CN206230517U - Without coupling three-dimensional space mobile parallel connection mechanism and the engraving machine using the mechanism - Google Patents
Without coupling three-dimensional space mobile parallel connection mechanism and the engraving machine using the mechanism Download PDFInfo
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- CN206230517U CN206230517U CN201621313701.1U CN201621313701U CN206230517U CN 206230517 U CN206230517 U CN 206230517U CN 201621313701 U CN201621313701 U CN 201621313701U CN 206230517 U CN206230517 U CN 206230517U
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Abstract
The utility model is provided without coupling three-dimensional space mobile parallel connection mechanism and the engraving machine using the mechanism, to solve the problems, such as that parallel institution coupling causes by force kinematics solution complicated in the prior art.Include fixed platform without coupling three-dimensional space mobile parallel connection mechanism, moving platform, three structure type identical sub-chains of connection fixed platform and moving platform, each sub-chain is disposed with first connecting rod from fixed platform to moving platform order, second connecting rod, third connecting rod, fourth link, first connecting rod rotates pair and is connected with fixed platform by first, second connecting rod rotates pair and is connected with first connecting rod by second, third connecting rod rotates pair and is connected with second connecting rod by the 3rd, fourth link is connected by prismatic pair with third connecting rod, the fourth link other end rotates pair and is connected with moving platform by the 4th, three articles the three of sub-chain the 4th axis for rotating pair are orthogonal and are distributed in orthogonal space.
Description
Technical field
The utility model is related to without coupling three-dimensional space mobile parallel connection mechanism and the engraving machine using the mechanism.
Background technology
Parallel institution may be defined as：It is connected with two or more self-movement side chains between fixed platform and moving platform
Connect, mechanism has two or more frees degree, and a kind of close loop mechanism driven with parallel way.Parallel institution is also known as simultaneously
Connection robot, is theory of mechanisms and one of focus of robot field's research in recent years, with rigidity it is big, bearing capacity is strong, error
The advantages of adding up good small, dynamic property, compact conformation.Parallel robot is divided into six-degree-of-freedom parallel robot and lower-mobility again
Parallel robot.Limited-DOF Parallel Robot have simple structure, control be relatively easy to, low cost of manufacture the features such as so that
Minority carrier generation lifetime is in industrial robot, imaginary axis numerical control parallel lathe, coordinate measuring machine, motion simulator and hospital machines
The industries such as people have wide application scenarios.
The patent of invention public affairs that Shen Qing Publication day is on December 8th, 2010, application publication number is the A of CN 101905458
A kind of three platform spaces parallel robot mechanism is opened, the robot mechanism includes moving platform and fixed platform, and fixed platform passes through three
Bar side chain is connected with moving platform, and three side chains have rotating hinge or the drive pair being connected with fixed platform respectively, when each rotating hinge or
When drive pair moves different angles under control, three side chains do corresponding motion, so as to realize moving platform in working space
Inside do translational motion.
But the one of the robot mechanism time translational motion needs every side chain to be actively entered certain motion to realize,
Motion coupling is stronger, and a movement output of moving platform needs multiple power input controls, and kinematics solution is complicated, planning and
Control design case is difficult.
Utility model content
The purpose of this utility model is to provide without coupling three-dimensional space mobile parallel connection mechanism, to solve prior art
Middle parallel institution coupling causes by force the complicated problem of kinematics solution, purpose to also reside in provide and use the engraving of the mechanism
Machine.
To achieve the above object, technical scheme of the utility model without coupling three-dimensional space mobile parallel connection mechanism is：
Without coupling three-dimensional space mobile parallel connection mechanism, including fixed platform and moving platform, parallel institution also include connection fixed platform and
Three structure type identical sub-chains of moving platform, each sub-chain is disposed with from fixed platform to moving platform order
One connecting rod, second connecting rod, third connecting rod, fourth link, first connecting rod rotate pair and are connected with fixed platform by first, second connecting rod
Pair is rotated by second to be connected with first connecting rod, third connecting rod rotates pair and is connected with second connecting rod by the 3rd, and fourth link is led to
Cross prismatic pair to be connected with third connecting rod, the fourth link other end and moving platform rotate pair and be connected by the 4th, first rotate it is secondary with
Second rotates secondary diameter parallel, and the 3rd rotates pair and the 4th rotates secondary diameter parallel and rotate pair and second perpendicular to first
Secondary axis is rotated, the moving direction of prismatic pair rotates pair and the 4th and rotates secondary axis perpendicular to the 3rd, and described first rotates
Pair is driving pair, and three articles the three of sub-chain the 4th axis for rotating pair are orthogonal and are distributed in orthogonal space.
The moving platform is the hexahedron of rule, and the corresponding fourth link of each sub-chain rotates secondary by the 4th respectively
In the hexahedron on mutually perpendicular three faces.
The fixed platform is frame structure, and the axis that the first rotation of each sub-chain is secondary is mutually perpendicular to, and each branch
The first connecting rod of kinematic chain rotates secondary on three sides of frame structure by first.
The technical scheme of the utility model engraving machine is：Engraving machine, including graver and without coupling three-dimensional space move
Dynamic parallel institution, described to include fixed platform and moving platform without coupling three-dimensional space mobile parallel connection mechanism, the graver is consolidated
On the moving platform, parallel institution also includes three structure type identical branches motion of connection fixed platform and moving platform
Chain, each sub-chain is disposed with first connecting rod, second connecting rod, third connecting rod, fourth link from fixed platform to moving platform order,
First connecting rod rotates pair and is connected with fixed platform by first, and second connecting rod rotates pair and is connected with first connecting rod by second, and the 3rd
Connecting rod rotates pair and is connected with second connecting rod by the 3rd, and fourth link is connected by prismatic pair with third connecting rod, and fourth link is another
One end and moving platform rotate pair and be connecteds by the 4th, and first rotates secondary and second rotate secondary diameter parallel, the 3rd rotate it is secondary with
4th rotates secondary diameter parallel and rotates secondary axis perpendicular to the first rotation pair and second, and the moving direction of prismatic pair is vertical
Rotate secondary in the 3rd and the 4th rotate secondary axis, described first to rotate secondary be driving pair, three articles the three of sub-chain the
The secondary axis of four rotations is orthogonal and is distributed in orthogonal space；Engraving machine is also included for driving first turn of each sub-chain
The dynamic secondary actuating unit for rotating.
Engraving machine also includes being fixedly arranged on the graver motor for driving graver rotation on moving platform.
The fixed platform is frame structure, and the axis that the first rotation of each sub-chain is secondary is mutually perpendicular to, and each branch
The first connecting rod of kinematic chain rotates secondary on three sides of frame structure by first.
The actuating unit is to drive first to rotate secondary the first rotation auxiliary-motor for rotating.
The beneficial effects of the utility model are：It is of the present utility model without coupling three-dimensional space mobile parallel connection mechanism, move
The moving movement of the exportable space three-freedom of platform, a linear outgoing movement of moving platform is only by a sub-chain
First rotation of wherein it is secondary rotate, substantially reduce the influence between each sub-chain, solve typically simultaneously
Caused by online structure decoupling difference the problems such as kinematics solution complexity, track and difficult control design case.Parallel connection of the present utility model
Mechanism structure is simple, and kinematic pair is only constituted by rotating secondary and prismatic pair, greatly reduces difficulty of processing, reduces actual production price.
Brief description of the drawings
Fig. 1 is the schematic diagram without coupling three-dimensional space mobile parallel connection mechanism in the utility model engraving machine embodiment；
Fig. 2 is the schematic diagram of the utility model engraving machine embodiment.
Specific embodiment
Implementation method of the present utility model is described further below in conjunction with the accompanying drawings.
The embodiment of the utility model engraving machine, as depicted in figs. 1 and 2, Fig. 1 is to be moved simultaneously without coupling three-dimensional space
The schematic diagram of online structure, wherein 10 is fixed platform, 20 is moving platform, and connection fixed platform 10 and moving platform 20 are three structure shapes
Formula identical sub-chain, respectively the first sub-chain L1, the second sub-chain L2 and the 3rd sub-chain L3.
The present embodiment is illustrated by taking the first sub-chain L1 as an example, and the structure type of each sub-chain is identical, and in figure
Reference is also similar to.
The first rotation secondary R11, the second rotation pair are followed successively by by fixed platform 10 to moving platform 20 in first sub-chain L1
R12, the 3rd rotate secondary R13, prismatic pair P1 and the 4th rotate secondary R14, wherein, first rotation secondary R11 and second rotation secondary R12 by
First connecting rod 1-1 connect, second rotation secondary R12 and the 3rd rotation secondary R13 is connected by second connecting rod 1-2, the 3rd rotation secondary R13 with
Prismatic pair P1 is connected by third connecting rod 1-3, and the rotations of prismatic pair P1 and the 4th secondary R14 is connected by fourth link 1-4.First rotates secondary
R11 and second rotates the diameter parallel of secondary R12, and the 3rd rotates the diameter parallel that secondary R13 and the 4th rotates secondary R14, and the 3rd
Rotate secondary R13 and the 4th and rotate the axis of secondary R14 perpendicular to the first axis for rotating the rotations of secondary R11 and second secondary R12.Prismatic pair
The moving direction of P1 rotates the axis that secondary R13 and the 4th rotates secondary R14 perpendicular to the 3rd.First connecting rod 1-1 is rotated by first
Secondary R11 is connected on fixed platform 10, and fourth link 1-4 is connected on moving platform 20 by the 4th rotation secondary R14.Three branch's fortune
The axis of the 4th rotation pair of dynamic chain is orthogonal and is distributed in orthogonal space.In the present embodiment, moving platform 20 is the six of rule
Face body structure, three articles of fourth links of sub-chain rotate secondary corresponding be connected to hexahedron structure three mutually by the 4th
On vertical face.First rotation pair of wherein three sub-chains is driving pair, operationally, plays the work of power input
With it is driven pair that remaining rotates secondary and prismatic pair.
When parallel institution of the present utility model works, when needing moving platform 20 to be moved along the above-below direction of diagram 1, second
First rotation of sub-chain is secondary to drive moving platform 20 to move up and down, while the first sub-chain and the 3rd sub-chain
Each driven pair make the motion of adaptability；When needing moving platform to be moved along the left and right directions of diagram 1, the motion of the 3rd branch
First rotation of chain is secondary to drive moving platform 20 to move left and right, while the first sub-chain and the 3rd sub-chain is each driven
Pair makees the motion of adaptability；When needing moving platform to be moved along the fore-and-aft direction of diagram 1, the first of the first sub-chain
Rotate secondary driving moving platform 20 to move forward and backward, while each driven pair of the second sub-chain and the 3rd sub-chain is adapted to
The motion of property.Because the diagonal matrix that the Jacobian matrix of the mechanism is 3 × 3, therefore the kinematics of mechanism have without coupling
Characteristic, is capable of achieving man-to-man control planning, i.e. moving platform 20 a movement output only between the motion input and output of mechanism
Need one to rotate secondary rotation, solve the problems, such as that existing parallel institution kinematic decoupling is poor.The mechanism is in parallel machine
The fields such as device people, parallel machine, three left side measuring machines have a wide range of applications.
It is frame structure by can be seen that fixed platform in Fig. 2, three first connecting rods of sub-chain are rotated by first
Pair is on three sides of frame structure, and the axis of three the first rotation pairs of sub-chains is mutually perpendicular to.
In other embodiments, the fourth link of each sub-chain rotates pair and is connected on moving platform by the 4th
Position can be selected according to actual conditions.
In other embodiments, the shape of moving platform can be redesigned according to actual conditions.
As shown in Fig. 2 engraving machine includes graver 40 and drives the graver motor 30 of the rotation of graver 40.Graver 40
It is fixed on the lower surface of moving platform 20, graver motor 30 is fixed on the upper surface of moving platform.Engraving machine also includes without coupling
Three-dimensional space mobile parallel connection mechanism is closed, its structure is with above-mentioned without the structure one for coupling three-dimensional space mobile parallel connection mechanism
Cause, its content will not be repeated here.In the present embodiment, engraving machine includes the electricity for driving the first rotation of the first sub-chain secondary
Machine 12, the first of the 3rd sub-chain of motor 13 and driving of the first rotation pair of the second sub-chain of driving rotate pair
Motor 14.Motor 12, motor 13 and motor 14 are each attached on fixed platform 10, during installation, it is ensured that motor 12, motor 13 and motor
14 pivot center is orthogonal and is distributed in orthogonal space.
When engraving machine works, graver is realized itself to be revolved while three, space direction is moved by parallel institution
Turn, complete incised work.
In the present embodiment, motor 12, motor 13 and motor 14 are first and rotate auxiliary-motor, form actuating unit,
In other embodiment, actuating unit can be hydraulic drive mechanism etc..
Specific embodiment of the utility model without coupling three-dimensional space mobile parallel connection mechanism, implements with above-mentioned engraving machine
Structure without coupling three-dimensional space mobile parallel connection mechanism in example is consistent, and its content will not be repeated here.
Claims (7)
1. without coupling three-dimensional space mobile parallel connection mechanism, including fixed platform and moving platform, it is characterised in that：Parallel institution is also
Three structure type identical sub-chains including connection fixed platform and moving platform, each sub-chain is from fixed platform to dynamic
Platform order is disposed with first connecting rod, second connecting rod, third connecting rod, fourth link, and first connecting rod rotates pair and determine by first
Platform is connected, and second connecting rod is connected by the way that the second rotation is secondary with first connecting rod, and third connecting rod rotates secondary and the second company by the 3rd
Bar is connected, and fourth link is connected by prismatic pair with third connecting rod, and the fourth link other end rotates secondary with moving platform by the 4th
Connection, first rotates secondary and second rotates secondary diameter parallel, and the 3rd rotates secondary and the 4th rotate secondary diameter parallel and vertical
Secondary and the second rotation pair axis is rotated in first, the moving direction of prismatic pair rotates secondary and the 4th rotation pair perpendicular to the 3rd
Axis, described first rotates pair for driving pair, and three articles the three of sub-chain the 4th axis for rotating pair are orthogonal and are in
Orthogonal space is distributed.
2. according to claim 1 without coupling three-dimensional space mobile parallel connection mechanism, it is characterised in that：The moving platform
Be the hexahedron of rule, the corresponding fourth link of each sub-chain respectively by the 4th rotate it is secondary in the hexahedron mutually
On three perpendicular faces.
3. according to claim 1 without coupling three-dimensional space mobile parallel connection mechanism, it is characterised in that：The fixed platform
It is frame structure, the axis that the first rotation of each sub-chain is secondary is mutually perpendicular to, and the first connecting rod of each sub-chain leads to
Cross the first rotation secondary on three sides of frame structure.
4. engraving machine, it is characterised in that：It is described without coupling including graver and without coupling three-dimensional space mobile parallel connection mechanism
Three-dimensional space mobile parallel connection mechanism includes fixed platform and moving platform, and the graver is fixedly arranged on the moving platform, in parallel
Mechanism also includes three structure type identical sub-chains of connection fixed platform and moving platform, and each sub-chain is from allocating
Platform is disposed with first connecting rod, second connecting rod, third connecting rod, fourth link to moving platform order, and first connecting rod is rotated by first
Pair be connected with fixed platform, second connecting rod by second rotate pair be connected with first connecting rod, third connecting rod pass through the 3rd rotation pair and
Second connecting rod is connected, and fourth link is connected by prismatic pair with third connecting rod, and the fourth link other end passes through the 4th with moving platform
Secondary connection is rotated, the first rotation pair and second rotate secondary diameter parallel, and the 3rd rotation pair and the 4th rotate secondary diameter parallel
And the secondary and secondary axis of the second rotation is rotated perpendicular to first, the moving direction of prismatic pair rotates secondary and the 4th turn perpendicular to the 3rd
Secondary axis is moved, described first rotates pair for driving pair, three articles the three of sub-chain the 4th rotate secondary axis and hang down mutually
Directly and in orthogonal space it is distributed；Engraving machine also includes the actuating unit for driving each sub-chain first to rotate secondary rotation.
5. engraving machine according to claim 4, it is characterised in that：Engraving machine also include be fixedly arranged on moving platform for driving
The graver motor of dynamic graver rotation.
6. engraving machine according to claim 4, it is characterised in that：The fixed platform is frame structure, each sub-chain
The secondary axis of the first rotation be mutually perpendicular to, and the first connecting rod of each sub-chain is rotated by first and secondary is located at frame structure
Three sides on.
7. engraving machine according to claim 4, it is characterised in that：The actuating unit is to drive first to rotate secondary rotation
First rotates auxiliary-motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621313701.1U CN206230517U (en) | 2016-11-29 | 2016-11-29 | Without coupling three-dimensional space mobile parallel connection mechanism and the engraving machine using the mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621313701.1U CN206230517U (en) | 2016-11-29 | 2016-11-29 | Without coupling three-dimensional space mobile parallel connection mechanism and the engraving machine using the mechanism |
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| Publication Number | Publication Date |
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| CN206230517U true CN206230517U (en) | 2017-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621313701.1U Expired - Fee Related CN206230517U (en) | 2016-11-29 | 2016-11-29 | Without coupling three-dimensional space mobile parallel connection mechanism and the engraving machine using the mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107379522A (en) * | 2017-09-12 | 2017-11-24 | 河南科技大学 | A kind of 3D printer based on planar moving parallel structure |
| CN108110424A (en) * | 2018-02-13 | 2018-06-01 | 河南科技大学 | A kind of parallel satellite antenna device for adjusting posture |
| CN108172997A (en) * | 2018-02-13 | 2018-06-15 | 河南科技大学 | Based on the antenna attitude adjusting apparatus without three branch of coupling, two one-rotation parallel mechanism |
| CN108858154A (en) * | 2018-08-24 | 2018-11-23 | 西安工程大学 | A kind of angle platform parallel institution with Three Degree Of Freedom |
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2016
- 2016-11-29 CN CN201621313701.1U patent/CN206230517U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107379522A (en) * | 2017-09-12 | 2017-11-24 | 河南科技大学 | A kind of 3D printer based on planar moving parallel structure |
| CN107379522B (en) * | 2017-09-12 | 2023-08-18 | 河南科技大学 | 3D printer based on plane removes parallel mechanism |
| CN108110424A (en) * | 2018-02-13 | 2018-06-01 | 河南科技大学 | A kind of parallel satellite antenna device for adjusting posture |
| CN108172997A (en) * | 2018-02-13 | 2018-06-15 | 河南科技大学 | Based on the antenna attitude adjusting apparatus without three branch of coupling, two one-rotation parallel mechanism |
| CN108172997B (en) * | 2018-02-13 | 2023-08-15 | 河南科技大学 | Antenna attitude adjusting device based on uncoupled three-branch two-rotation parallel mechanism |
| CN108110424B (en) * | 2018-02-13 | 2023-10-10 | 河南科技大学 | Parallel satellite antenna attitude adjusting device |
| CN108858154A (en) * | 2018-08-24 | 2018-11-23 | 西安工程大学 | A kind of angle platform parallel institution with Three Degree Of Freedom |
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Granted publication date: 20170609 Termination date: 20191129 |