CN204114042U - A kind of two-freedom-degree parallel mechanism - Google Patents
A kind of two-freedom-degree parallel mechanism Download PDFInfo
- Publication number
- CN204114042U CN204114042U CN201420466599.3U CN201420466599U CN204114042U CN 204114042 U CN204114042 U CN 204114042U CN 201420466599 U CN201420466599 U CN 201420466599U CN 204114042 U CN204114042 U CN 204114042U
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- CN
- China
- Prior art keywords
- slide block
- pin bushing
- guide pin
- timing belt
- sleeve
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Abstract
A kind of two-freedom-degree parallel mechanism, this mechanism comprises operating platform, drive motor, guide rail, guide pin bushing, slide block, and Timing Belt; Two moving sliders are respectively provided with a commutation axle sleeve, and commutation axle sleeve is upper and lower two-layer guide sleeve structure; The other end that operating platform corresponds to belt wheel in both sides Y-direction is provided with driving sleeve; Timing Belt is connected to work slide block two ends, and each Timing Belt is walked around, then is fixed on the other end of work slide block from work slide block one end from commutation axle sleeve, belt wheel, driving sleeve, the driving sleeve of heteropleural, the commutation axle sleeve of heteropleural successively; First Timing Belt is installed on different horizontal planes from the second Timing Belt.With single commutation axle sleeve with upper and lower layers guide sleeve structure only, instead of existing two commutation axle sleeves, improve the layout improving Timing Belt in paralleling mechanism, substantially increase the occupancy of X-Y transmission platform on working space.
Description
Technical field
The utility model is a kind of mechanical transmission structure, particularly two-freedom-degree parallel mechanism.
Background technique
At home, the existing 20 years history of minority carrier generation lifetime research, but progress is but very slow.Compared with serial mechanism, paralleling mechanism has that movement inertia is low, rigidity is large, automaticity is high, volume is little and many advantages, the fields such as two-freedom-degree parallel mechanism can be applicable to 3D printer, numerical control machine tool, laser beam cutting machine such as power-weight ratio is high.
Along with the development of science and technology, and people are to the precision of mechanism, and space occupancy requires more surging, and this is particularly important to the optimization of paralleling mechanism.Such as, 13 years 3D printer MARK34 from a Dutch company, its plane adopts H-Bot mechanism dynamic principle, and feature is that structure is simple, and precision is high, and speed is fast, but H-Bot mechanism is by single Timing Belt brought into motion slide block, and its rotation error is larger.Someone improved H-Bot mechanism afterwards, and called after modified model Core-XY mechanism, improves the rotation error that the reversing motion of H-Bot mechanism brings, but brings the not high problem of space utilization rate.
Summary of the invention
In order to solve in existing two-freedom-degree parallel mechanism the rotation error of the slide block that works, large scale mechanism rigidity is little, space occupancy is not high problem, there is provided a kind of two-freedom-degree parallel mechanism, this mechanism's space occupancy driving force that is high, mechanism is large, speed is high, rotation error is little.
In order to solve the problem, the utility model by the following technical solutions:
A kind of two-freedom-degree parallel mechanism, this mechanism comprises operating platform, drive motor, guide rail, guide pin bushing, slide block, and Timing Belt;
Drive motor is arranged on operating platform both sides, and drive motor output terminal is provided with belt wheel; Two Y-direction guide rails assemblings, in operating platform both sides, two Y-direction guide rails are respectively provided with a moving slider, are provided with X direction guiding rail between two moving sliders, and work slide block is arranged on X direction guiding rail;
Two moving sliders are respectively provided with a commutation axle sleeve, and commutation axle sleeve is upper and lower two-layer guide sleeve structure; The other end that operating platform corresponds to belt wheel in both sides Y-direction is provided with driving sleeve;
First Timing Belt is connected to work slide block two ends, first Timing Belt is walked around from lower floor's guide pin bushing of the commutation axle sleeve of the driving sleeve of the driving sleeve of the first belt wheel of lower floor's guide pin bushing of the commutation axle sleeve of this side, homonymy, homonymy, heteropleural, heteropleural successively from work slide block one end, then is fixed on the other end of work slide block;
Second Timing Belt is connected to work slide block two ends, second Timing Belt is walked around from the upper strata guide pin bushing of the commutation axle sleeve of the driving sleeve of the driving sleeve of the first belt wheel of the upper strata guide pin bushing of the commutation axle sleeve of this side, homonymy, homonymy, heteropleural, heteropleural successively from work slide block one end, then is fixed on the other end of work slide block;
First Timing Belt is installed on different horizontal planes from the second Timing Belt.
Above-mentioned a kind of two-freedom-degree parallel mechanism, the other end that operating platform corresponds to belt wheel at both sides Y-direction guide rail is separately installed with two driving sleeves;
First Timing Belt is connected to work slide block two ends, first Timing Belt is walked around from lower floor's guide pin bushing of the commutation axle sleeve of lower floor's guide pin bushing of the driving sleeve of lower floor's guide pin bushing of the driving sleeve of the first belt wheel of lower floor's guide pin bushing of the commutation axle sleeve of this side, homonymy, homonymy, heteropleural, heteropleural successively from work slide block one end, then is fixed on the other end of work slide block;
Second Timing Belt is connected to work slide block two ends, second Timing Belt is walked around from the upper strata guide pin bushing of the commutation axle sleeve of the upper strata guide pin bushing of the driving sleeve of the upper strata guide pin bushing of the driving sleeve of the first belt wheel of the upper strata guide pin bushing of the commutation axle sleeve of this side, homonymy, homonymy, heteropleural, heteropleural successively from work slide block one end, then is fixed on the other end of work slide block.
Above-mentioned a kind of two-freedom-degree parallel mechanism, the other end that operating platform corresponds to belt wheel at both sides Y-direction guide rail is separately installed with a driving sleeve, and these two driving sleeves are upper and lower two-layer guide sleeve structure;
First Timing Belt is connected to work slide block two ends, first Timing Belt is walked around from lower floor's guide pin bushing of the commutation axle sleeve of lower floor's guide pin bushing of the driving sleeve of lower floor's guide pin bushing of the driving sleeve of the first belt wheel of lower floor's guide pin bushing of the commutation axle sleeve of this side, homonymy, homonymy, heteropleural, heteropleural successively from work slide block one end, then is fixed on the other end of work slide block;
Second Timing Belt is connected to work slide block two ends, second Timing Belt is walked around from the upper strata guide pin bushing of the commutation axle sleeve of the upper strata guide pin bushing of the driving sleeve of the upper strata guide pin bushing of the driving sleeve of the first belt wheel of the upper strata guide pin bushing of the commutation axle sleeve of this side, homonymy, homonymy, heteropleural, heteropleural successively from work slide block one end, then is fixed on the other end of work slide block.
Above-mentioned a kind of two-freedom-degree parallel mechanism, is characterized in that operating platform is processed by monoblock sheet material.
Above-mentioned a kind of two-freedom-degree parallel mechanism, described sheet material is aluminum material.
Two drive motor drive a Timing Belt separately, control work slide block simultaneously, solve the rotation error caused by a Timing Belt driving work slide block in paralleling mechanism in the past like this, improve driving force and the stability of mechanism.
With monoblock aluminum alloy material processing work platform, when cost is roughly the same, improve mechanism's rigidity, reduce mechanism noise.Make worktable with aluminum alloy material, decrease the noise of mechanism kinematic process, improve mechanism's rigidity, drastically increase the thermal diffusivity of drive motor, be conducive to the operation of mechanism's long-term stability.
With single commutation axle sleeve with upper and lower layers guide sleeve structure only, instead of existing two commutation axle sleeves, improve the layout improving Timing Belt in paralleling mechanism, and substantially increase the occupancy of X-Y transmission platform on working space.
Compared with follow-on Core-XY mechanism, two of a homonymy driving sleeve can be merged into a driving sleeve with upper and lower layers guide sleeve structure, equally also can improve space occupancy.
Accompanying drawing 1 is H-Bot mechanism principle figure, and H-Bot mechanism is paralleling mechanism as seen from the figure, X, two the motor in synchrony motions of Y-axis motion needs, the normal operation of guarantee mechanism.It is not enough that this mechanism solves plane serial mechanism driving force in the past, and speed is not high, and organization volume is large, small angle route realizes the problems such as difficulty, but deficiency is moving slide block to be driven by a Timing Belt and smooth guide, and mechanism is unstable, cannot avoid its rotation error.
Accompanying drawing 2 is modified model Core-XY mechanism principle figure, this mechanism has made corresponding improvement on the basis of H-Bot mechanism as seen from the figure, the layout of Timing Belt is improved when kinology maps constant, a Timing Belt is connected respectively by single motor, article two, Timing Belt is divided into two-layer up and down, simultaneously controlled motion slide block.So rotation error improving mechanism, but the problem bringing working space occupancy little.
We make synchronous pulley, and bearing housing radius is all r; We according to calculation procedure below to the space utilization rate of Core-XY mechanism XY plane:
As Fig. 2, the XY area of plane of worktable is:
S1=(ω
1+2r
)*?(h
1+2r
)
ω in formula
1be the distance of two outer transmission shaft covers, h
1for outer transmission shaft is to the distance of belt wheel,
The useful area of worktable is:
S11=(ω
2-2r-ω
1)*?(h
1-2r-d1-h3
)
ω in formula
2be the distance of driving sleeve inside two, h
3for the height of the slide block that works,
Wherein d1 is the distance of center circle of bottom size axle sleeve Y-direction,
Finally, the space utilization rate of the XY plane of Core-XY institution staff platform is:
Q1=?S11/?S1
Fig. 3 is the utility model A-Bot schematic diagram, and this mechanism's X-axis direction commutation axle sleeve reduces one as seen from the figure, has done less adjustment in the layout of base Limit Bearing.Because the assembling configuration of amended driving mechanism is similar with letter " A ", be therefore called A-Bot mechanism.
We make synchronous pulley, and axle sleeve radius is all r; We according to calculation procedure below to the space utilization rate of the utility model A-Bot mechanism XY plane:
As Fig. 3, the XY area of plane of worktable is:
S2=(ω
1+2r
)*?(h
1+2r
)
The useful area of worktable is:
S21=(ω
2-2r-ω
3)*?(h
1-2r-d2-h3
)
Wherein d2 is the distance of center circle of bottom axle sleeve Y-direction.
Finally, the space utilization rate of the XY plane of the utility model A-Bot institution staff platform is:
Q2=?S21/?S2
Suppose modified model Core-XY mechanism and the utility model A-Bot institution staff platform outside dimensions, and each axle sleeve, synchronous pulley is measure-alike, then can find out that its gap is the difference of the Y-direction distance of working platform, because the utility model X instead of two original commutation axle sleeves to a reversing shaft cover, so the utility model compares the length that Core-XY mechanism at least will lack 2 r.Therefore, our space utilization rate Q2 is larger.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, this real model utility is described further.
Fig. 1 is H-Bot mechanism principle figure.
Fig. 2 is modified model Core-XY mechanism principle figure.
Fig. 3 is the utility model A-Bot mechanism principle figure.
Fig. 4 is the structural representation of the utility model embodiment one.
Fig. 5 is the structural representation of the utility model embodiment two.
Be labeled as in figure: 21,22 synchronous pulleys, 31,32 Timing Belts, 41,46 commutation axle sleeves, 42,43,44,45 driving sleeves, 423,445 driving sleeves, 51,52 moving sliders, 53 work slide blocks, 61,61Y direction guiding rail, 63,64X direction guiding rail, 71,72 motors.
Embodiment
embodiment one
With reference to accompanying drawing, a kind of two-freedom-degree parallel mechanism, this mechanism comprises operating platform, drive motor, guide rail, axle sleeve, slide block, and Timing Belt; Operating platform is processed by monoblock aluminum plate material;
Drive motor 71,72 is arranged on operating platform both sides, and drive motor output terminal is provided with synchronous pulley 21,22; Two Y-direction guide rails 61,62 are arranged on operating platform both sides, and two Y-direction guide rails are respectively provided with a moving slider 51,52, are provided with X direction guiding rail 63,64 between two moving sliders, and work slide block 53 is arranged on X direction guiding rail;
Two moving sliders 51,52 are respectively provided with a commutation axle sleeve 41,46, and commutation axle sleeve is upper and lower two-layer guide sleeve structure; The other end that operating platform corresponds to belt wheel in both sides Y-direction is provided with driving sleeve 42,43 and 44,45;
First Timing Belt 31 is connected to work slide block 53 two ends, first Timing Belt is walked around from lower floor's guide pin bushing of the driving sleeve 43 of the first belt wheel 21 of lower floor's guide pin bushing of the commutation axle sleeve 41 of this side, homonymy, homonymy, the driving sleeve 44 of heteropleural, the commutation axle sleeve 46 of heteropleural successively from work slide block right-hand member, then is fixed on the other end of work slide block;
Second Timing Belt 32 is connected to work slide block two ends, second Timing Belt is walked around from the upper strata guide pin bushing of the driving sleeve 45 of the first belt wheel 22 of the upper strata guide pin bushing of the commutation axle sleeve 46 of this side, homonymy, homonymy, the driving sleeve 42 of heteropleural, the commutation axle sleeve 41 of heteropleural successively from work slide block left end, then is fixed on the other end of work slide block; First Timing Belt is installed on different horizontal planes from the second Timing Belt.
embodiment two
With embodiment one unlike, in the present embodiment, two homonymy driving sleeves of Y-direction merge into single the driving sleeve 423,445 with upper and lower layers guide sleeve structure;
First Timing Belt 31 is connected to work slide block 53 two ends, first Timing Belt is walked around from lower floor's guide pin bushing of lower floor's guide pin bushing of driving sleeve 423 of the first belt wheel 21 of lower floor's guide pin bushing of the commutation axle sleeve 41 of this side, homonymy, homonymy, lower floor's guide pin bushing of the driving sleeve 445 of heteropleural, the commutation axle sleeve 46 of heteropleural successively from work slide block right-hand member, then is fixed on the other end of work slide block;
Second Timing Belt 32 is connected to work slide block 53 two ends, second Timing Belt is walked around from the upper strata guide pin bushing of the upper strata guide pin bushing of driving sleeve 445 of the first belt wheel 22 of the upper strata guide pin bushing of the commutation axle sleeve 46 of this side, homonymy, homonymy, the upper strata guide pin bushing of the driving sleeve 423 of heteropleural, the commutation axle sleeve 41 of heteropleural successively from work slide block left end, then is fixed on the other end of work slide block.
Claims (5)
1. a two-freedom-degree parallel mechanism, this mechanism comprises operating platform, drive motor, guide rail, guide pin bushing, slide block, and Timing Belt, it is characterized in that:
Drive motor is arranged on operating platform both sides, and drive motor output terminal is provided with belt wheel; Two Y-direction guide rails assemblings, in operating platform both sides, two Y-direction guide rails are respectively provided with a moving slider, are provided with X direction guiding rail between two moving sliders, and work slide block is arranged on X direction guiding rail;
Two moving sliders are respectively provided with a commutation axle sleeve, and commutation axle sleeve is upper and lower two-layer guide sleeve structure; The other end that operating platform corresponds to belt wheel in both sides Y-direction is provided with driving sleeve;
First Timing Belt is connected to work slide block two ends, first Timing Belt is walked around from lower floor's guide pin bushing of the commutation axle sleeve of the driving sleeve of the driving sleeve of the first belt wheel of lower floor's guide pin bushing of the commutation axle sleeve of this side, homonymy, homonymy, heteropleural, heteropleural successively from work slide block one end, then is fixed on the other end of work slide block;
Second Timing Belt is connected to work slide block two ends, second Timing Belt is walked around from the upper strata guide pin bushing of the commutation axle sleeve of the driving sleeve of the driving sleeve of the first belt wheel of the upper strata guide pin bushing of the commutation axle sleeve of this side, homonymy, homonymy, heteropleural, heteropleural successively from work slide block one end, then is fixed on the other end of work slide block;
First Timing Belt is installed on different horizontal planes from the second Timing Belt.
2. a kind of two-freedom-degree parallel mechanism as claimed in claim 1, is characterized in that: the other end that operating platform corresponds to belt wheel at both sides Y-direction guide rail is separately installed with two driving sleeves;
First Timing Belt is connected to work slide block two ends, first Timing Belt is walked around from lower floor's guide pin bushing of the commutation axle sleeve of lower floor's guide pin bushing of the driving sleeve of lower floor's guide pin bushing of the driving sleeve of the first belt wheel of lower floor's guide pin bushing of the commutation axle sleeve of this side, homonymy, homonymy, heteropleural, heteropleural successively from work slide block one end, then is fixed on the other end of work slide block;
Second Timing Belt is connected to work slide block two ends, second Timing Belt is walked around from the upper strata guide pin bushing of the commutation axle sleeve of the upper strata guide pin bushing of the driving sleeve of the upper strata guide pin bushing of the driving sleeve of the first belt wheel of the upper strata guide pin bushing of the commutation axle sleeve of this side, homonymy, homonymy, heteropleural, heteropleural successively from work slide block one end, then is fixed on the other end of work slide block.
3. a kind of two-freedom-degree parallel mechanism as claimed in claim 1, is characterized in that: the other end that operating platform corresponds to belt wheel at both sides Y-direction guide rail is separately installed with a driving sleeve, and these two driving sleeves are upper and lower two-layer guide sleeve structure;
First Timing Belt is connected to work slide block two ends, first Timing Belt is walked around from lower floor's guide pin bushing of the commutation axle sleeve of lower floor's guide pin bushing of the driving sleeve of lower floor's guide pin bushing of the driving sleeve of the first belt wheel of lower floor's guide pin bushing of the commutation axle sleeve of this side, homonymy, homonymy, heteropleural, heteropleural successively from work slide block one end, then is fixed on the other end of work slide block;
Second Timing Belt is connected to work slide block two ends, second Timing Belt is walked around from the upper strata guide pin bushing of the commutation axle sleeve of the upper strata guide pin bushing of the driving sleeve of the upper strata guide pin bushing of the driving sleeve of the first belt wheel of the upper strata guide pin bushing of the commutation axle sleeve of this side, homonymy, homonymy, heteropleural, heteropleural successively from work slide block one end, then is fixed on the other end of work slide block.
4. a kind of two-freedom-degree parallel mechanism as claimed in claim 1, is characterized in that operating platform is processed by monoblock sheet material.
5. a kind of two-freedom-degree parallel mechanism as claimed in claim 4, is characterized in that described sheet material is aluminum material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420466599.3U CN204114042U (en) | 2014-08-19 | 2014-08-19 | A kind of two-freedom-degree parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420466599.3U CN204114042U (en) | 2014-08-19 | 2014-08-19 | A kind of two-freedom-degree parallel mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN204114042U true CN204114042U (en) | 2015-01-21 |
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ID=52331355
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|---|---|---|---|
| CN201420466599.3U Expired - Fee Related CN204114042U (en) | 2014-08-19 | 2014-08-19 | A kind of two-freedom-degree parallel mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827467A (en) * | 2015-05-08 | 2015-08-12 | 浙江工业大学 | Plane two-freedom moving device |
| CN106079442A (en) * | 2016-06-30 | 2016-11-09 | 合肥卡星数控设备有限公司 | A kind of modular 3D printer drive mechanism |
| CN111516260A (en) * | 2020-04-30 | 2020-08-11 | 合肥工业大学 | Silica gel 3D printer based on Core XY structure and printing method thereof |
-
2014
- 2014-08-19 CN CN201420466599.3U patent/CN204114042U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827467A (en) * | 2015-05-08 | 2015-08-12 | 浙江工业大学 | Plane two-freedom moving device |
| CN106079442A (en) * | 2016-06-30 | 2016-11-09 | 合肥卡星数控设备有限公司 | A kind of modular 3D printer drive mechanism |
| CN111516260A (en) * | 2020-04-30 | 2020-08-11 | 合肥工业大学 | Silica gel 3D printer based on Core XY structure and printing method thereof |
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Legal Events
| 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: 20150121 Termination date: 20170819 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |