CN204450527U - A kind of sphere parallel mechanism with 2 rotational freedoms - Google Patents
A kind of sphere parallel mechanism with 2 rotational freedoms Download PDFInfo
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- CN204450527U CN204450527U CN201520004328.0U CN201520004328U CN204450527U CN 204450527 U CN204450527 U CN 204450527U CN 201520004328 U CN201520004328 U CN 201520004328U CN 204450527 U CN204450527 U CN 204450527U
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- sphere
- workbench
- parallel mechanism
- pedestal
- sphere parallel
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Abstract
The utility model discloses a kind of sphere parallel mechanism with 2 rotational freedoms, comprise workbench and pedestal, it is above-mentioned that both are connected by support column, wherein the top of support column connects workbench by hook hinge, bottom is fixedly connected with pedestal, with support working platform and the constraint free degree, the Movement transmit from drive motors to workbench is then realized by two side chains be made up of two sections of connecting rods.The utility model structure is simple, realizability is strong, and taken into account the advantage of sphere parallel mechanism and application actual, improve the precision of 2DOF rotating mechanism and reduce the power of driver element.
Description
Technical field
The utility model relates to robot and mechanical manufacturing field, is specifically related to a kind of spherical parallel manipulator configuration that can realize 2 rotational freedoms.
Background technology
Along with the development of Robotics and parallel institution are constantly tending towards ripe, various forms of sphere parallel mechanism also result in the concern of people, there has also been successful application while becoming study hotspot.Spherical mechanism, as the special space mechanism of a class, has that mechanism is simple, working space interferes greatly, not easily, kinematic calculation simple, control the advantages such as easy.Wherein most typical is exactly various forms of spherical three-degree-of-freedom parallel mechanisms, and is successfully applied to a lot of field.In addition spherical mechanism has broad application prospects in fields such as Aero-Space, medicine equipment, robot, electromechanical integration, as being used as the panoramic table etc. of the wrist joint of robot, mechanical digital formula measuring machine, satellite positioning device, radio telescope, machining.In engineering in medicine, spherical mechanism can be used as the laser scanning device etc. of laparoscopic surgery robot, flexibly eye, dentognathic model.
For some engineer applied occasion as pointed to platform, robot manipulation mechanism and isolating technique etc., two rotational freedoms just can meet application demand.Common double rotation freedom degrees device, as the AB axle form etc. of gyro gimbal formula, often in bearing capacity, pointing accuracy, mechanism's compactedness, response speed, realize there are some defects in difficulty etc.In this case, the advantage of sphere parallel mechanism can make up these shortcomings just, obtains ideal effect.Although application requirement can be met for the spherical three-degree-of-freedom parallel mechanism that technology in above-mentioned application example is comparatively ripe, but its unnecessary free degree necessarily increases the complexity of mechanism and drives number, thus adds mechanism's weight, power demand and financial cost.And these shortcomings are disadvantageous for some special applications demands, a kind of new two-freedom sphere parallel institution is needed to carry out satisfied corresponding application demand, this will ask novel mechanism both to retain spherical mechanism advantage in the application, can overcome again the unfavorable factor adopting spherical three-degree-of-freedom parallel mechanism to bring.
Utility model content
For application the deficiencies in the prior art such as sensing platform, robot manipulation mechanism and isolating technique, the utility model aims to provide a kind of sphere parallel mechanism with 2 rotational freedoms, by being fixedly connected with pedestal, connecting the pivot that the support column of workbench fixes workbench with hook hinge, and the side chain realizing joint transmission with revolute pair form is set, to make on sphere parallel mechanism somewhat all to move on the fixed point sphere that is the centre of sphere, thus realize improving the precision of 2DOF rotating mechanism and reduce the power of driver element.
To achieve these goals, the utility model adopts following technical scheme:
There is a sphere parallel mechanism for 2 rotational freedoms, the pedestal comprising workbench, be oppositely arranged with described workbench; Described workbench is connected by support column with pedestal, and the top of wherein said support column is connected by hook hinge with described workbench, and bottom is then fixedly connected on described pedestal; In addition, two side chains are provided with between described workbench and pedestal, described two side chains include connecting rod and lower link, and one end of described upper connecting rod is hingedly coupled to described workbench by revolute pair, and one end of the other end and described lower link is by revolute pair chain connection; The other end of the lower link of two side chains is directly connected with the output shaft of a drive motors respectively; Described hook hinge is primarily of a cross axle and two hinged component compositions, and the geometric center of described cross axle is its center of rotation; A fixed point in the axis direction of described revolute pair and the axis direction pointing space of drive motors output shaft, on described sphere parallel mechanism the somewhat equal sphere being the centre of sphere with described fixed point moves.
It should be noted that, described support column top is connected to workbench by hook hinge, can limit workbench and rotate in the two directions, and then makes described sphere parallel mechanism under the driving of two drive motors, have the motion determined.
It should be noted that, the other end of the lower link of described two side chains is directly fixedly connected with drive motors output shaft, so that drive motors drives described lower link to move on the sphere taking fixed point as the centre of sphere as driving member, the pose realizing workbench exports; It is hinged that one end of upper connecting rod and workbench pass through revolute pair, as the output of motion; Upper and lower strut is hinged by revolute pair, with this, motion is delivered to upper connecting rod from lower link.The object of revolute pair is adopted to be the number of degrees of freedom, requirement meeting described sphere parallel mechanism.According to other forms of kinematic pair, as ball pair, hook hinge etc., then described workbench will produce the unnecessary uncontrollable free degree.Meanwhile, only have employing revolute pair, and a fixed point in the axis direction pointing space making revolute pair and drive motors output shaft, points all on sphere parallel mechanism described in guarantee all moves and can realize on the sphere being the centre of sphere with this fixed point.
As a kind of preferred version, the center of rotation of described cross axle immobilizes.
Further, as a kind of preferred version, described fixed point is the center of rotation of described cross axle.Like this, all on described sphere parallel mechanism points all move on the sphere being the centre of sphere with the center of rotation of described cross axle.
As a kind of preferred version, described workbench can around described hook hinge vertically two movement in vertical direction.
The beneficial effects of the utility model are:
1, structure is simple, realizability is strong;
2, the advantage and the application that have taken into account sphere parallel mechanism are actual, improve the precision of 2DOF rotating mechanism and reduce the power of driver element.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of hook hinge in Fig. 1;
Fig. 3 is the structural representation of cross axle in Fig. 2;
Fig. 4 forms the upper connecting rod of side chain and the structural representation of lower link in Fig. 1;
Fig. 5 is the axis direction schematic diagram of revolute pair and drive motors output shaft in Fig. 1.
Detailed description of the invention
Below with reference to accompanying drawing, the utility model will be further described, it should be noted that, the present embodiment, premised on the technical program, give detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to the present embodiment.
As shown in Figure 1, a kind of sphere parallel mechanism with 2 rotational freedoms, the pedestal 1 comprising workbench 2, be oppositely arranged with described workbench 2, described workbench 2 is connected by support column 4 with pedestal 1, the top of wherein said support column 4 is connected by hook hinge 3 with described workbench 2, and bottom is then fixedly connected on described pedestal 1; In addition, two side chains 6 are provided with between described workbench 2 and pedestal 1, described two side chains 6 are by upper connecting rod and lower link composition, and one end of described upper connecting rod is hingedly coupled to described workbench 2 by revolute pair, and one end of the other end and described lower link is by revolute pair chain connection; The other end of the lower link of two side chains 6 is directly connected with the output shaft of a drive motors 5 respectively.Described workbench 2 is around described hook hinge 3 vertically two movement in vertical direction.
As shown in Figure 2, be divided into hinge plate 3.1, lower hinge plate 3.3, cross axle 3.2 3 part, Fig. 2 is its assembling form to described hook hinge.As shown in Figure 3, cross axle 3.2 is made up of central block and four branched shaft, and after hinged cooperation, hook hinge 3 is using the geometric center of cross axle 3.2 as center of rotation, and described center of rotation immobilizes.
As a kind of embodiment, in formation, the connecting rod 6.1 of connecting rod and lower link as shown in Figure 4.Described connecting rod 6.1 is designed to arc, and two ends arrange revolute pair fit structure, and the central angle alpha corresponding to connecting rod 6.1 is parts parameters.
As shown in Figure 5, a fixed point in the axis moment pointing space that described mechanism must ensure revolute pair and drive motors in the course of the work, described fixed point is the center of rotation o of the cross axle 3.2 of hook hinge 3.In the described sphere parallel mechanism course of work, on described sphere parallel mechanism the somewhat equal sphere being the centre of sphere with hook hinge cross axle center of rotation moves.Therefore the design of connecting rod must ensure after assembling completes, and the pin joint of upper connecting rod and lower link is on the sphere being the centre of sphere with described center of rotation.
It should be noted that, described support column top is connected to workbench by hook hinge, can limit workbench and rotate in the two directions, and then makes described sphere parallel mechanism under the driving of two drive motors, have the motion determined.
It should be noted that, the other end of the lower link of described two side chains is directly fixedly connected with drive motors output shaft, so that drive motors drives described lower link, move on the sphere taking fixed point as the centre of sphere as driving member, the pose realizing workbench exports; It is hinged that one end of upper connecting rod and workbench pass through revolute pair, as the output of motion; Upper and lower strut is hinged by revolute pair, with this, motion is delivered to upper connecting rod from lower link.The object of revolute pair is adopted to be the number of degrees of freedom, requirement meeting described sphere parallel mechanism.According to other forms of kinematic pair, as ball pair, hook hinge etc., then described workbench will produce the unnecessary uncontrollable free degree.Meanwhile, only have employing revolute pair, and a fixed point in the axis direction pointing space making revolute pair and drive motors output shaft, points all on sphere parallel mechanism described in guarantee all moves on the sphere being the centre of sphere with this fixed point.
For a person skilled in the art, according to above technical scheme and design, various corresponding change and distortion can be provided, and all these change and distortion all should be included within the protection domain of the utility model claim.
Claims (4)
1. one kind has the sphere parallel mechanism of 2 rotational freedoms, the pedestal comprising workbench, be oppositely arranged with described workbench, it is characterized in that: described workbench is connected by support column with pedestal, the top of wherein said support column is connected by hook hinge with described workbench, and bottom is then fixedly connected on described pedestal; In addition, two side chains are provided with between described workbench and pedestal, described two side chains include connecting rod and lower link, and one end of described upper connecting rod is hingedly coupled to described workbench by revolute pair, and one end of the other end and described lower link is by revolute pair chain connection; The other end of the lower link of two side chains is directly connected with the output shaft of a drive motors respectively; Described hook hinge is primarily of a cross axle and two hinged component compositions, and the geometric center of described cross axle is its center of rotation; A fixed point in the axis direction of described revolute pair and the axis direction pointing space of drive motors output shaft, on described sphere parallel mechanism the somewhat equal sphere being the centre of sphere with described fixed point moves.
2. a kind of sphere parallel mechanism with 2 rotational freedoms according to claim 1, it is characterized in that, the center of rotation of described cross axle immobilizes.
3. a kind of sphere parallel mechanism with 2 rotational freedoms according to claim 1 and 2, is characterized in that, described fixed point is the center of rotation of described cross axle.
4. a kind of sphere parallel mechanism with 2 rotational freedoms according to claim 1, is characterized in that, described workbench can around described hook hinge vertically two movement in vertical direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520004328.0U CN204450527U (en) | 2015-01-04 | 2015-01-04 | A kind of sphere parallel mechanism with 2 rotational freedoms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520004328.0U CN204450527U (en) | 2015-01-04 | 2015-01-04 | A kind of sphere parallel mechanism with 2 rotational freedoms |
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| CN204450527U true CN204450527U (en) | 2015-07-08 |
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| CN201520004328.0U Expired - Fee Related CN204450527U (en) | 2015-01-04 | 2015-01-04 | A kind of sphere parallel mechanism with 2 rotational freedoms |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563472A (en) * | 2016-03-07 | 2016-05-11 | 山东大学（威海） | Two-freedom-degree wheel-leg composite spherical mechanism and underwater robot |
| CN105583808A (en) * | 2016-03-07 | 2016-05-18 | 山东大学（威海） | Wheel-leg composite spherical surface parallel mechanism |
| CN106125770A (en) * | 2016-07-22 | 2016-11-16 | 西安电子科技大学 | A kind of azimuth pitch moves two axle bed framves |
| CN107309902A (en) * | 2017-08-21 | 2017-11-03 | 福建龙溪轴承(集团)股份有限公司 | Cross axle articulation structure |
| CN107856025A (en) * | 2017-12-20 | 2018-03-30 | 歌尔科技有限公司 | Robot and its angle adjusting mechanism |
| CN111392032A (en) * | 2020-02-18 | 2020-07-10 | 哈尔滨工业大学 | Spherical two-degree-of-freedom rocker operating mechanism based on torque sensor joint motor |
| CN111702788A (en) * | 2020-06-18 | 2020-09-25 | 敬科(深圳)机器人科技有限公司 | Parallel rocker mechanism, using method and robot applying rocker mechanism |
| CN112050711A (en) * | 2019-06-07 | 2020-12-08 | 卡尔蔡司工业测量技术有限公司 | Rotary probe for a measuring device and measuring device |
| CN114052930A (en) * | 2021-11-25 | 2022-02-18 | 天津大学医疗机器人与智能系统研究院 | Main operating hand |
| CN114833802A (en) * | 2022-05-10 | 2022-08-02 | 燕山大学 | Spherical attitude adjusting platform based on 3RRR-3UPS parallel mechanism |
-
2015
- 2015-01-04 CN CN201520004328.0U patent/CN204450527U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583808A (en) * | 2016-03-07 | 2016-05-18 | 山东大学（威海） | Wheel-leg composite spherical surface parallel mechanism |
| CN105563472A (en) * | 2016-03-07 | 2016-05-11 | 山东大学（威海） | Two-freedom-degree wheel-leg composite spherical mechanism and underwater robot |
| CN106125770A (en) * | 2016-07-22 | 2016-11-16 | 西安电子科技大学 | A kind of azimuth pitch moves two axle bed framves |
| CN106125770B (en) * | 2016-07-22 | 2019-06-07 | 西安电子科技大学 | A kind of two axle bed frame of orientation-pitching movement |
| CN107309902A (en) * | 2017-08-21 | 2017-11-03 | 福建龙溪轴承(集团)股份有限公司 | Cross axle articulation structure |
| CN107856025A (en) * | 2017-12-20 | 2018-03-30 | 歌尔科技有限公司 | Robot and its angle adjusting mechanism |
| CN107856025B (en) * | 2017-12-20 | 2023-12-26 | 歌尔科技有限公司 | Robot and angle adjusting mechanism thereof |
| CN112050711A (en) * | 2019-06-07 | 2020-12-08 | 卡尔蔡司工业测量技术有限公司 | Rotary probe for a measuring device and measuring device |
| CN111392032A (en) * | 2020-02-18 | 2020-07-10 | 哈尔滨工业大学 | Spherical two-degree-of-freedom rocker operating mechanism based on torque sensor joint motor |
| CN111702788B (en) * | 2020-06-18 | 2021-03-19 | 敬科(深圳)机器人科技有限公司 | Parallel rocker mechanism, using method and robot applying rocker mechanism |
| CN111702788A (en) * | 2020-06-18 | 2020-09-25 | 敬科(深圳)机器人科技有限公司 | Parallel rocker mechanism, using method and robot applying rocker mechanism |
| CN114052930A (en) * | 2021-11-25 | 2022-02-18 | 天津大学医疗机器人与智能系统研究院 | Main operating hand |
| CN114052930B (en) * | 2021-11-25 | 2023-08-22 | 天津大学医疗机器人与智能系统研究院 | Main operation hand |
| CN114833802A (en) * | 2022-05-10 | 2022-08-02 | 燕山大学 | Spherical attitude adjusting platform based on 3RRR-3UPS parallel mechanism |
| CN114833802B (en) * | 2022-05-10 | 2023-11-10 | 燕山大学 | Spherical surface gesture adjustment platform based on 3RRR-3UPS parallel mechanism |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150708 Termination date: 20200104 |