CN206105834U - Space two of big stroke high accuracy is rotated one and is removed gentle and agreeable parallel mechanism - Google Patents
Space two of big stroke high accuracy is rotated one and is removed gentle and agreeable parallel mechanism Download PDFInfo
- Publication number
- CN206105834U CN206105834U CN201621051892.9U CN201621051892U CN206105834U CN 206105834 U CN206105834 U CN 206105834U CN 201621051892 U CN201621051892 U CN 201621051892U CN 206105834 U CN206105834 U CN 206105834U
- Authority
- CN
- China
- Prior art keywords
- axis
- flexible
- compliant
- parallel
- flexible branch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Transmission Devices (AREA)
Abstract
The utility model relates to a space two of big stroke high accuracy is rotated one and is removed gentle and agreeable parallel mechanism. The purpose is that the mechanism that provides should have the advantage that the motion scope is big, the precision is high. Technical scheme is: a space two of big stroke high accuracy is rotated one and is removed gentle and agreeable parallel mechanism, includes the frame, moves platform and three flexible branch, every flexible branch includes that the removal is vice, installs piece, flexible revolute pair, connecting rod and flexible spherical pair, in every flexible branch, movable assistant axis is vertical to be arranged, flexible revolute pair axis level is arranged and perpendicular to connecting rod axis, three movable assistant axis's horizontal projection is equilateral triangle's three summit, and the horizontal projection's of two liang of flexible revolute pair axis contained angle is 60 degrees, perhaps, three movable assistant axis's horizontal projection is isosceles right -angle triangle -shaped's three summit, wherein form the flexible revolute pair axis of the vice two of being correlated with of the removal parallel and three flexible revolute pair axis of perpendicular to of each other on the two summit of isosceles right -angle triangle -shaped hypotenuse.
Description
Technical field
This utility model is related to robotics, and the space two of specifically a kind of large stroke and high precision rotates one and moves
Compliant parallel mechanism.
Background technology
Compared to serial mechanism, parallel institution has the advantages that compact conformation, good rigidity, dynamicss are good, therefore quilt
It is widely used in the fields such as commercial production, motion simulation, medical treatment.But, due to there are many passive hinges in parallel institution, make
Its manufacture, assembly cost it is higher.Meanwhile, the inevitable foozle of passive hinge can reducing mechanism performance accuracy.Adopt
Rigid hinge is replaced well to solve these problems with flexible hinge.Compliant member can integration the characteristics of process so that machine
Structure has the advantages that performance accuracy is high, lightweight, it is little to rub, assembling is few.Therefore, compliant parallel mechanism is researched and developed.Wherein, have
The compliant parallel mechanism for having the rotation one-movement-freedom-degree of space two is an important class, is widely used in microoperation, positioning etc.
Field.
Existing space two rotates movement compliant mechanism (such as CN201413642Y, CN102360160A) and is driven device
Travel limit, moving platform range of movement very little, it is impossible to meet job demand, needs design some displacement equations machines in mechanism
Structure is amplifying its stroke.But can so increase the complexity of structure, and amplification effect is limited.It is therefore proposed that a kind of motion
It is necessary that scope is big, the space two of high precision, compact conformation rotates a movement compliant parallel mechanism.
Utility model content
The purpose of this utility model is overcome the shortcomings of in above-mentioned background technology, proposes a kind of space of large stroke and high precision
Two rotate one moves compliant parallel mechanism, the mechanism should have the advantages that range of movement greatly, high precision, simple structure, low cost.
The technical solution of the utility model is
A kind of space two of large stroke and high precision rotates one and moves compliant parallel mechanism, including frame, moving platform and and
Connection is connected to three flexible branch between frame and moving platform；It is characterized in that：
Each flexible branch include being connected in turn moving sets between frame and moving platform, mounting blocks, compliant rotational it is secondary,
Connecting rod and flexible spherical pair；In described each flexible branch, moving sets axis vertical arrangement, compliant rotational secondary axis is horizontally disposed
And perpendicular to connecting rod axis；
The floor projection of three mobile secondary axises is three summits of equilateral triangle, two-by-two the water of compliant rotational secondary axis
The angle of flat projection is 60 degree；Or,
The floor projection of described three mobile secondary axises is three summits of isosceles right triangle；Wherein form isosceles straight
Two related compliant rotational secondary axises of the moving sets on two summits of angle hypotenuse are parallel to each other and perpendicular to
Three compliant rotational secondary axises.
A kind of space two of large stroke and high precision rotates one and moves compliant parallel mechanism, including frame, moving platform and and
Connection is connected to three flexible branch between frame and moving platform；It is characterized in that：
Described each flexible branch includes moving sets, mounting blocks, the flexible ball being connected in turn between frame and moving platform
Face pair, connecting rod and compliant rotational pair；In described each flexible branch, moving sets axis vertical arrangement, compliant rotational secondary axis hangs down
Straight axis in connecting rod and parallel to moving platform plane；
The floor projection of three mobile secondary axises is three summits of equilateral triangle, and two-by-two compliant rotational secondary axis is dynamic
The angle of platform projection is 60 degree；Or,
The floor projection of described three mobile secondary axises is three summits of isosceles right triangle, wherein it is straight to form isosceles
Two related compliant rotational secondary axises of the moving sets on two summits of angle hypotenuse are parallel to each other and perpendicular to
Three compliant rotational secondary axises.
The moving sets are to be driven by servomotor and drive secondary ball screw framework as each flexible branch.
The mounting blocks are fixed on the slide unit in ball screw framework.
The beneficial effects of the utility model are：
The utility model proposes compliant parallel mechanism can perform two of space and rotate and a moving movement, structure
It is full symmetric, there is big range of movement, high precision, low cost of manufacture, assemble simple, can be used for microoperation, positioning etc.
Field.
Description of the drawings
Fig. 1 is the dimensional structure diagram of this utility model embodiment one.
Fig. 2 is the dimensional structure diagram of this utility model embodiment two.
Fig. 3 is the dimensional structure diagram of this utility model embodiment three.
Fig. 4 is the dimensional structure diagram of this utility model example IV.
Specific embodiment
Below in conjunction with Figure of description, the utility model is described in further detail, but this utility model be not limited to
Lower embodiment.
Embodiment one
It is as shown in figure 1, a kind of space two of large stroke and high precision rotates one moves compliant parallel mechanism including frame 1, dynamic
Platform 2 and three flexible branch being connected in parallel between frame and moving platform.
Each flexible branch includes that the moving sets 10 being connected in turn between frame and moving platform, mounting blocks 14, flexibility turn
Dynamic secondary 13, connecting rod 11 and flexible spherical pair 12；In described each flexible branch, moving sets axis vertical arrangement, compliant rotational pair
Axis horizontal is arranged and perpendicular to connecting rod axis；The floor projection of described three mobile secondary axises is three of equilateral triangle
Summit, and two-by-two the angle of the floor projection of compliant rotational secondary axis is 60 degree.
The moving sets be with frame fix ball screw framework (including leading screw, slide unit 15, servomotor), ball wire
The leading screw axis vertical arrangement of thick stick mechanism, slide unit and the mounting blocks of ball screw framework are fixed；The top of the connecting rod is by soft
Property rotate pair be connected with mounting blocks and connecting rod bottom pass through flexibility spherical pair be connected with moving platform.
In the case of undeformed：Three flexible branch are rotationally symmetrical with regard to moving platform, and center of rotational symmetry is
The center of platform and the anglec of rotation are 120 degree, and the center of rotation of three flexible spherical pairs is pushed up for three of equilateral triangle
Point, three compliant rotational secondary axises are three sides of equilateral triangle；In each flexible branch, connecting rod axis and ball-screw machine
The angle that the lead screw shaft line of structure is formed is acute angle (connecting rod axis is not orthogonal to leading screw axis).
Embodiment two
It is as shown in Fig. 2 a kind of space two of large stroke and high precision rotates one moves compliant parallel mechanism including frame 1, dynamic
Platform 2 and three flexible branch being connected in parallel between frame and moving platform.
Each flexible branch includes moving sets 10, the mounting blocks 14, flexible ball being connected in turn between frame and moving platform
Face pair 12, connecting rod 11 and compliant rotational pair 13；In described each flexible branch, moving sets axis vertical arrangement, compliant rotational pair
Axis is perpendicular to connecting rod axis and parallel to moving platform plane；The floor projection of described three mobile secondary axises is equilateral triangle
Three summits, and two-by-two compliant rotational secondary axis moving platform projection angle be 60 degree
The moving sets be with frame fix ball screw framework (including leading screw, slide unit 15, servomotor), ball wire
The leading screw axis vertical arrangement of thick stick mechanism, slide unit and the mounting blocks of ball screw framework are fixed；The top of the connecting rod is by soft
Property spherical pair be connected with mounting blocks and connecting rod bottom by compliant rotational pair be connected with moving platform.
In the case of undeformed：Three flexible branch are rotationally symmetrical with regard to moving platform, and center of rotational symmetry is
The center of platform and the anglec of rotation are 120 degree, and the center of rotation of three flexible spherical pairs is pushed up for three of equilateral triangle
Point, three compliant rotational secondary axises are three sides of equilateral triangle；In each flexible branch, connecting rod axis and ball-screw machine
The angle that the lead screw shaft line of structure is formed is acute angle (connecting rod axis is not orthogonal to leading screw axis).
Embodiment three
It is as shown in figure 3, a kind of space two of large stroke and high precision rotates one moves compliant parallel mechanism including frame 1, dynamic
Platform 2 and three flexible branch being connected in parallel between frame and moving platform.
Each flexible branch includes that the moving sets 10 being connected in turn between frame and moving platform, mounting blocks 14, flexibility turn
Dynamic secondary 13, connecting rod 11 and flexible spherical pair 12；In described each flexible branch, moving sets axis vertical arrangement, compliant rotational pair
Axis horizontal is arranged and perpendicular to connecting rod axis；In three flexible branch：The floor projection of three mobile secondary axises is
Three summits of isosceles right triangle, two of which moving sets (moving sets and the moving sets on right side in left side in Fig. 3) are related
Summit line for isosceles right triangle hypotenuse, two related compliant rotational secondary axises of the two moving sets are mutually equal
Go and perpendicular to the 3rd compliant rotational secondary axis.
The moving sets be with frame fix ball screw framework (including leading screw, slide unit 15, servomotor), ball wire
The leading screw axis vertical arrangement of thick stick mechanism, slide unit and the mounting blocks of ball screw framework are fixed；The top of the connecting rod is by soft
Property rotate pair be connected with mounting blocks and connecting rod bottom pass through flexibility spherical pair be connected with moving platform.
In the case of undeformed：Two flexible branch therein (divide in Fig. 3 by the flexibility on the flexible branch in left side and right side
) symmetrical with regard to the 3rd flexible branch, and the center of rotation of three flexible spherical pairs is three of isosceles right triangle
Summit, three compliant rotational secondary axis centers are three summits of isosceles triangle；In each flexible branch, connecting rod axis with rolling
The angle that the lead screw shaft line of screw mechanism is formed is acute angle (connecting rod axis is not orthogonal to leading screw axis).
Example IV
It is as shown in figure 4, a kind of space two of large stroke and high precision rotates one moves compliant parallel mechanism including frame 1, dynamic
Platform 2 and three flexible branch being connected in parallel between frame and moving platform.
Each flexible branch includes moving sets 10, the mounting blocks 14, flexible ball being connected in turn between frame and moving platform
Face pair 12, connecting rod 11 and compliant rotational pair 13；In described each flexible branch, moving sets axis vertical arrangement, compliant rotational pair
Axis perpendicular to connecting rod axis and parallel to moving platform plane；In three flexible branch：The water of three mobile secondary axises
Flat three summits for being projected as the isosceles right triangle, (movement on the moving sets in left side and right side in Fig. 4 of two of which moving sets
It is secondary) related summit line is isosceles right triangle hypotenuse, two related compliant rotational secondary axises of the two moving sets
It is parallel to each other and perpendicular to the 3rd compliant rotational secondary axis.
The moving sets be with frame fix ball screw framework (including leading screw, slide unit 15, servomotor), ball wire
The leading screw axis vertical arrangement of thick stick mechanism, slide unit and the mounting blocks of ball screw framework are fixed；The top of the connecting rod is by soft
Property spherical pair be connected with mounting blocks and connecting rod bottom by compliant rotational pair be connected with moving platform.
In the case of undeformed：Two flexible branch therein are symmetrical with regard to the 3rd flexible branch, and three soft
Property spherical pair center of rotation for isosceles right triangle three summits, three compliant rotational secondary axis centers are isoceles triangle
Three summits of shape；In each flexible branch, the angle that connecting rod axis is formed with the lead screw shaft line of ball screw framework is acute angle
(connecting rod axis is not orthogonal to leading screw axis).
In above-described embodiment：
Each compliant rotational is secondary and each flexible spherical pair is fabricated from a flexible material, the preferred beryllium-bronze of the flexible material,
Titanium alloy, polypropylene, spring steel etc.；The ball screw framework is the driving pair of each flexible branch, and moving platform is in servomotor
Lower work two is driven to rotate a moving movements.
Claims (4)
1. a kind of large stroke and high precision space two rotate one move compliant parallel mechanism, including frame (1), moving platform (2) with
And three flexible branch being connected in parallel between frame and moving platform；It is characterized in that：
Each flexible branch includes that the moving sets (10) being connected in turn between frame and moving platform, mounting blocks (14), flexibility turn
Dynamic pair (13), connecting rod (11) and flexible spherical pair (12)；In described each flexible branch, moving sets axis vertical arrangement is flexible
Turns auxiliary shaft line is horizontally disposed and perpendicular to connecting rod axis；
The floor projection of three mobile secondary axises is three summits of equilateral triangle, and two-by-two the level of compliant rotational secondary axis is thrown
The angle of shadow is 60 degree；Or,
The floor projection of described three mobile secondary axises is three summits of isosceles right triangle；Wherein form isosceles right angle three
Two related compliant rotational secondary axises of the moving sets on two summits of angular hypotenuse are parallel to each other and perpendicular to the 3rd
Compliant rotational secondary axis.
2. a kind of large stroke and high precision space two rotate one move compliant parallel mechanism, including frame (1), moving platform (2) with
And three flexible branch being connected in parallel between frame and moving platform；It is characterized in that：
Described each flexible branch includes being connected in turn moving sets (10) between frame and moving platform, mounting blocks (14), soft
Property spherical pair (12), connecting rod (11) and compliant rotational pair (13)；In described each flexible branch, moving sets axis vertical arrangement,
Compliant rotational secondary axis perpendicular to connecting rod axis and parallel to moving platform plane；
The floor projection of three mobile secondary axises is three summits of equilateral triangle, two-by-two the moving platform of compliant rotational secondary axis
The angle of projection is 60 degree；Or,
The floor projection of described three mobile secondary axises is three summits of isosceles right triangle, wherein forming isosceles right angle three
Two related compliant rotational secondary axises of the moving sets on two summits of angular hypotenuse are parallel to each other and perpendicular to the 3rd
Compliant rotational secondary axis.
3. a kind of space two of large stroke and high precision according to claim 1 and 2 rotates one and moves compliant parallel mechanism, its
It is characterised by：The moving sets are to be driven by servomotor and drive secondary ball screw framework as each flexible branch.
4. a kind of space two of large stroke and high precision according to claim 3 rotates one and moves compliant parallel mechanism, and it is special
Levy and be：The mounting blocks are fixed on the slide unit in ball screw framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621051892.9U CN206105834U (en) | 2016-09-13 | 2016-09-13 | Space two of big stroke high accuracy is rotated one and is removed gentle and agreeable parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621051892.9U CN206105834U (en) | 2016-09-13 | 2016-09-13 | Space two of big stroke high accuracy is rotated one and is removed gentle and agreeable parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206105834U true CN206105834U (en) | 2017-04-19 |
Family
ID=58519806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621051892.9U Active CN206105834U (en) | 2016-09-13 | 2016-09-13 | Space two of big stroke high accuracy is rotated one and is removed gentle and agreeable parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206105834U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426088A (en) * | 2016-09-13 | 2017-02-22 | 浙江理工大学 | Large-stroke and high-accuracy type spacial two-rotation and one-moving flexible parallel-connecting mechanism |
-
2016
- 2016-09-13 CN CN201621051892.9U patent/CN206105834U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426088A (en) * | 2016-09-13 | 2017-02-22 | 浙江理工大学 | Large-stroke and high-accuracy type spacial two-rotation and one-moving flexible parallel-connecting mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106426088A (en) | Large-stroke and high-accuracy type spacial two-rotation and one-moving flexible parallel-connecting mechanism | |
| CN100372657C (en) | 3-degree-of-freedom 6-UPS tri-translational parallel robot | |
| CN103381602B (en) | A kind of full decoupled two move one turn of three-freedom degree spatial parallel structure | |
| CN102431028A (en) | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom | |
| CN104875192A (en) | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism | |
| CN205521372U (en) | Remove parallelly connected bionical ankle joint of vice redundant driven 2 -DOF sphere | |
| CN104260081B (en) | Three Degree Of Freedom driver and driving method | |
| CN104772750B (en) | A kind of moving lifting machine people | |
| CN100513062C (en) | Parallel mechanism with four degrees of freedom | |
| CN106002956A (en) | Over-constrained self-balancing three-degree-of-freedom parallel-connection platform | |
| CN106313003A (en) | Large-stroke and high-precision three-moving-freedom-degree flexible parallel mechanism | |
| CN206105834U (en) | Space two of big stroke high accuracy is rotated one and is removed gentle and agreeable parallel mechanism | |
| CN102431605A (en) | Sphere-wheel compound transformable mobile robot | |
| CN102240911A (en) | Incompletely-symmetrical four-freedom-degree space in-parallel mechanism with two-dimensional rotation and two-dimensional movement | |
| CN102398264A (en) | Two-dimensional translational and two-dimensional rotary four-freedom parallel robot mechanism | |
| CN206105835U (en) | Gentle and agreeable parallel mechanism of space 6 -degree of freedom of big stroke high accuracy | |
| CN103831828B (en) | Robot and neck mechanism thereof | |
| CN203557381U (en) | Three-degree-of-freedom parallel mechanism | |
| CN103722547B (en) | There is the decoupling space parallel mechanism of two one turn of Three Degree Of Freedom of shifting | |
| CN204248889U (en) | A kind of three-branch chain six-freedom degree parallel mechanism | |
| CN103495970A (en) | Three-freedom-degree parallel mechanism | |
| CN105267016A (en) | A massage device | |
| CN106272359B (en) | A kind of four-freedom parallel connection robot mechanism | |
| CN1306899A (en) | Four-freedom spatial parallel robot mechanism | |
| CN103286778B (en) | Two-freedom rotates decoupling parallel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |