CN206154293U - Gentle and agreeable parallel mechanism of three movement freedom of big stroke high accuracy - Google Patents
Gentle and agreeable parallel mechanism of three movement freedom of big stroke high accuracy Download PDFInfo
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- CN206154293U CN206154293U CN201621051928.3U CN201621051928U CN206154293U CN 206154293 U CN206154293 U CN 206154293U CN 201621051928 U CN201621051928 U CN 201621051928U CN 206154293 U CN206154293 U CN 206154293U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 24
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 229910000906 Bronze Inorganic materials 0.000 description 1
- 239000004743 Polypropylene Substances 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000010974 bronze Substances 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- -1 polypropylene Polymers 0.000 description 1
- 229920001155 polypropylene Polymers 0.000 description 1
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Abstract
The utility model relates to a gentle and agreeable parallel mechanism of three movement freedom of big stroke high accuracy. The purpose is that the mechanism that provides has that the motion scope is big, the precision is high, simple structure, low in manufacturing cost's advantage. Technical scheme is: a gentle and agreeable parallel mechanism of three movement freedom of big stroke high accuracy, includes the frame, move platform and parallel connection in the frame and move the three flexible branch between the platform, its characterized in that: every flexible branch including connect gradually the frame with move that removal between the platform is vice, installation piece, a flexible rotation are vice, first connecting rod, the 2nd flexible rotation are vice, second connecting rod, the 3rd flexible rotation pair, in every flexible branch, first connecting rod axis of movable assistant axis perpendicular to and second connecting rod axis to movable assistant axis, a flexible rotation countershaft line, the 2nd flexible rotation countershaft line, the 3rd flexible rotation countershaft line parallel of each other, in the three branch, three movable assistant axis is orthogonal.
Description
Technical field
The utility model is related to robotics, and three one-movement-freedom-degrees of specifically a kind of large stroke and high precision are submissive
Parallel institution.
Background technology
Compared to traditional rigid mechanism, what compliant mechanism was utilized is the deformation of flexible material transmitting motion, power or energy
Amount.Compliant mechanism have the advantages that can integration processing, assembling less, high precision, be widely used in accurate operation, positioning etc. lead
Domain.Particularly, parallel arrangement can limit the accumulation of flexible hinge error, improve integral rigidity, brings dynamic property
Improve.Therefore, parallel compliant mechanism is researched and developed.Wherein, the compliant parallel mechanism with three one-movement-freedom-degrees is important
A class, be widely used in the fields such as precision positioning, robot.
Existing three one-movement-freedom-degrees compliant parallel mechanism (such as CN201498217U, CN102446563A) adopts mostly
It is Piezoelectric Ceramic, has the advantages that fast response time, positioning precision are high, but there is also the little problem of displacement knots modification,
So that the range of movement of integrated model is less, needs design some displacement amplifying mechanisms such as leverage in mechanism and carry out enlarger
The range of movement of structure, such design causes the complex structure of mechanism, increased manufacturing cost.It is therefore proposed that a kind of motion model
The three one-movement-freedom-degree compliant parallel mechanisms for enclosing big, high precision, simple structure, low cost of manufacture are necessary.
Utility model content
The purpose of this utility model is to overcome the shortcomings of in above-mentioned background technology, there is provided a kind of three shiftings of large stroke and high precision
Dynamic free degree compliant parallel mechanism, the mechanism has the advantages that range of movement is big, high precision, simple structure, low cost of manufacture.
The technical solution of the utility model is：
A kind of three one-movement-freedom-degree compliant parallel mechanisms of large stroke and high precision, including frame, moving platform and parallel connection are even
Three flexible branch being connected between frame and moving platform；It is characterized in that：
Each flexible branch includes that the moving sets being connected in turn between frame and moving platform, mounting blocks, the first flexibility turn
Dynamic pair, first connecting rod, the second compliant rotational pair, second connecting rod, the 3rd compliant rotational pair；
In described each flexible branch, mobile secondary axis is moved perpendicular to first connecting rod axis and second connecting rod axis
Dynamic secondary axis, the first compliant rotational secondary axis, the second compliant rotational secondary axis, the 3rd compliant rotational secondary axis are parallel to each other；Institute
In stating three branches, three mobile secondary axises are orthogonal.
The moving sets are to be driven by servomotor and as the secondary ball screw framework of each branch drives.
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 there are three one-movement-freedom-degrees and structure is full symmetric, with motion
Scope is big, high precision, low cost of manufacture, the advantages of assemble simple, can be used for the fields such as precision positioning, robot.
Description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model.
Specific embodiment
Below in conjunction with Figure of description, the utility model is described in further detail, but the utility model be not limited to
Lower embodiment.
As shown in figure 1, a kind of three one-movement-freedom-degree compliant parallel mechanisms of large stroke and high precision, including frame 1, moving platform
2 and three flexible branch being connected in parallel between frame and moving platform.
Each flexible branch is soft including the moving sets 10, mounting blocks 11, first being connected in turn between frame and moving platform
Property rotate secondary 12, first connecting rod 13, the second compliant rotational pair 14, second connecting rod 15, the 3rd compliant rotational pair 16；It is described that each is soft
In property branch：Mobile secondary axis is perpendicular to first connecting rod axis and second connecting rod axis, while mobile secondary axis, the first flexibility turn
Dynamic secondary axis, the second compliant rotational secondary axis, the 3rd compliant rotational secondary axis are parallel to each other；In three flexible branch：Three
Individual mobile secondary axis is mutually perpendicular to, and three the first compliant rotational secondary axises are mutually perpendicular to, three the second compliant rotational secondary axis phases
Mutually vertical, three the 3rd compliant rotational secondary axises are mutually perpendicular to,
The moving sets be with frame fix ball screw framework (including leading screw, slide unit 17, servomotor 18), ball
The slide unit of screw mechanism is fixed with mounting blocks；The first connecting rod two ends are flexible by the first compliant rotational pair and second respectively
Rotate pair to be connected with one end of mounting blocks and second connecting rod, the other end of second connecting rod is flat with dynamic by the 3rd compliant rotational pair
Platform connects.
In the case of undeformed：In three flexible branch, three first connecting rod axis are mutually perpendicular to, three second connecting rods
Axis is mutually perpendicular to.
In the present embodiment：
Each compliant rotational pair is made up of 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 makees three freedoms of movement under servomotor drive
Degree motion.
Claims (3)
1. a kind of three one-movement-freedom-degree compliant parallel mechanisms of large stroke and high precision, including frame (1), moving platform (2) and and
Connection is connected to three flexible branch between frame and moving platform；It is characterized in that：
Each flexible branch includes being connected in turn moving sets (10) between frame and moving platform, mounting blocks (11), first soft
Property rotate secondary (12), first connecting rod (13), the second compliant rotational pair (14), second connecting rod (15), the 3rd compliant rotational pair (16)；
In described each flexible branch, mobile secondary axis is perpendicular to first connecting rod axis and second connecting rod axis, and moving sets
Axis, the first compliant rotational secondary axis, the second compliant rotational secondary axis, the 3rd compliant rotational secondary axis are parallel to each other；Described three
In individual branch, three mobile secondary axises are orthogonal.
2. a kind of three one-movement-freedom-degree compliant parallel mechanisms of large stroke and high precision according to claim 1, its feature exists
In：The moving sets are to be driven by servomotor and as the secondary ball screw framework of each branch drives.
3. a kind of three one-movement-freedom-degree compliant parallel mechanisms of large stroke and high precision according to claim 2, its feature exists
In：The mounting blocks are fixed on the slide unit in ball screw framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621051928.3U CN206154293U (en) | 2016-09-13 | 2016-09-13 | Gentle and agreeable parallel mechanism of three movement freedom of big stroke high accuracy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621051928.3U CN206154293U (en) | 2016-09-13 | 2016-09-13 | Gentle and agreeable parallel mechanism of three movement freedom of big stroke high accuracy |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206154293U true CN206154293U (en) | 2017-05-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621051928.3U Expired - Fee Related CN206154293U (en) | 2016-09-13 | 2016-09-13 | Gentle and agreeable parallel mechanism of three movement freedom of big stroke high accuracy |
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| Country | Link |
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| CN (1) | CN206154293U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313003A (en) * | 2016-09-13 | 2017-01-11 | 浙江理工大学 | Large-stroke and high-precision three-moving-freedom-degree flexible parallel mechanism |
-
2016
- 2016-09-13 CN CN201621051928.3U patent/CN206154293U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313003A (en) * | 2016-09-13 | 2017-01-11 | 浙江理工大学 | Large-stroke and high-precision three-moving-freedom-degree flexible parallel mechanism |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170510 |