CN203003873U - Parallel mechanism provided with prrrp kinematic pair closed-loop subchain and rprpr kinematic pair closed-loop subchain - Google Patents
Parallel mechanism provided with prrrp kinematic pair closed-loop subchain and rprpr kinematic pair closed-loop subchain Download PDFInfo
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- CN203003873U CN203003873U CN 201220731152 CN201220731152U CN203003873U CN 203003873 U CN203003873 U CN 203003873U CN 201220731152 CN201220731152 CN 201220731152 CN 201220731152 U CN201220731152 U CN 201220731152U CN 203003873 U CN203003873 U CN 203003873U
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- loop subchain
- connecting rod
- subchain
- kinematic pair
- revolute pair
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Abstract
A parallel mechanism provided with a prrrp kinematic pair closed-loop subchain and an rprpr kinematic pair closed-loop subchain comprises a first five-bar mechanism closed-loop subchain, a second five-bar mechanism closed-loop subchain and an actuator subchain. The first five-bar mechanism closed-loop subchain can control first hooke joint movement, the second five-bar mechanism closed-loop subchain can control second hooke joint movement, and spatial movement of a dynamic platform can be achieved through the first hook joint movement and the second hook joint movement. According to the parallel mechanism provided with the prrrp kinematic pair closed-loop subchain and the rprpr kinematic pair closed-loop subchain, the two hooke joint movement in space is controlled through the two five-bar mechanism closed-loop subchains, and therefore the movement of the dynamic platform in the space is achieved; and the parallel mechanism provided with the prrrp kinematic pair closed-loop subchain and the rprpr kinematic pair closed-loop subchain has the advantages of being compact in structure, easy to control, small in mechanism movement inertia and good in dynamics performance.
Description
Technical field
The utility model relates to the robot field, particularly a kind of parallel institution that contains the closed loop subchain.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: without accumulated error, precision is higher; Drive unit can be placed on fixed platform or near the position of fixed platform, motion parts is lightweight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is large.Due to parallel institution itself with regard to more complicated, if closed loop is contained again in branch, its mechanism will be more complicated, so in general, the parallel institution that symmetrical, 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 more remarkable, as famous delta mechanism.In addition, existing parallel institution, its side chain is subjected to the restriction of connected mode, generally only have a driving lever to be connected in the driving that is cemented on frame, like this multiple freedom parallel mechanism is to realize that its motion just needs many side chains or the mode of a plurality of driving levers of taking to connect on side chain, and the parallel institution complex structure of many side chains is controlled difficulty, and on side chain, a plurality of driving levers of series connection can affect the exercise performance of parallel institution.
Summary of the invention
The purpose of this utility model is to provide a kind of parallel institution that contains the closed loop subchain, and the parallel institution complex structure that solves many side chains is controlled the shortcoming of difficulty.
The utility model achieves the above object by the following technical programs: contain the parallel institution of prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain, comprise the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
described the first five-rod closed loop subchain is by the first slide block, first connecting rod, second connecting rod, the second slide block and the first column are formed by connecting, the first column is connected with frame by the first revolute pair, the first slide block is connected on the first column by the first moving sets, the first slide block other end is connected with first connecting rod by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the 3rd revolute pair, the second connecting rod other end is connected with the second slide block by the 4th revolute pair, the second slide block is connected on the first column by the second moving sets
described five-rod closed loop subchain is by third connecting rod, the first craspedodrome bar, the second craspedodrome bar, the 4th connecting rod and the second column are formed by connecting, the second column is connected with frame by the 5th revolute pair, third connecting rod is connected on the second column by the 6th revolute pair, the third connecting rod other end is connected with the first craspedodrome bar by three moving sets, the first craspedodrome bar other end is connected with the second craspedodrome bar by the 7th revolute pair, the second craspedodrome bar other end is connected with the 4th connecting rod by the 4th moving sets, the 4th connecting rod other end is connected with the second column by the 8th revolute pair
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with second connecting rod by the 3rd revolute pair, the first Hooke's hinge is connected with moving platform by the 9th revolute pair, the second Hooke's hinge is connected with the second craspedodrome bar by the 7th revolute pair, the second Hooke's hinge is connected with moving platform by the tenth revolute pair, and the first Hooke's hinge, the second Hooke's hinge can realize that in the motion of separately space moving platform is in the motion in space.
Outstanding advantages of the present utility model is:
1, pass through the motion of closed loop subchain controlling organization;
2, syndeton is simple, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, by the end effector of various different purposes is installed on moving platform, this mechanism may be used in the work such as crawl, carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is the first structural representation that contains the parallel institution of prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain described in the utility model.
Fig. 2 is the first structural representation that contains the parallel institution of prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain described in the utility model.
Fig. 3 is the first structural representation that contains the parallel institution of prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain described in the utility model.
Fig. 4 is the first structural representation that contains the parallel institution of prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain described in the utility model.
The specific embodiment
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, contain the parallel institution of prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain, comprise the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
described the first five-rod closed loop subchain is by the first slide block 5, first connecting rod 7, second connecting rod 9, the second slide block 11 and the first column 3 are formed by connecting, the first column 3 is connected with frame 1 by the first revolute pair 2, the first slide block 5 is connected on the first column 3 by the first moving sets 4, first slide block 5 other ends are connected with first connecting rod 7 by the second revolute pair 6, first connecting rod 7 other ends are connected with second connecting rod 9 by the 3rd revolute pair 8, second connecting rod 9 other ends are connected with the second slide block 11 by the 4th revolute pair 10, the second slide block 11 is connected on the first column 3 by the second moving sets 12,
described five-rod closed loop subchain is by third connecting rod 16, the first craspedodrome bar 18, the second craspedodrome bar 20, the 4th connecting rod 22 and the second column 14 are formed by connecting, the second column 14 is connected with frame 1 by the 5th revolute pair 13, third connecting rod 16 is connected on the second column 14 by the 6th revolute pair 15, third connecting rod 16 other ends are connected with the first craspedodrome bar 18 by three moving sets 17, first craspedodrome bar 18 other ends are connected with the second craspedodrome bar 20 by the 7th revolute pair 19, second craspedodrome bar 20 other ends are connected with the 4th connecting rod 22 by the 4th moving sets 21, the 4th connecting rod 22 other ends are connected with the second column 14 by the 8th revolute pair 23,
Described executing agency subchain by the first Hooke's hinge 24, the second Hooke's hinge 26, and moving platform 28 be formed by connecting, the first Hooke's hinge 24 is connected with second connecting rod 9 by the 3rd revolute pair 8, the first Hooke's hinge 24 is connected with moving platform 28 by the 9th revolute pair 25, the second Hooke's hinge 26 is connected with the second craspedodrome bar 20 by the 7th revolute pair 19, the second Hooke's hinge 26 is connected with moving platform 28 by the tenth revolute pair 27, and the first Hooke's hinge 24, the second Hooke's hinge 26 can realize that in the motion of separately space moving platform 28 is in the motion in space.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the first Hooke's hinge 24, the second Hooke's hinge 26 can be realized the motion in the space of moving platform 28 in the motion of separately space.
Claims (1)
1. contain the parallel institution of prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain, comprise the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain, its structure and connected mode are:
described the first five-rod closed loop subchain is by the first slide block, first connecting rod, second connecting rod, the second slide block and the first column are formed by connecting, the first column is connected with frame by the first revolute pair, the first slide block is connected on the first column by the first moving sets, the first slide block other end is connected with first connecting rod by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the 3rd revolute pair, the second connecting rod other end is connected with the second slide block by the 4th revolute pair, the second slide block is connected on the first column by the second moving sets
described five-rod closed loop subchain is by third connecting rod, the first craspedodrome bar, the second craspedodrome bar, the 4th connecting rod and the second column are formed by connecting, the second column is connected with frame by the 5th revolute pair, third connecting rod is connected on the second column by the 6th revolute pair, the third connecting rod other end is connected with the first craspedodrome bar by three moving sets, the first craspedodrome bar other end is connected with the second craspedodrome bar by the 7th revolute pair, the second craspedodrome bar other end is connected with the 4th connecting rod by the 4th moving sets, the 4th connecting rod other end is connected with the second column by the 8th revolute pair
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with second connecting rod by the 3rd revolute pair, the first Hooke's hinge is connected with moving platform by the 9th revolute pair, the second Hooke's hinge is connected with the second craspedodrome bar by the 7th revolute pair, and the second Hooke's hinge is connected with moving platform by the tenth revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220731152 CN203003873U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism provided with prrrp kinematic pair closed-loop subchain and rprpr kinematic pair closed-loop subchain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220731152 CN203003873U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism provided with prrrp kinematic pair closed-loop subchain and rprpr kinematic pair closed-loop subchain |
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| Publication Number | Publication Date |
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| CN203003873U true CN203003873U (en) | 2013-06-19 |
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| CN 201220731152 Expired - Fee Related CN203003873U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism provided with prrrp kinematic pair closed-loop subchain and rprpr kinematic pair closed-loop subchain |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990647A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain |
| CN109129427A (en) * | 2018-09-30 | 2019-01-04 | 华南理工大学 | A kind of the plane parallel mechanism device and control method of double five-rod drivings |
-
2012
- 2012-12-27 CN CN 201220731152 patent/CN203003873U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990647A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain |
| CN109129427A (en) * | 2018-09-30 | 2019-01-04 | 华南理工大学 | A kind of the plane parallel mechanism device and control method of double five-rod drivings |
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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: 20130619 Termination date: 20151227 |
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| EXPY | Termination of patent right or utility model |