CN202539952U - Three-freedom-degree parallel mechanism with two vertical interested rotating shafts - Google Patents

Three-freedom-degree parallel mechanism with two vertical interested rotating shafts Download PDF

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CN202539952U
CN202539952U CN2012201666675U CN201220166667U CN202539952U CN 202539952 U CN202539952 U CN 202539952U CN 2012201666675 U CN2012201666675 U CN 2012201666675U CN 201220166667 U CN201220166667 U CN 201220166667U CN 202539952 U CN202539952 U CN 202539952U
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branch
axis
universal joints
ia
rotation
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CN2012201666675U
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余旭锋
崔东苏
李秦川
武传宇
陈巧红
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浙江理工大学
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Abstract

The utility model relates to an executing mechanism of a parallel numerical control machine tool and a robot with a parallel structure, and aims to provide a mechanism with two vertical interested rotating shafts. The mechanism has the advantages of simple structure, convenience in manufacturing and installation, simple kinematic model, easiness for calibration control and the like. According to the technical scheme, the three-freedom-degree parallel mechanism with the two vertical interested rotating shafts comprises a movable platform, a rack and three individual stretchable adjusting branches connected in parallel between the movable platform and the rack, and is characterized in that the axis of an external rotating shaft of a universal hinge in a first branch is collinear to the axis of an external rotating shaft of a universal hinge in a second branch; and the axis of a first rotation pair in a third branch, the axis of the external rotating shaft of the universal hinge in the first branch, and the axis of the external rotating shaft of the universal hinge in the second branch are collinear, or the axis of the first rotation pair in the third branch is vertical to the collinear axis of the external rotating shaft of the universal hinge in the first branch and the external rotating shaft of the universal hinge in the second branch.

Description

具有两条垂直相交转轴的三自由度并联机构 Three degrees of freedom parallel mechanism having a rotary shaft perpendicular to two

技术领域 FIELD

[0001] 本实用新型涉及ー种机床和エ业机器人的执行机构,尤其是具有两条垂直相交转轴的三自由度的并联数控机床和并联结构的机器人的执行机构。 [0001] The present invention relates to machine tools and actuators ー species Ester industrial robot, in particular CNC machine tools and having a parallel robot structure in parallel two of the three degrees of freedom perpendicular to the rotary shaft of the actuator.

背景技术 Background technique

[0002] 并联机床具有刚度大、精度闻、承载能力强、自重负荷小等串联机构不具有的优点,其被誉为二十一世纪以来机床结构的一次革命。 [0002] parallel machine tool has a stiffness, precision smell, strong bearing capacity, self-load and small agencies do not have the advantage in series, known as the 21st century since its revolution in the machine structure. 目前国际上研发出的并联机床大都基于传统的6 自由度S tewart 机构(例如CN00102901. O、CN03113115. 8、CN200410041753. 3、CN200310106458. 7);这种机构由定平台、动平台和连接它们的长度可调的连杆组成,连杆两端分别为球铰和万向节,通过控制连杆的长度来改变动平台的位姿。 PKM currently developed based on internationally most conventional 6 DOF S tewart mechanism (e.g. CN00102901 O, CN03113115 8, CN200410041753 3, CN200310106458 7....); This means a given platform, the movable platform and connecting them length-adjustable rod composition, respectively, at both ends of the link joint and the ball joint, moving platform to change the posture by controlling the length of the link. 但这类机构存在以下问题:(I)结构设计复杂,使其运动学正解困难;(2)机构复杂导致工作空间较小;(3)运动平台位姿强耦合致使轨迹规划和精度控制困难;(4)高精度球副制造困难。 But the existence of such bodies following problems: complex (I) structural design, making it difficult kinematics; (2) a complex mechanism leads to a smaller work space; (3) the motion platform pose strong coupling resulting trajectory planning and precision control difficulties; (4) high-precision ball sub manufacturing difficulties.

[0003] 少自由度并联机构具有结构简单、工作空间较大、设计和控制容易等优点,已成为只需要大于3小于6自由度工作场合的重要新型机械设备。 [0003] less freedom parallel mechanism has a simple structure, a larger working space, is easy to design and control, etc., have become important only new machinery and equipment is greater than 3 is less than 6 degrees of freedom workplace. 具有两个转动自由度和一个移动自由度(简称2转I移)的3自由度并联机构(如US6431802、W00025976、ZL200610013608. 3、EP1123175、CA2349579、DE59905578D、ES2198991T、ZL200710057179. 4)是少自由度并联机构中非常重要的ー类,可被应用为并联机器人或并联机床,如基于3-PRS并联机构的Z3(W02000025976)主轴头,基于2-SPR/UPR并联机构的Exechon混联机床(W02006054935)。 Having two rotational degrees of freedom and a freedom of movement (referred to I shift 2) 3 DOF parallel mechanism (e.g., US6431802, W00025976, ZL200610013608. 3, EP1123175, CA2349579, DE59905578D, ES2198991T, ZL200710057179. 4) is less freedom very important parallel mechanism ー classes, may be applied as a parallel robot or a machine tool, such as those based Z3 3-PRS parallel mechanism (W02000025976) spindle head, based Exechon 2-SPR / UPR parallel mechanism hybrid machine (W02006054935) .

[0004] 为了便于并联机构的姿态控制和标定,一般希望两个转动自由度的轴线(简称转轴)垂直相交,如五轴加工中心的A/B轴,或A/C轴;同吋,从机构设计和制造的角度出发,希望机构中的运动副尽量为单自由度的转动副或移动副。 [0004] For ease of calibration and parallel attitude control mechanism, the axis of rotation is generally desirable to two degrees of freedom (the rotation axis) perpendicularly intersecting the axis machining center such as A / B-axis or A / C-axis; the same inches, from mechanism design and manufacturing viewpoint, the kinematic mechanism in the sub single degree of freedom as far as the rotation or movement of the sub-sub. 在现有并联机构中,3-PRS并联机构的两个转动自由度的轴线(简称转轴)随动平台的位姿变化,使得标定和控制具有很大困难;而2-SPR/UPR并联机构虽然具有两条垂直相交转轴,但其结构中含有球铰,在制造精度、转动范围上和设计装配上存在较大问题。 In the conventional parallel mechanism, a parallel mechanism 3-PRS two rotational degrees of freedom of the axis (the rotation axis) change in posture follower bit platform, so that calibration and control with great difficulty; and 2-SPR / UPR mechanism although parallel having two perpendicularly intersecting the shaft, but its structure contains a ball joint, there is a big problem in manufacturing precision, design and assembly of the rotation range.

发明内容 SUMMARY

[0005] 本实用新型所要解决的技术问题是克服上述背景技术的不足,提供ー种具有至少三个独立可伸缩调整分支且不含球铰的两转ー移三自由度并联机构,该机构具有两条垂直相交的转轴,且具有结构简单、便于制造安装、运动学模型简单,易于标定控制等优点。 [0005] The present invention is to solve the technical problem is to overcome the shortcomings of the background art, there is provided ー species having at least three separate branches and no telescopically adjustable ball joint of two revolutions ー move three degrees of freedom parallel mechanism, the mechanism has two perpendicularly intersecting the shaft, and has a simple structure, easy to manufacture and installation, the kinematic model is simple, easy to control and so calibration.

[0006] 本实用新型采用的技术方案是: [0006] The technical solution of the present invention is adopted:

[0007] 具有两条垂直相交转轴的三自由度并联机构,包括动平台、机架以及并联连接在动平台与机架之间的三个独立可伸缩的调整分支;这三个调整分支分别是: [0007] The three degrees of freedom parallel mechanism having two perpendicularly intersecting the shaft, comprising a movable platform, three racks, and are connected in parallel between the separate telescopic adjustment of the movable platform and the frame branching; three tuning stubs are :

[0008] 由依序连接在机架至动平台之间的万向铰、移动副、连杆和转动副组成的第一分支; [0008] The connection between the movable platform to the frame by universal joints in sequence, a first moving sub-branch, and rotating the sub-link thereof;

[0009] 由依序连接在机架至动平台之间的万向铰、移动副、连杆和转动副组成的第二分支; [0009] Connection between the movable platform to the frame by universal joints sequentially, the second sub-branch movement, and rotation of the sub-link thereof;

[0010] 由依序连接在机架至动平台之间的第一转动副、第一连杆、万向铰、移动副、第二连杆和第二转动副组成的第三分支; [0010] sequence by a rack connected to the movable platform between a first sub-rotation, the first link, universal joints, moving pair, the second link and the third branch consisting of a second turning pair;

[0011] 其特征在干: [0011] wherein dry:

[0012] 第一分支中的万向铰外部旋转轴轴线与第二分支中的万向铰外部旋转轴轴线共线;第一分支中的万向铰的内部旋转轴轴线以及转动副轴线,与第二分支中的万向铰内部旋转轴轴线以及转动副轴线相互平行,且垂直于第一分支中的万向铰外部旋转轴轴线以及第二分支中的万向铰外部旋转轴轴线;第三分支中:万向铰内部旋转轴轴线垂直且相交于万向铰的外部旋转轴轴线,并与第二转动副轴线平行;第一转动副轴线垂直且相交于万向铰的外部旋转轴轴线,其交点位于第一分支中的万向铰的外部旋转轴与第二分支中的万向铰的外部旋转轴的共线轴线上; [0012] outer universal joints rotational shaft axis of the first branch and the second branch of the universal joints outside the axis of rotation collinear; a first branch of the universal joints inside the rotation shaft and the rotation axis of the sub axis, and the second branch joint rotation shaft and the rotation axis of the inner sub hinge axes parallel to each other and to the axis of rotation external universal joints and universal joints outside the axis of rotation perpendicular to the first branch of the second branch; third branch: universal joints inside the rotation shaft perpendicular to the axis of rotation and intersecting the outer universal joints of the axis, and parallel to the second sub-rotation axis; a first sub-rotation axis perpendicular to and intersecting the axis of rotation to the exterior of the universal joints, the intersection is located outside the rotation shaft of the first outer branch and the second branch of the universal joints of the universal joints of the rotary shaft line collinear axes;

[0013] 第三分支中的第一转动副轴线、第一分支中的万向铰外部旋转轴轴线以及第二分支中的万向铰外部旋转轴轴线共线;或者, [0013] The first rotation axis of the third sub-branches, the external universal joints rotational shaft axis of the first branch and the outer universal joints rotational shaft axis of the second branch collinear; or

[0014] 第三分支中的第一转动副轴线垂直于第一分支中的万向铰的外部旋转轴与第二分支中的万向铰的外部旋转轴的共线轴线。 [0014] The first sub-rotation axis of the third branch is perpendicular to the axis of the first branch collinear outer universal joints rotational axis of the second branch of the universal joints of the outer rotating shaft.

[0015] 第一分支中的万向铰外部旋转轴轴线、第二分支中的万向铰外部旋转轴轴线以及第三分支中的万向铰外部旋转轴轴线位于同一平面。 [0015] outer universal joints rotational shaft axis of the first branch, the external universal joints rotational shaft axis of the second branch and the axis of rotation external universal joints of the third branch located in the same plane.

[0016] 所述第一分支、第二分支、第三分支中的移动副均是主动移动副;主动移动副的驱动机构是电机带动的丝杠机构或是伺服电机。 [0016] The first branch, a second branch, the third branch of the moving pair are actively moving the sub; actively moving mechanism driving the sub motor is driven by a servo motor or screw mechanism.

[0017] 具有两条垂直相交转轴的三自由度并联机构,包括动平台、机架以及并联连接在动平台与机架之间的四个独立可伸缩的调整分支,这四个调整分支分别为第一分支、第二分支以及与第一分支、第二分支对称分布的第三分支、第四分支; [0017] The three degrees of freedom parallel mechanism having two perpendicularly intersecting the shaft, comprising a moving platform, the frame and connected in parallel with the movable telescopic adjustment four separate branch between the platform and the frame, the four branches are adjusted the first and second branches of the first branch and a second branch of the third symmetrical distribution branches, the fourth branch;

[0018] 所述第一分支由依序连接在机架至动平台之间的万向铰、移动副、连杆和转动副组成; [0018] The first branch connected between the frame by a sequence of universal joints to the movable platform, moving pair, and rotating the sub-link the composition;

[0019] 所述第二分支由依序连接在机架至动平台之间的万向铰、移动副、连杆和转动副组成; [0019] The second branch connected between the frame by a sequence of universal joints to the movable platform, moving pair, and rotating the sub-link the composition;

[0020] 所述第三分支由依序连接在机架至动平台之间的第一转动副、第一连杆、万向铰、移动副、第二连杆和第二转动副组成; [0020] The third branch are connected by sequentially moving the platform between the frame to a first sub-rotation, the first link, universal joints, moving pair, the second link and the second sub rotatable composition;

[0021] 所述第四分支由依序连接在机架至动平台之间的第一转动副、第一连杆、万向铰、移动副、第二连杆和第二转动副组成; [0021] The fourth sub-branch are connected in sequence by a first rotating gantry to move between the platform, a first link, universal joints, moving pair, the second link and the second sub rotatable composition;

[0022] 其特征在于: [0022] wherein:

[0023] 第一分支中的万向铰外部旋转轴轴线与第二分支中的万向铰外部旋转轴轴线共线;第一分支中的万向铰的内部旋转轴轴线、转动副轴线与第二分支中的万向铰内部旋转轴轴线、转动副轴线相互平行且垂直于第一分支中的万向铰外部旋转轴轴线、第二分支中的万向铰外部旋转轴轴线;第三分支中的第一转动副轴线与第四分支中的第一转动副轴线均垂直于第三分支中万向铰的外部旋转轴轴线、第四分支中万向铰的外部旋转轴轴线;第三分支中的万向铰的外部旋转轴轴线与第四分支中的万向铰的外部旋转轴轴线共线;第三分支中的万向铰的内部旋转轴轴线以及第ニ转动副轴线,与第四分支中的万向铰的内部旋转轴轴线以及第ニ转动副轴线相互平行,且垂直于第三分支中的万向铰外部旋转轴轴线、第四分支中的万向铰外部旋转轴轴线; [0023] outer universal joints rotational shaft axis of the first branch and the second branch of the universal joints outside the axis of rotation collinear; a first branch of the universal joints inside the rotation shaft axis, the axis of rotation of the first sub universal joints inside the rotation shaft axis two branches, the sub-rotation axis parallel to each other and to the external universal joints rotational shaft axis of the first branch, the external universal joints rotational shaft perpendicular to the axis of the second branch; a third branch a first sub-rotation axis of the first rotation axis of the fourth sub-branch in the third branch are universal joints in the outer rotational shaft perpendicular to the axis, the axis of rotation external universal joints of the fourth branch; a third branch universal hinge axis of the outer rotating shaft and the fourth branch of the external universal joints of the axis of rotation collinear; a third branch of the universal joints of the inner rotating shaft and the axis of rotation ni secondary axis, and the fourth arm the universal joints inside the rotation shaft of the rotation axis and the second Ni secondary axis parallel to each other and perpendicular to the axis of rotation external universal joints of the third branch, the axis of rotation external universal joints of the fourth branch;

[0024] 第三分支中的第一转动副轴线、第四分支中的第一转动副轴线、第一分支中的万向铰外部旋转轴轴线以及第二分支中的万向铰外部旋转轴轴线共线;或者, [0024] The first rotation axis of the third sub-branch, a first sub-rotation axis of the fourth branches, the external universal joints rotational shaft axis of the first branch and the outer universal joints rotational shaft axis of the second branch collinear; or

[0025] 第三分支中的第一转动副轴线与第四分支中的第一转动副轴线共线,该共线直线垂直且相交于第一分支中的万向铰外部旋转轴与第二分支中的万向铰外部旋转轴的共线轴线。 [0025] The first rotation axis of the third sub-branch and the fourth branch of the first sub-rotation axis collinear, and the collinear line intersecting perpendicularly to the axis of rotation of the external universal joints of the first branch and the second branch external universal joints of a collinear axis of the rotary shaft.

[0026] 第一分支中的万向铰外部旋转轴轴线、第二分支中的万向铰外部旋转轴轴线、第三分支中的万向铰外部旋转轴轴线以及第四分支中的万向铰外部旋转轴轴线位于同一平面; [0026] The outer universal joints rotational shaft axis of the first branch, the external universal joints rotational shaft axis of the second branch, the external universal joints rotational shaft axis of the third branch and a fourth branch of the universal joints outside the axis of rotation in the same plane;

[0027] 所述第一分支、第二分支、第三分支、第四分支中的移动副均是主动移动副;主动移动副的驱动机构是电机带动的丝杠机构或是伺服电机。 [0027] The first branch, a second branch, a third branch, a fourth branch moving pair are actively moving the sub; actively moving mechanism driving the sub motor is driven by a servo motor or screw mechanism.

[0028] 本文所述的两条垂直相交转轴,其中一条是第三分支(或第三分支和第四分支)万向铰第一转动副转轴;另一条是第三分支(或第三分支和第四分支)万向铰外部旋转轴。 [0028] herein two perpendicular rotation axis, wherein a third branch (or a third branch and a fourth branch) of the first sub rotatable shaft universal joints; the other is a third branch (or a third branch, and fourth branch) external universal joints rotational shaft. 本实用新型中,动平台可实现空间的两个转动自由度和一个移动自由度;其中一个转动自由度是动平台同时绕第一分支中的万向铰外部旋转轴与第二分支中的万向铰外部旋转轴转动,另ー个转动自由度是动平台可绕第三分支中的万向铰外部旋转轴(或同时绕第四分支中的万向铰外部旋转轴)转动;移动自由度是动平台可在垂直方向(即垂直于机架平面的方向)发生移动。 In the present invention, the movable platform spatial degrees of freedom and two rotational degrees of freedom of a mobile; wherein the movable platform is a rotational degree of freedom while the external universal joints rotational shaft about the first branch of the second branch Wan hinged to the outside of the rotary shaft is rotated, the other movable ー rotational degrees of freedom are universal joints platform rotatable about the rotation shaft outside the third branch (or simultaneously about a fourth rotation shaft universal joints external branch) is rotated; freedom of movement a movable platform (i.e., in a direction perpendicular to the plane of the frame) moves in a vertical direction.

[0029] 本实用新型的有益效果不仅在于机构具有两条相交转轴,且不含球铰,运动学模型简单,易于控制标定,转动范围大、制造成本也得到下降。 [0029] The present invention has advantageous effects not only in that two intersecting shaft mechanism, and is free of the ball joint, the kinematic model is simple, easy to control calibration, a large rotational range, the manufacturing costs also decrease. 另外第三分支的冗余驱动方式,能够提高该机构刚度以及承载力,可广泛应用于并联机器人、并联机床等场合。 Further redundancy driving method of the third branch, the mechanism can be improved stiffness and carrying capacity, and can be widely applied robot, machine tools and other applications in parallel.

附图说明 BRIEF DESCRIPTION

[0030] 图I是本实用新型实施例之一的立体结构示意图。 [0030] FIG. I is a schematic perspective view of one embodiment of the present invention.

[0031] 图2是本实用新型实施例之ニ的立体结构示意图。 [0031] FIG. 2 is a schematic perspective view of the embodiment of the present invention embodiments of Ni.

[0032] 图3是本实用新型实施例之三的立体结构示意图。 [0032] FIG. 3 is a perspective structural diagram of an embodiment of the present invention III.

[0033] 图4是本实用新型实施例之四的立体结构示意图。 [0033] FIG. 4 is a schematic perspective view of the present invention of the fourth embodiment.

[0034] 具体实施方式 [0034] DETAILED DESCRIPTION

[0035] 以下结合附图所示的实施例进ー步说明。 As shown in [0035] conjunction with the drawings of the embodiments described further into ー embodiment.

[0036] 以下各实施例中,所述每个分支的万向铰中的两个转动副的轴线相互垂直且相交;第一分支的转动副15、第二分支的转动副25、第三分支中的转动副37(或第三分支中的转动副37、第四分支中的转动副47),是3 (或4)个分别直接连接动平台的转动副;所述的移动副轴线是指与移动副的运动方向平行的直线,转动副轴线是指转动副转动时所围绕转动的中心线。 [0036] In the following embodiments, the rotation axes of the two gimbal joints in each sub-branch and intersect perpendicular to each other; the first branch 15 of the swivel joint, the swivel joint 25 of the second branch, the third branch the rotation of the sub 37 (or the third sub-branch 37 is rotated, the rotation of the fourth sub-branch 47), a swivel joint 3 (or 4) are directly connected to the movable platform; said sub-axis movement means parallel to the direction of movement of the linear movement of the sub, the sub-axis of rotation refers to rotation around the rotational center line sub-rotated. 此外,每一分支中移动副均是主动移动副,所述的主动移动副的驱动机构是电机带动的丝杠机构或是伺服电机。 In addition, each sub-branch are moving actively moving the sub, the sub actively moving said drive mechanism is a motor driven screw mechanism or a servo motor. 以上所述均为一般机器人机构的常规设计。 The above robot mechanism are generally conventional design.

[0037] 实施例I : [0037] Example I:

[0038] 图I所示,动平台4通过三个分支与机架11、机架21、机架31并联连接;其中,第一分支5. I中,机架依次通过万向铰12(该万向铰包括安装在机架上的绕外部旋转轴12. Ia旋转的外部旋转元件12. I和安装在外部旋转元件上的绕内部旋转轴12. 2a旋转的内部旋转元件12. 2)、移动副13、连杆14、转动副15与动平台4连接•,第二分支5. 2中,机架依次通过万向铰22 (该万向铰包括安装在机架上的绕外部旋转轴22. Ia旋转的外部旋转元件 [0038] As shown in FIG. I, the moving platform 4 and the rack 11 by three branches, the rack 21, the rack 31 is connected in parallel; wherein the first branch 5. I, the frame 12 passes through the universal joints (the around the outer universal joints comprises a rack mounted on the rotary shaft 12. Ia external rotation of the rotary element according to the I axis and mounted about the inner rotating member on the outside of the rotary 12. 2a rotatable inner rotary element 12.2), moving pair 13, lever 14, and the rotation of the sub 15 is connected • moving platform 4, the second branch 5.2, the rack 22 passes through the universal joints (universal joints comprising the outer rotating about a shaft mounted on the frame external rotation of the rotary member 22. Ia

22. I和安装在外部旋转元件上的绕内部旋转轴22. 2a旋转的内部旋转元件22. 2)、移动副 22. I 22. 2a and internal rotation about a rotation axis mounted on the interior of the outer-rotating member rotating element 22.2), moving pair

23、连杆24、转动副25与动平台4连接;第三分支5. 3中,机架依次通过第一转动副32、连杆33、万向铰34 (该万向铰包括联接在连杆33上的绕外部旋转轴34. Ia旋转的外部旋转元件34. I和安装在内部旋转元件上的绕内部旋转轴34. 2a旋转的内部旋转元件34. 2)、移动副35、连杆36、第二转动副37与动平台4连接; 23, connecting rod 24, rotation of the sub 25 is connected with the movable platform 4; 5.3 in the third branch, the frame passes through the first turning pair 32, the link 33, the universal joint 34 (which includes a coupled universal joints connected 34. Ia external rotation about the rotation shaft on the outer rod 33 and the rotary member 34. I mounted on the inside of the rotating member around the rotation shaft 34. 2a inside the inner-rotating member rotates 34.2), moving pair 35, the connecting rod 36, sub 37 is connected to the second rotating movable platform 4;

[0039] 此外,机架11、机架21和机架31分别与第一分支的万向铰12的外部旋转轴12. la、第二分支的万向铰22的外部旋转轴22. Ia和第三分支的第一转动副32连接;第一分支的万向铰12的外部旋转轴12. Ia的轴线、第二分支的万向铰22的外部旋转轴22. Ia的轴线、第三分支的第一转动副32轴线共线,且垂直于第一分支中的万向铰12的内部旋转轴12. 2a轴线、第二分支中的万向铰22的内部旋转轴22. 2a轴线;第一分支的万向铰12的外部旋转轴12. Ia的轴线、第二分支的万向铰22的外部旋转轴22. Ia的轴线、第三分支的万向铰34的外部旋转轴34. Ia的轴线共同位于一平面;第一分支的万向铰12的内部旋转轴12. 2a的轴线与第二分支的万向铰22的内部旋转轴22. 2a的轴线平行且平行于第一分支的转动副15的轴线与第二分支的转动副25的轴线。 [0039] In addition, the rack 11, the rack 21 and rack 31 respectively external universal joints 12. la rotation shaft 12 of the first branch, the second branch of the outer rotating shaft of the universal joints 22 and 22. Ia the third branch 32 is connected to a first turning pair; outside the axis of rotation axis of the outer rotating shaft 12 of the first branch of the universal joints 12. Ia, the second branch 22 of the universal joints 22. Ia of the third branch a first axis of rotation collinear sub 32, and perpendicular to the axis of the inner rotation shaft 12. 2a in the first branch of the universal joints 12, the interior of the second branch 22 of the universal joint shaft 22. 2a rotational axis; a first a universal hinge axis of the outer branch 12. Ia rotation shaft 12, the axis of the outer rotating shaft 22 of the second branch of the universal joints 22. Ia, the external branch of the third rotation shaft 34 of the universal joints 34. Ia located in a common plane of the axes; inner universal joints inside the first branch 12 of the rotational shaft axis of the second branch of the universal joints 12. 2a of the rotary shaft 22 is parallel to the axis 22. 2a and parallel to the first branch an axis of rotation 15 of the swivel joint 25 and the axis of the second sub-branch.

[0040] 第一分支中,移动副13的轴线还与转动副15的转轴轴线垂直。 [0040] In the first branch, the axis of movement of the sub 13 also perpendicular to the axis of rotation of the rotary shaft 15 of the sub.

[0041] 第二分支中,移动副23的轴线还与转动副25的转轴轴线垂直。 [0041] The second branch, the axis of movement of the sub 23 is also perpendicular to the axis of rotation of the shaft 25 of the sub.

[0042] 第三分支中,移动副35的轴线还与转动副37的转轴轴线垂直。 [0042] In the third branch, the axis 35 is also moving the sub-vertical axis of rotation of the rotary shaft 37 of the sub.

[0043] 实施例2 : [0043] Example 2:

[0044] 本实施例如图2所示,结构与实施例I基本相同;区别仅是: [0044] as shown in the present embodiment, the structure is substantially the same as in Example I in FIG. 2; the difference is that:

[0045] 实施例I中:第三分支中的第一转动副32轴线与第一分支中的万向铰12外部旋转轴12. Ia轴线以及第二分支中的万向铰22外部旋转轴22. Ia轴线共线;而且,第三分支中,第一转动副32轴线垂直于万向铰34的外部旋转轴34. Ia轴线;万向铰34内部旋转轴34. 2a轴线与第二转动副37轴线平行且垂直于万向铰34的外部旋转轴34. Ia轴线; [0045] Example I: 12 external universal joints 12. Ia axis of the first rotation shaft 32 rotation axis of the third sub-branch of the first branch 22 and the outer universal joints rotational shaft 22 in the second branch . Ia axis collinear; Also, the third branch, the first sub-rotation axis 32 perpendicular to axis 34. Ia outside the rotary shaft 34 of universal joints; universal joints inside the rotation shaft 34 and the second rotation axis 34. 2a sub parallel to the axis 37 and perpendicular to the outer universal joints 34 of the rotary shaft 34. Ia axis;

[0046] 而实施例2中:第三分支中的第一转动副32轴线垂直于第一分支中的万向铰12的外部旋转轴12. Ia轴线、第二分支中的万向铰22的外部旋转轴22. Ia轴线。 [0046] and Example 2: the third sub-branch of the first rotation axis 32 is perpendicular to the external universal joints of the first branch 12 of the rotary shaft 12. Ia axis, the second branch of the universal joints 22 external axis rotary shaft 22. Ia. 而且,第三分支中,第一转动副32轴线垂直于万向铰34外部旋转轴34. Ia轴线,且第一转动副32轴线与万向铰34的外部旋转轴34. Ia轴线的交点位于第一分支中的万向铰12外部旋转轴12. Ia与第二分支中的万向铰22外部旋转轴22. Ia共线轴线上;万向铰34的内部旋转轴34. 2a轴线与第二转动副37轴线平行且垂直于万向铰34的外部旋转轴34. Ia轴线。 Also, the third branch, the first sub-rotation axis 32 perpendicular to the axis of the universal joints 34 34. Ia external rotary shaft, and the first sub-rotation axis 32 and universal joints 34. Ia intersection of the axis of the outer rotating shaft 34 is located universal joints rotational shaft 12 outside the outer rotating shaft 12. Ia and the second branch universal joints 22 22. Ia collinear axes of the first line branch; 34. 2a of the inner rotating shaft and the axis of the hinge joint 34 two sub-rotation axis 37 parallel to and perpendicular to the axis of the universal joints 34. Ia the outer rotating shaft 34.

[0047] 实施例3 : [0047] Example 3:

[0048] 图3所示,动平台4通过四个分支与机架11、机架21、机架31、机架41并联连接;第一分支5. I中,机架依次通过万向铰12 (该万向铰包括安装在机架上的绕外部旋转轴12. Ia旋转的外部旋转元件12. I和安装在外部旋转元件上的绕内部旋转轴12. 2a旋转的内部旋转元件12. 2)、移动副13、连杆14、转动副15与动平台4连接;第二分支5. 2中,机架依次通过万向铰22 (该万向铰包括安装在机架上的绕外部旋转轴22. Ia旋转的外部旋转元件22. I和安装在外部旋转元件上的绕内部旋转轴22. 2a旋转的内部旋转元件22. 2)、移动副23、连杆24、转动副25与动平台4连接;第三分支5. 3中,机架依次通过第一转动副32、连杆33、万向铰34 (该万向铰包括联接在连杆33上的绕外部旋转轴34. Ia旋转的外部旋转元件34. I和安装在内部旋转元件上的绕内部旋转轴34. 2a旋转的内部旋转元件34. 2)、移动副35 [0048] As shown in FIG. 3, the moving platform 4 are connected by four branch rack 21 and the rack 11, the rack 31, 41 in parallel, the frame; a first branch 5. I, the frame 12 passes through the universal joints (the universal joints 12. Ia comprises an external rotating element rotates about a rotation axis mounted on the outside of the frame 12. I and the rotary shaft is mounted about the inner member on the outside of the rotary 12. 2a rotatable inner rotary element 12.2 ), moving pair 13, lever 14, and the rotation of the sub 15 connected to the movable platform 4; 5.2 in the second branch, the frame 22 passes through the universal joints (universal joints which comprises a rack mounted on the outer rotating about rotation of shaft 22. Ia external rotary member 22. I and mounted on the outside of the rotary member about the rotation shaft 22. 2a inside the inner-rotating member rotates 22.2), moving pair 23, lever 24, and the rotation of the movable vice 25 4 internet connection; the third branch 5.3, the frame passes through the first turning pair 32, a link 33, a universal joint 34 (the outer universal joints comprises a rotating shaft coupled to the link around 33 34. Ia around the inner rotation shaft 34. 2a rotates inside the outer-rotating member rotates and 34. I mounted on the inside of the rotating member rotating element 34.2), moving the sub-35 连杆36、第二转动副37与动平台4连接;第四分支5. 4中,机架依次通过第一转动副42、连杆43、万向铰44(该万向铰包括联接在连杆43上的绕外部旋转轴44. Ia旋转的外部旋转元件44. I和安装在内部旋转元件上的绕内部旋转轴44. 2a旋转的内部旋转元件44. 2)、移动副45、连杆46、第二转动副47与动平台4连接。 Link 36, 37 and the second sub-rotation of the movable platform 4 is connected; fourth branch 5.4, the frame passes through the first turning pair 42, the link 43, the universal joint 44 (which includes a coupled universal joints connected around the inner rotation shaft 44. 2a 44. Ia rotates inside the outer-rotating member rotates about the rotation shaft on the outer rod 43 44. I and the rotary member is mounted on the inner rotating element 44.2), moving pair 45, the connecting rod 46, 47 and the second rotating sub 4 is connected to the movable platform.

[0049] 此外,机架11、机架21、机架31以及机架41分别与第一分支的万向铰12的外部旋转轴12. la、第二分支的万向铰22的外部旋转轴22. la、第三分支中的第一转动副32以及第四分支中的第一转动副42连接。 [0049] In addition, the rack 11, the rack 21, the rack 31 and rack 41 respectively outside the rotary shaft and universal joints 12. la of the first branch 12 of the outer rotating shaft 22 of the second branch of the universal joints 22. la, a first swivel joint 32 and the fourth sub-branch of the first rotational connector 42 in the third branch.

[0050] 第一分支中的万向铰12的内部旋转轴12. 2a轴线、第二分支中的万向铰22的内部旋转轴22. 2a轴线相互平行且垂直于第一分支中的万向铰12的外部旋转轴12. Ia轴线、第二分支中的万向铰22的外部旋转轴22. Ia轴线;第一分支的万向铰12的外部旋转轴12. Ia的轴线、第二分支的万向铰22的外部旋转轴22. Ia的轴线、第三分支中的万向铰34的外部旋转轴34. Ia轴线与第四分支中的万向铰44的外部旋转轴44. Ia轴线共同位于ー平面。 [0050] The inner rotation shaft of the first branch 12 of the hinge joint axis 12. 2a, the inner universal joints of the second branch 22 of the rotary shaft 22. 2a axes mutually parallel and perpendicular to the first branch joint external rotation shaft 12. Ia the hinge axis 12, the outer rotating shaft of the second branch 22 of the universal joints 22. Ia axis; an axis of the outer rotating shaft of the first branch 12 of the universal joints 12. Ia the second branch the axis of the outer rotating shaft 22 of the universal joints 22. Ia, the outer rotation shaft outside the rotary shaft of the third branch of the universal joints 34. Ia axis 34 and the fourth branches 44 of the universal joints 44. Ia axis co-located ー plane.

[0051] 图中还可知:第三分支中的第一转动副32轴线、第四分支中的第一转动副42轴线、第一分支的万向铰12的外部旋转轴12. Ia的轴线以及第二分支的万向铰22的外部旋转轴22. Ia轴线共线;第一分支的万向铰12的内部旋转轴12. 2a的轴线、第二分支的万向铰22的内部旋转轴22. 2a的轴线、第一分支的转动副15的轴线、第二分支的转动副25的轴线相互平行。 [0051] Also seen in FIG: a third sub-branch of the first rotation axis 32, the fourth sub-branch of the first rotation axis 42, the axis of the outer rotating shaft of the first universal joints 12 and the branch 12. Ia external rotation shaft of the second branch 22 of the universal joints 22. Ia axis collinear; universal joints inside the first branch 12 of the axis of rotation 12. 2a, the universal joints inside the second branch 22 of the rotary shaft 22 axis.. 2A, the sub-rotation axis 15 of the first branch, the axis of rotation of the second sub-branch 25 parallel to each other. 第三分支中的万向铰的内部旋转轴34. 2a轴线、第三分支中的第二转动副37轴线、第四分支中的万向铰的内部旋转轴44.2a轴线、第四分支中的第二转动副47轴线相互平行;第三分支中,万向铰34的内部旋转轴34. 2a轴线垂直于万向铰的外部旋转轴34. Ia轴线,第四分支中,万向铰44的内部旋转轴44. 2a轴线垂直于万向铰的外部旋转轴44. Ia轴线。 The third branch of the internal gimbal hinge axis of the rotary shaft 34. 2a, the third branch of the second sub-rotation axis 37, inner universal joints fourth branch 44.2a axis of the rotation shaft, the fourth branch the second sub-rotation axis 47 parallel to each other; a third branch, the inner universal joints 34 of the rotary shaft 34. 2a outer gimbal axis is perpendicular to the hinge axis of the rotary shaft 34. Ia, a fourth branch, the universal joints 44 inner rotation shaft 44. 2a 44. Ia axis is perpendicular to the axis of the outer rotating shaft of a universal joint.

[0052] 第一分支中,移动副13的轴线还与转动副15的转轴轴线垂直。 [0052] The first branch, the axis of movement of the sub 13 also perpendicular to the axis of rotation of the rotary shaft 15 of the sub.

[0053] 第二分支中,移动副23的轴线还与转动副25的转轴轴线垂直。 [0053] The second branch, the axis of movement of the sub 23 is also perpendicular to the axis of rotation of the shaft 25 of the sub.

[0054] 第三分支中,移动副35的轴线还与第二转动副37的转轴轴线垂直。 [0054] In the third branch, the axis of movement of the sub 35 is also perpendicular to the axis of the second rotational shaft 37 of the sub.

[0055] 第四分支中,移动副45的轴线还与第二转动副47的转轴轴线垂直。 [0055] In the fourth branch, sub 45 also moves the axis perpendicular to the axis of the second rotational shaft 47 of the sub.

[0056] 实施例4 : [0056] Example 4:

[0057] 本实施例如图4所示,结构与实施例3基本相同;区别仅是: [0057] The present embodiment example shown in Figure 4, the structure of Embodiment 3 is substantially the same; only difference is:

[0058] 实施例3中:第三分支中的第一转动副32轴线、第四分支中的第一转动副42轴线、第一分支中的万向铰12外部旋转轴12. Ia轴线、第二分支中的万向铰22外部旋转轴22. Ia轴线共线,还垂直于第三分支中的万向铰34的外部旋转轴34. Ia轴线、第四分支中的万向铰44的外部旋转轴44. Ia轴线。 [0058] In Embodiment Example 3: The third sub-branch of the first rotation axis 32, the fourth sub-branch of the first rotation axis 42, the external universal joints rotational shaft 12 in the first branch axis 12. Ia, the 22 external universal joints of the rotary shaft 22. Ia biantennary collinear axes, also perpendicular to the axis of the outer rotating shaft 34. Ia the third branch of the universal joints 34, the external universal joints of the fourth branch 44 of the axis of the rotary shaft 44. Ia.

[0059] 而实施例4中:第三分支中的第一转动副32轴线、第四分支中的第一转动副42轴线共线,且垂直于第一分支中的万向铰12的外部旋转轴12. Ia轴线、第二分支中的万向铰22的外部旋转轴22. Ia轴线;第三分支中的第一转动副32轴线、第四分支中的第一转动副42轴线垂直且相交于第三分支中的万向铰34外部旋转轴34. Ia轴线、第四分支中的万向铰44外部旋转轴44. Ia轴线,且其交点位于第一分支中的万向铰12外部旋转轴12. Ia与第二分支中的万向铰22外部旋转轴22. Ia共线轴线上。 [0059] and Example 4 in which: the third sub-branch of the first rotation axis 32, the fourth sub-branch of the first rotation axis 42 colinear, the external universal joints 12 and the vertical rotation of the first branch 12. Ia the axis of the shaft, the rotating shaft of the second outer branch of the universal joints 22. Ia axis 22; the third branch of the first sub-rotation axis 32, the fourth sub-branch of the first rotation axis 42 perpendicular to and intersecting the in the third branch of the universal joints 34 in the outer shaft 34. Ia axis of rotation, the external universal joints rotational shaft 44 axis 44. Ia fourth branches, and the intersection is located outside of the first branch 12 of the universal joints rotational 22 external universal joints rotational shaft 22. Ia co spool shaft 12. Ia and the second line branch.

[0060] 较之实施例I和实施例2,实施例3和实施例4由于引入了冗余驱动的第四分支,其结构刚度更大,可承受更大的负载,适用于重载操作任务。 [0060] Compared with Example I and Example 2, Example 3 and Example 4 due to the introduction of the redundant actuation fourth branch, its greater structural rigidity, to withstand greater loads, for heavy task operation .

[0061] 尚需说明的是:为图面清晰,图中所有铰接点仅画出铰接孔,铰接轴均予省略。 [0061] Note that still need: to clear the drawing, all figures shown only hinge points hinge hole, hinge shaft herein are omitted.

Claims (6)

1.具有两条垂直相交转轴的三自由度并联机构,包括动平台(4)、机架(11,21,31)以及并联连接在动平台与机架之间的三个独立可伸缩的调整分支;这三个调整分支分别是: 由依序连接在机架(11)至动平台(4)之间的万向铰(12)、移动副(13)、连杆(14)和转动副(15)组成的第一分支(5. I); 由依序连接在机架(21)至动平台(4)之间的万向铰(22)、移动副(23)、连杆(24)和转动副(25)组成的第二分支(5. 2); 由依序连接在机架(31)至动平台(4)之间的第一转动副(32)、第一连杆(33)、万向铰(34),移动副(35)、第ニ连杆(36)和第二转动副(37)组成的第三分支(5.3); 其特征在于: 第一分支中的万向铰(12)的外部旋转轴(12. Ia)轴线与第二分支中的万向铰(22)的外部旋转轴(22. Ia)轴线共线;第一分支中的万向铰(12)的内部旋转轴(12. 2a)轴线以及转动副(15)轴 1. The two parallel mechanism having three degrees of freedom perpendicular to the shaft, comprising a movable platform (4), the frame (11,21,31) and three separate telescopic adjustment connected in parallel between the movable platform and the chassis branch; three tuning stubs are: sequentially connected by a frame (11) to the movable platform universal joints (12) between (4), moving the sub (13), the connecting rod (14) and the rotary sub ( 15) consisting of a first branch (5. I); sequentially by a connection between the frame (21) to a moving platform (4) of the universal joints (22), moving the sub (23), connecting rod (24) and rotation of the second branch (5.2) vice (25) thereof; sequentially connected by the rack (31) to a first turning pair movable platform (32) between (4), the first link (33), universal joints (34), moving the sub (35), the Ni link (36) and a second turning pair (37) a third branch (5.3) thereof; wherein: the first branch of the universal joints ( interior of the first branch of universal joints (12); 12) of the outer rotating shaft (12. Ia) and the second branch axis of universal joints (22) of the outer rotating shaft (22. Ia) axis collinear the rotation shaft (12. 2a) and the rotation axis of the sub (15) axis ,与第二分支中的万向铰(22)内部旋转轴(22. 2a)轴线以及转动副轴线(25)相互平行,且垂直于第一分支中的万向铰(12)的外部旋转轴(12. Ia)轴线以及第二分支中的万向铰外部旋转轴(22. Ia)轴线;第三分支中:万向铰(34)内部旋转轴(34. 2a)轴线垂直且相交于万向铰(34)的外部旋转轴(34. Ia)轴线,并与第二转动副(37)轴线平行;第一转动副(32)轴线垂直且相交于万向铰(34)的外部旋转轴(34. Ia)轴线,其交点位于第一分支中的万向铰(12)的外部旋转轴(12. Ia)与第二分支中的万向铰(22)的外部旋转轴(22. Ia)的共线轴线上; 第三分支中的第一转动副(32)轴线、第一分支中的万向铰(12)外部旋转轴(12. Ia)轴线以及第二分支中的万向铰(22)外部旋转轴(22. Ia)轴线共线;或者, 第三分支中的第一转动副(32)轴线垂直于第一分支中的万向铰(12)的外部旋转轴(12 , And the second branch of the universal joints (22) inside the rotary shaft (22. 2a) and the rotation axis of the secondary axis (25) parallel to each other, and the outer rotating shaft perpendicular to the first branch of the universal joints (12) (12. Ia) outside the axis of the rotary shaft and universal joints in the second branch (22. Ia) axis; a third branch: universal joints (34) inside the rotary shaft (34. 2a) perpendicular to the axis and intersecting Wan external rotation of the rotation shaft of the first sub (32) and perpendicular to the axis intersects the universal joints (34); (34. Ia) to the outside of the rotation shaft hinge axis (34) and parallel to the second turning pair (37) axis (34. Ia) axis, which is the intersection of the outer rotating shaft (12. Ia) located in the first branch of universal joints (12) and the second branch of the universal joints (22) of the outer rotating shaft (22. Ia ) co-line spool; universal joints third branch of the first turning pair (32) axes, the first branch of the universal joints (12) of the outer rotating shaft (12. Ia) axis and the second branch (22) the outer rotating shaft (22. Ia) axis collinear; Alternatively, the third branch of the first turning pair (32) perpendicular to the axis universal joints (12) in the first branch of the outer rotating shaft (12 . Ia)与第二分支中的万向铰(22)的外部旋转轴(22. Ia)的共线轴线。 Collinear axis. Ia) and the second branch of universal joints (22) of the outer rotating shaft (22. Ia) is.
2.根据权利要求I所述的具有两条垂直相交转轴的三自由度并联机构,其特征在于第一分支中的万向铰外部旋转轴(12. Ia)轴线、第二分支中的万向铰外部旋转轴(22. Ia)轴线以及第三分支中的万向铰(34)外部旋转轴(34. Ia)轴线位于同一平面。 The three degrees of freedom parallel mechanism as claimed in claim having two perpendicularly intersecting the axis of rotation I, characterized in that the outer rotating shaft universal joints (12. Ia) axis of the first branch, the second branch joint axis, and a third branch of the universal joints (34) outside the hinge axis of the outer rotating the rotary shaft (22. Ia) (34. Ia) in the same axial plane.
3.根据权利要求2所述的具有两条垂直相交转轴的三自由度并联机构,其特征在于所述第一分支、第二分支、第三分支中的移动副均是主动移动副;主动移动副的驱动机构是电机带动的丝杠机构或是伺服电机。 The three degree of freedom parallel mechanism having two perpendicularly intersecting the shaft of claim 2, wherein said first and second branches, the third branch of the moving pair are actively moving sub; actively moving Vice-drive mechanism is a motor-driven screw mechanism or a servo motor.
4.具有两条垂直相交转轴的三自由度并联机构,包括动平台(4 )、机架(11、21、31、41)以及并联连接在动平台与机架之间的四个独立可伸缩的调整分支,这四个调整分支分别为第一分支(5. I)、第二分支(5. 2)以及与第一分支、第二分支对称分布的第三分支(5. 3)、第四分支(5. 4); 所述第一分支(5. I)由依序连接在机架(11)至动平台(4)之间的万向铰(12)、移动副(13)、连杆(14)和转动副(15)组成; 所述第二分支(5. 2)由依序连接在机架(21)至动平台(4)之间的万向铰(22)、移动副(23)、连杆(24)和转动副(25)组成; 所述第三分支(5. 3)由依序连接在机架(31)至动平台(4)之间的第一转动副(32)、第ー连杆(33 )、万向铰(34 )、移动副(35 )、第二连杆(36 )和第二转动副(37 )组成; 所述第四分支(5. 4)由依序连接在机架(41)至动平台(4)之间的第一转动副 4. The three degrees of freedom parallel mechanism having two perpendicularly intersecting the shaft, comprising a movable platform (4), the frame (11,21,31,41) and connected in parallel between the movable platform and the chassis of four independent telescopic adjustment of the branch, the four branches are adjusted into a first branch (5. I), a second branch (5.2) and a first branch, the third branch of the second symmetrical distribution branches (5.3), the four branches (5.4); the first branch (5. I) sequentially connected by a frame (11) to the movable platform universal joints (12) between (4), moving the sub (13), even rod (14) and turning pair (15) consisting of; the second branch (5.2) are connected in sequence by a rack (21) to the movable platform universal joints (22) between (4), moving pair ( 23), connecting rod (24) and turning pair (25) consisting of; the third branch (5.3) by a connecting sequence between the frame (31) to a moving platform (4) of a first turning pair (32 ), ー link section (33), universal joints (34), moving the sub (35), a second link (36) and a second turning pair (37) consisting of; the fourth branch (5.4) sequentially from the first sub rotatable connection between the frame (41) to a moving platform (4) (42)、第一连杆(43 )、万向铰(44 )、移动副(45 )、第二连杆(46 )和第二转动副(47 )组成; 其特征在于: 第一分支中的万向铰(12)外部旋转轴(12. Ia)轴线与第二分支中的万向铰(22)外部旋转轴(22. Ia)轴线共线;第一分支中的万向铰(12)的内部旋转轴(12. 2a)轴线、转动副(15)轴线与第二分支中的万向铰(22)内部旋转轴(22. 2a)轴线、转动副(25)轴线相互平行且垂直于第一分支中的万向铰(12)外部旋转轴(12. Ia)轴线、第二分支中的万向铰(22)外部旋转轴(22. Ia)轴线;第三分支中的第一转动副(32)轴线与第四分支中的第一转动副(42)轴线均垂直于第三分支中万向铰(34)的外部旋转轴(34. Ia)轴线、第四分支中万向铰(44)的外部旋转轴(44. Ia)轴线;第三分支中的万向铰(34)的外部旋转轴(34. Ia)轴线与第四分支中的万向铰(44)的外部旋转轴(44. Ia)轴线共线 (42), first link (43), universal joints (44), moving the sub (45), a second link (46) and a second turning pair (47) composition; characterized in that: the first branch the universal joints (12) of the outer rotating shaft (12. Ia) and the second branch axis of universal joints (22) outside the rotary shaft (22. Ia) collinear axis; a first branch of universal joints (12 ) of the inner rotating shaft (12. 2a) axis, rotation of the sub (15) and the second branch axis of universal joints (22) inside the rotary shaft (22. 2a) axis, rotation of the sub (25) and perpendicular to an axis parallel (12) the outer rotating shaft (12. Ia) to the axis of the universal joints of the first branch, the second branch of the universal joints (22) outside the rotary shaft (22. Ia) axis; the third branch of the first outer sub-rotation axis (32) and the fourth axis of rotation of the first sub-branch (42) are both perpendicular to the axis of the third branch of the universal joints (34) (34. Ia) axis, the fourth branch joint external rotation shaft joint (44) (44. Ia) axis; outer rotating shaft universal joint in the third branch (34) (34. Ia) axis and the fourth branch universal joints (44) outside the rotation shaft (44. Ia) axis collinear 第三分支中的万向铰(34)的内部旋转轴(34. 2a)轴线以及第二转动副(37)轴线,与第四分支中的万向铰(44)的内部旋转轴(44. 2a)轴线以及第二转动副(47)轴线相互平行,且垂直于第三分支中的万向铰(34)外部旋转轴(34. Ia)轴线、第四分支中的万向铰(44)外部旋转轴(44. Ia)轴线; 第三分支中的第一转动副(32)轴线、第四分支中的第一转动副(42)轴线、第一分支中的万向铰(12)外部旋转轴(12. Ia)轴线以及第二分支中的万向铰(22)外部旋转轴(22. Ia)轴线共线;或者, 第三分支中的第一转动副(32)轴线与第四分支中的第一转动副(42)轴线共线,该共线直线垂直且相交于第一分支中的万向铰(12)外部旋转轴(12. Ia)与第二分支中的万向铰(22)外部旋转轴(22. Ia)的共线轴线。 Internal branches third universal joints (34) of the rotary shaft (34. 2a) and a second axis of rotation of the sub (37) axis, the inner universal joints fourth branch (44) of the rotary shaft (44. 2a) and a second axis of rotation of the sub (47) axes are parallel to each other and perpendicular to the third branch of the universal joints (34) of the outer rotating shaft (34. Ia) axis, the fourth branch of universal joints (44) the outer rotating shaft (44. Ia) axis; a first branch of the third turning pair (32) axis, the fourth rotation of the first sub-branch (42) axes, the first branch of the universal joints (12) outside the rotation shaft (12. Ia) and the second branch axis universal joints (22) outside the rotary shaft (22. Ia) axis collinear; Alternatively, the third branch of the first turning pair (32) and the fourth axis a first sub-branch rotation (42) collinear with the axis of the collinear line perpendicular to and intersects the universal joint of the first branch (12) of the outer rotating shaft (12. Ia) with universal joints of the second branch (22) collinear with the axis of the outer rotating shaft (22. Ia) is.
5.根据权利要求4所述的具有两条垂直相交转轴的三自由度并联机构,其特征在于第一分支中的万向铰外部旋转轴(12. Ia)轴线、第二分支中的万向铰外部旋转轴(22. Ia)轴线、第三分支中的万向铰外部旋转轴(34. Ia)轴线以及第四分支的万向铰外部旋转轴(44. Ia)轴线位于同一平面。 The three degrees of freedom parallel mechanism as claimed in claim having two perpendicularly intersecting the shaft 4, characterized in that the outer rotating shaft universal joints (12. Ia) axis of the first branch, the second branch joint external hinge rotation axis (22. Ia) axis, the axis of rotation external universal joints and a fourth branch external universal joints rotational shaft (34. Ia) in the third branch (44. Ia) in the same axial plane.
6.根据权利要求5所述的具有两条垂直相交转轴的三自由度并联机构,其特征在于所述第一分支、第二分支、第三分支、第四分支中的移动副均是主动移动副;主动移动副的驱动机构是电机带动的丝杠机构或是伺服电机。 The three degree of freedom parallel mechanism having a rotary shaft perpendicular to two according to claim 5, characterized in that said first branch, a second branch, a third branch, a fourth branch moving pair are actively moving Vice; actively moving mechanism driving the sub motor is driven by a servo motor or screw mechanism.
CN2012201666675U 2012-04-18 2012-04-18 Three-freedom-degree parallel mechanism with two vertical interested rotating shafts CN202539952U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102632394A (en) * 2012-04-18 2012-08-15 浙江理工大学 Three- DOF (degree of freedom) parallel mechanism with two vertical intersecting rotating shafts
CN103273329A (en) * 2013-05-07 2013-09-04 天津大学 Five-axis numerical control machine tool
CN103909518A (en) * 2014-03-11 2014-07-09 浙江理工大学 Hybrid robot for stirring friction welding in redundant drive space
CN105710529A (en) * 2014-12-05 2016-06-29 上海航天设备制造总厂 Pumpback type friction stir welding head based on parallel mechanism

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102632394A (en) * 2012-04-18 2012-08-15 浙江理工大学 Three- DOF (degree of freedom) parallel mechanism with two vertical intersecting rotating shafts
CN102632394B (en) 2012-04-18 2013-12-11 浙江理工大学 Three- DOF (degree of freedom) parallel mechanism with two vertical intersecting rotating shafts
CN103273329A (en) * 2013-05-07 2013-09-04 天津大学 Five-axis numerical control machine tool
CN103273329B (en) * 2013-05-07 2015-06-17 天津大学 Five-axis numerical control machine tool
CN103909518A (en) * 2014-03-11 2014-07-09 浙江理工大学 Hybrid robot for stirring friction welding in redundant drive space
CN105710529A (en) * 2014-12-05 2016-06-29 上海航天设备制造总厂 Pumpback type friction stir welding head based on parallel mechanism

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