CN202922581U - Two-degree freedom parallel mechanism with large lateral displacement - Google Patents
Two-degree freedom parallel mechanism with large lateral displacement Download PDFInfo
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- CN202922581U CN202922581U CN 201220556082 CN201220556082U CN202922581U CN 202922581 U CN202922581 U CN 202922581U CN 201220556082 CN201220556082 CN 201220556082 CN 201220556082 U CN201220556082 U CN 201220556082U CN 202922581 U CN202922581 U CN 202922581U
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Abstract
The utility model relates to a two-degree freedom parallel mechanism with large lateral displacement. The two-degree freedom parallel mechanism with the large lateral displacement enables the size of a guide rail to be small and to have large transverse displacement distance under the condition of the same size. The technical scheme includes that the two-degree freedom parallel mechanism with the large lateral displacement is composed of a movable platform, a fixed platform and a supporting chain, and is characterized in that the supporting chain comprises three parallelogram mechanisms, wherein a sliding pair, a first connecting rod, a second connecting rod and a third connecting rod are arranged at the lower end of the fixed platform and form a first parallelogram mechanism, and meanwhile a second parallelogram mechanism is composed of the second connecting rod, the movable platform and a fifth connecting rod, in the second parallelogram mechanism, the movable platform is parallel to the second connecting rod, a third parallelogram mechanism is composed of the first connecting rod, the fourth connecting rod, a sixth connecting rod and a seventh connecting rod, in the third parallelogram mechanism, the first connecting rod is parallel to the sixth connecting rod, the fourth connecting rod is parallel to the seventh connecting rod, and the end portion of the seventh connecting rod is hinged with the sliding pair of the upper side of the fixed platform.
Description
Technical field
The utility model relates to a kind of motion, especially a kind of two-freedom-degree parallel mechanism with large lateral displacement.
Background technology
because traditional handwork is completed such as packing, sorting, when carrying waits operation, no matter be precision, cost or efficient are all very low, can't satisfy the increasing market demand, so seeking to replace manpower operation's robot just to arise at the historic moment, compare with traditional handwork, robot manipulating task has at a high speed, high efficiency, high accuracy, the advantages such as not affected by environment and sustainable work, therefore, robot replaces manually becoming the inevitable choice of historical development, become the necessary ways that improve industrial automatization and product quality, improve whole competitiveness for China, the industrial circle that particularly relatively falls behind has epoch-making meaning, this is also the important goal that China implements the strategy of rejuvenating China by applying scientific and technological advances simultaneously.
The people compares with serial machine, parallel robot adopts closed loop configuration and drive unit to be set directly on support, so have that rigidity is high, bearing capacity is strong, error accumulation is little, precision is high and the characteristics such as self duty ratio is little, be particularly suitable for the occasion that the working space scope is little, precision is high, operating rate is high, for example following occasion:
(1) complete reciprocating motion at a high speed in a plane;
(2) doing long (short) apart from stepping or delaying into motion with the direction of working face quadrature.
Have the difficult problem of computing complexity due to multivariant parallel robot, and in Limited-DOF Parallel Robot, the two degrees of freedom parallel robot exactly is fit to complete above-mentioned motion, this provides huge space for its application and research.
At calendar year 2001 Brogardh(cloth sieve jar (unit of capacitance)) a 2DOF mobile parallel connection mechanism has been proposed, be connected with parallel four connecting rods between moving sets driving and end platform, if replace mobile driving with rotating, can also obtain an equivalent mechanism.In the once meeting about parallel institution future studies direction of the Montpellier, Frances of 2008, CEDRICBARADAT(Cedric Ba Ladate) a Novel two-freedom-degree parallel robot is proposed again.Existing patent retrieval is found, domesticly also two-degree of freedom translational parallel manipulator has been carried out many researchs.For example: CN1355087A proposes a kind of two degrees of freedom parallel robot mechanism that only contains revolute pair, moving platform is connected with frame by two branches, chain was realized the translation of moving platform by two parallel-crank mechanisms in two minutes, kinematic pair is all rotating hinge, simple and reliable for structure, low cost of manufacture such as has at a high speed, low-cost, lightweight at the advantage; CN101224578A proposes a kind of two degrees of freedom translation parallel mechanism, adopts the motion implementation space constraint of Hooke's hinge, and connecting rod no longer is subjected to Moment, has improved the force-bearing situation of mechanism, has improved the rigidity of mechanism; CN2741730Y has proposed a kind of two freedom moving plane shunting mechanism, has high accuracy, simple in structure, low cost of manufacture, the advantage such as lightweight; CN101804629A has proposed a kind of crossed two-freedom-degree mobile parallel connection mechanism, adopts the linkage arrangement of chiasma type, has less lateral dimension, and has simple and reliable for structurely, and rigidity is high, and low cost of manufacture is easy to the advantages such as control.For above-mentioned parallel institution, the lateral displacement distance is little is a shortcoming of its maximum, for satisfying larger lateral displacement distance, mechanism's overall dimensions is increased, and this also increases manufacturing cost and floor space greatly.How to improve the lateral displacement distance of mechanism under the comparable size condition, be a key issue of utility model design.
The utility model content
Technical problem to be solved in the utility model is to overcome the deficiency that the above-mentioned background technology exists, a kind of two-freedom-degree parallel mechanism with large lateral displacement is provided, make the size of guide rail less, have larger lateral displacement distance under the comparable size condition, and simple and reliable for structure.
the technical solution adopted in the utility model is: a kind of two-freedom-degree parallel mechanism with large lateral displacement, by moving platform, fixed platform and the side chain formation that connects moving platform and fixed platform, one end and the moving platform of side chain are hinged, sliding pair on the other end and fixed platform is hinged, the hinge axes of each pin joint all is arranged in parallel, the direction of motion of sliding pair also is parallel to each other, hinge axes is mutually vertical with the direction of motion of sliding pair, it is characterized in that, described side chain comprises three parallel-crank mechanisms, wherein, the sliding pair of fixed platform downside, first connecting rod, second connecting rod and third connecting rod consist of the first parallel-crank mechanism, described in this first parallel-crank mechanism, sliding pair is parallel with second connecting rod, simultaneously, described second connecting rod be arranged in the 4th connecting rod on its right side, described moving platform and the 5th connecting rod and consist of the second parallel-crank mechanism, described in this second parallel-crank mechanism, moving platform is parallel with second connecting rod, thereby guarantees that moving platform is parallel all the time with fixed platform, described first connecting rod, the 4th connecting rod and the 6th connecting rod, seven-link assembly consist of the 3rd parallel-crank mechanism, in the 3rd parallel-crank mechanism, first connecting rod is parallel with the 6th connecting rod, the 4th connecting rod is parallel with seven-link assembly, and the sliding pair of the end of seven-link assembly and fixed platform upside is hinged.
Described the 3rd parallel-crank mechanism is positioned at the upside of the first parallel-crank mechanism; Wherein, point articulated in one end of seven-link assembly and first connecting rod, the seven-link assembly other end is simultaneously hinged with an end of the sliding pair of fixed platform upside and the 6th connecting rod, one end of the other end of the 6th connecting rod and the 4th connecting rod is hinged, the other end of the 4th connecting rod and the upper end of moving platform are hinged, one end of the articulated first connecting rod of mid point of the 4th connecting rod and the upper end of second connecting rod, the other end of first connecting rod are hinged on the sliding pair of fixed platform downside;
Described the first, the 3rd, the 4th connecting rod is isometric, and the isometric and length of the 5th, the 6th, the 7th, the 8th connecting rod is 1/2nd of described the first, the 3rd, the 4th connecting rod; The length of second connecting rod and moving platform, and on the sliding pair of fixed platform downside, the distance between two pin joints of first connecting rod and third connecting rod is isometric.
Described the 3rd parallel-crank mechanism is positioned at the upside of the first parallel-crank mechanism; Wherein, point articulated in one end of seven-link assembly and first connecting rod, the seven-link assembly other end is simultaneously hinged with an end of the sliding pair of fixed platform upside and the 6th connecting rod, one end of the other end of the 6th connecting rod and the 4th connecting rod is hinged, the other end of the 4th connecting rod and the upper end of moving platform are hinged, one end of 1/3rd articulated first connecting rods of extension position of the 4th connecting rod and the upper end of second connecting rod, the other end of first connecting rod is hinged on the sliding pair of fixed platform downside;
The length of described seven-link assembly equals 1/3rd of the 4th connecting rod, the length of second connecting rod and moving platform, and on the sliding pair of fixed platform downside, the distance between two pin joints of first connecting rod and third connecting rod is isometric.
Described the 3rd parallel-crank mechanism is positioned at the downside of first, second parallel-crank mechanism; Wherein an end of seven-link assembly is hinged on the sliding pair of fixed platform upside, point articulated in the mid point of seven-link assembly and first connecting rod, the other end of seven-link assembly is positioned at first connecting rod below and hinged with an end of the 6th connecting rod, one end of the other end of the 6th connecting rod and the 4th connecting rod and the upper end of moving platform are hinged, one end of the other end of the 4th connecting rod and first connecting rod and the upper end of second connecting rod are hinged, and the other end of first connecting rod is hinged on the sliding pair of fixed platform downside;
Described first, the 3rd, seven-link assembly is isometric, four, the isometric and length of the 5th, the 6th connecting rod be described first, the 3rd, seven-link assembly length 1/2nd, the length of second connecting rod and moving platform, and on the sliding pair of fixed platform downside, the distance between two pin joints of first connecting rod and third connecting rod is isometric.
Described the first parallel-crank mechanism also is provided with the 8th connecting rod, described the 8th connecting rod is arranged on the centre position of the 4th connecting rod and seven-link assembly and parallel with the 4th connecting rod and seven-link assembly, the two ends of the 8th connecting rod are hinged on respectively on the 6th connecting rod and first connecting rod, form a passive constraint.
The sliding pair of described fixed platform downside is positioned at the below of the sliding pair of fixed platform upside all the time, described sliding pair comprises the guide rail on frame and the slide block that can reciprocatingly slide on guide rail, hinged by with the hinged realization of slide block and described sliding pair of the end of each connecting rod.
The articulated structure that described each pin joint all adopts jointed shaft to coordinate with hinge hole.
Described carrying mechanism also disposes a fixture, and this fixture is positioned at below moving platform, and the symmetrical center line of fixture is parallel with the axis of moving platform.
The beneficial effects of the utility model are: the utility model makes the size of guide rail less adopting three parallel-crank mechanisms, has increased the lateral displacement distance under the comparable size condition, and simple and reliable for structure, rigidity is higher, can satisfy Production requirement, can be used as industrial robot and uses.
Description of drawings
Fig. 1 is the main TV structure schematic diagram of the utility model embodiment one.
Fig. 2 is the theory of mechanics schematic diagram of Fig. 1.
Fig. 3 is the main TV structure schematic diagram of the utility model embodiment two.
Fig. 4 is the theory of mechanics schematic diagram of Fig. 3.
Fig. 5 is the main TV structure schematic diagram of the utility model embodiment three.
Fig. 6 is the theory of mechanics schematic diagram of Fig. 5.
The specific embodiment
Below in conjunction with Figure of description, the utility model is described in further detail, but the utility model is not limited to following examples.
A kind of two-freedom-degree parallel mechanism with large lateral displacement, side chain by moving platform 10, fixed platform 9 and connection moving platform and fixed platform consists of, one end and the moving platform of side chain are hinged, sliding pair on the other end and fixed platform is hinged, the hinge axes of each pin joint A all is arranged in parallel, the direction of motion of sliding pair also is parallel to each other, and the direction of motion of hinge axes and sliding pair is vertical (conventional structure) mutually.
Described side chain comprises three parallel-crank mechanisms, wherein, the sliding pair of fixed platform downside, first connecting rod 1, second connecting rod 2 and third connecting rod 3 consist of the first parallel-crank mechanism (hinged formation, routine techniques), and described in this first parallel-crank mechanism, sliding pair is parallel with second connecting rod; Simultaneously, described second connecting rod 2 consists of (the hinged formation of the second parallel-crank mechanism with the 4th connecting rod 4 that is arranged in its right side, described moving platform 10 and the 5th connecting rod 5, routine techniques), described in this second parallel-crank mechanism, moving platform is parallel with second connecting rod, thereby guarantees that moving platform is parallel all the time with fixed platform; Described first connecting rod 1, the 4th connecting rod 4 and the 6th connecting rod 6, seven-link assembly 7 consist of (the hinged formation of the 3rd parallel-crank mechanism, routine techniques), in the 3rd parallel-crank mechanism, first connecting rod is parallel with the 6th connecting rod, the 4th connecting rod is parallel with seven-link assembly, and the sliding pair of the end of seven-link assembly and fixed platform upside is hinged.
The sliding pair of described fixed platform downside is positioned at the below of the sliding pair of fixed platform upside all the time, described sliding pair comprise the guide rail on frame and the slide block that can reciprocatingly slide on guide rail (clean and tidy for making drawing, the figure middle guide omits not to be drawn), hinged by with the hinged realization of slide block and described sliding pair of the end of each connecting rod.Wherein, be slide block 1 in the sliding pair of fixed platform downside, be slide block 2 12 in the sliding pair of fixed platform upside, slide block 11 can be positioned at (guide rail parallel layout) on two different guide rails from slide block 12.
The articulated structure that described each pin joint A all adopts jointed shaft to coordinate with hinge hole.
Described mechanism also disposes a fixture 13, and this fixture is positioned at below moving platform, and the symmetrical center line of fixture is parallel with the axis of moving platform.
Above-mentioned two-freedom-degree parallel mechanism with large lateral displacement has three kinds of embodiments.
Described the first parallel-crank mechanism also is provided with the 8th connecting rod 8, described the 8th connecting rod is arranged on the centre position of the 4th connecting rod and seven-link assembly and parallel with the 4th connecting rod and seven-link assembly, the two ends of the 8th connecting rod are hinged on respectively on the 6th connecting rod and first connecting rod, form a passive constraint.
When motor-driven slide block one and slide block two, three parallel-crank mechanisms actions make moving platform drive the two degree-of-freedom motion that the below fixture is made two-dimensional movement.
When motor-driven slide block one and slide block two, three parallel-crank mechanisms actions make moving platform drive the two degree-of-freedom motion that the below fixture is made two-dimensional movement.
When motor-driven slide block 1 and slide block 2 12, three parallel-crank mechanisms actions make moving platform drive the two degree-of-freedom motion that the below fixture is made two-dimensional movement.
Obviously, than embodiment 2 and embodiment 3, the structure of embodiment 1 is more stable, has larger rigidity.Still it should be noted that: clear for drawing, in figure, all pin joints only draw hinge hole, and jointed shaft all gives omission.
Claims (8)
1. two-freedom-degree parallel mechanism with large lateral displacement, by moving platform (10), fixed platform (9) and the side chain formation that connects moving platform and fixed platform, one end and the moving platform of side chain are hinged, sliding pair on the other end and fixed platform is hinged, the hinge axes of each pin joint (A) all is arranged in parallel, the direction of motion of sliding pair also is parallel to each other, hinge axes is mutually vertical with the direction of motion of sliding pair, it is characterized in that, described side chain comprises three parallel-crank mechanisms, wherein, the sliding pair of fixed platform downside, first connecting rod (1), second connecting rod (2) and third connecting rod (3) consist of the first parallel-crank mechanism, described in this first parallel-crank mechanism, sliding pair is parallel with second connecting rod, simultaneously, described second connecting rod be arranged in the 4th connecting rod (4) on its right side, described moving platform and the 5th connecting rod structure (5) and become the second parallel-crank mechanism, described in this second parallel-crank mechanism, moving platform is parallel with second connecting rod, thereby guarantees that moving platform is parallel all the time with fixed platform, described first connecting rod, the 4th connecting rod become the 3rd parallel-crank mechanism with the 6th connecting rod (6), seven-link assembly structure (7), in the 3rd parallel-crank mechanism, first connecting rod is parallel with the 6th connecting rod, the 4th connecting rod is parallel with seven-link assembly, and the sliding pair of the end of seven-link assembly and fixed platform upside is hinged.
2. a kind of two-freedom-degree parallel mechanism with large lateral displacement according to claim 1, it is characterized in that: described the 3rd parallel-crank mechanism is positioned at the upside of the first parallel-crank mechanism; Wherein, point articulated in one end of seven-link assembly and first connecting rod, the seven-link assembly other end is simultaneously hinged with an end of the sliding pair of fixed platform upside and the 6th connecting rod, one end of the other end of the 6th connecting rod and the 4th connecting rod is hinged, the other end of the 4th connecting rod and the upper end of moving platform are hinged, one end of the articulated first connecting rod of mid point of the 4th connecting rod and the upper end of second connecting rod, the other end of first connecting rod are hinged on the sliding pair of fixed platform downside;
Described the first, the 3rd, the 4th connecting rod is isometric, and the isometric and length of the 5th, the 6th, the 7th, the 8th connecting rod is 1/2nd of described the first, the 3rd, the 4th connecting rod; The length of second connecting rod and moving platform, and on the sliding pair of fixed platform downside, the distance between two pin joints of first connecting rod and third connecting rod is isometric.
3. a kind of two-freedom-degree parallel mechanism with large lateral displacement according to claim 1, it is characterized in that: described the 3rd parallel-crank mechanism is positioned at the upside of the first parallel-crank mechanism; Wherein, point articulated in one end of seven-link assembly and first connecting rod, the seven-link assembly other end is simultaneously hinged with an end of the sliding pair of fixed platform upside and the 6th connecting rod, one end of the other end of the 6th connecting rod and the 4th connecting rod is hinged, the other end of the 4th connecting rod and the upper end of moving platform are hinged, one end of 1/3rd articulated first connecting rods of extension position of the 4th connecting rod and the upper end of second connecting rod, the other end of first connecting rod is hinged on the sliding pair of fixed platform downside;
The length of described seven-link assembly equals 1/3rd of the 4th connecting rod, the length of second connecting rod and moving platform, and on the sliding pair of fixed platform downside, the distance between two pin joints of first connecting rod and third connecting rod is isometric.
4. a kind of two-freedom-degree parallel mechanism with large lateral displacement according to claim 1, it is characterized in that: described the 3rd parallel-crank mechanism is positioned at the downside of first, second parallel-crank mechanism; Wherein an end of seven-link assembly is hinged on the sliding pair of fixed platform upside, point articulated in the mid point of seven-link assembly and first connecting rod, the other end of seven-link assembly is positioned at first connecting rod below and hinged with an end of the 6th connecting rod, one end of the other end of the 6th connecting rod and the 4th connecting rod and the upper end of moving platform are hinged, one end of the other end of the 4th connecting rod and first connecting rod and the upper end of second connecting rod are hinged, and the other end of first connecting rod is hinged on the sliding pair of fixed platform downside;
Described first, the 3rd, seven-link assembly is isometric, four, the isometric and length of the 5th, the 6th connecting rod be described first, the 3rd, seven-link assembly length 1/2nd, the length of second connecting rod and moving platform, and on the sliding pair of fixed platform downside, the distance between two pin joints of first connecting rod and third connecting rod is isometric.
5. a kind of two-freedom-degree parallel mechanism with large lateral displacement according to claim 2, it is characterized in that: described the first parallel-crank mechanism also is provided with the 8th connecting rod (8), described the 8th connecting rod is arranged on the centre position of the 4th connecting rod and seven-link assembly and parallel with the 4th connecting rod and seven-link assembly, the two ends of the 8th connecting rod are hinged on respectively on the 6th connecting rod and first connecting rod, form a passive constraint.
6. the described a kind of two-freedom-degree parallel mechanism with large lateral displacement of according to claim 1-5 any one, it is characterized in that: the sliding pair of described fixed platform downside is positioned at the below of the sliding pair of fixed platform upside all the time, described sliding pair comprises the guide rail on frame and the slide block that can reciprocatingly slide on guide rail, hinged by with the hinged realization of slide block and described sliding pair of the end of each connecting rod.
7. a kind of two-freedom-degree parallel mechanism with large lateral displacement according to claim 6, is characterized in that: the articulated structure that described each pin joint all adopts jointed shaft to coordinate with hinge hole.
8. a kind of two-freedom-degree parallel mechanism with large lateral displacement according to claim 7, it is characterized in that: described two-freedom-degree parallel mechanism also disposes a fixture (13), this fixture is positioned at below moving platform, and the symmetrical center line of fixture is parallel with the axis of moving platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220556082 CN202922581U (en) | 2012-10-25 | 2012-10-25 | Two-degree freedom parallel mechanism with large lateral displacement |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220556082 CN202922581U (en) | 2012-10-25 | 2012-10-25 | Two-degree freedom parallel mechanism with large lateral displacement |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102886777A (en) * | 2012-10-25 | 2013-01-23 | 浙江理工大学 | Two-degree-of-freedom parallel mechanism with large horizontal displacement |
| CN104924297A (en) * | 2015-06-30 | 2015-09-23 | 南京理工大学 | High-speed two-degree-of-freedom planar transverse-movement robot mechanism |
| CN106144373A (en) * | 2016-06-24 | 2016-11-23 | 广西大学 | A kind of single driving front fork unit |
| CN106315454A (en) * | 2016-08-18 | 2017-01-11 | 江苏大学 | Novel linear lifting mechanism |
| CN106369417A (en) * | 2016-10-24 | 2017-02-01 | 浙江理工大学 | Adjustable table lamp |
-
2012
- 2012-10-25 CN CN 201220556082 patent/CN202922581U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102886777A (en) * | 2012-10-25 | 2013-01-23 | 浙江理工大学 | Two-degree-of-freedom parallel mechanism with large horizontal displacement |
| CN104924297A (en) * | 2015-06-30 | 2015-09-23 | 南京理工大学 | High-speed two-degree-of-freedom planar transverse-movement robot mechanism |
| CN104924297B (en) * | 2015-06-30 | 2017-05-17 | 南京理工大学 | High-speed two-degree-of-freedom planar transverse-movement robot mechanism |
| CN106144373A (en) * | 2016-06-24 | 2016-11-23 | 广西大学 | A kind of single driving front fork unit |
| CN106315454A (en) * | 2016-08-18 | 2017-01-11 | 江苏大学 | Novel linear lifting mechanism |
| CN106315454B (en) * | 2016-08-18 | 2018-06-26 | 江苏大学 | A kind of straight line elevating mechanism |
| CN106369417A (en) * | 2016-10-24 | 2017-02-01 | 浙江理工大学 | Adjustable table lamp |
| CN106369417B (en) * | 2016-10-24 | 2019-05-14 | 浙江理工大学 | A kind of adjusting desk light |
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