CN202556403U - Three degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain - Google Patents
Three degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain Download PDFInfo
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- CN202556403U CN202556403U CN201220120597XU CN201220120597U CN202556403U CN 202556403 U CN202556403 U CN 202556403U CN 201220120597X U CN201220120597X U CN 201220120597XU CN 201220120597 U CN201220120597 U CN 201220120597U CN 202556403 U CN202556403 U CN 202556403U
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- connecting rod
- revolute pair
- turntable
- branch chain
- rprpr
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Abstract
A three degree-of-freedom parallel mechanism containing an RPRPR closed-loop branch chain comprises an RPRPR closed-loop branch chain and an actuating mechanism branch chain, wherein the RPRPR closed-loop branch chain can control a first rotary table to move in a plane where the RPRPR closed-loop branch chain is arranged, and a spatial three degree-of-freedom motion of a moving platform can be realized by movements of the first rotary table and a driving slide block. According to the parallel mechanism, the closed-loop branch chain and the driving slide block are used to control the motion of the rotary table in the plane, thereby realizing a three degree-of-freedom motion of the moving platform and enabling the parallel mechanism to have the characteristics of being compact in structure and simple to control, and all driving levers are connected on a rack and lever pieces can be made into light levers, and enabling the mechanism being small in movement inertia and excellent in dynamics performance.
Description
Technical field
The utility model relates to the parallel institution field, particularly a kind of 3-freedom parallel mechanism that contains RPRPR closed loop subchain.
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 3-freedom parallel mechanism of the RPRPR 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 3-freedom parallel mechanism of the RPRPR of containing closed loop subchain comprises RPRPR closed loop subchain and executing agency's subchain.
Said RPRPR closed loop subchain is formed by connecting first driving lever, second driving lever, first connecting rod, second connecting rod, first servomotor, second servomotor and frame; First driving lever, one end is connected on first servomotor that is cemented on the frame through first revolute pair; The first driving lever other end is connected with first connecting rod through first moving sets; The first connecting rod other end is connected with second connecting rod through second revolute pair; Second connecting rod is connected with second driving lever through second moving sets, and the second driving lever other end is connected with second servomotor on being cemented in frame through the 3rd revolute pair.
Said executing agency subchain is formed by connecting active sliding block, first turntable, second turntable, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod and moving platform; First turntable is connected with third connecting rod through the 4th revolute pair; First turntable is connected with the 4th connecting rod through the 5th revolute pair; The third connecting rod other end is connected with the 5th connecting rod with moving platform through the 6th revolute pair, and the 4th connecting rod other end is connected with moving platform through the 7th revolute pair, and the 6th connecting rod is connected with moving platform through the 8th revolute pair; The 5th connecting rod other end is connected with second turntable through the 9th revolute pair; The 6th connecting rod other end is connected with second turntable through the tenth revolute pair, and second turntable is connected with active sliding block through the 11 revolute pair, and active sliding block is connected on the frame through three moving sets.
The rotation of said first revolute pair, second revolute pair, the 3rd revolute pair, the 11 revolute pair is parallel to each other, and third connecting rod is isometric parallel with the 4th connecting rod, and the 5th connecting rod is isometric parallel with the 6th 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 said a kind of first structural representation that contains the 3-freedom parallel mechanism of RPRPR closed loop subchain of the utility model.
Fig. 2 is said a kind of second structural representation that contains the 3-freedom parallel mechanism of RPRPR closed loop subchain of the utility model.
Fig. 3 is the said a kind of first work sketch map that contains the 3-freedom parallel mechanism of RPRPR closed loop subchain of the utility model.
Fig. 4 is the said a kind of second work sketch map that contains the 3-freedom parallel mechanism of RPRPR closed loop subchain of the utility model.
Fig. 5 is said a kind of the 3rd work sketch map that contains the 3-freedom parallel mechanism of RPRPR 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 two-degree-of-freedom parallel mechanism that contains the closed loop subchain comprises RPRPR closed loop subchain and executing agency's subchain.
Said RPRPR closed loop subchain is formed by connecting first driving lever 3, second driving lever 11, first connecting rod 5, second connecting rod 9, first servomotor 27, second servomotor 28 and frame 1; First driving lever, 3 one ends are connected on first servomotor 27 that is cemented on the frame 1 through first revolute pair 2; First driving lever, 3 other ends are connected with first connecting rod 5 through first moving sets 4; First connecting rod 5 other ends are connected with second connecting rod 9 through second revolute pair 25; Second connecting rod 9 is connected with second driving lever 11 through second moving sets 10, and second driving lever, 11 other ends are connected with second servomotor 28 on being cemented in frame 1 through the 3rd revolute pair 12.
Said executing agency subchain is formed by connecting active sliding block 20, first turntable 6, second turntable 21, third connecting rod 13, the 4th connecting rod 14, the 5th connecting rod 19, the 6th connecting rod 20 and moving platform 15; First turntable 6 is connected with third connecting rod 13 through the 3rd revolute pair 7; First turntable 6 is connected with the 4th connecting rod 14 through the 5th revolute pair 8; Third connecting rod 13 other ends are connected with the 5th connecting rod 19 with moving platform 15 through the 6th revolute pair 17; The 4th connecting rod 14 other ends are connected with moving platform 15 through the 7th revolute pair 16; The 6th connecting rod 20 is connected with moving platform 15 through the 8th revolute pair 18, and the 5th connecting rod 19 other ends are connected with second turntable 21 through the 9th revolute pair 23, and the 6th connecting rod 20 other ends are connected with second turntable 21 through the tenth revolute pair 22; Second turntable 21 is connected with active sliding block 20 through the 11 revolute pair 26, and active sliding block 20 is connected on the frame through three moving sets 24.
The rotation of said first revolute pair 2, second revolute pair 25, the 3rd revolute pair 12, the 11 revolute pair 26 is parallel to each other, and third connecting rod 13 is isometric parallel with the 4th connecting rod 14, and the 5th connecting rod 19 is isometric parallel with the 6th connecting rod 20.
Claims (1)
1. a 3-freedom parallel mechanism that contains RPRPR closed loop subchain comprises RPRPR closed loop subchain and executing agency's subchain, it is characterized in that its structure and connected mode are:
Said RPRPR closed loop subchain is formed by connecting first driving lever, second driving lever, first connecting rod, second connecting rod, first servomotor, second servomotor and frame; First driving lever, one end is connected on first servomotor that is cemented on the frame through first revolute pair; The first driving lever other end is connected with first connecting rod through first moving sets; The first connecting rod other end is connected with second connecting rod through second revolute pair; Second connecting rod is connected with second driving lever through second moving sets, and the second driving lever other end is connected with second servomotor on being cemented in frame through the 3rd revolute pair
Said executing agency subchain is formed by connecting active sliding block, first turntable, second turntable, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod and moving platform; First turntable is connected with third connecting rod through the 4th revolute pair; First turntable is connected with the 4th connecting rod through the 5th revolute pair, and the third connecting rod other end is connected with the 5th connecting rod with moving platform through the 6th revolute pair, and the 4th connecting rod other end is connected with moving platform through the 7th revolute pair; The 6th connecting rod is connected with moving platform through the 8th revolute pair; The 5th connecting rod other end is connected with second turntable through the 9th revolute pair, and the 6th connecting rod other end is connected with second turntable through the tenth revolute pair, and second turntable is connected with active sliding block through the 11 revolute pair; Active sliding block is connected on the frame through three moving sets
The rotation of said first revolute pair, second revolute pair, the 3rd revolute pair, the 11 revolute pair is parallel to each other, and third connecting rod is isometric parallel with the 4th connecting rod, and the 5th connecting rod is isometric parallel with the 6th connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220120597XU CN202556403U (en) | 2012-03-28 | 2012-03-28 | Three degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220120597XU CN202556403U (en) | 2012-03-28 | 2012-03-28 | Three degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain |
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| CN202556403U true CN202556403U (en) | 2012-11-28 |
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|---|---|---|---|
| CN201220120597XU Expired - Fee Related CN202556403U (en) | 2012-03-28 | 2012-03-28 | Three degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601789A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Three-degree-of-freedom parallel mechanism containing RPRPR closed-loop subchain |
-
2012
- 2012-03-28 CN CN201220120597XU patent/CN202556403U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601789A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Three-degree-of-freedom parallel mechanism containing RPRPR closed-loop subchain |
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| Date | Code | Title | Description |
|---|---|---|---|
| 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 |