any straight line in the plane at the axis a15 of universal hinge a5 and axis b16 place.The moving sets of described every the branch road of this mechanism by hydraulic-driven, is installed in cutter or operator on the moving platform, just can be used as the terminal executing agency of Digit Control Machine Tool, robot and measuring machine.
Claims (2)
1. one kind has two and moves two four-freedom space parallel mechanisms that rotate, it is characterized in that, comprise silent flatform (1), moving platform (2) and four branch roads that are connected silent flatform (1) and moving platform (2), article one, branch road comprises the revolute pair a (3) that connects successively from silent flatform (1) to moving platform (2), moving sets a (4) and universal hinge a (5), the second branch road comprises the revolute pair b (6) that connects successively from silent flatform (1) to moving platform (2), moving sets b (7) and universal hinge b (8), article three, branch road comprises the secondary a of ball (9) that connects successively from silent flatform (1) to moving platform (2), moving sets c (10) and secondary b of ball (11), article four, branch road comprises the secondary c of ball (12) that connects successively from silent flatform (1) to moving platform (2), moving sets d (13) and secondary d of ball (14), in described article one branch road in the axis a (15) of universal hinge a (5) and the second branch road axis c (17) of universal hinge b (8) coaxial, described article one branch road and second branch road formation planar loop.
2. according to claim 1 have two and move two four-freedom space parallel mechanisms that rotate, it is characterized in that the parallel to each other and planar loop that constitute perpendicular to article one branch road and second branch road of the axis of revolute pair b (6) in the axis of revolute pair a (3) and the second branch road in the axis d (18) of universal hinge b (8), article one branch road in the axis b (16) of universal hinge a (5), the second branch road in described article one branch road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010203005061U CN201573206U (en) | 2010-01-12 | 2010-01-12 | Four freedom-degree space parallel mechanism with two-movement two-rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010203005061U CN201573206U (en) | 2010-01-12 | 2010-01-12 | Four freedom-degree space parallel mechanism with two-movement two-rotation |
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| Publication Number | Publication Date |
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| CN201573206U true CN201573206U (en) | 2010-09-08 |
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| CN2010203005061U Expired - Fee Related CN201573206U (en) | 2010-01-12 | 2010-01-12 | Four freedom-degree space parallel mechanism with two-movement two-rotation |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563467A (en) * | 2016-02-02 | 2016-05-11 | 常州大学 | Four-degree-of-freedom posture leveling mechanism |
| CN107175654A (en) * | 2017-06-26 | 2017-09-19 | 北京交通大学 | A kind of structural redundancy parallel institution that there are two rotations two to move |
| CN107283400A (en) * | 2017-06-20 | 2017-10-24 | 北京交通大学 | A kind of relative freedom is four structural redundancy parallel robot mechanism |
| CN108058158A (en) * | 2017-12-14 | 2018-05-22 | 天津理工大学 | Two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved |
| CN110813729A (en) * | 2019-10-31 | 2020-02-21 | 江苏大学 | 2T2R four-degree-of-freedom vibrating screen based on parallel mechanism |
| CN113701013A (en) * | 2021-07-27 | 2021-11-26 | 北京空间飞行器总体设计部 | Kinematics supporting mechanism suitable for long and thin structure |
-
2010
- 2010-01-12 CN CN2010203005061U patent/CN201573206U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563467A (en) * | 2016-02-02 | 2016-05-11 | 常州大学 | Four-degree-of-freedom posture leveling mechanism |
| CN107283400A (en) * | 2017-06-20 | 2017-10-24 | 北京交通大学 | A kind of relative freedom is four structural redundancy parallel robot mechanism |
| CN107283400B (en) * | 2017-06-20 | 2020-04-28 | 北京交通大学 | Structure redundancy parallel robot mechanism with four relative degrees of freedom |
| CN107175654A (en) * | 2017-06-26 | 2017-09-19 | 北京交通大学 | A kind of structural redundancy parallel institution that there are two rotations two to move |
| CN108058158A (en) * | 2017-12-14 | 2018-05-22 | 天津理工大学 | Two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved |
| CN110813729A (en) * | 2019-10-31 | 2020-02-21 | 江苏大学 | 2T2R four-degree-of-freedom vibrating screen based on parallel mechanism |
| CN110813729B (en) * | 2019-10-31 | 2022-07-22 | 江苏大学 | 2T2R four-degree-of-freedom vibrating screen based on parallel mechanism |
| CN113701013A (en) * | 2021-07-27 | 2021-11-26 | 北京空间飞行器总体设计部 | Kinematics supporting mechanism suitable for long and thin structure |
| CN113701013B (en) * | 2021-07-27 | 2023-01-31 | 北京空间飞行器总体设计部 | Kinematics supporting mechanism suitable for long and thin structure |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100908 Termination date: 20110112 |