CN205310261U - Two -degree -of -freedom 2 -PUS+U spherical surface parallel mechanism - Google Patents
Two -degree -of -freedom 2 -PUS+U spherical surface parallel mechanism Download PDFInfo
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- CN205310261U CN205310261U CN201620011859.7U CN201620011859U CN205310261U CN 205310261 U CN205310261 U CN 205310261U CN 201620011859 U CN201620011859 U CN 201620011859U CN 205310261 U CN205310261 U CN 205310261U
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Abstract
The utility model discloses a two -degree -of -freedom 2 -PUS+U spherical surface parallel mechanism. This spherical surface parallel mechanism constitutes by allocating the platform, moving platform restraint side chain and two sport branch between and. The platform is made by oneself to moving the platform in proper order by hooke hinge and connecting rod composition to the restraint side chain. Article two, the sport branch structure is the same, and every sport branch makes the platform by oneself to moving the platform in proper order by the linear guide removal is vice, initiatively slider, hooke hinge, driven lever and spherical pair are constituteed. The utility model discloses can realize moving the two -dimentional rotational motion of platform, have compact structure, bearing capacity advantage such as strong.
Description
Technical field this utility model belongs to anthropomorphic robot field, particularly two degrees of freedom sphere parallel mechanism.
Background technology parallel robot, compared with serial manipulator, has that rigidity is big, fast response time, precision advantages of higher, has a wide range of applications in mechanical industry field. Current two rotating parallel device people are more in field application such as medicine, the automatic production line of electron trade, processing and manufacturing, Automated assembly.
Summary of the invention the utility model proposes a kind of two degrees of freedom 2-PUS+U sphere parallel mechanism, and this two degrees of freedom sphere parallel mechanism has the advantages such as simple in construction, bearing capacity are strong.
The technical scheme that this utility model adopts is: two degrees of freedom 2-PUS+U sphere parallel mechanism, is mainly made up of fixed platform, moving platform and constrained branched chain between and two movement branched chain. Constrained branched chain is made up of Hooke's hinge and connecting rod successively from fixed platform to moving platform. Article two, movement branched chain structure is identical, and every movement branched chain forms by line slideway moving sets, active sliding block, Hooke's hinge, follower lever and spherical pair successively from fixed platform to moving platform. In constrained branched chain, the lower end of connecting rod is connected with fixed platform by Hooke's hinge, and the upper end of connecting rod is connected with moving platform. In movement branched chain, active sliding block is connected with fixed platform by line slideway moving sets, and the driving that line slideway moving sets is mechanism is secondary; Active sliding block is connected with follower lever by Hooke's hinge, and follower lever is connected with moving platform by spherical pair. Article two, the axis of the line slideway moving sets of movement branched chain is each perpendicular to fixed platform.
The beneficial effects of the utility model are: the simple in construction of this utility model, it is easy to engineer applied.
Accompanying drawing illustrates:
Fig. 1 is two degrees of freedom 2-PUS+U sphere parallel mechanism structural representation;
Detailed description of the invention:
Embodiment 1:
In conjunction with the drawings and specific embodiments, this utility model is described in detail.
Two degrees of freedom 2-PUS+U spherical surface parallel connected bionic omoplate joint, is mainly made up of fixed platform 1, moving platform 2 and constrained branched chain between and two movement branched chain. Constrained branched chain is made up of Hooke's hinge 4 and connecting rod 3 successively from fixed platform 1 to moving platform 2. Article two, movement branched chain structure is identical, and every movement branched chain forms by line slideway moving sets 5, active sliding block 6, Hooke's hinge 7, follower lever 8 and spherical pair 9 successively from fixed platform 1 to moving platform 2.
In constrained branched chain, the lower end of connecting rod 3 is connected with fixed platform 1 by Hooke's hinge 4, and the upper end of connecting rod 3 is connected with moving platform 2.In movement branched chain, active sliding block 6 is connected with fixed platform 1 by line slideway moving sets 5, and the driving that line slideway moving sets 5 is mechanism is secondary; Active sliding block 6 is connected with follower lever 8 by Hooke's hinge 7, and follower lever 8 is connected with moving platform 2 by spherical pair 9. Article two, the axis of the line slideway moving sets 5 of movement branched chain is each perpendicular to fixed platform 1. Two active sliding block 6 are driven respectively, it may be achieved the two-dimensional rotary of moving platform 2 by two drive motors.
Claims (1)
1. a two degrees of freedom 2-PUS+U sphere parallel mechanism, by fixed platform (1), moving platform (2) and constrained branched chain between and two movement branched chain form, it is characterized in that: constrained branched chain is made up of Hooke's hinge (4) and connecting rod (3) successively from fixed platform (1) to moving platform (2), article two, movement branched chain structure is identical, every movement branched chain from fixed platform (1) to moving platform (2) successively by line slideway moving sets (5), active sliding block (6), Hooke's hinge (7), follower lever (8) and spherical pair (9) composition, in constrained branched chain, the lower end of connecting rod (3) is connected with fixed platform (1) by Hooke's hinge (4), the upper end of connecting rod (3) is connected with moving platform (2), in movement branched chain, active sliding block (6) is connected with fixed platform (1) by line slideway moving sets (5), the driving that line slideway moving sets (5) is mechanism is secondary, active sliding block (6) is connected with follower lever (8) by Hooke's hinge (7), follower lever (8) is connected with moving platform (2) by spherical pair (9), and the axis of the line slideway moving sets (5) of two movement branched chain is each perpendicular to fixed platform (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620011859.7U CN205310261U (en) | 2016-01-08 | 2016-01-08 | Two -degree -of -freedom 2 -PUS+U spherical surface parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620011859.7U CN205310261U (en) | 2016-01-08 | 2016-01-08 | Two -degree -of -freedom 2 -PUS+U spherical surface parallel mechanism |
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| Publication Number | Publication Date |
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| CN205310261U true CN205310261U (en) | 2016-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620011859.7U Expired - Fee Related CN205310261U (en) | 2016-01-08 | 2016-01-08 | Two -degree -of -freedom 2 -PUS+U spherical surface parallel mechanism |
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| CN (1) | CN205310261U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107425286A (en) * | 2017-07-07 | 2017-12-01 | 燕山大学 | A kind of Three Degree Of Freedom day line parallel supporting mechanism |
| CN110480601A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The chiasma type 3-freedom parallel mechanism of four branches |
| CN114083517A (en) * | 2021-11-25 | 2022-02-25 | 天津大学医疗机器人与智能系统研究院 | Parallel mechanism |
| CN114619424A (en) * | 2022-05-12 | 2022-06-14 | 浙江大学 | Transmission mechanism of micro crawling robot and micro crawling robot |
-
2016
- 2016-01-08 CN CN201620011859.7U patent/CN205310261U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107425286A (en) * | 2017-07-07 | 2017-12-01 | 燕山大学 | A kind of Three Degree Of Freedom day line parallel supporting mechanism |
| CN110480601A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The chiasma type 3-freedom parallel mechanism of four branches |
| CN114083517A (en) * | 2021-11-25 | 2022-02-25 | 天津大学医疗机器人与智能系统研究院 | Parallel mechanism |
| CN114619424A (en) * | 2022-05-12 | 2022-06-14 | 浙江大学 | Transmission mechanism of micro crawling robot and micro crawling robot |
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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: 20160615 Termination date: 20170108 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |