CN204505248U - A kind of single side chain is containing the symmetrical parallel institution of space three-translational of closed loop - Google Patents
A kind of single side chain is containing the symmetrical parallel institution of space three-translational of closed loop Download PDFInfo
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- CN204505248U CN204505248U CN201520191551.0U CN201520191551U CN204505248U CN 204505248 U CN204505248 U CN 204505248U CN 201520191551 U CN201520191551 U CN 201520191551U CN 204505248 U CN204505248 U CN 204505248U
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- side chain
- closed loop
- revolute pair
- hooke
- hinge
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Abstract
The utility model belongs to robot and space parallel mechanism technical field, and particularly a kind of single side chain is containing the symmetrical parallel institution of space three-translational of closed loop, comprising: moving platform, frame and connection the two three identical side chains.In the first side chain B1 from moving platform to frame, closed loop moving chain L11 and closed loop moving chain L12 successively, above-mentioned two closed loop moving chains are all in parallel four limit row shapes, the two is connected into the first side chain B1 by revolute pair (R11) and revolute pair (R12), and the second side chain B2 and the 3rd side chain B3 kinematic pair composition are all with the first side chain B1.The workbench of this mechanism can realize the movement output of the three-dimensional translating under cartesian coordinate system, and the kinematic pair in mechanism is revolute pair and Hooke's hinge, is all lower pair.Production application is convenient in this mechanism, has the good rigidity of structure and stability, moving platform is installed different grasping mechanisms and can be built into corresponding robot, be applied in relevant automatic production field, enhance productivity.
Description
Technical field
The utility model belongs to industrial robot and space parallel mechanism technical field, and particularly a kind of single side chain is containing the symmetrical parallel institution of space three-translational of closed loop.
Background technology
Parallel robot, compared with serial manipulator, has that rigidity is large, movement velocity is fast, precision advantages of higher, have a wide range of applications in mechanical industry field.At present, three translation parallel machine people are more in the application of the field such as automatic production line, processing and manufacturing, Automated assembly of medicine, food and electron trade.
Summary of the invention
The utility model is intended to the shortcoming solving existing space three-translational parallel connection mechanism rigidity and less stable, and propose the space three-translational symmetrical parallel institution of a kind of single side chain containing closed loop, its technical scheme adopted is as follows:
Moving platform (1), frame (2) and connection the two three identical side chains (B1, B2, B3), first side chain (B1) is from moving platform to frame, that closed loop moving chain L11 is (by Hooke's hinge (U11) successively, (U12), revolute pair (R12), (R11) be composed in series) and closed loop moving chain L12 (by revolute pair (R11), (R12), Hooke's hinge (U14), (U13) be composed in series), above two closed loop moving chains are connected to by revolute pair (R12) and revolute pair (R11) and form the first side chain (B1) together, Hooke's hinge (U11), Hooke's hinge (U12), first gyroaxis direction of Hooke's hinge (U13) and Hooke's hinge (U14) all with revolute pair (R12), the axis being parallel of revolute pair (R11), second gyroaxis axis of above-mentioned Hooke's hinge all with revolute pair (R12), the axes normal of revolute pair (R11).Second side chain (B2) and the 3rd side chain (B3) structure composition are all with the first side chain (B1).
The utility model tool has the following advantages: in this mechanism, kinematic pair is revolute pair and Hooke's hinge, is all lower pair, and processing is convenient, and be beneficial to assembling, production cost is lower, and meanwhile, each side chain is all parallel four limit row shape, structural rigidity and good stabilities.To sum up, this mechanism may be used on the industrial automation needing space three-translational, has good market prospects.
Accompanying drawing illustrates:
Fig. 1 is the utility model structural representation;
Fig. 2 is the first side chain B1 structural representation;
Detailed description of the invention:
Embodiment 1:
As Fig. 1, a kind of single side chain, containing the symmetrical parallel institution of space three-translational of closed loop, is made up of moving platform (1), frame (2) and connection the two three identical side chains (B1, B2, B3).Wherein: the first side chain (B1) is from moving platform (1) to frame (2), that closed loop moving chain L11 is (by Hooke's hinge (U11) successively, Hooke's hinge (U12), revolute pair (R12), revolute pair (R11) is composed in series) and closed loop moving chain L12 (by revolute pair (R11), revolute pair (R12), Hooke's hinge (U14), Hooke's hinge (U13) is composed in series), above two closed loop moving chains are connected to by revolute pair (R12) and revolute pair (R11) and form the first side chain (B1) together, Hooke's hinge (U11), Hooke's hinge (U12), first gyroaxis direction of Hooke's hinge (U13) and Hooke's hinge (U14) all with revolute pair (R12), the axis being parallel of revolute pair (R11), second gyroaxis axis of above-mentioned Hooke's hinge all with revolute pair (R12), the axes normal of revolute pair (R11).Second side chain (B2) and the 3rd side chain (B3) structure composition are all with the first side chain (B1).
Claims (2)
1. a single side chain is containing the symmetrical parallel institution of space three-translational of closed loop, comprise moving platform (1), frame (2) and the identical side chain (B1 of connection the two three, B2, B3), it is characterized in that: the first side chain (B1) is from moving platform (1) to frame (2), that closed loop moving chain L11 is (by Hooke's hinge (U11) successively, (U12), revolute pair (R12), (R11) be composed in series) and closed loop moving chain L12 (by revolute pair (R11), (R12), Hooke's hinge (U14), (U13) be composed in series), above two closed loop moving chains are connected to by revolute pair (R12) and revolute pair (R11) and form the first side chain (B1) together, second side chain (B2) and the 3rd side chain (B3) structure composition are all with the first side chain (B1).
2. a kind of single side chain according to claim 1 is containing the symmetrical parallel institution of space three-translational of closed loop, it is characterized in that: the first gyroaxis direction of Hooke's hinge (U11), Hooke's hinge (U12), Hooke's hinge (U13) and Hooke's hinge (U14) all with the axis being parallel of revolute pair (R12), revolute pair (R11), the second gyroaxis axis of above-mentioned Hooke's hinge all with the axes normal of revolute pair (R12), revolute pair (R11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520191551.0U CN204505248U (en) | 2015-04-01 | 2015-04-01 | A kind of single side chain is containing the symmetrical parallel institution of space three-translational of closed loop |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520191551.0U CN204505248U (en) | 2015-04-01 | 2015-04-01 | A kind of single side chain is containing the symmetrical parallel institution of space three-translational of closed loop |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204505248U true CN204505248U (en) | 2015-07-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520191551.0U Expired - Fee Related CN204505248U (en) | 2015-04-01 | 2015-04-01 | A kind of single side chain is containing the symmetrical parallel institution of space three-translational of closed loop |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204505248U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105818137A (en) * | 2016-05-24 | 2016-08-03 | 天津大学 | Parallel mechanism with three-dimensional translational motion |
| CN107618023A (en) * | 2017-09-26 | 2018-01-23 | 上海大学 | A kind of light-duty Three Degree Of Freedom translational motion parallel institution |
-
2015
- 2015-04-01 CN CN201520191551.0U patent/CN204505248U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105818137A (en) * | 2016-05-24 | 2016-08-03 | 天津大学 | Parallel mechanism with three-dimensional translational motion |
| CN107618023A (en) * | 2017-09-26 | 2018-01-23 | 上海大学 | A kind of light-duty Three Degree Of Freedom translational motion parallel institution |
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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: 20150729 Termination date: 20160401 |