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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Abstract
本实用新型涉及一种大转角两转动一移动并联机构。目的是提供的并联机构应具有转动角度大、结构简单、刚度高、承载能力大、动力学性能好等优点。技术方案是：一种大转角两转动一移动并联机构，包括机架、动平台以及一个第一分支和两个第二分支；其特征在于：第一分支包括机架转动副、第一移动副滑块、第一移动副导杆以及第一虎克铰；第二分支包括第二移动副导轨、第二移动副滑块、第二虎克铰、连杆以及动平台转动副；所述两个第二分支中，第二虎克铰的第一转动副轴线重合且平行于第一分支中的机架转动副轴线；两个第二分支中，动平台转动副轴线平行于第一分支中第一虎克铰的第二转动轴线。
The utility model relates to a large-angle two-rotation-moving parallel mechanism. The purpose is to provide a parallel mechanism that has the advantages of large rotation angle, simple structure, high rigidity, large bearing capacity, and good dynamic performance. The technical solution is: a large-angle two-rotation-one-movement parallel mechanism, including a frame, a moving platform, a first branch and two second branches; The slider, the first moving auxiliary guide rod and the first Hooke hinge; the second branch includes the second moving auxiliary guide rail, the second moving auxiliary slider, the second Hooke hinge, the connecting rod and the rotating pair of the moving platform; the two In two second branches, the axis of the first rotation pair of the second Hooke hinge is coincident and parallel to the axis of rotation of the frame in the first branch; in the two second branches, the axis of rotation of the moving platform is parallel to the axis of rotation of the first branch The second axis of rotation of the first Hookee hinge.
Description
技术领域technical field
本实用新型涉及机器人技术领域，具体是一种大转角两转动一移动并联机构。The utility model relates to the technical field of robots, in particular to a two-rotation-one-movement parallel mechanism with a large rotation angle.
背景技术Background technique
并联机构的主要特点是其动平台通过两条以上的分支连接到机架上，一般分支的数目等于机构的自由度数。驱动机构运动的电机都可以安排在靠近机架处，从而使得机构具有刚度好、承载能力大、动力学性能好等优点。因此，并联机构得到了广泛的研究，而具有空间两转动一移动自由度的并联机构是其中重要的一类，可应用于复杂曲面加工、运动模拟等领域。The main feature of the parallel mechanism is that its moving platform is connected to the frame through more than two branches. Generally, the number of branches is equal to the number of degrees of freedom of the mechanism. The motors that drive the movement of the mechanism can be arranged close to the frame, so that the mechanism has the advantages of good rigidity, large bearing capacity, and good dynamic performance. Therefore, parallel mechanisms have been extensively studied, and parallel mechanisms with two degrees of freedom in space, one rotation and one movement, are one of the most important types, and can be applied to complex surface processing, motion simulation and other fields.
现有的两转动一移动并联机构(CN 105904436 A，CN 104889978 A，CN 105397797A)支链中多利用到了球副。球副的转动范围较小，使得整体并联机构的转动角度也较小，限制了机构的应用。因此，提出一种结构简单、转动角度大的两转动一移动并联机构很有必要。Most of the existing two-rotation-one-movement parallel mechanisms (CN 105904436 A, CN 104889978 A, CN 105397797A) branch chains utilize ball pairs. The rotation range of the ball pair is small, so that the rotation angle of the overall parallel mechanism is also small, which limits the application of the mechanism. Therefore, it is necessary to propose a two-rotation-movement parallel mechanism with simple structure and large rotation angle.
实用新型内容Utility model content
本实用新型所要解决的技术问题是克服背景技术存在的不足，提供一种大转角两转动一移动并联机构，该并联机构应具有转动角度大、结构简单、刚度高、承载能力大、动力学性能好等优点。The technical problem to be solved by the utility model is to overcome the deficiencies in the background technology and provide a large-angle two-rotation-moving parallel mechanism. The parallel mechanism should have a large rotation angle, simple structure, high rigidity, large bearing capacity, and dynamic performance. Good and other advantages.
本实用新型的技术方案是：The technical scheme of the utility model is:
一种大转角两转动一移动并联机构，包括机架、动平台以及并联连接在机架与动平台之间的一个第一分支和两个第二分支；其特征在于：A large-angle two-rotation-moving parallel mechanism, including a frame, a moving platform, and a first branch and two second branches connected in parallel between the frame and the moving platform; it is characterized in that:
第一分支包括依次连接在机架与动平台之间的机架转动副、第一移动副滑块、第一移动副导杆以及第一虎克铰；第一虎克铰与第一移动副导杆连接的第一转动轴线平行于机架转动副轴线，且垂直于第一移动副轴线；The first branch includes the frame revolving pair, the first moving pair slider, the first moving pair guide rod and the first Hooke hinge connected in sequence between the frame and the moving platform; the first Hooke hinge and the first moving pair The first rotation axis connected by the guide rod is parallel to the rotation axis of the frame and perpendicular to the first movement axis;
第二分支包括依次连接在机架与动平台之间的第二移动副导轨、第二移动副滑块、第二虎克铰、连杆以及动平台转动副；第二虎克铰的第一转动轴线与第二移动副轴线平行，第二虎克铰与连杆连接的第二转动轴线与动平台转动副轴线平行且垂直于第二移动副轴线；The second branch includes the second movable auxiliary guide rail, the second movable auxiliary slide block, the second Hooke hinge, connecting rod and the rotating pair of the movable platform which are sequentially connected between the frame and the moving platform; the first part of the second Hooke hinge The rotation axis is parallel to the second movable auxiliary axis, and the second rotational axis connected by the second Hooke hinge and the connecting rod is parallel to the rotating auxiliary axis of the moving platform and perpendicular to the second movable auxiliary axis;
所述两个第二分支中，第二虎克铰的第一转动副轴线重合且平行于第一分支中的机架转动副轴线；两个第二分支中，动平台转动副轴线平行于第一分支中第一虎克铰的第二转动轴线。In the two second branches, the axis of the first rotation pair of the second Hooke hinge is coincident and parallel to the axis of rotation of the frame in the first branch; in the two second branches, the axis of rotation of the moving platform is parallel to the axis of the first rotation The second axis of rotation of the first Hookee hinge in one branch.
一种大转角两转动一移动并联机构，包括机架、动平台以及并联连接在机架与动平台之间的两个第一分支和一个第二分支；其特征在于：A large-angle two-rotation-moving parallel mechanism, including a frame, a moving platform, and two first branches and a second branch connected in parallel between the frame and the moving platform; it is characterized in that:
第一分支包括依次连接在机架与动平台之间的机架转动副、第一移动副滑块、第一移动副导杆以及第一虎克铰；第一虎克铰与第一移动副导杆连接的第一转动轴线平行于机架转动副轴线且垂直于第一移动副轴线；The first branch includes the frame revolving pair, the first moving pair slider, the first moving pair guide rod and the first Hooke hinge connected in sequence between the frame and the moving platform; the first Hooke hinge and the first moving pair The first rotation axis connected by the guide rod is parallel to the rotation axis of the frame and perpendicular to the first movement axis;
第二分支包括依次连接在机架与动平台之间的第二移动副导轨、第二移动副滑块、第二虎克铰、连杆以及动平台转动副；第二虎克铰的第一转动轴线与第二移动副轴线平行，第二虎克铰与连杆连接的第二转动轴线与动平台转动副轴线平行且垂直于第二移动副轴线；The second branch includes the second movable auxiliary guide rail, the second movable auxiliary slide block, the second Hooke hinge, connecting rod and the rotating pair of the movable platform which are sequentially connected between the frame and the moving platform; the first part of the second Hooke hinge The rotation axis is parallel to the second movable auxiliary axis, and the second rotational axis connected by the second Hooke hinge and the connecting rod is parallel to the rotating auxiliary axis of the moving platform and perpendicular to the second movable auxiliary axis;
所述两个第一分支中第一虎克铰与动平台连接的第二转动轴线重合，且平行于第二分支中动平台转动副轴线；第二分支中第二虎克铰的第一转动副轴线平行于第一分支中的机架转动副轴线。The first Hooke hinge in the two first branches coincides with the second rotation axis connected to the moving platform, and is parallel to the secondary axis of rotation of the moving platform in the second branch; the first rotation of the second Hooke hinge in the second branch The secondary axis is parallel to the secondary axis of frame rotation in the first branch.
一种大转角两转动一移动并联机构，包括机架、动平台以及并联连接在机架与动平台之间的两个第一分支和两个第二分支；其特征在于：A large-angle two-rotation-moving parallel mechanism, including a frame, a moving platform, and two first branches and two second branches connected in parallel between the frame and the moving platform; it is characterized in that:
第一分支包括依次连接在机架与动平台之间的机架转动副、第一移动副滑块、第一移动副导杆以及第一虎克铰；第一虎克铰与导杆连接的第一转动轴线平行于机架转动副轴线且垂直于第一移动副轴线；The first branch includes the frame revolving pair connected between the frame and the moving platform, the first moving pair slide block, the first moving pair guide rod and the first Hooke hinge; the first Hooke hinge is connected with the guide rod The first rotation axis is parallel to the rotating axis of the frame and perpendicular to the first moving axis;
第二分支包括依次连接在机架与动平台之间的第二移动副导轨、第二移动副滑块、第二虎克铰、连杆以及动平台转动副；第二虎克铰与第二移动副滑块连接的第一转动轴线与第二移动副轴线平行，第二虎克铰与连杆连接的第二转动轴线与动平台转动副轴线平行且垂直于第二移动副轴线；The second branch includes the second movable auxiliary guide rail, the second movable auxiliary slide block, the second Hooke hinge, connecting rod and the rotating pair of the movable platform which are sequentially connected between the frame and the moving platform; the second Hooke hinge and the second The first rotation axis connected to the moving pair slider is parallel to the second moving pair axis, and the second turning axis connected to the second Hooke hinge and the connecting rod is parallel to the rotating pair axis of the moving platform and perpendicular to the second moving pair axis;
两个第二分支中第二虎克铰的第一转动副轴线重合且平行于第一分支中机架转动副轴线；两个第一分支中第一虎克铰连接动平台的第二转动轴线重合且平行于第二分支中动平台转动副轴线；The first rotation axis of the second Hooke hinge in the two second branches is coincident and parallel to the rotation axis of the frame in the first branch; the second rotation axis of the first Hooke hinge joint platform in the two first branches Coincident with and parallel to the secondary axis of rotation of the middle moving platform of the second branch;
两个第一分支的机架转动副对称于第二分支第二移动副轴线布置。The frame revolving pairs of the two first branches are arranged symmetrically with respect to the second movable secondary axis of the second branch.
所述机架转动副由第一移动副滑块上的转轴与第一轴承座、第二轴承座配合形成。The rotating pair of the frame is formed by the cooperation of the rotating shaft on the first moving pair slider, the first bearing seat and the second bearing seat.
所述两个第二分支中，其中一根连杆穿过另一根连杆上的长孔，使得两个第二分支交叉布置；所述长孔沿着连杆长度方向布置。Among the two second branches, one of the connecting rods passes through a long hole on the other connecting rod, so that the two second branches are arranged crosswise; the long holes are arranged along the length direction of the connecting rods.
所述两个第二分支中，其中一根连杆穿过另一根连杆上的长孔，使得两个第二分支交叉布置；所述长孔沿着连杆长度方向布置。Among the two second branches, one of the connecting rods passes through a long hole on the other connecting rod, so that the two second branches are arranged crosswise; the long holes are arranged along the length direction of the connecting rods.
本实用新型的有益效果是：The beneficial effects of the utility model are:
本实用新型提出的并联机构可以执行空间两转动一移动运动，具有结构简单、转动角度大、刚度高、承载能力大、动力学性能好等优点，可用于复杂曲面加工、运动模拟等领域。The parallel mechanism proposed by the utility model can perform two rotations and one movement in space. It has the advantages of simple structure, large rotation angle, high rigidity, large bearing capacity, and good dynamic performance. It can be used in complex curved surface processing, motion simulation and other fields.
附图说明Description of drawings
图1为本实用新型实施例一的立体结构示意图。Fig. 1 is a three-dimensional structural schematic diagram of Embodiment 1 of the utility model.
图2为本实用新型实施例二的立体结构示意图。Fig. 2 is a schematic diagram of the three-dimensional structure of the second embodiment of the utility model.
图3为本实用新型实施例三的立体结构示意图。Fig. 3 is a three-dimensional structural schematic diagram of Embodiment 3 of the present utility model.
图4为本实用新型实施例四的立体结构示意图。Fig. 4 is a three-dimensional structural schematic diagram of Embodiment 4 of the present utility model.
图5为本实用新型实施例五的立体结构示意图。Fig. 5 is a schematic perspective view of the fifth embodiment of the utility model.
图6为第一分支的立体结构示意图。Fig. 6 is a schematic perspective view of the first branch.
图7为第一滑块的立体结构示意图。Fig. 7 is a schematic perspective view of the first slider.
图8为第二分支的立体结构示意图。Fig. 8 is a schematic perspective view of the second branch.
具体实施方式detailed description
以下结合说明书附图，对本实用新型作进一步说明，但本实用新型并不局限于以下实施例。The utility model will be further described below in conjunction with the accompanying drawings of the description, but the utility model is not limited to the following embodiments.
实施例一Embodiment one
如图1，6，7，8所示，一种大转角两转动一移动并联机构，包括机架(图中省略)、动平台1以及并联连接在机架与动平台之间的一个第一分支和两个第二分支。As shown in Figures 1, 6, 7, and 8, a large-angle two-rotation-one-movement parallel mechanism includes a frame (omitted in the figure), a moving platform 1 and a first parallel connection between the frame and the moving platform. branch and two second branches.
第一分支包括依次连接在机架与动平台之间的第一轴承座11和第二轴承座12(两个轴承座的转动轴线共轴)、第一移动副滑块13、第一移动副导杆14、第一虎克铰15；第一轴承座和第二轴承座安装在机架上，第一移动副滑块上的转轴16与第一轴承座和第二轴承座配合形成机架转动副，第一移动副滑块与第一移动副导杆配合形成第一移动副，第一虎克铰的第一转动轴线(即第一虎克铰与导杆连接的转动轴轴线)平行于机架转动副轴线，且垂直于第一移动副轴线(即第一移动副移动轴线；以下类同)。The first branch includes the first bearing seat 11 and the second bearing seat 12 (the rotation axes of the two bearing seats are coaxial) connected in turn between the frame and the moving platform, the first moving pair slider 13, the first moving pair Guide rod 14, the first Hooke hinge 15; the first bearing seat and the second bearing seat are installed on the frame, and the rotating shaft 16 on the first moving sub-slider cooperates with the first bearing seat and the second bearing seat to form a frame Rotary pair, the first movable pair slider cooperates with the first movable pair guide rod to form the first movable pair, the first rotational axis of the first Hooke hinge (that is, the axis of the first Hooke hinge connected to the guide rod) is parallel It is on the axis of the rotating sub-axis of the frame and is perpendicular to the first moving sub-axis (that is, the first moving sub-axis; the following is similar).
第二分支包括依次连接在机架与动平台之间的第二移动副导轨21，第二移动副滑块22，第二虎克铰23，连杆24，动平台转动副25；第二移动副与第二移动副导轨形成第二移动副，第二虎克铰与第二移动副滑块相连，第二虎克铰的第一转动轴线与第二移动副轴线平行，第二虎克铰的第二转动轴线(即第二虎克铰与连杆连接的转动轴轴线)与动平台转动副轴线平行，且垂直于第二移动副轴线。The second branch comprises the second moving sub-guide rail 21 that is connected between the frame and the moving platform in turn, the second moving sub-slider 22, the second Hooke hinge 23, the connecting rod 24, and the rotating pair 25 of the moving platform; the second moving The pair and the guide rail of the second moving pair form the second moving pair, the second Hooke hinge is connected with the slider of the second moving pair, the first rotation axis of the second Hooke hinge is parallel to the second moving auxiliary axis, and the second Hooke hinge The second rotation axis of the second Hooke hinge (that is, the axis of the rotation shaft connected by the second Hooke hinge and the connecting rod) is parallel to the rotation axis of the moving platform and perpendicular to the second movement axis.
两个第二分支中第二虎克铰的第一转动副轴线重合，且平行于第一分支中的机架转动副轴线；两个第二分支中动平台转动副轴线平行于第一分支中第一虎克铰的第二转动轴线(即第一虎克铰动平台连接的转动轴轴线)。The first axis of rotation of the second Hooke hinge in the two second branches is coincident and parallel to the axis of rotation of the frame in the first branch; the axis of rotation of the moving platform in the two second branches is parallel to the axis of rotation of the first branch The second rotation axis of the first Hooke hinge (that is, the axis of the rotation shaft connected to the first Hooke hinge platform).
本实施例中，驱动副为各分支上的移动副，驱动方式可选用滚珠丝杠(图中省略)；当驱动副运动时，机构作两转动一移动三自由度运动。In this embodiment, the driving pair is a moving pair on each branch, and the driving method can be a ball screw (omitted in the figure); when the driving pair moves, the mechanism performs two rotations and one movement in three degrees of freedom.
实施例二Embodiment two
如图2，6，7，8所示，一种大转角两转动一移动并联机构，包括机架(图中省略)、动平台1以及并联连接在机架与动平台之间的两个第一分支和一个第二分支。As shown in Figures 2, 6, 7, and 8, a large-angle two-rotation-one-movement parallel mechanism includes a frame (omitted in the figure), a moving platform 1, and two second parallel connections between the frame and the moving platform. A branch and a second branch.
第一分支包括依次连接在机架与动平台之间的第一轴承座11和第二轴承座12(两个轴承座的转动轴线共轴)、第一移动副滑块13、第一移动副导杆14、第一虎克铰15；第一轴承座和第二轴承座安装在机架上，第一移动副滑块上的转轴16与第一轴承座和第二轴承座配合形成机架转动副，第一移动副滑块与第一移动副导杆配合形成第一移动副，第一虎克铰的第一转动轴线(即第一虎克铰与导杆连接的转动轴轴线)平行于机架转动副轴线，且垂直于第一移动副轴线。The first branch includes the first bearing seat 11 and the second bearing seat 12 (the rotation axes of the two bearing seats are coaxial) connected in turn between the frame and the moving platform, the first moving pair slider 13, the first moving pair Guide rod 14, the first Hooke hinge 15; the first bearing seat and the second bearing seat are installed on the frame, and the rotating shaft 16 on the first moving sub-slider cooperates with the first bearing seat and the second bearing seat to form a frame Rotary pair, the first movable pair slider cooperates with the first movable pair guide rod to form the first movable pair, the first rotational axis of the first Hooke hinge (that is, the axis of the first Hooke hinge connected to the guide rod) is parallel It is on the secondary axis of rotation of the frame and is perpendicular to the first secondary axis of movement.
第二分支包括依次连接在机架与动平台之间的第二移动副导轨21，第二移动副滑块22，第二虎克铰23，连杆24，动平台转动副25；第二移动副滑块与第二移动副导轨形成第二移动副，第二虎克铰与第二移动副滑块相连，第二虎克铰的第一转动轴线与第二移动副轴线平行，第二虎克铰的第二转动轴线(即第二虎克铰与连杆连接的转动轴轴线)与动平台转动副轴线平行，且垂直于第二移动副轴线。The second branch comprises the second moving sub-guide rail 21 that is connected between the frame and the moving platform in turn, the second moving sub-slider 22, the second Hooke hinge 23, the connecting rod 24, and the rotating pair 25 of the moving platform; the second moving The auxiliary slider and the second movable auxiliary guide rail form a second movable pair, the second Hooke hinge is connected with the second movable auxiliary slider, the first rotation axis of the second Hooke hinge is parallel to the second movable auxiliary axis, and the second Hooke hinge The second axis of rotation of the Hooke hinge (that is, the axis of the axis of rotation of the second Hooke hinge connected to the connecting rod) is parallel to the axis of rotation of the movable platform and perpendicular to the axis of the second axis of movement.
两个第一分支中第一虎克铰的第二转动轴线(即第一虎克铰动平台连接的转动轴轴线)重合，且平行于第二分支中动平台转动副轴线；第二分支中第二虎克铰的第一转动副轴线平行于第一分支中的机架转动副轴线。The second axis of rotation of the first Hooke hinge in the two first branches (that is, the axis of rotation axis connected to the first Hooke hinge platform) coincides and is parallel to the secondary axis of rotation of the moving platform in the second branch; The first rotary axis of the second Hookee hinge is parallel to the frame rotary axis in the first branch.
本实施例中，驱动副为各分支上的移动副，驱动方式可选用滚珠丝杠(图中省略)；当驱动副运动时，机构作两转动一移动三自由度运动。In this embodiment, the driving pair is a moving pair on each branch, and the driving method can be a ball screw (omitted in the figure); when the driving pair moves, the mechanism performs two rotations and one movement in three degrees of freedom.
实施例三Embodiment three
如图3，6，7，8所示，一种大转角两转动一移动并联机构，包括机架(图中省略)、动平台1以及并联连接在机架与动平台之间的两个第一分支和两个第二分支。As shown in Figures 3, 6, 7, and 8, a large-angle two-rotation-one-movement parallel mechanism includes a frame (omitted in the figure), a moving platform 1, and two second parallel connections between the frame and the moving platform. One branch and two second branches.
第一分支包括依次连接在机架与动平台之间的第一轴承座11和第二轴承座12(两个轴承座的转动轴线共轴)、第一移动副滑块13、第一移动副导杆14、第一虎克铰15；第一轴承座和第二轴承座安装在机架上，第一移动副滑块上的转轴16与第一轴承座和第二轴承座配合形成机架转动副，第一移动副滑块与第一移动副导杆配合形成第一移动副，第一虎克铰的第一转动轴线(即第一虎克铰与导杆连接的转动轴轴线)平行于机架转动副轴线，且垂直于第一移动副轴线。The first branch includes the first bearing seat 11 and the second bearing seat 12 (the rotation axes of the two bearing seats are coaxial) connected in turn between the frame and the moving platform, the first moving pair slider 13, the first moving pair Guide rod 14, the first Hooke hinge 15; the first bearing seat and the second bearing seat are installed on the frame, and the rotating shaft 16 on the first moving sub-slider cooperates with the first bearing seat and the second bearing seat to form a frame Rotary pair, the first movable pair slider cooperates with the first movable pair guide rod to form the first movable pair, the first rotational axis of the first Hooke hinge (that is, the axis of the first Hooke hinge connected to the guide rod) is parallel It is on the secondary axis of rotation of the frame and is perpendicular to the first secondary axis of movement.
第二分支包括依次连接在机架与动平台之间的第二移动副导轨21，第二移动副滑块22，第二虎克铰23，连杆24，动平台转动副25；第二移动副滑块与第二移动副导轨形成第二移动副，第二虎克铰与第二移动副滑块相连，第二虎克铰的第一转动轴线与第二移动副轴线平行，第二虎克铰的第二转动轴线(即第二虎克铰与连杆连接的转动轴轴线)与动平台转动副轴线平行，且垂直于第二移动副轴线。The second branch comprises the second moving sub-guide rail 21 that is connected between the frame and the moving platform in turn, the second moving sub-slider 22, the second Hooke hinge 23, the connecting rod 24, and the rotating pair 25 of the moving platform; the second moving The auxiliary slider and the second movable auxiliary guide rail form a second movable pair, the second Hooke hinge is connected with the second movable auxiliary slider, the first rotation axis of the second Hooke hinge is parallel to the second movable auxiliary axis, and the second Hooke hinge The second axis of rotation of the Hooke hinge (that is, the axis of the axis of rotation of the second Hooke hinge connected to the connecting rod) is parallel to the axis of rotation of the movable platform and perpendicular to the axis of the second axis of movement.
两个第二分支中第二虎克铰的第一转动副轴线重合，且平行于第一分支中机架转动副轴线；两个第一分支中第一虎克铰的第二转动轴线(即第一虎克铰动平台连接的转动轴轴线)重合，且平行于第二分支中动平台转动副轴线。The first axis of rotation of the second Hooke hinge in the two second branches coincides and is parallel to the axis of rotation of the frame in the first branch; the second axis of rotation of the first Hooke hinge in the two first branches (i.e. The first Hooke hinged platform is connected to the rotating shaft (axis) coincident, and parallel to the secondary axis of rotation of the second branch middle moving platform.
两个第一分支的机架转动副对称于第二分支第二移动副轴线布置。The frame revolving pairs of the two first branches are arranged symmetrically with respect to the second movable secondary axis of the second branch.
本实施例中，驱动副为各分支上的移动副，驱动方式可选用滚珠丝杠(图中省略)，机构具有冗余驱动；当驱动副运动时，机构作两转动一移动三自由度运动。In this embodiment, the driving pair is a moving pair on each branch, the driving method can be a ball screw (omitted in the figure), and the mechanism has redundant drive; when the driving pair moves, the mechanism performs two rotations and one movement with three degrees of freedom .
实施例四Embodiment four
如图4所示，一种大转角两转动一移动并联机构，包括机架(图中省略)、动平台1以及并联连接在机架与动平台之间的一个第一分支和两个第二分支。实施例四的结构与实施例一的结构类似，不同之处在于：实施例四中两个第二分支中的连杆结构不同，一根连杆穿过另一根连杆上的长孔，两个第二分支成交叉布置。As shown in Figure 4, a large-angle two-rotation-moving parallel mechanism includes a frame (omitted in the figure), a moving platform 1, and a first branch and two second branches connected in parallel between the frame and the moving platform. branch. The structure of the fourth embodiment is similar to that of the first embodiment, the difference is that the connecting rods in the two second branches in the fourth embodiment are different in structure, one connecting rod passes through the long hole on the other connecting rod, The two second branches are arranged in a cross.
实施例五Embodiment five
如图5所示，一种大转角两转动一移动并联机构，包括机架(图中省略)、动平台1以及并联连接在机架与动平台之间的两个第一分支和两个第二分支。实施例五的结构与实施例三的结构类似，不同之处在于：实施例五中两个第二分支中的连杆结构不同，一根连杆穿过另一根连杆上的长孔，两个第二分支成交叉布置。As shown in Figure 5, a large-angle two-rotation-moving parallel mechanism includes a frame (omitted in the figure), a moving platform 1, and two first branches and two second branches connected in parallel between the frame and the moving platform. Two branches. The structure of the fifth embodiment is similar to that of the third embodiment, the difference is that the connecting rods in the two second branches in the fifth embodiment are different in structure, one connecting rod passes through the long hole on the other connecting rod, The two second branches are arranged in a cross.
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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 | A High Stiffness Five Degrees 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 |
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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 | A High Stiffness Five Degrees 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 | A structurally symmetrical motion redundant two-turn and one-shift parallel mechanism |
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