CN204525455U - A kind of variable topological four-freedom parallel mechanism - Google Patents

A kind of variable topological four-freedom parallel mechanism Download PDF

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Publication number
CN204525455U
CN204525455U CN201520143094.8U CN201520143094U CN204525455U CN 204525455 U CN204525455 U CN 204525455U CN 201520143094 U CN201520143094 U CN 201520143094U CN 204525455 U CN204525455 U CN 204525455U
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China
Prior art keywords
rod
chain
moving platform
frame
moving
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CN201520143094.8U
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Chinese (zh)
Inventor
季晔
梁莉
李豪
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洛阳理工学院
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Abstract

The utility model discloses a kind of variable topological four-freedom parallel mechanism, comprise frame, moving platform and four side chains between frame and moving platform, article four, the two ends of side chain are all by spherical hinge structure connection frame and moving platform, article four, branched structure is all identical, and four side chains are rectangular to be distributed between frame and moving platform; The 5th side chain is also provided with between frame and moving platform, the utility model controls moving platform motion by four side chains, structure is simply easy to realize, only change the change that the 5th side chain can complete the mechanism kinematic platform free degree, moving platform can be used as end effector, for completing the work such as crawl, carrying and damping device, obtaining multi-functional mechanism by simple topological transformation has more practicality, improves mechanism's service efficiency.

Description

A kind of variable topological four-freedom parallel mechanism
Technical field
The utility model relates to robot field, particularly a kind of variable topological four-freedom parallel mechanism.
Background technology
Parallel institution has the plurality of advantages such as rigidity is large, bearing capacity is strong, accumulated error is little, control accuracy is high, the heat of theory of mechanisms research in recent years, minority carrier generation lifetime is simple with structure, manufacture and control cost the extensive concern causing academia such as relatively low, four-freedom parallel mechanism can meet the work requirements of parallel machine with its good kinetic characteristic, four-freedom parallel mechanism can have compact conformation as the prototype of the equipment such as lathe, damping device and vibratory sieve, manufacture and design and the advantage such as low of controlling cost.In currently available technology, utilize pattern synthesis method, obtain being made up of simple serial chain, irredundant side chain, symmetrical and isotropic four-freedom parallel mechanism, but such mechanism configuration is very limited, can not effectively be used, and the complicated cost of mechanism is high.
Utility model content
For solving this problem existed in above-mentioned technology, the utility model provides a kind of multi-functional mechanism obtained by simple topological transformation, has more practicality, can improve the variable topological four-freedom parallel mechanism of mechanism's service efficiency.
The utility model is for solving the problems of the technologies described above, the technical scheme adopted is: a kind of variable topological four-freedom parallel mechanism, comprise frame, moving platform and four side chains between frame and moving platform, article four, the two ends of side chain are all by spherical hinge structure connection frame and moving platform, first side chain comprises the connecting rod L11 be connected with moving platform and the connecting rod L12 be connected with frame, one end that connecting rod L11 is connected with connecting rod L12 is provided with slide block, slide block can be nested on connecting rod L12 and to slide, second side chain, 3rd side chain, 4th side chain is all identical with the first branched structure, article four, side chain is rectangular is distributed between frame and moving platform, the 5th side chain is also provided with between frame and moving platform, 5th side chain comprises connecting rod L51, connecting rod L52 and connecting rod L53, the revolute pair that one end of connecting rod L51 is passed through is connected with moving platform, this revolute pair with y direction for axis rotation, the other end of connecting rod L51 is by can one end of the first moving sets connection connecting rod L52 of movement in the z-direction, the other end of connecting rod L52 is by the second moving sets of movement in the y-direction connecting one end of connecting rod L53, and the other end of connecting rod L53 passes through can the three moving sets connection frame of movement in the x-direction.
As a kind of preferred version, described 5th side chain comprises connecting rod L51 and connecting rod L52, one end of connecting rod L51 is connected with moving platform by Hooke's hinge, the other end of connecting rod L51 is by the first moving sets of movement in the z-direction connecting one end of connecting rod L52, and the other end of connecting rod L52 passes through can the three moving sets connection frame of movement in the x-direction.
As another kind of preferred version, described 5th side chain comprises connecting rod L51 and connecting rod L52, one end of connecting rod L51 is connected with moving platform by ball pair, and the other end of connecting rod L51 is by can one end of the first moving sets connection connecting rod L52 of movement in the z-direction, and the other end of connecting rod L52 is fixedly connected with frame.
Income effect: control moving platform motion by four side chains relative to prior art the utility model, structure is simply easy to realize, only change the change that the 5th side chain can complete the mechanism kinematic platform free degree, moving platform can be used as end effector, for completing the work such as crawl, carrying and damping device, obtain multi-functional mechanism by simple topological transformation and have more practicality, improve mechanism's service efficiency.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation.
Fig. 2 is the utility model structure diagram.
Fig. 3 is the structure diagram of the utility model the second form.
Fig. 4 is the structure diagram of the third form of the utility model.
Graphical indicia, first connecting rod in L11, the first side chain, second connecting rod in L12, the first side chain, first connecting rod in L51, the 5th side chain, second connecting rod in L52, the 5th side chain, the 3rd connecting rod in L53, the 5th side chain, 1, moving platform, 2, frame, 3, slide block, 4, revolute pair, 5, the first moving sets, the 6, second moving sets, 7, three moving sets, 8, Hooke's hinge, 9, ball is secondary.
Detailed description of the invention
Elaborate to embodiment of the present utility model below in conjunction with accompanying drawing, the present embodiment, premised on technical solutions of the utility model, give detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
As Fig. 1 as shown in Figure 2, a kind of variable topological four-freedom parallel mechanism, comprise frame 2, moving platform 1 and four side chains between frame 2 and moving platform 1, article four, the two ends of side chain are all by spherical hinge structure connection frame 2 and moving platform 1, first side chain comprises the connecting rod L11 be connected with the moving platform 1 and connecting rod L12 be connected with frame 2, one end that connecting rod L11 is connected with connecting rod L12 is provided with slide block 3, slide block 3 can be nested on connecting rod L12 and to slide, second side chain, 3rd side chain, 4th side chain is all identical with the first branched structure, article four, side chain is rectangular is distributed between frame 2 and moving platform 1, article four, side chain is as driving side chain, moving platform 1 can as end effector, crawl has been used for by driving the driving of side chain, the work such as carrying and damping device.
Shown in, the 5th side chain is also provided with between frame 2 and moving platform 1, 5th side chain is as driven side chain, described 5th side chain comprises connecting rod L51, connecting rod L52 and connecting rod L53, one end of connecting rod L51 is connected with moving platform 1 by revolute pair 4, the other end of the connecting rod L51 that this revolute pair 4 can be axis rotation with y direction is by the first moving sets 5 of movement in the z-direction connecting one end of connecting rod L52, the other end of connecting rod L52 is by the second moving sets 6 of movement in the y-direction connecting one end of connecting rod L53, the other end of connecting rod L53 is by can three moving sets 7 connection frame 2 of movement in the x-direction.5th side chain and four side chains form the four-freedom parallel mechanism that three move a rotation.
This device is by simply changing the 5th side chain, also can form with four side chains the four-freedom parallel mechanism that two move two rotations, as shown in Figure 3, described 5th side chain comprises connecting rod L51 and connecting rod L52, one end of connecting rod L51 is connected with moving platform 1 by Hooke's hinge 8, the other end of connecting rod L51 is by the first moving sets 5 of movement in the z-direction connecting one end of connecting rod L52, and the other end of connecting rod L52 passes through can three moving sets 7 connection frame 2 of movement in the x-direction.
In addition, 5th side chain also can form the four-freedom parallel mechanism that moves three rotations by four side chains, as shown in Figure 4, described 5th side chain comprises connecting rod L51 and connecting rod L52, one end of connecting rod L51 is connected with moving platform 1 by ball pair 9, the other end of connecting rod L51 is by the first moving sets 5 of movement in the z-direction connecting one end of connecting rod L52, and the other end of connecting rod L52 is fixedly connected with frame 2.
It is prior art that the utility model does not describe part.

Claims (3)

1. a variable topological four-freedom parallel mechanism, it is characterized in that: comprise frame (2), moving platform (1) and four side chains between frame (2) and moving platform (1), article four, the two ends of side chain are all by spherical hinge structure connection frame (2) and moving platform (1), first side chain comprises the connecting rod L11 be connected with moving platform (1) and the connecting rod L12 be connected with frame (2), one end that connecting rod L11 is connected with connecting rod L12 is provided with slide block (3), slide block (3) can be nested on connecting rod L12 and to slide, second side chain, 3rd side chain, 4th side chain is all identical with the first branched structure, article four, side chain is rectangular is distributed between frame (2) and moving platform (1), the 5th side chain is also provided with between frame (2) and moving platform (1), 5th side chain comprises connecting rod L51, connecting rod L52 and connecting rod L53, the revolute pair (4) that one end of connecting rod L51 is passed through is connected with moving platform (1), this revolute pair (4) with y direction for axis rotation, the other end of connecting rod L51 is by can one end of the first moving sets (5) connection connecting rod L52 of movement in the z-direction, the other end of connecting rod L52 is by can one end of the second moving sets (6) connection connecting rod L53 of movement in the y-direction, the other end of connecting rod L53 is by can three moving sets (7) connection frame (2) of movement in the x-direction.
2. a kind of variable topological four-freedom parallel mechanism according to claim 1, it is characterized in that: described 5th side chain comprises connecting rod L51 and connecting rod L52, one end of connecting rod L51 is connected with moving platform (1) by Hooke's hinge (8), the other end of connecting rod L51 is by first moving sets (5) of movement in the z-direction connecting one end of connecting rod L52, and the other end of connecting rod L52 passes through can three moving sets (7) connection frame (2) of movement in the x-direction.
3. a kind of variable topological four-freedom parallel mechanism according to claim 1, it is characterized in that: described 5th side chain comprises connecting rod L51 and connecting rod L52, one end of connecting rod L51 is connected with moving platform (1) by ball pair (9), the other end of connecting rod L51 is by can one end of the first moving sets (5) connection connecting rod L52 of movement in the z-direction, and the other end of connecting rod L52 is fixedly connected with frame (2).
CN201520143094.8U 2015-03-13 2015-03-13 A kind of variable topological four-freedom parallel mechanism CN204525455U (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104626130A (en) * 2015-03-13 2015-05-20 洛阳理工学院 Variable-topology four-degrees-of-freedom parallel mechanism
CN105437213A (en) * 2015-12-17 2016-03-30 天津大学 Multi-closed-ring dual-rotary catching and releasing mechanism taking spatial four-bar mechanism as platform
CN105437214A (en) * 2015-12-17 2016-03-30 天津大学 Multi-closed-loop three-rotation catching and releasing mechanism
CN105459092A (en) * 2016-01-08 2016-04-06 天津大学 Novel multi-closed-loop two-degree-of-freedom rotation catching and releasing mechanism
CN105500340A (en) * 2016-01-08 2016-04-20 天津大学 Multi-closed-loop three-rotation fetching and releasing mechanism with reconfigurable platform
CN106053480A (en) * 2016-07-29 2016-10-26 常州大学 Four-rotation detection platform for automatic optical detection system
CN106584433A (en) * 2016-12-23 2017-04-26 哈尔滨工业大学深圳研究生院 Three-freedom-degree parallel vibration isolation device
CN106965997A (en) * 2017-04-06 2017-07-21 广西大学 A kind of drive device of mechanism type variable topological packaging machine robot mechanism
CN107175654A (en) * 2017-06-26 2017-09-19 北京交通大学 A kind of structural redundancy parallel institution that there are two rotations two to move
CN107193256A (en) * 2017-07-13 2017-09-22 北华航天工业学院 Lower-mobility space parallel mechanism topology Performance Analysis method and device
CN107283400A (en) * 2017-06-20 2017-10-24 北京交通大学 A kind of relative freedom is four structural redundancy parallel robot mechanism

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104626130A (en) * 2015-03-13 2015-05-20 洛阳理工学院 Variable-topology four-degrees-of-freedom parallel mechanism
CN105437213A (en) * 2015-12-17 2016-03-30 天津大学 Multi-closed-ring dual-rotary catching and releasing mechanism taking spatial four-bar mechanism as platform
CN105437213B (en) * 2015-12-17 2017-05-10 天津大学 Multi-closed-ring dual-rotary catching and releasing mechanism taking spatial four-bar mechanism as platform
CN105437214A (en) * 2015-12-17 2016-03-30 天津大学 Multi-closed-loop three-rotation catching and releasing mechanism
CN105500340B (en) * 2016-01-08 2017-04-12 天津大学 Multi-closed-loop three-rotation fetching and releasing mechanism with reconfigurable platform
CN105500340A (en) * 2016-01-08 2016-04-20 天津大学 Multi-closed-loop three-rotation fetching and releasing mechanism with reconfigurable platform
CN105459092B (en) * 2016-01-08 2017-04-12 天津大学 Multi-closed-loop two-degree-of-freedom rotation catching and releasing mechanism
CN105459092A (en) * 2016-01-08 2016-04-06 天津大学 Novel multi-closed-loop two-degree-of-freedom rotation catching and releasing mechanism
CN106053480A (en) * 2016-07-29 2016-10-26 常州大学 Four-rotation detection platform for automatic optical detection system
CN106584433B (en) * 2016-12-23 2018-11-20 哈尔滨工业大学深圳研究生院 A kind of freedom degree parallel connection isolation mounting
CN106584433A (en) * 2016-12-23 2017-04-26 哈尔滨工业大学深圳研究生院 Three-freedom-degree parallel vibration isolation device
CN106965997A (en) * 2017-04-06 2017-07-21 广西大学 A kind of drive device of mechanism type variable topological packaging machine robot mechanism
CN107283400A (en) * 2017-06-20 2017-10-24 北京交通大学 A kind of relative freedom is four structural redundancy parallel robot mechanism
CN107283400B (en) * 2017-06-20 2020-04-28 北京交通大学 Structure redundancy parallel robot mechanism with four relative degrees of freedom
CN107175654A (en) * 2017-06-26 2017-09-19 北京交通大学 A kind of structural redundancy parallel institution that there are two rotations two to move
CN107193256A (en) * 2017-07-13 2017-09-22 北华航天工业学院 Lower-mobility space parallel mechanism topology Performance Analysis method and device
CN107193256B (en) * 2017-07-13 2019-10-01 北华航天工业学院 Lower-mobility space parallel mechanism topology Performance Analysis method and device

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Granted publication date: 20150805

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