CN202556402U - Parallel mechanism capable of realizing three-dimension translation motion and one-dimension rotation - Google Patents
Parallel mechanism capable of realizing three-dimension translation motion and one-dimension rotation Download PDFInfo
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- CN202556402U CN202556402U CN2012201205768U CN201220120576U CN202556402U CN 202556402 U CN202556402 U CN 202556402U CN 2012201205768 U CN2012201205768 U CN 2012201205768U CN 201220120576 U CN201220120576 U CN 201220120576U CN 202556402 U CN202556402 U CN 202556402U
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- connecting rod
- revolute pair
- driving lever
- rrrr
- turntable
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Abstract
A parallel mechanism capable of realizing three-dimension translation motion and one-dimension rotation comprises a first RRRR closed-loop branch chain, a second RRRR closed-loop branch chain and an actuating mechanism branch chain, wherein the first RRRR closed-loop branch chain can control a first rotary table to move in a plane where the first RRRR closed-loop branch chain is arranged, the second RRRR closed-loop branch chain can control a second rotary table to move in a plane where the second RRRR closed-loop branch chain is arranged, and a spatial four degree-of-freedom motion, with three-dimension translation motion and one-dimension rotation, of a moving platform can be realized by the motions of the first and the second rotary tables. According to the parallel mechanism, two closed-loop branch chains are used to control the movements of two rotary tables in the plane, thereby realizing a four degree-of-freedom motion of the moving platform, and all driving levers are connected on a rack and lever pieces can be made into light levers, and enabling the mechanism to be small in movement inertia and excellent in dynamics performance.
Description
Technical field
The utility model relates to the robot field, the parallel institution that particularly a kind of spatial three-dimensional translational one dimension complete cycle rotates.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: no accumulated error, and precision is higher; Drive unit can place on the fixed platform or near the position of fixed platform, motion parts is in light weight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is big; The parallel institution of symmetry has isotropism preferably fully.Because parallel institution itself is with regard to more complicated; If closed loop is contained again in branch, its mechanism will be complicated more, so in general; Parallel institution symmetry, that branch does not contain closed loop just can have most typical character; Appropriate but if closed loop is used, the performance of parallel institution will be remarkable more, like famous delta mechanism.In addition; Existing parallel institution; Its side chain receives the restriction of connected mode, generally has only a driving lever to be connected in the driving that is cemented on the frame, like this mode of multiple freedom parallel mechanism for realizing that it moves and just needs many side chains or take a plurality of driving levers of series connection on the side chain; Yet the parallel institution complex structure of many side chains control difficulty, a plurality of driving levers of series connection can influence the exercise performance of parallel institution on the side chain.
Summary of the invention
The purpose of the utility model is to provide a kind of parallel institution of spatial three-dimensional translational one dimension complete cycle rotation, 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: the parallel institution that a kind of spatial three-dimensional translational one dimension complete cycle rotates comprises a RRRR closed loop subchain, the 2nd RRRR closed loop subchain and executing agency's subchain.
A said RRRR 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, and the second connecting rod other end is connected with second driving lever through the 4th revolute pair, and the second driving lever other end is connected with frame through first revolute pair.
Said the 2nd RRRR 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 first revolute pair; The 3rd driving lever other end is connected with third connecting rod through the 5th revolute pair; The third connecting rod other end is connected with the 4th connecting rod through the 6th revolute pair, and the 4th connecting rod other end is connected with the 4th driving lever through the 7th revolute pair, and the 4th driving lever other end is connected with frame through first 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 third connecting rod through the 6th revolute pair, and first turntable is connected with the 5th connecting rod through the 8th revolute pair, and the 5th connecting rod other end is connected with seven-link assembly with moving platform through the tenth revolute pair; First turntable is connected with the 6th connecting rod through the 9th revolute pair; The 6th connecting rod other end is connected with moving platform through the tenth revolute pair, and the seven-link assembly other end is connected with second turntable through the 13 revolute pair, and the 8th connecting rod other end is connected with second turntable through the 14 revolute pair; Second turntable is connected with the 4th connecting rod with third connecting rod through the 6th revolute pair; Third connecting rod is connected with the 3rd driving lever through the 5th revolute pair, and the 3rd driving lever is connected with frame through first revolute pair, and the 4th connecting rod is connected with the 4th driving lever through the 7th revolute pair; The 4th driving lever is connected with frame through first revolute pair, three translations of the motion of first turntable and second turntable and realization moving platform and the rotation of one dimension complete cycle.
The rotation of said first revolute pair, second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair is parallel to each other; The 5th connecting rod is isometric parallel with the 6th connecting rod, and seven-link assembly is isometric parallel with the 8th connecting rod.
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.
Description of drawings
Fig. 1 is first structural representation of the parallel institution of the said a kind of spatial three-dimensional translational one dimension complete cycle rotation of the utility model.
Fig. 2 is second structural representation of the parallel institution of the said a kind of spatial three-dimensional translational one dimension complete cycle rotation of the utility model.
Fig. 3 is the first work sketch map of the parallel institution of the said a kind of spatial three-dimensional translational one dimension complete cycle rotation of the utility model.
Fig. 4 is the second work sketch map of the parallel institution of the said a kind of spatial three-dimensional translational one dimension complete cycle rotation 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, the parallel institution that a kind of spatial three-dimensional translational one dimension complete cycle rotates comprises a RRRR closed loop subchain, the 2nd RRRR closed loop subchain and executing agency's subchain.
A said RRRR closed loop subchain is formed by connecting first driving lever 2, second driving lever 10, first connecting rod 4, second connecting rod 8 and frame 1; First driving lever, 2 one ends are connected on the frame 1 through first revolute pair 11; First driving lever, 2 other ends are connected with first connecting rod 4 through second revolute pair 3; First connecting rod 4 other ends are connected with second connecting rod 8 through the 3rd revolute pair 5; Second connecting rod 8 other ends are connected with second driving lever 10 through the 4th revolute pair 9, and second driving lever, 10 other ends are connected with frame 1 through first revolute pair 11.
Said the 2nd RRRR closed loop subchain is formed by connecting the 3rd driving lever 12, the 4th driving lever 20, third connecting rod 14, the 4th connecting rod 18 and frame 1; The 3rd driving lever 12 1 ends are connected on the frame 1 through first revolute pair 11; The 3rd driving lever 12 other ends are connected with third connecting rod 14 through the 5th revolute pair 13; Third connecting rod 14 other ends are connected with the 4th connecting rod 18 through the 6th revolute pair 15; The 4th connecting rod 18 other ends are connected with the 4th driving lever 20 through the 7th revolute pair 19, and the 4th driving lever 20 other ends are connected with frame 1 through first revolute pair 11.
Said executing agency subchain is formed by connecting first turntable 5, second turntable 15, the 5th connecting rod 21, the 6th connecting rod 22, seven-link assembly 26, the 8th connecting rod 27 and moving platform 23; First turntable 5 is connected with the 5th connecting rod 21 through the 8th revolute pair 7; The 5th connecting rod 21 other ends are connected with seven-link assembly 26 with moving platform 23 through the tenth revolute pair 24; First turntable 5 is connected with the 6th connecting rod 22 through the 9th revolute pair 6; The 6th connecting rod 22 other ends are connected with moving platform 23 through the 11 revolute pair 25, and seven-link assembly 26 other ends are connected with second turntable 15 through the 13 revolute pair 16, and the 8th connecting rod 27 other ends are connected with second turntable 15 through the 14 revolute pair 17; Second turntable 15 is connected with the 4th connecting rod 18 with third connecting rod 14 through the 6th revolute pair 15; Third connecting rod 14 is connected with the 3rd driving lever 12 through the 5th revolute pair 13, and the 3rd driving lever 12 is connected with frame 1 through first revolute pair 11, and the 4th connecting rod 18 is connected with the 4th driving lever 20 through the 7th revolute pair 19; The 4th driving lever 20 is connected with frame 1 through first revolute pair 11, three translations of the motion of first turntable 5 and second turntable 15 and realization moving platform 23 and the rotation of one dimension complete cycle.
The rotation of said first revolute pair 11, second revolute pair 3, the 3rd revolute pair 5, the 4th revolute pair 9, the 5th revolute pair 13, the 6th revolute pair 15, the 7th revolute pair 19 is parallel to each other; The 5th connecting rod 21 is isometric parallel with the 6th connecting rod 22, and seven-link assembly 26 is isometric parallel with the 8th connecting rod 27.
Claims (1)
1. the parallel institution that spatial three-dimensional translational one dimension complete cycle rotates comprises a RRRR closed loop subchain, the 2nd RRRR closed loop subchain and executing agency's subchain, it is characterized in that its structure and connected mode are:
A said RRRR 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 first revolute pair
Said the 2nd RRRR 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 first revolute pair; The 3rd driving lever other end is connected with third connecting rod through the 5th revolute pair, and the third connecting rod other end is connected with the 4th connecting rod through the 6th revolute pair, and the 4th connecting rod other end is connected with the 4th driving lever through the 7th revolute pair; The 4th driving lever other end is connected with frame through first 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 third connecting rod through the 6th revolute pair, and first turntable is connected with the 5th connecting rod through the 8th revolute pair, and the 5th connecting rod other end is connected with seven-link assembly with moving platform through the tenth revolute pair; First turntable is connected with the 6th connecting rod through the 9th revolute pair; The 6th connecting rod other end is connected with moving platform through the tenth revolute pair, and the seven-link assembly other end is connected with second turntable through the 13 revolute pair, and the 8th connecting rod other end is connected with second turntable through the 14 revolute pair; Second turntable is connected with the 4th connecting rod with third connecting rod through the 6th revolute pair; Third connecting rod is connected with the 3rd driving lever through the 5th revolute pair, and the 3rd driving lever is connected with frame through first revolute pair, and the 4th connecting rod is connected with the 4th driving lever through the 7th revolute pair; The 4th driving lever is connected with frame through first revolute pair
The rotation of said first revolute pair, second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair is parallel to each other; The 5th connecting rod is isometric parallel with the 6th connecting rod, and seven-link assembly is isometric parallel with the 8th connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201205768U CN202556402U (en) | 2012-03-28 | 2012-03-28 | Parallel mechanism capable of realizing three-dimension translation motion and one-dimension rotation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012201205768U CN202556402U (en) | 2012-03-28 | 2012-03-28 | Parallel mechanism capable of realizing three-dimension translation motion and one-dimension rotation |
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| CN202556402U true CN202556402U (en) | 2012-11-28 |
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| CN2012201205768U Expired - Fee Related CN202556402U (en) | 2012-03-28 | 2012-03-28 | Parallel mechanism capable of realizing three-dimension translation motion and one-dimension rotation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601787A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Parallel mechanism capable of spatially three-dimensionally traversing and one-dimensionally circularly rotating |
| CN105364910A (en) * | 2015-10-26 | 2016-03-02 | 浙江理工大学 | Four-freedom-degree parallel sorting robot driven by rotation pairs |
-
2012
- 2012-03-28 CN CN2012201205768U patent/CN202556402U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601787A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Parallel mechanism capable of spatially three-dimensionally traversing and one-dimensionally circularly rotating |
| CN105364910A (en) * | 2015-10-26 | 2016-03-02 | 浙江理工大学 | Four-freedom-degree parallel sorting robot driven by rotation pairs |
| CN105364910B (en) * | 2015-10-26 | 2017-06-13 | 浙江理工大学 | It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121128 Termination date: 20150328 |
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| EXPY | Termination of patent right or utility model |