CN204160473U - A kind of novel multiple branch circuit hydraulic control sphere parallel mechanism - Google Patents

Abstract

The utility model is a novel multi-branch liquid control spherical surface parallel mechanism. The parallel mechanism includes a base, a balance seat, a static platform, a dynamic platform, identical branch chains, shaft seats, connecting seats and three swing cylinders. There is a balance base on the balance base, and a static platform is set on the balance base. Each branch chain is connected by a crank and a connecting rod through six rotating pairs. The crank and the connecting rod are exactly the same. The moving and moving connecting seat, each swing cylinder drives the movement of each branch chain, and the branch chain drives the moving platform to realize three-dimensional rotation. The branch chain creatively introduces the series mechanism into the parallel road, the base, the static platform and the balance seat are fixed; The platform will also move correspondingly with the branch chain. Under the action of three identical driving devices, the moving platform can realize three-dimensional rotation and movement in space on the spherical surface.

Description

A new multi-branch hydraulically controlled spherical parallel mechanism

technical field

The utility model relates to the technical field of parallel mechanisms and hydraulic control, in particular to a novel multi-branch hydraulic control spherical surface parallel mechanism.

Background technique

The parallel mechanism belongs to the space multi-degree-of-freedom multi-loop closed-chain mechanism. Compared with the series mechanism, the parallel mechanism has the characteristics of large rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, strong environmental adaptability, and compact structure, so it is widely used. It is used in high-end aerospace instruments, parallel robots, virtual axis machine tools, micro-motion consoles, various motion simulators, sensors, etc. The parallel mechanism with few degrees of freedom with 2~5 degrees of freedom has more practical value. The spherical three-degree-of-freedom parallel mechanism is an extremely important type of few-degree-of-freedom parallel mechanism, which can realize three rotational degrees of freedom around the rotation center of the mechanism. The spherical three-degree-of-freedom parallel mechanism is represented by the 3-3R spherical parallel mechanism. Its mechanism characteristic is that the axes of all rotating pairs intersect at one point, and its moving platform can realize free rotation around the intersection point.

Canadian scholar Gosselin was the first to research and design the "smart eye" based on spherical parallel mechanisms. Later, some domestic scholars also proposed some spherical parallel mechanisms or devices, such as:

1. Patent ZL200810055018.6 proposes an offset output three-degree-of-freedom spherical parallel mechanism with a central spherical hinge, including a three-degree-of-freedom spherical parallel mechanism, a central spherical hinge and an offset output rod unit;

2. Patent 201010126955.3 proposes a three-degree-of-freedom spherical parallel mechanism bionic eye. The technical solution is that the micro-camera installed in the spherical bionic eye rotates together with the spherical bionic eye, and the three branches of the spherical parallel mechanism are connected with the spherical bionic eye respectively. The lower connection of the spherical bionic eyeball drives the rotational movement of the spherical bionic eyeball, and the working space of the spherical bionic eyeball is a cone with a half-cone angle of 45 degrees;

3 Patent 201010274735.5 proposes a three-rotation parallel mechanism for virtual-axis machine tools and robots. and the third kinematic branch. The first kinematic branch chain includes the first universal hinge, the first mobile pair and the second universal hinge connected in sequence, and the second kinematic branch chain includes the third universal hinge, the second mobile pair and the fourth universal hinge connected in sequence. The universal hinge, the third kinematic branch chain includes the rotating joint and the fifth universal hinge which are connected in sequence. The rotational degrees of freedom rely only on the linear control of the kinematic joints of the kinematic branches.

The structures of the above-mentioned three-dimensional rotating parallel mechanisms are relatively complex, with low precision and average carrying capacity. In order to make the three-dimensional rotating parallel mechanisms more widely used, a practical new parallel mechanism with simple comprehensive structure, good flexibility and high rigidity is required. Therefore, in order to achieve this purpose, the utility model parallel mechanism needs to achieve the following characteristics:

1) The motion platform (operating platform) requires three degrees of freedom of movement, that is, rotation around three coordinate axes .

2) The working space of the parallel mechanism is required to be large enough, and the range of rotation angle of the motion platform is required to be large. In order to meet the launch requirements of the device, its main functional technical parameters are: it can be rotated at a certain position, and the range of rotation: the height angle is , the orientation angle is .

3) It is small in size, light in weight, can be carried on a vehicle, can adapt to field experiments, and has low production costs and maintenance costs.

4) Good bearing capacity and good precision characteristics and motion stability.

Contents of the invention

In order to solve the above problems, the utility model is a new type of multi-branch hydraulic control spherical parallel mechanism, which has a completely symmetrical structure, high output precision, good structural rigidity, strong bearing capacity, easy control, and simple components; the moving platform can realize spherical three-dimensional turn.

In order to achieve the above purpose, the utility model is achieved through the following technical solutions:

The utility model is a new type of multi-branch liquid control spherical parallel mechanism. The parallel mechanism includes three parts: a base, a balance seat, a static platform, a dynamic platform, identical branch chains, a shaft seat, a connecting seat and a peripheral driving device. The swing cylinder has a balance seat on the base, and a static platform on the balance seat. Each branch chain is connected by a crank and a connecting rod through six rotating pairs. The crank and the connecting rod are exactly the same, and are set on the moving platform There is a connecting seat that moves with the movement of the moving platform. Crank one and connecting rod two, crank two and connecting rod three respectively pass through the three rotating pairs in the first rotating pair group, and the rotating pair four in the second rotating pair group forms two two series branches, in the middle of the two series branches are connected in parallel through connecting rod one, rotating pair five in the first rotating pair group, and rotating pair six in the second rotating pair group, the first rotating pair group and The second revolving pair group includes two independent revolving pairs, revolving pair 3 and revolving pair 5 belong to the first revolving pair group, revolving pair 4 and revolving pair 6 belong to the second revolving pair group. , Rotating pair 7, and rotating pair 8 are connected in parallel, the branch chain is connected to the static platform through rotating pair 1 and rotating pair 2, and connected to the moving platform through rotating pair 9, and the rotating pair 1 and rotating pair 2 connected to the static platform are respectively located on the crank 1. One end of the crank 2, the rotating pair 9 connected with the moving platform is located at the midpoint of the connecting rod 4, each swing cylinder drives the movement of each branch chain, and the branch chain drives the moving platform to realize three-dimensional rotation.

The further improvement of the utility model is that each branch chain is a parallelogram mechanism.

The further improvement of the utility model is that: the center of balls of the static platform, the dynamic platform, the branch chains and the connecting seat intersect at one point.

The further improvement of the utility model is that the swing cylinder is driven by hydraulic pressure.

The further improvement of the utility model is that: the base, the balance seat and the static platform are relatively static.

The beneficial effects of the utility model are: the working principle of the multi-branch liquid-controlled spherical parallel mechanism of the utility model is that the swing cylinder drives the branch chain movement, the branch chain drives the dynamic platform to realize three-dimensional rotation, and a series mechanism is introduced on the three branch chains, which is creative The introduction of the series mechanism into the parallel branch has the characteristics of high output precision, good structural rigidity, strong bearing capacity, easy control, simple components, and large working space, and can be widely used as the actuator of various control devices.

The utility model has the advantages of simple structure, convenient operation, reasonable design, strong bearing capacity and convenient operation.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the utility model.

Figure 2 is a partial structural schematic diagram of the branch chain of the utility model.

Among them: 1-base, 2-balance seat, 3-static platform, 4-dynamic platform, 5-branch chain, 6-shaft seat, 7-connecting seat, 9-rotating pair 1, 10-rotating pair 2, 11- Crank 1, 12-crank 2, 13-first rotating group, 15-second rotating group, 17-connecting rod 1, 18-connecting rod 2, 19-connecting rod 3, 20-rotating pair 7, 21-rotation Vice eight, 22-rotate vice nine, 23-connecting rod four.

Detailed ways

In order to deepen the understanding of the utility model, the utility model will be described in further detail below in conjunction with the accompanying drawings and embodiments. The embodiment is only used to explain the utility model and does not limit the protection scope of the utility model.

As shown in Figure 1-2, the utility model is a new multi-branch liquid control spherical parallel mechanism, the parallel mechanism includes a base 1, a balance seat 2, a static platform 3, a dynamic platform 4, and 3 identical supports Chain 5, shaft seat 6, connecting seat 7 and three swing cylinders of the peripheral drive device, a balance seat 2 is provided on the base 1, a static platform 3 is provided on the balance seat 2, the base is fixed, and the balance The seat is fixed on the base, the static platform is fixed on the balance seat, and the connecting seat 7 which moves with the movement of the moving platform 4 is arranged on the moving platform 4, and each branch chain 5 is composed of a crank and a connecting rod. It is formed by connecting six revolving pairs. The crank and connecting rod are exactly the same. Crank one 11 and connecting rod two 18, crank two 12 and connecting rod three 19 pass through revolving pair three in the first revolving pair group 13 respectively, and the second rotating The revolving pair four in the secondary group 15 forms two series branches, and in the middle of the two series branches, through the connecting rod one 17, the revolving pair five in the first revolving pair group 13, the rotation in the second revolving pair group 15 The six pairs are connected in parallel, the first rotating pair group 13 and the second rotating pair group 15 include two independent rotating pairs, the rotating pair three and the rotating pair five belong to the first rotating pair group 13, the rotating pair four and Rotating pair six belongs to the second rotating pair group 15, and is connected in parallel by connecting rod four 23, rotating pair seven 20, and rotating pair eight 21 at the upper end, and the branch chain 5 is connected to the static platform 3 through rotating pair one 9, rotating pair two 10 Connected, connected with the moving platform 4 through the rotating pair nine 22, the rotating pair one 9 and the rotating pair two 10 connected to the static platform 3 are respectively located at one end of the crank one 11 and the crank two 12, and the rotating pair nine 22 connected with the moving platform 4 Located at the midpoint of connecting rod 4 23, each of the swing cylinders drives the movement of each of the branch chains 5, and the branch chains 5 drive the moving platform 4 to realize three-dimensional rotation. The base 1, the balance Seat 2 and described static platform 3 three are relatively static, and have certain intensity, and each described branch chain 5 is parallelogram mechanism, and 3 pairs of each branch chain that constitutes by crank, connecting rod all introduce series mechanism, all It is formed by a parallelogram mechanism to ensure its strength and rigidity. Each pair of branch chains cannot interfere with each other during movement. The ball centers of the static platform 3, the moving platform 4, the three branch chains 5 and the connecting seat 7 intersect at one point. The swing cylinder is driven by hydraulic pressure, and the swing cylinder is used as a power source. Driven by hydraulic pressure, its pressure can be adjusted to meet the movement in various states. The number is three to drive three pairs of cranks, static platform, dynamic platform, 3 pairs of branch chains and connecting seats composed of cranks and connecting rods. The needs are different and its size can be adjusted to meet the needs.

The branch chain of the utility model creatively introduces the series mechanism into the parallel road, the base, the static platform and the balance seat are fixed; The connected moving platform will also move accordingly with the branch chain. Under the action of three identical driving devices, the moving platform can realize three-dimensional rotation and movement on the spherical surface.

Claims (5)

1. A new type of multi-branch hydraulically controlled spherical parallel mechanism, the parallel mechanism includes a base (1), a balance seat (2), a static platform (3), a dynamic platform (4), and 3 identical branch chains ( 5), the shaft seat (6), the connecting seat (7) and the peripheral drive device three swing cylinders are characterized in that: a balance seat (2) is arranged on the base (1), and the balance seat (2) is provided with a static platform (3), and each branch chain (5) is connected by a crank and a connecting rod through six rotating pairs. The crank and the connecting rod are exactly the same, and the moving platform (4) A connecting seat (7) that moves with the movement of the moving platform (4) is arranged on the top, crank one (11) and connecting rod two (18), crank two (12) and connecting rod three (19) respectively pass through the second The revolving pair three in the first revolving pair group (13) and the revolving pair four in the second revolving pair group (15) form two series branches. In the middle of the two series branches, connecting rod one (17), the second The fifth rotating pair in the first rotating pair group (13) and the sixth rotating pair in the second rotating pair group (15) are connected in parallel, the first rotating pair group (13) and the second rotating pair group (15) Both include two independent revolving pairs. The third revolving pair and the fifth revolving pair belong to the first revolving pair group (13), the fourth revolving pair and the sixth revolving pair belong to the second revolving pair group (15), and the connecting rod four ( 23), rotating pair seven (20) and rotating pair eight (21) are connected in parallel, the branch chain (5) is connected with the static platform (3) through rotating pair one (9) and rotating pair two (10), and through rotating Vice nine (22) is connected with the moving platform (4), and the first rotating pair (9) and the second rotating pair (10) connected with the static platform (3) are respectively located at one end of crank one (11) and crank two (12). The rotating pair nine (22) connected with the moving platform (4) is located at the midpoint of the connecting rod four (23), each of the swing cylinders drives the movement of each of the branch chains (5), and the branch chains ( 5) Drive the moving platform (4) to realize three-dimensional rotation. 2. A novel multi-branch hydraulic control spherical parallel mechanism according to claim 1, characterized in that: each branch chain (5) is a parallelogram mechanism. 3. According to claim 1, a novel multi-branch liquid control spherical parallel mechanism is characterized in that: the static platform (3), the dynamic platform (4), the three branch chains (5) and the connecting seat (7) The center of the ball intersects at one point. 4. A novel multi-branch hydraulic control spherical parallel mechanism according to claim 1, characterized in that: said swing cylinder is driven by hydraulic pressure. 5. A novel multi-branch liquid control spherical parallel mechanism according to claim 1, characterized in that: the base (1), the balance base (2) and the static platform (3) are relatively static .