CN203557380U - Spatially symmetrical three-DOF parallel connection mechanism - Google Patents
Spatially symmetrical three-DOF parallel connection mechanism Download PDFInfo
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- CN203557380U CN203557380U CN201320630621.9U CN201320630621U CN203557380U CN 203557380 U CN203557380 U CN 203557380U CN 201320630621 U CN201320630621 U CN 201320630621U CN 203557380 U CN203557380 U CN 203557380U
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- 238000004519 manufacturing process Methods 0.000 abstract description 3
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Abstract
The utility model relates to a spatially symmetrical three-DOF parallel connection mechanism and aims at providing the parallel connection mechanism which has the advantages of simple structure, high rigidity and response speed, convenience in manufacturing and mounting and easiness in control. The utility model adopts the technical scheme as follows: the spatially symmetrical three-DOF parallel connection mechanism comprises a movable platform, a framework and three branch mechanisms connected between the movable platform and the framework in parallel, wherein the three branch mechanisms comprise two transverse branch mechanisms symmetrically arranged on the two sides of the movable platform and a longitudinal branch mechanism. The spatially symmetrical three-DOF parallel connection mechanism is characterized in that each transverse branch mechanism comprises a first revolute pair, a first connecting rod, a second revolute pair, a second connecting rod and a spherical hinge which are sequentially connected between the framework and the movable platform or each transverse branch mechanism comprises a first revolute pair, a first connecting rod, a second revolute pair, a second connecting rod, a third revolute pair, a third connecting rod and a universal hinge which are sequentially connected between the framework and the movable platform.
Description
Technical field
The utility model relates to the executing agency of a kind of industrial lathe and industrial robot, specifically a kind ofly realizes two and turns the 3-freedom parallel mechanism moving.
Background technology
Parallel institution (PM), compared with traditional serial mechanism, has the precision of larger rigidity, load and Geng Gao.Successful Application from Steward mechanism Tire testing and flight simulator starts, and parallel institution becomes the object of many scholar's research always.But in parallel institution, there is a difficult problem for computing complexity in multiple freedom parallel mechanism, thus in some occasion, lower-mobility parallel institution because driving element number is few, motion model is simple and cost is lower, thereby has higher use value.
3-freedom parallel mechanism is the important branch of parallel institution, has practical value, and therefore its research and development also just seem very necessary.But, all there is kinematics model complexity, control and demarcate difficult problem in existing 3-freedom parallel mechanism (as US6431802, CA2349576, ZL200610013608.3, ES59905578D), need further solution.
Utility model content
The purpose of this utility model is the deficiency overcoming in above-mentioned background technology, and a kind of 3-freedom parallel mechanism of space symmetr is provided, and that this parallel institution should have advantages of is simple in structure, rigidity is high, fast response time, be convenient to manufacture install and be easy to and control.
The technical solution of the utility model is: a kind of 3-freedom parallel mechanism of space symmetr, comprise moving platform, frame and be connected in moving platform in parallel and frame between three branches; Described three branches are two the transverse branch mechanism and the longitudinal branches that are arranged symmetrically in moving platform both sides; It is characterized in that:
Described each transverse branch mechanism comprises respectively the first revolute pair, first connecting rod, the second revolute pair, second connecting rod and the ball pivot that are connected in turn between frame and moving platform; Or described each transverse branch mechanism comprises respectively the first revolute pair, first connecting rod, the second revolute pair, second connecting rod, the 3rd revolute pair, third connecting rod and the universal hinge that are connected in turn between frame and moving platform;
Described longitudinal branch comprises the longitudinal universal hinge being connected in turn between frame and moving platform, longitudinal first connecting rod, longitudinal the first revolute pair, longitudinal second connecting rod, longitudinal the second revolute pair, longitudinal third connecting rod and longitudinal the 3rd revolute pair;
Described longitudinal universal hinge comprises universal hinge bar, connect the upper revolute pair of universal hinge bar and frame, be connected universal hinge bar and the longitudinal lower revolute pair of first connecting rod, and upper revolute pair axis is mutually vertical with lower revolute pair axis.
In described each transverse branch mechanism, the axis of each revolute pair is parallel to each other; In described each transverse branch mechanism, the axis of each revolute pair is vertical with the axis of the longitudinal upper revolute pair of branch; The axis of the axis of longitudinal the first revolute pair in described longitudinal branch, the axis of longitudinal the second revolute pair and longitudinal the 3rd revolute pair is parallel mutually.
The axis of the first revolute pair of described Liang Ge transverse branch mechanism is coplanar.
The axis of the upper revolute pair of the longitudinal branch in described longitudinal branch, drops on the symmetrical centre face of Liang Ge transverse branch mechanism the first revolute pair axis.
The beneficial effects of the utility model are:
The utility model can carry out the motion of two rotational freedoms and an one-movement-freedom-degree in space, and the utility model adopts symmetrical structure design, therefore have advantages of simple in structure, rigidity is high, fast response time, be convenient to manufacture install and be easy to motion control, can be widely used in the field of industrial lathe and industrial robot.
Accompanying drawing explanation
Fig. 1 is the perspective view of the utility model embodiment 1.
Fig. 2 is the perspective view of the utility model embodiment 2.
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.
Embodiment 1
As shown in Figure 1, a kind of 3-freedom parallel mechanism of space symmetr, comprises moving platform 4, frame (comprising two the first frames 11 and the 3rd frame 31 that are connected as a single entity) and is connected in three branches between moving platform and frame in parallel; Described three branches comprise two the transverse branch mechanism and the longitudinal branches that are arranged symmetrically in moving platform both sides; The axis of the first revolute pair of described Liang Ge transverse branch mechanism is in same plane.
In described Liang Ge transverse branch mechanism, each transverse branch mechanism comprises the first revolute pair 1R1, first connecting rod 12, the second revolute pair 1R2, second connecting rod 13, the ball pivot 1S that are connected in turn between the first frame 11 and moving platform respectively.The axis of the first revolute pair in Liang Ge transverse branch mechanism is parallel mutually with the axis of the second revolute pair.
Described longitudinal branch comprises the longitudinal universal hinge being connected in turn between the 3rd frame 31 and moving platform 4, longitudinal first connecting rod 33, longitudinal the first revolute pair 3R3, longitudinal second connecting rod 34, longitudinal the second revolute pair 3R4, longitudinal third connecting rod 35 and longitudinal the 3rd revolute pair 3R5; Described longitudinal universal hinge comprises universal hinge bar 32, connect the upper revolute pair 3R1 of universal hinge bar 32 and the 3rd frame 31, be connected universal hinge bar 32 and the longitudinal lower revolute pair 3R2 of first connecting rod 33, and upper revolute pair 3R1 axis is mutually vertical with lower revolute pair 3R2 axis; The axis of the upper revolute pair 3R1 of described longitudinal branch is all vertical with the axis of the first revolute pair 1R1 and the axis of the second revolute pair 1R2 in Liang Ge transverse branch mechanism; In described longitudinal branch: the axis of the axis of longitudinal the first revolute pair 3R3, the axis of longitudinal the second revolute pair 3R4, longitudinal the 3rd revolute pair 3R5 is parallel mutually; Upper revolute pair 3R1 in described longitudinal universal hinge and the axis direction of lower revolute pair 3R2 are mutually vertical.
Above-mentioned all revolute pairs drive by servomotor (omitting in figure).
As recommendation, the axis of the upper revolute pair 3R1 of the longitudinal branch in described longitudinal branch, drops on the symmetrical centre face of Liang Ge transverse branch mechanism the first revolute pair axis.
Embodiment 2
As shown in Figure 2, a kind of 3-freedom parallel mechanism of space symmetr, comprises moving platform 4, frame (comprising two the first frames 11 and the 3rd frame 31 that are connected as a single entity) and is connected in three branches between moving platform and frame in parallel; Described three branches comprise two the transverse branch mechanism and the longitudinal branches that are arranged symmetrically in moving platform both sides; The axis of the first revolute pair of described Liang Ge transverse branch mechanism is in same plane.
Described Liang Ge transverse branch mechanism comprises the first revolute pair 1R1, first connecting rod 12, the second revolute pair 1R2, second connecting rod 13, the 3rd revolute pair 1R3, third connecting rod 14, the horizontal universal hinge 1U that are connected in turn between the first frame 11 and moving platform respectively, and the pivot center of described the first revolute pair, the pivot center of the second revolute pair and the axis direction of the 3rd revolute pair are parallel to each other; In described horizontal universal hinge, the axis of two revolute pairs is mutually vertical and crossing.
Described longitudinal branch comprises the longitudinal universal hinge being connected in turn between frame 31 and moving platform 4, longitudinal first connecting rod 33, longitudinal the first revolute pair 3R3, longitudinal second connecting rod 34, longitudinal the second revolute pair 3R4, longitudinal third connecting rod 35 and longitudinal the 3rd revolute pair 3R5; Described longitudinal universal hinge comprises universal hinge bar 32, connect the upper revolute pair 3R1 of universal hinge bar 32 and frame 31, be connected universal hinge bar 32 and the longitudinal lower revolute pair 3R2 of first connecting rod 33, and upper revolute pair 3R1 axis is mutually vertical with lower revolute pair 3R2 axis; The axis of the upper revolute pair 3R1 of described longitudinal branch is all vertical with the axis of the first revolute pair 1R1 and the axis of the second revolute pair 1R2 in Liang Ge transverse branch mechanism; In described longitudinal branch: the axis of the axis of longitudinal the first revolute pair 3R3, the axis of longitudinal the second revolute pair 3R4, longitudinal the 3rd revolute pair 3R5 is parallel mutually; Upper revolute pair 3R1 in described longitudinal universal hinge and the axis direction of lower revolute pair 3R2 are mutually vertical.
Above-mentioned all revolute pairs drive by servomotor (omitting in figure).
As recommendation, the upper revolute pair 3R1 axis of the longitudinal branch in described longitudinal branch, drops on the symmetrical centre face of Liang Ge transverse branch mechanism the first revolute pair axis.
Claims (4)
1. a 3-freedom parallel mechanism for space symmetr, comprise moving platform (4), frame (11,31) and be connected in moving platform in parallel and frame between three branches; Described three branches are two the transverse branch mechanism and the longitudinal branches that are arranged symmetrically in moving platform both sides; It is characterized in that:
Each described transverse branch mechanism comprises respectively the first revolute pair (1R1), first connecting rod (12), the second revolute pair (1R2), second connecting rod (13) and the ball pivot (1S) that are connected in turn between frame and moving platform; Or described each transverse branch mechanism comprises respectively the first revolute pair, first connecting rod, the second revolute pair, second connecting rod, the 3rd revolute pair (1R3), third connecting rod (14) and the universal hinge (1U) that are connected in turn between frame and moving platform;
Described longitudinal branch comprises the longitudinal universal hinge being connected in turn between frame and moving platform, longitudinal first connecting rod (33), longitudinal the first revolute pair (3R3), longitudinal second connecting rod (34), longitudinal the second revolute pair (3R4), longitudinal third connecting rod (35) and longitudinal the 3rd revolute pair (3R5);
Described longitudinal universal hinge comprises universal hinge bar (32), connect the upper revolute pair (3R1) of universal hinge bar and frame, be connected universal hinge bar and the longitudinal lower revolute pair (3R2) of first connecting rod, and upper revolute pair axis is mutually vertical with lower revolute pair axis.
2. the 3-freedom parallel mechanism of a kind of space symmetr according to claim 1, is characterized in that: in described each transverse branch mechanism, the axis of each revolute pair is parallel to each other; In described each transverse branch mechanism, the axis of each revolute pair is vertical with the axis of the longitudinal upper revolute pair of branch; The axis of the axis of longitudinal the first revolute pair in described longitudinal branch, the axis of longitudinal the second revolute pair and longitudinal the 3rd revolute pair is parallel mutually.
3. the 3-freedom parallel mechanism of a kind of space symmetr according to claim 2, is characterized in that: the axis of the first revolute pair of described Liang Ge transverse branch mechanism is coplanar.
4. the 3-freedom parallel mechanism of a kind of space symmetr according to claim 3, is characterized in that: the axis of the upper revolute pair of the longitudinal branch in described longitudinal branch, drops on the symmetrical centre face of Liang Ge transverse branch mechanism the first revolute pair axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320630621.9U CN203557380U (en) | 2013-10-12 | 2013-10-12 | Spatially symmetrical three-DOF parallel connection mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320630621.9U CN203557380U (en) | 2013-10-12 | 2013-10-12 | Spatially symmetrical three-DOF parallel connection mechanism |
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| Publication Number | Publication Date |
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| CN203557380U true CN203557380U (en) | 2014-04-23 |
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| CN201320630621.9U Expired - Lifetime CN203557380U (en) | 2013-10-12 | 2013-10-12 | Spatially symmetrical three-DOF parallel connection mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103522281A (en) * | 2013-10-12 | 2014-01-22 | 浙江理工大学 | Space-symmetrical three-freedom-degree parallel mechanism |
| CN115138964A (en) * | 2022-07-21 | 2022-10-04 | 中国地质大学（武汉） | Oversized working space parallel robot for laser processing of complex parts |
-
2013
- 2013-10-12 CN CN201320630621.9U patent/CN203557380U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103522281A (en) * | 2013-10-12 | 2014-01-22 | 浙江理工大学 | Space-symmetrical three-freedom-degree parallel mechanism |
| CN115138964A (en) * | 2022-07-21 | 2022-10-04 | 中国地质大学（武汉） | Oversized working space parallel robot for laser processing of complex parts |
| CN115138964B (en) * | 2022-07-21 | 2023-09-22 | 中国地质大学（武汉） | Ultra-large working space parallel robot for laser processing of complex parts |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140423 |
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| CX01 | Expiry of patent term |