CN205614647U - Two degree of freedom spherical surface parallel mechanism of high rigidity - Google Patents

Two degree of freedom spherical surface parallel mechanism of high rigidity Download PDF

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Publication number
CN205614647U
CN205614647U CN201620254215.0U CN201620254215U CN205614647U CN 205614647 U CN205614647 U CN 205614647U CN 201620254215 U CN201620254215 U CN 201620254215U CN 205614647 U CN205614647 U CN 205614647U
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China
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branch
platform
bulb
axis
column type
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Expired - Fee Related
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CN201620254215.0U
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Chinese (zh)
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周玉林
杨中原
杨龙
刘扬
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Yanshan University
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Yanshan University
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Abstract

The utility model discloses a two degree of freedom spherical surface parallel mechanism of high rigidity. This two degree of freedom spherical surface parallel mechanism mainly comprise support centers spherical pair side chain, a sport branch and the 2nd sport branch. Support centers spherical pair side chain is including allocating platform, cylinder type bracing piece, support hemisphere nest, central bulb, cylinder type output pole, allocating the platform, the automatic platform of a sport branch comprises first sharp driver push rod, first sharp driver cylinder body, multiple hinge crotch to allocating the platform in proper order, the automatic platform of the 2nd sport branch comprises second straight line driver push rod, second straight line driver cylinder body, supporting pin axle to allocating the platform in proper order. The utility model discloses can realize moving the two -dimensional rotating motion of platform, have simple structure, drive arrangement and arrange advantages such as convenience, bearing capacity are strong.

Description

High rigidity two-freedom sphere parallel institution
Technical field this utility model belongs to space minority carrier generation lifetime technical field, particularly 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.Limited-DOF Parallel Robot due to simple in construction, control easy, cost is low and disclosure satisfy that many requirements less than 6DOF application scenario, having become as a new focus of robot research at present, space Lower-mobility Parallel Manipulators is compared with traditional six-degree-of-freedom parallel connection mechanism to be had simple in construction, manufactures and designs and feature that the cost that controls is the most relatively low.
Sphere parallel mechanism is the space minority carrier generation lifetime that a class is special.When mechanism kinematic, on moving platform a little do apart from constant spheric motion around a fixing point.Sphere parallel mechanism has the plurality of advantages such as compact conformation, flexibility and reliability.Spherical mechanism has important using value in engineering, have broad application prospects, such as carpal joint, mechanical digital formula measuring machine, satellite orientation device, sun tracker, radio telescope, the rotary table of machining and part positioning device as robot in departments such as aerospace, medical treatment, electronics, machineries.In terms of medical engineering, spherical mechanism can be used as laparoscopic surgery robot, flexible eye, the laser scanning device of dentognathic model, reparation of the injection device of retina anticoagulant and ankle joint and shoulder joint etc. in ophthalmologic operation.
About three-degree-of-freedom spherical parallel mechanism, existing many configurations.2008, Luo Yufeng, Li Jianxiu of University Of Nanchang et al., at " structural synthesis of three-degree-of-freedom spherical parallel mechanism " (University Of Nanchang's journal, the 2nd phase of volume 30) in a literary composition, with single-opened-chain limb as unit, a kind of system of proposing three-degree-of-freedom spherical parallel mechanism structural synthesis, the method for the effect having, comprehensively gone out 145 kinds of three-degree-of-freedom spherical parallel mechanisms altogether;Additionally, patent documentation: CN104827462A, CN101306534A etc. disclose some three-degree-of-freedom spherical parallel mechanisms with center spherical pair side chain.
Comparing with three-degree-of-freedom spherical parallel mechanism, existing two-freedom sphere parallel institution configuration is relatively fewer, and what research was relatively more has sphere 5R mechanism and two-freedom sphere parallel connection UP+RMechanism.In addition, patent CN1803410A discloses a kind of two-free-degree decoupling spherical parallel mechanism, including pedestal, moving platform and two movement branched chain being connected between moving platform and pedestal, wherein a movement branched chain includes two revolute pairs and a moving sets, moving sets axis is parallel to each other, and another movement branched chain includes two revolute pairs, and two revolute pair axis are vertical and crossing, intersection point is this spherical mechanism centre of sphere, and this spherical mechanism i.e. does spheric motion under the driving of moving sets and revolute pair.
Patent CN204450527U discloses a kind of sphere parallel mechanism with 2 rotational freedoms, including work platforms and pedestal, connected by support column between the two, wherein the top of support column connects work platforms by hook hinge, bottom is fixing connects pedestal, with support working platform and constraint degree of freedom, two side chains of two sections of connecting rod compositions carry out transmitting movement.
This utility model provides a kind of novel two-freedom sphere parallel institution, it is intended to solving the problems such as existing two-freedom sphere parallel institution support stiffness is low, load capacity is poor, this mechanism has the advantages such as supporting & stablizing, load capacity is strong, drive arrangement is convenient.Foundation and bigger selection space is preferably provided for two-freedom sphere parallel institution type.
Summary of the invention this utility model aims to solve the problem that the problems such as existing two-freedom sphere parallel institution support stiffness is low, load capacity is poor, it is proposed that a kind of high rigidity two-freedom sphere parallel institution.This utility model is mainly made up of the center of support spherical pair side chain, the first movement branched chain and the second movement branched chain.Described support center spherical pair side chain includes fixed platform, column type support bar, supports half ball-and-socket, center bulb, column type take-off lever, moving platform.nullWherein,Fixed platform is cylinder,Its upper surface is consolidated with the first support seat and second and supports seat,First support seat is mutually perpendicular to along the median surface of fixed platform radial direction along the mid-plane of fixed platform radial direction with the second support seat,The lower surface of fixed platform upper surface and column type support bar connects firmly,The axis of column type support bar and the dead in line of fixed platform,The upper end of column type support bar and support half ball-and-socket bottom connect firmly,Supporting half ball-and-socket is interior concave spherical surface and centre of sphere revolving body on axis of rotation,Its upper surface is vertical with axis of rotation,The axis of column type support bar is through supporting the center of half ball-and-socket and overlapping with the gyroaxis supporting half ball-and-socket,It is provided with center bulb in supporting the interior concave spherical surface of half ball-and-socket,Both centre ofs sphere overlap and constitute spherical pair,This bulb top, center connects firmly with column type take-off lever lower end,The axis of this column type take-off lever crosses the centre of sphere of center bulb,This column type take-off lever top connects firmly with moving platform lower surface,Moving platform is cylinder,The axis of moving platform and the dead in line of column type take-off lever,The sidepiece of moving platform is consolidated with the first branch and the second branch,End respectively with the first branch's bulb of the first branch and the second branch and second branch's bulb consolidation,The plane that the centre of sphere of the plane that the centre of sphere of first branch's bulb is constituted with moving platform axis and second branch's bulb and moving platform axis are constituted is mutually perpendicular to,The centre of sphere of first branch's bulb、The plane that the centre of sphere of second branch's bulb and the centre of sphere of center bulb are constituted is perpendicular to the axis of column type take-off lever.
The first described movement branched chain automatic platform is made up of the first linear actuator push rod, the first linear actuator cylinder body, compound hinges crotch successively to fixed platform.Wherein, the bottom of the first linear actuator cylinder body is connected by the compound hinges crotch of T-shaped two revolute pair orthogonal axes anyhow with the first support seat on fixed platform, the lateral rotation secondary axis of this compound hinges crotch intersects vertically with the axis of column type support bar, first linear actuator cylinder body and the first linear actuator push rod are connected by moving sets, and the first linear actuator push rod top is connected by spherical pair with first branch's bulb.
The second described movement branched chain automatic platform is made up of the second linear actuator push rod, the second linear actuator cylinder body, support bearing pin successively to fixed platform.Wherein, the bottom of the second linear actuator cylinder body supports bearing pin composition with the second support seat on fixed platform by one and is rotationally connected, the axis of this support bearing pin is mutually perpendicular to the axis of column type support bar, second linear actuator cylinder body and the second linear actuator push rod are connected by moving sets, and the second linear actuator push rod top is connected by spherical pair with second branch's bulb.
This utility model has the advantages such as supporting & stablizing, load capacity is strong, drive arrangement is convenient.Foundation and bigger selection space is preferably provided for two-freedom sphere parallel institution type.
Accompanying drawing illustrates:
Fig. 1 is high rigidity two-freedom sphere parallel institution structural representation;
Detailed description of the invention:
Embodiment 1:
In conjunction with the drawings and specific embodiments, this utility model is described in detail.
High rigidity two-freedom sphere parallel institution is mainly made up of the center of support spherical pair side chain, the first movement branched chain and the second movement branched chain.Described support center spherical pair side chain includes fixed platform 1, column type support bar 2, supports half ball-and-socket 3, center bulb 4, column type take-off lever 5, moving platform 6.nullWherein,Fixed platform 1 is cylinder,Its upper surface is consolidated with the first support seat 7 and second and supports seat 8,First support seat 7 is mutually perpendicular to along the median surface of fixed platform radial direction along the mid-plane of fixed platform radial direction with the second support seat 8,The lower surface of fixed platform 1 upper surface and column type support bar 2 connects firmly,The axis of column type support bar 2 and the dead in line of fixed platform 1,The upper end of column type support bar 2 and support half ball-and-socket 3 bottom connect firmly,Supporting half ball-and-socket 3 is interior concave spherical surface and centre of sphere revolving body on axis of rotation,Its upper surface is vertical with axis of rotation,The axis of column type support bar 2 is through supporting the center of half ball-and-socket 3 and overlapping with the gyroaxis supporting half ball-and-socket 3,It is provided with center bulb 4 in supporting the interior concave spherical surface of half ball-and-socket 3,Both centre ofs sphere overlap and constitute spherical pair,This center bulb 4 top connects firmly with column type take-off lever 5 lower end,The axis of this column type take-off lever 5 crosses the centre of sphere of center bulb 4,This column type take-off lever 5 top connects firmly with moving platform 6 lower surface,Moving platform 6 is cylinder,The axis of moving platform 6 and the dead in line of column type take-off lever 5,The sidepiece of moving platform 6 is consolidated with the first branch 9 and the second branch 10,First branch 9 and end respectively with the first branch bulb 11 of the second branch 10 and second branch's bulb 12 consolidate,The plane that the centre of sphere of the plane that the centre of sphere of first branch's bulb 11 is constituted with moving platform 6 axis and second branch's bulb 12 and moving platform 6 axis are constituted is mutually perpendicular to,The centre of sphere of first branch's bulb 11、The plane that the centre of sphere of second branch's bulb 12 and the centre of sphere of center bulb 4 are constituted is perpendicular to the axis of column type take-off lever 5.
The first described movement branched chain automatic platform 6 to fixed platform 1 is made up of first linear actuator push rod the 13, first linear actuator cylinder body 14, compound hinges crotch 15 successively.Wherein, the bottom of the first linear actuator cylinder body 14 is connected by the compound hinges crotch 15 of T-shaped two revolute pair orthogonal axes anyhow with the first support seat 7 on fixed platform 1, the lateral rotation secondary axis of this compound hinges crotch 15 intersects vertically with the axis of column type support bar 2, first linear actuator cylinder body 14 is connected by moving sets with the first linear actuator push rod 13, and the first linear actuator push rod 13 top is connected by spherical pair with first branch's bulb 11.
The second described movement branched chain automatic platform 6 to fixed platform 1 is made up of second linear actuator push rod the 16, second linear actuator cylinder body 17, support bearing pin 18 successively.Wherein, the bottom of the second linear actuator cylinder body 17 supports bearing pin 18 composition with the second support seat 8 on fixed platform 1 by one and is rotationally connected, the axis of this support bearing pin 18 is mutually perpendicular to the axis of column type support bar 2, second linear actuator cylinder body 17 is connected by moving sets with the second linear actuator push rod 16, and the second linear actuator push rod 16 top is connected by spherical pair with second branch's bulb 12.
Linear actuator can be hydraulic cylinder or electric cylinder, and the first linear actuator push rod 13 and the second linear actuator push rod 16 move back and forth, and drives moving platform 6 to rotate.

Claims (1)

  1. The highest rigidity two-freedom sphere parallel institution, is characterized in that: this two-freedom sphere parallel institution is mainly made up of the center of support spherical pair side chain, the first movement branched chain and the second movement branched chain;nullDescribed support center spherical pair side chain includes fixed platform、Column type support bar、Support half ball-and-socket、Center bulb、Column type take-off lever、Moving platform,Wherein,Fixed platform is cylinder,Its upper surface is consolidated with the first support seat and second and supports seat,First support seat is mutually perpendicular to along the median surface of fixed platform radial direction along the mid-plane of fixed platform radial direction with the second support seat,The lower surface of fixed platform upper surface and column type support bar connects firmly,The axis of column type support bar and the dead in line of fixed platform,The upper end of column type support bar and support half ball-and-socket bottom connect firmly,Supporting half ball-and-socket is interior concave spherical surface and centre of sphere revolving body on axis of rotation,Its upper surface is vertical with axis of rotation,The axis of column type support bar is through supporting the center of half ball-and-socket and overlapping with the gyroaxis supporting half ball-and-socket,It is provided with center bulb in supporting the interior concave spherical surface of half ball-and-socket,Both centre ofs sphere overlap and constitute spherical pair,This bulb top, center connects firmly with column type take-off lever lower end,The axis of this column type take-off lever crosses the centre of sphere of center bulb,This column type take-off lever top connects firmly with moving platform lower surface,Moving platform is cylinder,The axis of moving platform and the dead in line of column type take-off lever,The sidepiece of moving platform is consolidated with the first branch and the second branch,End respectively with the first branch's bulb of the first branch and the second branch and second branch's bulb consolidation,The plane that the centre of sphere of the plane that the centre of sphere of first branch's bulb is constituted with moving platform axis and second branch's bulb and moving platform axis are constituted is mutually perpendicular to,The centre of sphere of first branch's bulb、The plane that the centre of sphere of second branch's bulb and the centre of sphere of center bulb are constituted is perpendicular to the axis of column type take-off lever;The first described movement branched chain automatic platform to fixed platform successively by the first linear actuator push rod, first linear actuator cylinder body, compound hinges crotch forms, wherein, the bottom of the first linear actuator cylinder body is connected by the compound hinges crotch of T-shaped two revolute pair orthogonal axes anyhow with the first support seat on fixed platform, the lateral rotation secondary axis of this compound hinges crotch intersects vertically with the axis of column type support bar, first linear actuator cylinder body and the first linear actuator push rod are connected by moving sets, first linear actuator push rod top is connected by spherical pair with first branch's bulb;The second described movement branched chain automatic platform is made up of the second linear actuator push rod, the second linear actuator cylinder body, support bearing pin successively to fixed platform, wherein, the bottom of the second linear actuator cylinder body supports bearing pin composition with the second support seat on fixed platform by one and is rotationally connected, the axis of this support bearing pin is mutually perpendicular to the axis of column type support bar, second linear actuator cylinder body and the second linear actuator push rod are connected by moving sets, and the second linear actuator push rod top is connected by spherical pair with second branch's bulb.
CN201620254215.0U 2016-03-30 2016-03-30 Two degree of freedom spherical surface parallel mechanism of high rigidity Expired - Fee Related CN205614647U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106870894A (en) * 2017-03-02 2017-06-20 潘笑悦 A kind of domestic television set apparatus for placing
CN107813362A (en) * 2017-10-12 2018-03-20 烟台力凯智能科技有限公司 A kind of multi-line cutting machine of achievable Compound Machining
CN109131037A (en) * 2016-12-30 2019-01-04 大连大学 Intelligent vehicle carrier balance is from steady method
CN110815814A (en) * 2019-10-31 2020-02-21 西安交通大学 Seven-shaft parallel shape-following curved surface fused deposition additive manufacturing device
CN111059431A (en) * 2019-12-24 2020-04-24 燕山大学 Two-degree-of-freedom parallel rotating platform with eccentric torque unloading device

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109131037B (en) * 2016-12-30 2021-06-01 大连大学 Intelligent vehicle carrier balance self-stabilization method
CN109131037A (en) * 2016-12-30 2019-01-04 大连大学 Intelligent vehicle carrier balance is from steady method
CN106870894A (en) * 2017-03-02 2017-06-20 潘笑悦 A kind of domestic television set apparatus for placing
CN107813362A (en) * 2017-10-12 2018-03-20 烟台力凯智能科技有限公司 A kind of multi-line cutting machine of achievable Compound Machining
CN107813362B (en) * 2017-10-12 2019-07-02 烟台力凯智能科技有限公司 A kind of multi-line cutting machine of achievable Compound Machining
CN110815814A (en) * 2019-10-31 2020-02-21 西安交通大学 Seven-shaft parallel shape-following curved surface fused deposition additive manufacturing device
CN111059431A (en) * 2019-12-24 2020-04-24 燕山大学 Two-degree-of-freedom parallel rotating platform with eccentric torque unloading device

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