CN202225212U - Three-dimensional translation and one-dimension rotation parallel connection mechanism containing 5R closed-loop subchain - Google Patents

Three-dimensional translation and one-dimension rotation parallel connection mechanism containing 5R closed-loop subchain Download PDF

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Publication number
CN202225212U
CN202225212U CN2011203574796U CN201120357479U CN202225212U CN 202225212 U CN202225212 U CN 202225212U CN 2011203574796 U CN2011203574796 U CN 2011203574796U CN 201120357479 U CN201120357479 U CN 201120357479U CN 202225212 U CN202225212 U CN 202225212U
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China
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rod
revolute pair
revolute
axis
closed loop
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Expired - Fee Related
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CN2011203574796U
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Chinese (zh)
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蔡敢为
潘宇晨
王红州
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Guangxi University
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Guangxi University
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Abstract

A three-dimensional translation and one-dimensional rotation parallel connection mechanism containing a 5R closed loop subchain comprises a first five-rod mechanism closed loop subchain, a second five-rod mechanism closed loop subchain and an actuating mechanism subchain, wherein the first five-rod mechanism closed loop subchain and the second five-rod mechanism closed loop subchain are positioned in the same plane, the first five-rod mechanism closed loop subchain can be used for controlling the motion of a first turntable in the plane, the second five-rod mechanism closed loop subchain can be used for controlling the motion of a second turntable in the plane, and the motions of the first turntable and the second turntable ensure that spacial three-dimensional translation and one-dimensional rotation of a mobile platform are achieved. According to the three-dimensional translation and one-dimensional rotation parallel connection mechanism, the motions of the two turntables in the plane can be controlled through the two closed loop subchains, so that the four-degree-of-freedom motion of the mobile platform can be achieved, the three-dimensional translation and one-dimensional rotation parallel connection mechanism has the advantages of compact structure and simplicity in control, all driving levers are connected to a machine frame, the rods can be light rods, the motion inertia of the mechanism is small, and the dynamic performance is excellent.

Description

A kind of three-dimensional translation and one-dimensional rotation parallel mechanism that contains 5R closed loop subchain
Technical field
The utility model relates to the robot field, particularly a kind of three-dimensional translation and one-dimensional rotation parallel mechanism that contains 5R closed loop subchain.
Background technology
Parallel institution is that a kind of moving platform is connected through at least two independent motion chains with fixed platform; Two or more frees degree are arranged; And mechanism with the parallel way driving; Have advantages such as precision is higher, compact conformation, rigidity is high, bearing capacity is strong greatly, obtained preferably at aspects such as motion simulator, parallel machine, micro-manipulating robot, extracting robots and used.But existing parallel institution basically all is a branch does not contain closed loop; For the parallel institution of number of degrees of freedom, greater than the side chain number; Some side chain must be provided with two or more driving links, this joint of side chain of just having to motor is installed in, thus cause problems such as mechanism's poor rigidity, inertia are big, joint error accumulation; The mechanism dynamic poor-performing, the control difficulty.
Summary of the invention
The purpose of the utility model is to provide a kind of three-dimensional translation and one-dimensional rotation parallel mechanism of the 5R of containing closed loop subchain, solves a plurality of drivings of side chain of traditional parallel institution and can not be connected the shortcoming on the frame simultaneously.
The utility model achieves the above object through following technical scheme: a kind of three-dimensional translation and one-dimensional rotation parallel mechanism of the 5R of containing closed loop subchain comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
The said first five-rod closed loop subchain is formed by connecting first driving lever, second driving lever, first connecting rod, second connecting rod and frame.First driving lever, one end is connected on the frame through first revolute pair; The first driving lever other end is connected with first connecting rod through second revolute pair; The first connecting rod other end is connected with second connecting rod through the 3rd revolute pair; The second connecting rod other end is connected with second driving lever through the 4th revolute pair; The second driving lever other end is connected with frame through the 5th revolute pair, and first driving lever and the motion of second driving lever drive first connecting rod and the second connecting rod motion can be controlled the motion of first turntable in plane, first five-rod closed loop subchain place.
The said second five-rod closed loop subchain is formed by connecting the 3rd driving lever, the 4th driving lever, third connecting rod, the 4th connecting rod and frame.The 3rd driving lever one end is connected on the frame through the 6th revolute pair; The 3rd driving lever other end is connected with third connecting rod through the 7th revolute pair; The third connecting rod other end is connected with the 4th connecting rod through the 8th revolute pair; The 4th connecting rod other end is connected with the 4th driving lever through the 9th revolute pair; The 4th driving lever other end is connected with frame through the tenth revolute pair, and the 3rd driving lever and the motion of the 4th driving lever drive third connecting rod and the 4th link motion can be controlled the motion of second turntable in plane, second five-rod closed loop subchain place.
Said executing agency subchain is formed by connecting first turntable, second turntable, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and moving platform.First turntable is connected with first connecting rod through the 3rd revolute pair; First turntable is connected with the 5th connecting rod through the 11 revolute pair; First turntable is connected with the 6th connecting rod through the 12 revolute pair; The 5th connecting rod other end is connected with seven-link assembly with moving platform through the 13 revolute pair, and the 6th connecting rod other end is connected with moving platform through the 14 revolute pair, and moving platform is connected with the 8th connecting rod through the 15 revolute pair; The seven-link assembly other end is connected with second turntable through the 16 revolute pair; The 8th connecting rod other end is connected with second turntable through the 17 revolute pair, and second turntable passes through the 8th revolute pair and is connected with third connecting rod, and first turntable and second turntable can be realized three-dimensional translating and the one dimension rotation of moving platform in the spatial movement space in the motion of separately space.
Said first revolute pair, second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair; The rotation of the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair and the tenth revolute pair is parallel to each other; The rotation of the 11 revolute pair, the 12 revolute pair, the 13 revolute pair, the 14 revolute pair, the 15 revolute pair, the 16 revolute pair and the 17 revolute pair is parallel to each other; The distance of axis to the 12 revolute pair axis of 11 revolute pairs equates with the distance of the axis of axis to the 14 revolute pairs of 13 revolute pairs; The distance of axis to the 13 revolute pair axis of 11 revolute pairs equates with the distance of the axis of axis to the 14 revolute pairs of 12 revolute pairs; The distance of axis to the 15 revolute pair axis of 13 revolute pairs equates that with the distance of the axis of axis to the 17 revolute pairs of 16 revolute pairs the distance of axis to the 16 revolute pair axis of 13 revolute pairs equates with the distance of the axis of axis to the 17 revolute pairs of 15 revolute pairs.
The outstanding advantage of the utility model is:
1, through the motion of closed loop subchain controlling organization, mechanism's side chain can have a plurality of driving levers to be connected on the frame;
2, all driving levers all are connected on the frame, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, through the end effector of various different purposes is installed on moving platform, this mechanism may be used in the work such as extracting, carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is said a kind of first structural representation that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain of the utility model.
Fig. 2 is said a kind of second structural representation that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain of the utility model.
Fig. 3 is the said a kind of first work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain of the utility model.
Fig. 4 is the said a kind of second work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain of the utility model.
Fig. 5 is said a kind of the 3rd work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain of the utility model.
Fig. 6 is said a kind of the 4th work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain of the utility model.
Fig. 7 is said a kind of the 5th work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain of the utility model.
Fig. 8 is said a kind of the 6th work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain of the utility model.
Fig. 9 is said a kind of the 7th work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the technical scheme of the utility model is described further.
Map 1 and Fig. 2, a kind of three-dimensional translation and one-dimensional rotation parallel mechanism that contains 5R closed loop subchain comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
The said first five-rod closed loop subchain is formed by connecting first driving lever 7, second driving lever 2, first connecting rod 9, second connecting rod 4 and frame 1.First driving lever, 7 one ends are connected on the frame 1 through first revolute pair 6; First driving lever, 7 other ends are connected with first connecting rod 9 through second revolute pair 8; First connecting rod 9 other ends are connected with second connecting rod 4 through the 3rd revolute pair 33; Second connecting rod 4 other ends are connected with second driving lever 2 through the 4th revolute pair 3; Second driving lever, 2 other ends are connected with frame 1 through the 5th revolute pair 5, and first driving lever 7 and 2 motions of second driving lever drive first connecting rod 9 and second connecting rod 4 motions can be controlled the motion of first turntable 10 in plane, first five-rod closed loop subchain place.
The said second five-rod closed loop subchain is formed by connecting the 3rd driving lever 30, the 4th driving lever 26, third connecting rod 28, the 4th connecting rod 24 and frame 1.The 3rd driving lever 30 1 ends are connected on the frame 1 through the 6th revolute pair 31; The 3rd driving lever 30 other ends are connected with third connecting rod 28 through the 7th revolute pair 29; Third connecting rod 28 other ends are connected with the 4th connecting rod 24 through the 8th revolute pair 32; The 4th connecting rod 24 other ends are connected with the 4th driving lever 26 through the 9th revolute pair 25; The 4th driving lever 26 other ends are connected with frame 1 through the tenth revolute pair 27, and the 3rd driving lever 30 and 26 motions of the 4th driving lever drive third connecting rod 28 and 24 motions of the 4th connecting rod can be controlled the motion of second turntable 21 in plane, second five-rod closed loop subchain place.
Said executing agency subchain is formed by connecting first turntable 10, second turntable 21, the 5th connecting rod 19, the 6th connecting rod 20, seven-link assembly 14, the 8th connecting rod 13 and moving platform 17.First turntable 10 is connected with first connecting rod 9 through the 3rd revolute pair 33; First turntable 10 is connected with the 5th connecting rod 19 through the 11 revolute pair 23; First turntable 10 is connected with the 6th connecting rod 20 through the 12 revolute pair 22; The 5th connecting rod 19 other ends are connected with seven-link assembly 14 with moving platform 17 through the 13 revolute pair 15; The 6th connecting rod 20 other ends are connected with moving platform 17 through the 14 revolute pair 18; Moving platform 17 is connected with the 8th connecting rod 13 through the 15 revolute pair 16, and seven-link assembly 14 other ends are connected with second turntable 21 through the 16 revolute pair 12, and the 8th connecting rod 13 other ends are connected with second turntable 21 through the 17 revolute pair 11; Second turntable 21 is connected with third connecting rod 28 through the 8th revolute pair 32, and first turntable 10 and second turntable 21 can be realized three-dimensional translating and the one dimension rotation of moving platform 17 in the spatial movement space in the motion of separately space.
Said first revolute pair 6, second revolute pair 8, the 3rd revolute pair 33, the 4th revolute pair 3, the 5th revolute pair 5; The rotation of the 6th revolute pair 31, the 7th revolute pair 29, the 8th revolute pair 32, the 9th revolute pair 25 and the tenth revolute pair 27 is parallel to each other; The rotation of the 11 revolute pair the 23, the 12 revolute pair the 22, the 13 revolute pair the 15, the 14 revolute pair the 18, the 15 revolute pair the 16, the 16 revolute pair 12 and the 17 revolute pair 11 is parallel to each other; The distance of axis to the 12 revolute pairs 22 axis of the 11 revolute pair 23 equates with the distance of the axis of axis to the 14 revolute pairs 18 of the 13 revolute pair 15; The distance of axis to the 13 revolute pairs 15 axis of the 11 revolute pair 23 equates with the distance of the axis of axis to the 14 revolute pairs 18 of the 12 revolute pair 22; The distance of axis to the 15 revolute pairs 16 axis of the 13 revolute pair 15 equates that with the distance of the axis of axis to the 17 revolute pairs 11 of the 16 revolute pair 12 distance of axis to the 16 revolute pairs 12 axis of the 13 revolute pair 15 equates with the distance of the axis of axis to the 17 revolute pairs 11 of the 15 revolute pair 16.
Map 3 and Fig. 4, first turntable 10 and second turntable 21 move in space and can realize the translation of moving platform 17 on the 13 revolute pair 15 axis directions.
Map 5, the first turntables 10 and second turntable 21 move in space and can realize that the one dimension that moving platform 17 winds the axis of plane that the axis perpendicular to the axis of the 13 revolute pair 15 and the 15 revolute pair 16 constitutes and the axis that intersects at the 13 revolute pair 15 rotates.
Map 6 and Fig. 7, first turntable 10 and second turntable 21 move in space and can realize moving platform 17 translation perpendicular to the axis direction of the 13 revolute pair 15 in upper edge, plane that the axis of the axis of the 13 revolute pair 15 and the 15 revolute pair 16 constitutes.
Map 3 and Fig. 4, first turntable 10 and second turntable 21 move in space and can realize the translation of moving platform 17 on first revolute pair, 15 axis directions.

Claims (1)

1. a three-dimensional translation and one-dimensional rotation parallel mechanism that contains 5R closed loop subchain comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain, and its structure and connected mode are:
The said first five-rod closed loop subchain is formed by connecting first driving lever, second driving lever, first connecting rod, second connecting rod and frame; First driving lever, one end is connected on the frame through first revolute pair; The first driving lever other end is connected with first connecting rod through second revolute pair, and the first connecting rod other end is connected with second connecting rod through the 3rd revolute pair, and the second connecting rod other end is connected with second driving lever through the 4th revolute pair; The second driving lever other end is connected with frame through the 5th revolute pair
The said second five-rod closed loop subchain is formed by connecting the 3rd driving lever, the 4th driving lever, third connecting rod, the 4th connecting rod and frame; The 3rd driving lever one end is connected on the frame through the 6th revolute pair; The 3rd driving lever other end is connected with third connecting rod through the 7th revolute pair, and the third connecting rod other end is connected with the 4th connecting rod through the 8th revolute pair, and the 4th connecting rod other end is connected with the 4th driving lever through the 9th revolute pair; The 4th driving lever other end is connected with frame through the tenth revolute pair
Said executing agency subchain is formed by connecting first turntable, second turntable, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and moving platform; First turntable is connected with first connecting rod through the 3rd revolute pair; First turntable is connected with the 5th connecting rod through the 11 revolute pair, and first turntable is connected with the 6th connecting rod through the 12 revolute pair, and the 5th connecting rod other end is connected with seven-link assembly with moving platform through the 13 revolute pair; The 6th connecting rod other end is connected with moving platform through the 14 revolute pair; Moving platform is connected with the 8th connecting rod through the 15 revolute pair, and the seven-link assembly other end is connected with second turntable through the 16 revolute pair, and the 8th connecting rod other end is connected with second turntable through the 17 revolute pair; Second turntable is connected with third connecting rod through the 8th revolute pair
Said first revolute pair, second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair; The rotation of the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair and the tenth revolute pair is parallel to each other; The rotation of the 11 revolute pair, the 12 revolute pair, the 13 revolute pair, the 14 revolute pair, the 15 revolute pair, the 16 revolute pair and the 17 revolute pair is parallel to each other; The distance of axis to the 12 revolute pair axis of 11 revolute pairs equates with the distance of the axis of axis to the 14 revolute pairs of 13 revolute pairs; The distance of axis to the 13 revolute pair axis of 11 revolute pairs equates with the distance of the axis of axis to the 14 revolute pairs of 12 revolute pairs; The distance of axis to the 15 revolute pair axis of 13 revolute pairs equates that with the distance of the axis of axis to the 17 revolute pairs of 16 revolute pairs the distance of axis to the 16 revolute pair axis of 13 revolute pairs equates with the distance of the axis of axis to the 17 revolute pairs of 15 revolute pairs.
CN2011203574796U 2011-09-22 2011-09-22 Three-dimensional translation and one-dimension rotation parallel connection mechanism containing 5R closed-loop subchain Expired - Fee Related CN202225212U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102357881A (en) * 2011-09-22 2012-02-22 广西大学 Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains
CN107538468A (en) * 2016-06-29 2018-01-05 沈阳新松机器人自动化股份有限公司 Five-DOF (degree of freedom) redundance drives polishing robot in parallel

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102357881A (en) * 2011-09-22 2012-02-22 广西大学 Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains
CN107538468A (en) * 2016-06-29 2018-01-05 沈阳新松机器人自动化股份有限公司 Five-DOF (degree of freedom) redundance drives polishing robot in parallel

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