CN203622426U - Three-degree-of-freedom space positioning parallel mechanism - Google Patents
Three-degree-of-freedom space positioning parallel mechanism Download PDFInfo
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- CN203622426U CN203622426U CN201320752644.7U CN201320752644U CN203622426U CN 203622426 U CN203622426 U CN 203622426U CN 201320752644 U CN201320752644 U CN 201320752644U CN 203622426 U CN203622426 U CN 203622426U
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- 238000005516 engineering process Methods 0.000 description 2
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- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
The utility model relates to a three-degree-of-freedom space positioning parallel mechanism. The parallel mechanism has the advantages that rotating axes are definite and do not intersect, associated movement is simple, the structure is simple, and the parallel mechanism is easy to machine and assemble and easy to control. According to the technical scheme, the three-degree-of-freedom space positioning parallel mechanism comprises a movable platform, a rack and three branch mechanisms connected between the rack and the movable platform, wherein the first branch mechanism and the second branch mechanism are symmetrically arranged relative to the movable platform. The three-degree-of-freedom space positioning parallel mechanism is characterized in that the first branch mechanism and the second branch mechanism respectively and sequentially include a spherical hinge, a prismatic pair, a guide rod and a revolute pair.
Description
Technical field
The utility model relates to numerical control machine tool technique field, specifically a kind of parallel robot mechanism.
Background technology
Parallel institution is generally made up of fixed platform (frame), moving platform and several branches of connecting these two platforms.Parallel institution (PM) is compared and traditional serial mechanism, has the precision of larger rigidity, load and Geng Gao.In a certain sense, parallel institution possessed simultaneously Digit Control Machine Tool (high rigidity, high accuracy, high-speed) and industrial robot (low cost, flexible, be easy to integrated) advantage.The complementarity in performance due to parallel institution and serial mechanism, therefore be widely used in, in the fields such as telescope focusing arrangement, microoperation manipulator, motion simulator, machining center main tapping, multi-axis NC Machine Tools, the industries such as industry, medical treatment, food all having been made to huge contribution.
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 actual applications, because multivariant demand less (especially 6DOF) and the unnecessary free degree can increase manufacturing cost and maintenance cost, so the lower-mobility parallel institution that has arisen at the historic moment a large amount of.Wherein, two turn that to move parallel institution be the important class in lower-mobility parallel institution, are classes that has engineering using value in lower-mobility parallel institution:
The 3-RPS parallel institution proposing as nineteen eighty-three, the reference coordinate point on this mechanism's moving platform is in the time of the diverse location of space, and two pivot centers can not be arbitrarily or more difficult providing, and its associated movement is also comparatively complicated, is therefore difficult in actual applications utilization preferably; Chinese patent ZL200410069387.2 has increased redundant drive branch and has formed the parallel institution of four branches on the basis of 3-RPS mechanism, but also has the discontinuous problem of pivot center.
Utility model content
Technical problem to be solved in the utility model is to overcome the deficiency that background technology exists, a kind of 3DOF space orientation parallel institution is provided, this parallel institution should have that pivot center is clear and definite and non-intersect, associated movement is simple, simple in structure, processing assembling easily and be easy to the advantages such as control.
The technical solution of the utility model is: a kind of 3DOF space orientation parallel institution, comprise moving platform, frame and be connected to frame and moving platform between three branches, wherein the first branch and the second branch are symmetrical in moving platform layout, it is characterized in that: described the first branch and the second branch comprise respectively ball pivot, moving sets, guide rod, revolute pair successively;
Described the 3rd branch comprises respectively revolute pair, moving sets, guide rod, ball pivot successively; Or comprise successively respectively the first revolute pair, first connecting rod, the second revolute pair, second connecting rod, ball pivot.
In described the first branch and the second branch, rotate secondary axis and be parallel to each other, and moving sets axis is perpendicular to revolute pair axis.
In described the 3rd branch, rotate secondary axis perpendicular to moving sets axis, in the 3rd branch, rotate secondary axis perpendicular to rotating secondary axis in the first branch and the second branch.
In described the 3rd branch, the first revolute pair and the second revolute pair axis are parallel to each other, and the first revolute pair axis is perpendicular to rotating secondary axis in the first branch and the second branch.
A kind of 3DOF space orientation parallel institution, comprise moving platform, frame and be connected to frame and moving platform between three branches, wherein the first branch and the second branch are symmetrical in moving platform layout, it is characterized in that: described the 3rd branch comprises respectively ball pivot, moving sets, guide rod, revolute pair successively;
Described the first branch and the second branch comprise respectively revolute pair, moving sets, guide rod, ball pivot successively; Or comprise successively respectively the first revolute pair, first connecting rod, the second revolute pair, second connecting rod, ball pivot.
In described the 3rd branch, moving sets axis is perpendicular to revolute pair axis.
In described the first branch and the second branch, moving sets axis is perpendicular to revolute pair axis; In described the first branch and the second branch, rotate that secondary axis is parallel to each other and perpendicular to rotating secondary axis in the 3rd branch.
In described the first branch and the second branch, the first revolute pair axis and the second revolute pair axis are parallel to each other; In described the first branch and the second branch, the first revolute pair axis is parallel to each other, and the first revolute pair axis is perpendicular to rotating secondary axis in the 3rd branch.
The driving pair of described parallel institution is the moving sets in each branch, and type of drive is the ball screw framework being driven by servomotor.
The all revolute pair axis levels that are connected with frame are coplanar; The equal level in all ball pivots center being connected with frame is coplanar.
The equal level of the revolute pair axis being connected with frame or ball pivot center is coplanar.
The beneficial effects of the utility model are:
The utility model can implementation space two rotational freedoms and an one-movement-freedom-degree, have that pivot center is clear and definite and non-intersect, associated movement is simple, simple in structure, processing assembling easily and be easy to the advantages such as control.
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.
Fig. 3 is the perspective view of the utility model embodiment 3.
Fig. 4 is the perspective view of the utility model embodiment 4.
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 mono-, as shown in Figure 1: a kind of 3DOF space orientation parallel institution, comprises three branches between frame (being made up of two the first frames 11 and the 3rd frame 31), moving platform 4 and connection frame and moving platform; Wherein the first branch and the second branch are symmetrical in moving platform layout; Described the first branch and the second branch comprise that respectively the ball pivot 1S, the moving sets 1P(that are connected between frame 11 and moving platform comprise slide block 12 and guide rod 13 successively), guide rod 13, revolute pair 1R; Described the 3rd branch comprises that respectively the revolute pair 3R, the moving sets 3P(that are connected between frame 31 and moving platform comprise slide block 32 and guide rod 33 successively), guide rod 33, ball pivot 3S; In described the first branch and the second branch, rotate secondary axis and be parallel to each other, and moving sets axis is perpendicular to revolute pair axis; In described the 3rd branch, rotate secondary axis perpendicular to moving sets axis, and in the 3rd branch, rotate secondary axis perpendicular to rotating secondary axis in the first branch and the second branch.
Embodiment bis-, as shown in Figure 2: a kind of 3DOF space orientation parallel institution, comprises three branches between frame (being made up of two the first frames 11 and the 3rd frame 31), moving platform 4 and connection frame and moving platform; Wherein the first branch and the second branch are symmetrical in moving platform layout; Described the first branch and the second branch comprise that respectively the ball pivot 1S, the moving sets 1P(that are connected between frame 11 and moving platform comprise slide block 12 and guide rod 13 successively), guide rod 13, revolute pair 1R; Described the 3rd branch comprises respectively the first revolute pair 3R1, first connecting rod 32, the second revolute pair 3R2, second connecting rod 33, the ball pivot 3S that are connected between frame 31 and moving platform successively; In described the first branch and the second branch, rotate secondary axis and be parallel to each other, in the first branch and the second branch, moving sets axis is perpendicular to revolute pair axis; In described the 3rd branch, the first revolute pair and the second revolute pair axis are parallel to each other, and the first revolute pair axis is perpendicular to rotating secondary axis in the first branch and the second branch.
Embodiment tri-, as shown in Figure 3: a kind of 3DOF space orientation parallel institution, comprises three branches between frame (being made up of two the first frames 11 and the 3rd frame 31), moving platform 4 and connection frame and moving platform; Wherein the first branch and the second branch are symmetrical in moving platform layout; Described the 3rd branch comprises that respectively the ball pivot 3S, the moving sets 3P(that are connected between frame 31 and moving platform comprise slide block 32 and guide rod 33 successively), guide rod 33, revolute pair 3R; Described the first branch and the second branch comprise that respectively the revolute pair 1R, the moving sets 1P(that are connected between frame 11 and moving platform comprise slide block 12 and guide rod 13 successively), guide rod 13, ball pivot 1S; In described the 3rd branch, moving sets axis is perpendicular to revolute pair axis; In described the first branch and the second branch, moving sets axis is perpendicular to revolute pair axis; In described the first branch and the second branch, rotate that secondary axis is parallel to each other and perpendicular to rotating secondary axis in the 3rd branch.
Embodiment tetra-, as shown in Figure 4: a kind of 3DOF space orientation parallel institution, comprises three branches between frame (being made up of two the first frames 11 and the 3rd frame 31), moving platform 4 and connection frame and moving platform; Wherein the first branch and the second branch are symmetrical in moving platform layout; Described the 3rd branch comprises that respectively the ball pivot 3S, the moving sets 3P(that are connected between frame 31 and moving platform comprise slide block 32 and guide rod 33 successively), guide rod 33, revolute pair 3R; Described the first branch and the second branch comprise respectively 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 between frame 11 and moving platform successively; In described the 3rd branch, moving sets axis is perpendicular to revolute pair axis; In described the first branch and the second branch, the first revolute pair axis and the second revolute pair axis are parallel to each other, and the first revolute pair axis is perpendicular to rotating secondary axis in the 3rd branch.
In the various embodiments described above, the driving pair of described mechanism is the moving sets in each branch, and type of drive is the ball screw framework being driven by servomotor.
As recommendation, all revolute pair axis levels that are connected with frame are coplanar; The equal level in all ball pivots center being connected with frame is coplanar.
Claims (10)
1. a 3DOF space orientation parallel institution, comprise moving platform (4), frame (11,31) and be connected to three branches between frame and moving platform, wherein the first branch and the second branch are symmetrical in moving platform layout, it is characterized in that: described the first branch and the second branch comprise respectively ball pivot (1S), moving sets (1P), guide rod (13), revolute pair (1R) successively;
The 3rd branch comprises respectively revolute pair (3R), moving sets (3P), guide rod (33), ball pivot (3S) successively; Or comprise successively respectively the first revolute pair (3R1), first connecting rod (32), the second revolute pair (3R2), second connecting rod (33), ball pivot (3S).
2. a kind of 3DOF space orientation parallel institution according to claim 1, is characterized in that: in described the first branch and the second branch, rotate secondary axis and be parallel to each other, and moving sets axis is perpendicular to revolute pair axis.
3. a kind of 3DOF space orientation parallel institution according to claim 2, it is characterized in that: in described the 3rd branch, rotate secondary axis perpendicular to moving sets axis, in the 3rd branch, rotate secondary axis perpendicular to rotating secondary axis in the first branch and the second branch.
4. a kind of 3DOF space orientation parallel institution according to claim 2, it is characterized in that: in described the 3rd branch, the first revolute pair and the second revolute pair axis are parallel to each other, and the first revolute pair axis is perpendicular to rotating secondary axis in the first branch and the second branch.
5. a 3DOF space orientation parallel institution, comprise moving platform (4), frame (11,31) and be connected to three branches between frame and moving platform, wherein the first branch and the second branch are symmetrical in moving platform layout, it is characterized in that: the 3rd branch comprises respectively ball pivot (3S), moving sets (3P), guide rod (33), revolute pair (3R) successively;
Described the first branch and the second branch comprise respectively revolute pair (1R), moving sets (1P), guide rod (13), ball pivot (1S) successively; Or comprise successively respectively the first revolute pair (1R
1), first connecting rod (12), the second revolute pair (1R
2), second connecting rod (13), ball pivot (1S).
6. a kind of 3DOF space orientation parallel institution according to claim 5, is characterized in that: in described the 3rd branch, moving sets axis is perpendicular to revolute pair axis.
7. a kind of 3DOF space orientation parallel institution according to claim 6, is characterized in that: in described the first branch and the second branch, moving sets axis is perpendicular to revolute pair axis; In described the first branch and the second branch, rotate that secondary axis is parallel to each other and perpendicular to rotating secondary axis in the 3rd branch.
8. a kind of 3DOF space orientation parallel institution according to claim 6, is characterized in that: in described the first branch and the second branch, the first revolute pair axis and the second revolute pair axis are parallel to each other; In described the first branch and the second branch, the first revolute pair axis is parallel to each other, and the first revolute pair axis is perpendicular to rotating secondary axis in the 3rd branch.
9. according to a kind of 3DOF space orientation parallel institution described in any one in claim 1-8, it is characterized in that: the driving pair of described parallel institution is the moving sets in each branch, and type of drive is the ball screw framework being driven by servomotor.
10. a kind of 3DOF space orientation parallel institution according to claim 9, is characterized in that: all revolute pair axis levels that are connected with frame are coplanar; The equal level in all ball pivots center being connected with frame is coplanar.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320752644.7U CN203622426U (en) | 2013-11-25 | 2013-11-25 | Three-degree-of-freedom space positioning parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320752644.7U CN203622426U (en) | 2013-11-25 | 2013-11-25 | Three-degree-of-freedom space positioning parallel mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104259916A (en) * | 2014-09-15 | 2015-01-07 | 燕山大学 | Three-degree of freedom parallel type spindle head structure |
| CN108000495A (en) * | 2017-12-13 | 2018-05-08 | 浙江理工大学 | A kind of two rotations, one movement redundantly actuated parallel mechanism with big swing angle |
-
2013
- 2013-11-25 CN CN201320752644.7U patent/CN203622426U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104259916A (en) * | 2014-09-15 | 2015-01-07 | 燕山大学 | Three-degree of freedom parallel type spindle head structure |
| CN108000495A (en) * | 2017-12-13 | 2018-05-08 | 浙江理工大学 | A kind of two rotations, one movement redundantly actuated parallel mechanism with big swing angle |
| CN108000495B (en) * | 2017-12-13 | 2023-12-01 | 浙江理工大学 | Two-rotation one-movement redundant driving parallel mechanism with large swing angle |
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Granted publication date: 20140604 |
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