CN203092548U - Non-symmetric decoupling parallel connection mechanism with two rotational degrees of freedom, one translational degree of freedom and three degrees of freedom - Google Patents
Non-symmetric decoupling parallel connection mechanism with two rotational degrees of freedom, one translational degree of freedom and three degrees of freedom Download PDFInfo
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- CN203092548U CN203092548U CN 201320111345 CN201320111345U CN203092548U CN 203092548 U CN203092548 U CN 203092548U CN 201320111345 CN201320111345 CN 201320111345 CN 201320111345 U CN201320111345 U CN 201320111345U CN 203092548 U CN203092548 U CN 203092548U
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Abstract
The utility model relates to a non-symmetric decoupling parallel connection mechanism with two rotational degrees of freedom, one translational degree of freedom and three degrees of freedom. The non-symmetric decoupling parallel connection mechanism with two rotational degrees of freedom, one translational degree of freedom and three degrees of freedom is composed of a moving platform, a rack and three branches which connect the moving plate and the rack. Universal hinges in the first branch are connected with the rack. A rotation pair is connected with the moving platform. The universal hinges are connected with the rotation pair through a moving pair. An axis of the rotation pair is parallel to axes of second rotation pairs of the universal hinges and vertical to an axis of the moving pair. Universal hinges in the second branch are connected with the rack. A ball pair is connected with the moving platform. The universal hinges are connected with the ball pair through a moving pair. An axis of the moving pair is vertical to axes of the second rotation pairs of the universal hinges. A rotation pair in the third branch is connected with the rack. Universal hinges are connected with the moving platform. The rotation pair is connected with the universal hinges through a moving pair. An axis of the rotation pair is parallel to axes of first rotation pairs of the universal hinges and vertical to an axis of the moving pair. The non-symmetric decoupling parallel connection mechanism with two rotational degrees of freedom, one translational degree of freedom and three degrees of freedom is simple in branch mechanism, easy to machine and assemble and easy to demarcate and control and input and output undergo decoupling.
Description
Technical fieldThe utility model relates to a kind of parallel robot mechanism.
Background technologyParallel robot and serial machine physiognomy ratio have that rigidity is big, movement velocity is fast, the precision advantages of higher, have widely in the mechanical industry field and use.Can be applied to motion simulator and have two parallel institutions that rotate an one-movement-freedom-degree, coordinate measuring machine, the main shaft of machining center is first-class, wherein most typical application is a main tapping of making parallel machine, additional binary rotary head on this main tapping, just can realize Aero-Space, the processing of field complex parts such as auto industry.In the existing literature, paper (the K.Neumann that delivered in 2008 as K. Neumann, 2008.Adaptive in-jig high load Exechon machining ﹠ assembly technology, SAE International, 08AMT-0044.) and patent CN 101049699A, CN 201625978U, the parallel institution of mentioning among the CN 201389855Y, there is the rotating shaft of no associated movement in moving platform and has and be easy to the advantage demarcating and control, but there is the geometrical condition of this harshness of conllinear in these mechanisms, quality of fit requires very high, otherwise if do not reach this geometrical condition, then the performance of mechanism does not just reach requirement, harsh geometrical condition like this is that the processing and manufacturing of mechanism has brought very big difficulty, is difficult to guarantee machining accuracy.And another kind of 3-RPS/SPR two changes one and moves parallel institution, though do not have harsh geometrical condition, exist in the rotational motion follow mobile, cause demarcating and control very difficult.
Summary of the inventionIt is simple that the purpose of this utility model is to propose a kind of branched structure, and convenient processing and manufacture can guarantee that two of machining accuracy, input and output decoupling zero change the asymmetric decoupling parallel mechanism of a shift three degrees of freedom.
The utility model comprises moving platform, frame and is connected their three active branch, wherein the universal hinge in first branch is connected with frame, revolute pair is connected with moving platform, be connected by moving sets between universal hinge and the revolute pair, wherein the revolute pair axis both had been parallel to the second revolute pair axis of universal hinge, again perpendicular to the moving sets axis; Universal hinge in second branch is connected with frame, and ball is secondary to be connected with moving platform, is connected by moving sets between universal hinge and the ball pair, and wherein the moving sets axis is vertical with the second revolute pair axis of universal hinge; Revolute pair in the 3rd branch is connected with frame, and universal hinge is connected with moving platform, is connected by moving sets between revolute pair and the universal hinge, and wherein the revolute pair axis both had been parallel to the first revolute pair axis of universal hinge, again perpendicular to the moving sets axis; Rotate the second revolute pair axis that secondary axis is parallel to universal hinge in the 3rd branch in above-mentioned first branch; The first turns auxiliary shaft line parallel of universal hinge rotates secondary axis in above-mentioned first branch in the 3rd branch.
The another kind of connected mode of above-mentioned second branch is: ball is secondary to be connected with frame, and universal hinge is connected with moving platform, is connected by moving sets between ball pair and the universal hinge, and wherein the moving sets axis is vertical with the first revolute pair axis of universal hinge.
The utility model compared with prior art has following advantage: do not have harsh geometrical condition in the mechanism, moving platform exists not have follows mobile rotating shaft, driver can be near frame, branched structure is simple, kinematic decoupling, processing and manufacturing is more convenient, demarcates and control realization easily, has very good prospects for application.
Description of drawings:
Fig. 1 is the three-dimensional simplified schematic diagram of the utility model embodiment 1.
Fig. 2 is the three-dimensional simplified schematic diagram of the utility model embodiment 2.
The specific embodiment:
Embodiment 1:
In the schematic diagram of the asymmetric decoupling parallel mechanism of two commentaries on classics one shift three degrees of freedom shown in Figure 1, universal hinge R11, R12 in first branch are connected with frame 1, revolute pair R14 is connected with moving platform 2, be connected by moving sets P13 between revolute pair and the universal hinge, wherein revolute pair R14 axis both had been parallel to the second revolute pair R12 axis of universal hinge, again perpendicular to moving sets P13 axis; Universal hinge R21, R22 in second branch are connected with frame, and secondary S24 of ball is connected with moving platform, are connected by moving sets P23 between universal hinge and the ball pair, wherein the second revolute pair R22 axis normal of moving sets P23 axis and universal hinge; Revolute pair R31 in the 3rd branch is connected with frame, universal hinge R33, R34 are connected with moving platform, be connected by moving sets P32 between universal hinge and the revolute pair, wherein revolute pair R31 axis both had been parallel to the first revolute pair R33 axis of universal hinge, again perpendicular to moving sets P32 axis; Revolute pair R14 axis is parallel to the second revolute pair R34 axis of universal hinge in the 3rd branch in above-mentioned first branch; First turns auxiliary shaft R11 line parallel revolute pair R31 axis in the 3rd branch of universal hinge in above-mentioned first branch.
Embodiment 2:
As shown in Figure 2, universal hinge R11, R12 in first branch are connected with frame 1, revolute pair R14 is connected with moving platform 2, be connected by moving sets P13 between revolute pair and the universal hinge, wherein revolute pair R14 axis both had been parallel to the second revolute pair R12 axis of universal hinge, again perpendicular to moving sets P13 axis; Secondary S21 of ball in second branch is connected with frame, and universal hinge R23, R24 are connected with moving platform, is connected by moving sets P22 between universal hinge and the ball pair, wherein the first revolute pair R23 axis normal of moving sets P22 axis and universal hinge; Revolute pair R31 in the 3rd branch is connected with frame, universal hinge R33, R34 are connected with moving platform, be connected by moving sets P32 between universal hinge and the revolute pair, wherein revolute pair R31 axis both had been parallel to the first revolute pair R33 axis of universal hinge, again perpendicular to moving sets P32 axis; Revolute pair R14 axis is parallel to the second revolute pair R34 axis of universal hinge in the 3rd branch in above-mentioned first branch; First turns auxiliary shaft R11 line parallel revolute pair R31 axis in the 3rd branch of universal hinge in above-mentioned first branch.
In the various embodiments described above, described moving sets axis is meant the straight line parallel with the direction of motion of moving sets, the revolute pair axis is meant and centers on the center line that rotates when revolute pair is rotated, first revolute pair of universal hinge refers to the revolute pair near frame, and second revolute pair of universal hinge refers to the revolute pair near moving platform.
Claims (2)
1. one kind two is changeed the asymmetric decoupling parallel mechanism of a shift three degrees of freedom, three active branch that it comprises moving platform, frame and is connected them, it is characterized in that: the universal hinge in its first branch is connected with frame, revolute pair is connected with moving platform, be connected by moving sets between universal hinge and the revolute pair, wherein the revolute pair axis both had been parallel to the second revolute pair axis of universal hinge, again perpendicular to the moving sets axis; Universal hinge in second branch is connected with frame, and ball is secondary to be connected with moving platform, is connected by moving sets between universal hinge and the ball pair, and wherein the moving sets axis is vertical with the second revolute pair axis of universal hinge; Revolute pair in the 3rd branch is connected with frame, and universal hinge is connected with moving platform, is connected by moving sets between revolute pair and the universal hinge, and wherein the revolute pair axis both had been parallel to the first revolute pair axis of universal hinge, again perpendicular to the moving sets axis; Rotate the second revolute pair axis that secondary axis is parallel to universal hinge in the 3rd branch in above-mentioned first branch; The first turns auxiliary shaft line parallel of universal hinge rotates secondary axis in above-mentioned first branch in the 3rd branch.
2. one kind two is changeed the asymmetric decoupling parallel mechanism of a shift three degrees of freedom, three active branch that it comprises moving platform, frame and is connected them, it is characterized in that: the universal hinge in its first branch is connected with frame, revolute pair is connected with moving platform, be connected by moving sets between universal hinge and the revolute pair, wherein the revolute pair axis both had been parallel to the second revolute pair axis of universal hinge, again perpendicular to the moving sets axis; Ball in second branch is secondary to be connected with frame, and universal hinge is connected with moving platform, is connected by moving sets between ball pair and the universal hinge, and wherein the moving sets axis is vertical with the first revolute pair axis of universal hinge; Revolute pair in the 3rd branch is connected with frame, and universal hinge is connected with moving platform, is connected by moving sets between revolute pair and the universal hinge, and wherein the revolute pair axis both had been parallel to the first revolute pair axis of universal hinge, again perpendicular to the moving sets axis; Rotate the second revolute pair axis that secondary axis is parallel to universal hinge in the 3rd branch in above-mentioned first branch; The first turns auxiliary shaft line parallel of universal hinge rotates secondary axis in above-mentioned first branch in the 3rd branch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320111345 CN203092548U (en) | 2013-03-13 | 2013-03-13 | Non-symmetric decoupling parallel connection mechanism with two rotational degrees of freedom, one translational degree of freedom and three degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320111345 CN203092548U (en) | 2013-03-13 | 2013-03-13 | Non-symmetric decoupling parallel connection mechanism with two rotational degrees of freedom, one translational degree of freedom and three degrees of freedom |
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| CN203092548U true CN203092548U (en) | 2013-07-31 |
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| CN 201320111345 Withdrawn - After Issue CN203092548U (en) | 2013-03-13 | 2013-03-13 | Non-symmetric decoupling parallel connection mechanism with two rotational degrees of freedom, one translational degree of freedom and three degrees of freedom |
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| CN (1) | CN203092548U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103144095A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Asymmetric decoupling parallel mechanism with two rotations and one movement |
| CN105855906A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial degrees of freedom |
| CN105855921A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial freedom degrees |
| CN105856193A (en) * | 2016-05-10 | 2016-08-17 | 燕山大学 | Two-degree-of-freedom rotational parallel mechanism with two continuous rotating axes |
-
2013
- 2013-03-13 CN CN 201320111345 patent/CN203092548U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103144095A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Asymmetric decoupling parallel mechanism with two rotations and one movement |
| CN103144095B (en) * | 2013-03-13 | 2015-01-07 | 燕山大学 | Asymmetric decoupling parallel mechanism with two rotations and one movement |
| CN105856193A (en) * | 2016-05-10 | 2016-08-17 | 燕山大学 | Two-degree-of-freedom rotational parallel mechanism with two continuous rotating axes |
| CN105855906A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial degrees of freedom |
| CN105855921A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial freedom degrees |
| CN105855921B (en) * | 2016-06-12 | 2019-01-04 | 清华大学 | Parallel institution with space three-freedom |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130731 Effective date of abandoning: 20150107 |
|
| RGAV | Abandon patent right to avoid regrant |