CN206344132U - A kind of big corner two rotates a mobile parallel connection mechanism - Google Patents
A kind of big corner two rotates a mobile parallel connection mechanism Download PDFInfo
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- CN206344132U CN206344132U CN201621160907.5U CN201621160907U CN206344132U CN 206344132 U CN206344132 U CN 206344132U CN 201621160907 U CN201621160907 U CN 201621160907U CN 206344132 U CN206344132 U CN 206344132U
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- hooke
- hinge
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- moving platform
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Abstract
The utility model is related to a kind of big corner two and rotates a mobile parallel connection mechanism.The parallel institution that purpose is to provide should have the advantages that rotational angle is big, simple in construction, rigidity is high, large carrying capacity, dynamic performance are good.Technical scheme is：A kind of big corner two rotates a mobile parallel connection mechanism, including frame, moving platform and first branch and two the second branches；It is characterized in that：First branch includes gantry rotation pair, the first prismatic pair sliding block, the first prismatic pair guide rod and the first Hooke's hinge；Second branch includes the second prismatic pair guide rail, the second prismatic pair sliding block, the second Hooke's hinge, connecting rod and moving platform revolute pair；In described two second branches, the first revolute pair axis of the second Hooke's hinge is overlapped and parallel to the gantry rotation secondary axis in the first branch；In two the second branches, second rotation axis of the moving platform revolute pair axis parallel to the first Hooke's hinge in the first branch.
Description
Technical field
The utility model is related to robotic technology field, and specifically a kind of big corner two rotates a mobile parallel connection mechanism.
Background technology
Its moving platform that is mainly characterized by of parallel institution is connected in frame by the branch of more than two, general branch
Number is equal to the number of degrees of freedom, of mechanism.The motor of drive mechanism motion can be arranged at frame, so that mechanism
Have the advantages that good rigidity, large carrying capacity, dynamic performance are good.Therefore, parallel institution has obtained extensive research, and has
The parallel institution of the rotation one-movement-freedom-degree of space two is a wherein important class, can be applied to complex surface machining, motion mould
The fields such as plan.
Existing two rotate a mobile parallel connection mechanism (CN 105904436 A, CN 104889978 A, CN 105397797
A it is) in side chain to have used ball pair more.The secondary slewing area of ball is smaller so that the rotational angle of overall parallel institution is also smaller, limit
The application of Zhi Liao mechanisms.It is therefore proposed that have very much must for two big one mobile parallel connection mechanisms of rotation of a kind of simple in construction, rotational angle
Will.
Utility model content
Technical problem to be solved in the utility model be overcome the shortcomings of background technology exist there is provided a kind of big corner two
A mobile parallel connection mechanism is rotated, the parallel institution should be with rotational angle is big, simple in construction, rigidity is high, large carrying capacity, power
Learn the advantages of performance is good.
The technical solution of the utility model is：
A kind of big corner two rotates a mobile parallel connection mechanism, including frame, moving platform and be connected in parallel frame with it is dynamic
First branch and two the second branches between platform；It is characterized in that：
First branch includes being connected in turn gantry rotation pair between frame and moving platform, the first prismatic pair sliding block, the
One prismatic pair guide rod and the first Hooke's hinge；The first rotation axis that first Hooke's hinge is connected with the first prismatic pair guide rod parallel to
Gantry rotation secondary axis, and perpendicular to the first movement secondary axis；
The second prismatic pair guide rail, the second prismatic pair that second branch includes being connected in turn between frame and moving platform are slided
Block, the second Hooke's hinge, connecting rod and moving platform revolute pair；The first rotation axis of second Hooke's hinge is put down with the second movement secondary axis
OK, the second rotation axis that the second Hooke's hinge is connected with connecting rod is with moving platform revolute pair axis parallel and perpendicular to the second prismatic pair
Axis；
In described two second branches, the first revolute pair axis of the second Hooke's hinge is overlapped and parallel in the first branch
Gantry rotation secondary axis；In two the second branches, moving platform revolute pair axis parallel to the first Hooke's hinge in the first branch
Two pivot centers.
A kind of big corner two rotates a mobile parallel connection mechanism, including frame, moving platform and be connected in parallel frame with it is dynamic
Two the first branches and second branch between platform；It is characterized in that：
First branch includes being connected in turn gantry rotation pair between frame and moving platform, the first prismatic pair sliding block, the
One prismatic pair guide rod and the first Hooke's hinge；The first rotation axis that first Hooke's hinge is connected with the first prismatic pair guide rod parallel to
Gantry rotation secondary axis and perpendicular to first movement secondary axis；
The second prismatic pair guide rail, the second prismatic pair that second branch includes being connected in turn between frame and moving platform are slided
Block, the second Hooke's hinge, connecting rod and moving platform revolute pair；The first rotation axis of second Hooke's hinge is put down with the second movement secondary axis
OK, the second rotation axis that the second Hooke's hinge is connected with connecting rod is with moving platform revolute pair axis parallel and perpendicular to the second prismatic pair
Axis；
The first Hooke's hinge is connected with moving platform in described two first branches second rotation axis is overlapped, and parallel to the
Moving platform revolute pair axis in two branches；The first revolute pair axis of the second Hooke's hinge is parallel in the first branch in second branch
Gantry rotation secondary axis.
A kind of big corner two rotates a mobile parallel connection mechanism, including frame, moving platform and be connected in parallel frame with it is dynamic
Two the first branches and two the second branches between platform；It is characterized in that：
First branch includes being connected in turn gantry rotation pair between frame and moving platform, the first prismatic pair sliding block, the
One prismatic pair guide rod and the first Hooke's hinge；The first rotation axis that first Hooke's hinge is connected with guide rod is parallel to gantry rotation pair
Axis and perpendicular to first movement secondary axis；
The second prismatic pair guide rail, the second prismatic pair that second branch includes being connected in turn between frame and moving platform are slided
Block, the second Hooke's hinge, connecting rod and moving platform revolute pair；The first rotary shaft that second Hooke's hinge is connected with the second prismatic pair sliding block
Line and the second prismatic pair diameter parallel, the second rotation axis that the second Hooke's hinge is connected with connecting rod are put down with moving platform revolute pair axis
Go and perpendicular to the second movement secondary axis；
The first revolute pair axis of the second Hooke's hinge is overlapped and turned parallel to frame in the first branch in two the second branches
Dynamic secondary axis；The first Hooke is hinged the second rotation axis coincidence of moving platform and parallel to the second branch in two the first branches
Middle moving platform revolute pair axis；
The gantry rotation pair of two the first branches is symmetrical with the second branch second movement secondary axis arrangement.
Rotating shaft of the gantry rotation pair on the first prismatic pair sliding block and shape with first bearing seat, second bearing seat
Into.
In described two second branches, wherein a connecting rod passes through the elongated hole on another connecting rod so that two second point
Branch arranged crosswise；The elongated hole is arranged along length of connecting rod direction.
In described two second branches, wherein a connecting rod passes through the elongated hole on another connecting rod so that two second point
Branch arranged crosswise；The elongated hole is arranged along length of connecting rod direction.
The beneficial effects of the utility model are：
The utility model proposes parallel institution can perform space two rotate a moving movement, with it is simple in construction, turn
The advantages of angle is big, rigidity is high, large carrying capacity, dynamic performance are good is moved, available for necks such as complex surface machining, motion simulations
Domain.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model embodiment one.
Fig. 2 is the dimensional structure diagram of the utility model embodiment two.
Fig. 3 is the dimensional structure diagram of the utility model embodiment three.
Fig. 4 is the dimensional structure diagram of the utility model example IV.
Fig. 5 is the dimensional structure diagram of the utility model embodiment five.
Fig. 6 is the dimensional structure diagram of the first branch.
Fig. 7 is the dimensional structure diagram of the first sliding block.
Fig. 8 is the dimensional structure diagram of the second branch.
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.
Embodiment one
Such as Fig. 1, shown in 6,7,8, a kind of big corner two rotates a mobile parallel connection mechanism, including frame (being omitted in figure), dynamic
Platform 1 and first branch and two the second branches being connected in parallel between frame and moving platform.
First branch includes the first bearing seat 11 and second bearing seat 12 (two being connected in turn between frame and moving platform
The pivot center of individual bearing block is coaxial), the first prismatic pair sliding block 13, the first prismatic pair guide rod 14, the first Hooke's hinge 15；First axle
Bearing and second bearing seat are arranged in frame, the rotating shaft 16 on the first prismatic pair sliding block and first bearing seat and second bearing seat
Gantry rotation pair is cooperatively formed, the first prismatic pair sliding block and the first prismatic pair guide rod cooperatively form the first prismatic pair, the first Hooke
The first rotation axis (i.e. the rotary shaft axis that the first Hooke's hinge is connected with guide rod) of hinge is hung down parallel to gantry rotation secondary axis
It is straight to move secondary axis (i.e. the first prismatic pair mobile axis in first；It is similar below).
Second branch includes the second prismatic pair guide rail 21 being connected in turn between frame and moving platform, and the second prismatic pair is slided
Block 22, the second Hooke's hinge 23, connecting rod 24, moving platform revolute pair 25；Second prismatic pair and the second prismatic pair guide rail formation second are moved
Dynamic pair, the second Hooke's hinge is connected with the second prismatic pair sliding block, the first rotation axis of the second Hooke's hinge and the second movement secondary axis
Parallel, second rotation axis (i.e. the rotary shaft axis that the second Hooke's hinge is connected with connecting rod) and the moving platform of the second Hooke's hinge are rotated
Secondary axis is parallel, and perpendicular to the second movement secondary axis.
The first revolute pair axis of the second Hooke's hinge is overlapped in two the second branches, and parallel to the frame in the first branch
Revolute pair axis；Moving platform revolute pair axis is rotated parallel to second of the first Hooke's hinge in the first branch in two the second branches
Axis (i.e. the rotary shaft axis of the first Hooke's hinge moving platform connection).
In the present embodiment, drive pair is the prismatic pair in each branch, and type of drive can select ball-screw (being omitted in figure)；
When driving secondary motion, mechanism makees two and rotates a movement three-degree-of-freedom motion.
Embodiment two
Such as Fig. 2, shown in 6,7,8, a kind of big corner two rotates a mobile parallel connection mechanism, including frame (being omitted in figure), dynamic
Platform 1 and two the first branches and second branch being connected in parallel between frame and moving platform.
First branch includes the first bearing seat 11 and second bearing seat 12 (two being connected in turn between frame and moving platform
The pivot center of individual bearing block is coaxial), the first prismatic pair sliding block 13, the first prismatic pair guide rod 14, the first Hooke's hinge 15；First axle
Bearing and second bearing seat are arranged in frame, the rotating shaft 16 on the first prismatic pair sliding block and first bearing seat and second bearing seat
Gantry rotation pair is cooperatively formed, the first prismatic pair sliding block and the first prismatic pair guide rod cooperatively form the first prismatic pair, the first Hooke
The first rotation axis (i.e. the rotary shaft axis that the first Hooke's hinge is connected with guide rod) of hinge is hung down parallel to gantry rotation secondary axis
It is straight to move secondary axis in first.
Second branch includes the second prismatic pair guide rail 21 being connected in turn between frame and moving platform, and the second prismatic pair is slided
Block 22, the second Hooke's hinge 23, connecting rod 24, moving platform revolute pair 25；Second prismatic pair sliding block and the second prismatic pair guide rail formation the
Two prismatic pairs, the second Hooke's hinge is connected with the second prismatic pair sliding block, the first rotation axis of the second Hooke's hinge and the second prismatic pair
Diameter parallel, the second rotation axis (i.e. the rotary shaft axis that the second Hooke's hinge is connected with connecting rod) and moving platform of the second Hooke's hinge
Revolute pair diameter parallel, and perpendicular to the second movement secondary axis.
Second rotation axis (the i.e. rotary shaft of the first Hooke's hinge moving platform connection of first Hooke's hinge in two the first branches
Axis) overlap, and parallel to moving platform revolute pair axis in the second branch；First revolute pair of the second Hooke's hinge in second branch
Gantry rotation secondary axis of the diameter parallel in the first branch.
In the present embodiment, drive pair is the prismatic pair in each branch, and type of drive can select ball-screw (being omitted in figure)；
When driving secondary motion, mechanism makees two and rotates a movement three-degree-of-freedom motion.
Embodiment three
Such as Fig. 3, shown in 6,7,8, a kind of big corner two rotates a mobile parallel connection mechanism, including frame (being omitted in figure), dynamic
Platform 1 and two the first branches and two the second branches being connected in parallel between frame and moving platform.
First branch includes the first bearing seat 11 and second bearing seat 12 (two being connected in turn between frame and moving platform
The pivot center of individual bearing block is coaxial), the first prismatic pair sliding block 13, the first prismatic pair guide rod 14, the first Hooke's hinge 15；First axle
Bearing and second bearing seat are arranged in frame, the rotating shaft 16 on the first prismatic pair sliding block and first bearing seat and second bearing seat
Gantry rotation pair is cooperatively formed, the first prismatic pair sliding block and the first prismatic pair guide rod cooperatively form the first prismatic pair, the first Hooke
The first rotation axis (i.e. the rotary shaft axis that the first Hooke's hinge is connected with guide rod) of hinge is hung down parallel to gantry rotation secondary axis
It is straight to move secondary axis in first.
Second branch includes the second prismatic pair guide rail 21 being connected in turn between frame and moving platform, and the second prismatic pair is slided
Block 22, the second Hooke's hinge 23, connecting rod 24, moving platform revolute pair 25；Second prismatic pair sliding block and the second prismatic pair guide rail formation the
Two prismatic pairs, the second Hooke's hinge is connected with the second prismatic pair sliding block, the first rotation axis of the second Hooke's hinge and the second prismatic pair
Diameter parallel, the second rotation axis (i.e. the rotary shaft axis that the second Hooke's hinge is connected with connecting rod) and moving platform of the second Hooke's hinge
Revolute pair diameter parallel, and perpendicular to the second movement secondary axis.
The first revolute pair axis of the second Hooke's hinge is overlapped in two the second branches, and is turned parallel to frame in the first branch
Dynamic secondary axis；Second rotation axis (the i.e. rotation of the first Hooke's hinge moving platform connection of first Hooke's hinge in two the first branches
Axle axis) overlap, and parallel to moving platform revolute pair axis in the second branch.
The gantry rotation pair of two the first branches is symmetrical with the second branch second movement secondary axis arrangement.
In the present embodiment, drive pair is the prismatic pair in each branch, and type of drive can select ball-screw (being omitted in figure),
Mechanism has redundant drive；When driving secondary motion, mechanism makees two and rotates a movement three-degree-of-freedom motion.
Example IV
As shown in figure 4, a kind of big corner two rotate a mobile parallel connection mechanism, including frame (being omitted in figure), moving platform 1 with
And it is connected in first branch and two the second branches between frame and moving platform in parallel.The structure of example IV and implementation
The structure of example one is similar, and difference is：Bar linkage structure in example IV in two the second branches is different, and a connecting rod is worn
The elongated hole crossed on another connecting rod, two second are branched off into arranged crosswise.
Embodiment five
As shown in figure 5, a kind of big corner two rotate a mobile parallel connection mechanism, including frame (being omitted in figure), moving platform 1 with
And it is connected in two the first branches and two the second branches between frame and moving platform in parallel.The structure of embodiment five and implementation
The structure of example three is similar, and difference is：Bar linkage structure in embodiment five in two the second branches is different, and a connecting rod is worn
The elongated hole crossed on another connecting rod, two second are branched off into arranged crosswise.
Claims (8)
1. a kind of big corner two rotates a mobile parallel connection mechanism, including frame, moving platform (1) and be connected in parallel frame with it is dynamic
First branch and two the second branches between platform；It is characterized in that：
First branch includes being connected in turn gantry rotation pair between frame and moving platform, the first prismatic pair sliding block (13), the
One prismatic pair guide rod (14) and the first Hooke's hinge (15)；The first rotary shaft that first Hooke's hinge is connected with the first prismatic pair guide rod
Line moves secondary axis parallel to gantry rotation secondary axis, and perpendicular to first；
Second branch includes the second prismatic pair guide rail (21), the second prismatic pair sliding block being connected in turn between frame and moving platform
(22), the second Hooke's hinge (23), connecting rod (24) and moving platform revolute pair (25)；The first rotation axis of second Hooke's hinge and the
Two prismatic pair diameter parallels, second rotation axis that the second Hooke's hinge is connected with connecting rod and moving platform revolute pair diameter parallel and hang down
It is straight to move secondary axis in second；
In described two second branches, the first revolute pair axis of the second Hooke's hinge is overlapped and parallel to the frame in the first branch
Revolute pair axis；In two the second branches, second turn parallel to the first Hooke's hinge in the first branch of moving platform revolute pair axis
Shaft line.
2. big corner two according to claim 1 rotates a mobile parallel connection mechanism, it is characterised in that：The gantry rotation pair
Rotating shaft (16) on the first prismatic pair sliding block is cooperatively formed with first bearing seat (11), second bearing seat (12).
3. a kind of big corner two rotates a mobile parallel connection mechanism, including frame, moving platform (1) and be connected in parallel frame with it is dynamic
Two the first branches and second branch between platform；It is characterized in that：
First branch includes being connected in turn gantry rotation pair between frame and moving platform, the first prismatic pair sliding block (13), the
One prismatic pair guide rod (14) and the first Hooke's hinge (15)；The first rotary shaft that first Hooke's hinge is connected with the first prismatic pair guide rod
Line moves secondary axis parallel to gantry rotation secondary axis, and perpendicular to first；
Second branch includes the second prismatic pair guide rail (21), the second prismatic pair sliding block being connected in turn between frame and moving platform
(22), the second Hooke's hinge (23), connecting rod (24) and moving platform revolute pair (25)；The first rotation axis of second Hooke's hinge and the
Two prismatic pair diameter parallels, second rotation axis that the second Hooke's hinge is connected with connecting rod and moving platform revolute pair diameter parallel and hang down
It is straight to move secondary axis in second；
The second rotation axis that the first Hooke's hinge is connected with moving platform in described two first branches is overlapped, and parallel to second point
Moving platform revolute pair axis in branch；The first revolute pair axis of the second Hooke's hinge is parallel to the machine in the first branch in second branch
Frame revolute pair axis.
4. big corner two according to claim 3 rotates a mobile parallel connection mechanism, it is characterised in that：The gantry rotation pair
Rotating shaft (16) on the first prismatic pair sliding block is cooperatively formed with first bearing seat (11), second bearing seat (12).
5. a kind of big corner two rotates a mobile parallel connection mechanism, including frame, moving platform (1) and be connected in parallel frame with it is dynamic
Two the first branches and two the second branches between platform；It is characterized in that：
First branch includes being connected in turn gantry rotation pair between frame and moving platform, the first prismatic pair sliding block (13), the
One prismatic pair guide rod (14) and the first Hooke's hinge (15)；The first rotation axis that first Hooke's hinge is connected with guide rod is parallel to machine
Frame revolute pair axis and perpendicular to first movement secondary axis；
Second branch includes the second prismatic pair guide rail (21), the second prismatic pair sliding block being connected in turn between frame and moving platform
(22), the second Hooke's hinge (23), connecting rod (24) and moving platform revolute pair (25)；Second Hooke's hinge and the second prismatic pair sliding block connect
The first rotation axis connect and the second prismatic pair diameter parallel, the second rotation axis that the second Hooke's hinge is connected with connecting rod are put down with dynamic
Platform revolute pair axis is parallel and perpendicular to the second movement secondary axis；
The first revolute pair axis of the second Hooke's hinge is overlapped in two the second branches, and parallel to gantry rotation pair in the first branch
Axis；The first Hooke is hinged the second rotation axis of moving platform and overlaps and moved parallel in the second branch in two the first branches
Platform revolute pair axis；
The gantry rotation pair of two the first branches is symmetrical with the second branch second movement secondary axis arrangement.
6. big corner two according to claim 5 rotates a mobile parallel connection mechanism, it is characterised in that：The gantry rotation pair
Rotating shaft (16) on the first prismatic pair sliding block is cooperatively formed with first bearing seat (11), second bearing seat (12).
7. big corner two according to claim 2 rotates a mobile parallel connection mechanism, it is characterised in that：Described two second points
Zhi Zhong a, wherein connecting rod passes through the elongated hole on another connecting rod so that two second branch's arranged crosswises；The elongated hole along
Length of connecting rod direction is arranged.
8. big corner two according to claim 6 rotates a mobile parallel connection mechanism, it is characterised in that：Described two second points
Zhi Zhong a, wherein connecting rod passes through the elongated hole on another connecting rod so that two second branch's arranged crosswises；The elongated hole along
Length of connecting rod direction is arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621160907.5U CN206344132U (en) | 2016-10-25 | 2016-10-25 | A kind of big corner two rotates a mobile parallel connection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621160907.5U CN206344132U (en) | 2016-10-25 | 2016-10-25 | A kind of big corner two rotates a mobile parallel connection mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN206344132U true CN206344132U (en) | 2017-07-21 |
Family
ID=59320734
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621160907.5U Withdrawn - After Issue CN206344132U (en) | 2016-10-25 | 2016-10-25 | A kind of big corner two rotates a mobile parallel connection mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426096A (en) * | 2016-10-25 | 2017-02-22 | 浙江理工大学 | Large turning angle two-rotation-and-one-movement parallel mechanism |
| CN110253537A (en) * | 2018-03-12 | 2019-09-20 | 株式会社安川电机 | Parallel link robot and parallel link robot system |
| CN114227648A (en) * | 2022-01-06 | 2022-03-25 | 清华大学 | High-rigidity five-degree-of-freedom parallel drive robot |
| CN114888777A (en) * | 2022-04-25 | 2022-08-12 | 浙江理工大学 | Motion redundancy two-rotation one-movement parallel mechanism with symmetrical structure |
-
2016
- 2016-10-25 CN CN201621160907.5U patent/CN206344132U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426096A (en) * | 2016-10-25 | 2017-02-22 | 浙江理工大学 | Large turning angle two-rotation-and-one-movement parallel mechanism |
| CN110253537A (en) * | 2018-03-12 | 2019-09-20 | 株式会社安川电机 | Parallel link robot and parallel link robot system |
| CN114227648A (en) * | 2022-01-06 | 2022-03-25 | 清华大学 | High-rigidity five-degree-of-freedom parallel drive robot |
| CN114227648B (en) * | 2022-01-06 | 2023-11-03 | 清华大学 | High-rigidity five-degree-of-freedom parallel driving robot |
| CN114888777A (en) * | 2022-04-25 | 2022-08-12 | 浙江理工大学 | Motion redundancy two-rotation one-movement parallel mechanism with symmetrical structure |
| CN114888777B (en) * | 2022-04-25 | 2023-11-21 | 浙江理工大学 | Motion redundancy two-to-one shift parallel mechanism with symmetrical structure |
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Granted publication date: 20170721 Effective date of abandoning: 20181120 |