CN206344134U - It is a kind of to drive fixed two to rotate a mobile parallel connection mechanism - Google Patents

It is a kind of to drive fixed two to rotate a mobile parallel connection mechanism Download PDF

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Publication number
CN206344134U
CN206344134U CN201621253330.2U CN201621253330U CN206344134U CN 206344134 U CN206344134 U CN 206344134U CN 201621253330 U CN201621253330 U CN 201621253330U CN 206344134 U CN206344134 U CN 206344134U
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axis
guide rail
branch
pair
hinge
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CN201621253330.2U
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李秦川
徐灵敏
叶伟
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Zhejiang Sci Tech University ZSTU
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Zhejiang Sci Tech University ZSTU
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Abstract

The utility model is related to two fixed one mobile parallel connection mechanisms of rotation of a kind of driving.The parallel institution that purpose is to provide should have the advantages that service speed height, compact conformation, rigidity height, large carrying capacity, dynamic performance are good.Technical scheme is:It is a kind of to drive fixed two to rotate a mobile parallel connection mechanism, including frame, moving platform and two the first branches and second branch;First branch includes the first prismatic pair guide rail, the first prismatic pair sliding block, Hooke's hinge, first connecting rod and the first revolute pair;Second branch includes secondary the second prismatic pair guide rail, the second prismatic pair sliding block, the first ball, second connecting rod and the second revolute pair;In described two first branches, the first rotation axis of Hooke's hinge is overlapped, the first revolute pair axis second revolute pair axis in the second branch, and the first movement secondary axis in two the first branches is vertical with the second movement secondary axis in the second branch.

Description

It is a kind of to drive fixed two to rotate a mobile parallel connection mechanism
Technical field
The utility model is related to robotic technology field, specifically a kind of to drive fixed two to rotate a movable parallel Structure.
Background technology
There is the passive joint that many is not required to install driving compared to serial mechanism, in parallel institution, this causes it to have Higher service speed and preferable dynamic performance.Further, since its special many closed loop feature, the structure of parallel institution is tight Gather, rigidity is high, large carrying capacity.Therefore, parallel institution having a extensive future in modern processing, and obtained wide General research.Especially, the parallel institution with two rotation one-movement-freedom-degrees can be used for Control During Paint Spraying by Robot, welding, parallel machine The fields such as bed, cause the highest attention of people.
The preferable drive arrangement scheme of parallel institution is will to drive all to be arranged on the joint that is connected with frame, so can be with The quality of motion parts is reduced as far as possible, obtains optimal dynamic performance.But more existing two rotate a mobile parallel connection The driving of mechanism (B of CN 104889978 A, CN 103144097) all can not be arranged in frame, have impact on the operation of mechanism Speed, limits the application of mechanism.It is therefore proposed that a kind of driving is fixed, two high one mobile parallel connection mechanisms of rotation of service speed It is necessary.
Utility model content
Technical problem to be solved in the utility model is to overcome the shortcomings of that background technology is present to fix there is provided one kind driving Two rotate a mobile parallel connection mechanisms, the parallel institution should have service speed height, compact conformation, rigidity height, large carrying capacity, The advantages of dynamic performance is good.
The technical solution of the utility model is:
It is a kind of to drive fixed two to rotate a mobile parallel connection mechanisms, including frame, moving platform and it is connected in frame in parallel Two the first branches and second branch between moving platform;It is characterized in that:
The first prismatic pair guide rail, the first prismatic pair that first branch includes being connected in turn between frame and moving platform are slided Block, Hooke's hinge, first connecting rod and the first revolute pair;The first rotation axis of Hooke's hinge and the first prismatic pair diameter parallel, tiger Gram second rotation axis that be connected with first connecting rod of hinge and the first revolute pair axis move secondary axis parallel and perpendicular to first;
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 first ball pair, second connecting rod and the second revolute pair;
In described two first branches, the first rotation axis of Hooke's hinge is overlapped, and the first revolute pair axis is perpendicular to second The second movement countershaft in the first movement secondary axis and the second branch in second revolute pair axis in branch, two the first branches Line is vertical.
First prismatic pair guide rail, the second prismatic pair guide rail are each parallel to horizontal plane.
Second prismatic pair guide rail is arranged horizontal by acute angle.
Second prismatic pair guide rail and horizontal plane.
It is a kind of to drive fixed two to rotate a mobile parallel connection mechanisms, including frame, moving platform and it is connected in frame in parallel Two the first branches and the 3rd branch between moving platform;It is characterized in that:
The first prismatic pair guide rail, the first prismatic pair that first branch includes being connected in turn between frame and moving platform are slided Block, Hooke's hinge, first connecting rod and the first revolute pair;The first rotation axis of Hooke's hinge and the first prismatic pair diameter parallel, tiger Gram second rotation axis that be connected with first connecting rod of hinge and the first revolute pair axis move secondary axis parallel and perpendicular to first;
Three moving sets guide rail, the three moving sets that 3rd branch includes being connected in turn between frame and moving platform are slided Block, the 3rd revolute pair, third connecting rod and the second ball pair;3rd revolute pair axis is perpendicular to three moving sets axis;
In described two first branches, the first rotation axis of Hooke's hinge is overlapped, the first movement secondary axis and the 3rd branch In three moving sets axis it is vertical.
First prismatic pair guide rail, three moving sets guide rail are arranged each parallel to horizontal plane.
Three moving sets guide rail is arranged horizontal by acute angle.
Three moving sets guide rail and horizontal plane.
The beneficial effects of the utility model are:
The utility model proposes parallel institution can perform the moving movement of two rotation one, with driving is fixed, operation speed The advantages of spending height, compact conformation, rigidity height, large carrying capacity, good dynamic performance, available for Control During Paint Spraying by Robot, parallel machine Deng field.
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 utility model embodiment six.
Fig. 7 is the dimensional structure diagram of the first branch.
Fig. 8 is the dimensional structure diagram of the second branch.
Fig. 9 is the dimensional structure diagram of the 3rd 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 7,8, two fixed one mobile parallel connection mechanisms of rotation of a kind of driving, including frame (being omitted in figure), Moving platform 1 and two the first branches and second branch being connected in parallel between frame and moving platform.
The first prismatic pair guide rail 11, the first prismatic pair that first branch includes being connected in turn between frame and moving platform are slided Block 12 (the first prismatic pair guide rail and the first prismatic pair sliding block cooperatively form the first prismatic pair), Hooke's hinge 13, first connecting rod 14 with And first revolute pair 15;The first rotation axis (the rotary shaft axis that i.e. Hooke's hinge is connected with the first prismatic pair sliding block) of Hooke's hinge With the first prismatic pair diameter parallel, second rotation axis that Hooke's hinge is connected with first connecting rod and the first revolute pair diameter parallel and Perpendicular to first movement secondary axis (i.e. the first prismatic pair mobile axis;It is similar below).
The second prismatic pair guide rail 21, the second prismatic pair that second branch includes being connected in turn between frame and moving platform are slided Block 22, the first ball pair 23, the revolute pair 25 of second connecting rod 24 and second;Second prismatic pair guide rail and the second prismatic pair sliding block coordinate Form the second prismatic pair.
In two the first branches, the first rotation axis of Hooke's hinge is overlapped, and the first revolute pair axis is perpendicular to the second branch In the second revolute pair axis.The second movement secondary axis in the first movement secondary axis and the second branch in two the first branches hangs down Directly.Second prismatic pair guide rail parallel arranges that the first prismatic pair guide rail is arranged also parallel with horizontal plane in horizontal plane.
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
As shown in Fig. 2 a kind of drive fixed two to rotate a mobile parallel connection mechanisms, including it is frame (being omitted in figure), dynamic flat Platform 1 and two the first branches and second branch being connected in parallel between frame and moving platform.The structure of embodiment two Similar with the structure of embodiment one, difference is:Second prismatic pair guide rail is arranged horizontal by acute angle in embodiment two, Specific angle is determined as needed.
Embodiment three
As shown in figure 3, a kind of drive fixed two to rotate a mobile parallel connection mechanisms, including it is frame (being omitted in figure), dynamic flat Platform 1 and two the first branches and second branch being connected in parallel between frame and moving platform.The structure of embodiment three Similar with the structure of embodiment one, difference is:Second prismatic pair guide rail and horizontal plane in embodiment three.
Example IV
Such as Fig. 4, shown in 7,9, two fixed one mobile parallel connection mechanisms of rotation of a kind of driving, including frame (being omitted in figure), Moving platform 1 and two the first branches and the 3rd branch being connected in parallel between frame and moving platform.
The first prismatic pair guide rail 11, the first prismatic pair that first branch includes being connected in turn between frame and moving platform are slided Block 12 (the first prismatic pair guide rail and the first prismatic pair sliding block cooperatively form the first prismatic pair), Hooke's hinge 13, first connecting rod 14 with And first revolute pair 15;The first rotation axis (the rotary shaft axis that i.e. Hooke's hinge is connected with the first prismatic pair sliding block) of Hooke's hinge With the first prismatic pair diameter parallel, second rotation axis that Hooke's hinge is connected with first connecting rod and the first revolute pair diameter parallel and Perpendicular to the first movement secondary axis.
Three moving sets guide rail 31, the three moving sets that 3rd branch includes being connected in turn between frame and moving platform are slided Block 32 (three moving sets guide rail and three moving sets sliding block cooperatively form three moving sets), the 3rd revolute pair 33, third connecting rod 34 and the second ball pair 35;3rd revolute pair axis is perpendicular to three moving sets axis.
In two the first branches, the first rotation axis of Hooke's hinge is overlapped.The first movement countershaft in two the first branches Line is vertical with the three moving sets axis in the 3rd branch.Three moving sets guide rail parallel is in horizontal plane arrangement, the first prismatic pair Guide rail is arranged also parallel with horizontal plane.
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 five
As shown in figure 5, a kind of drive fixed two to rotate a mobile parallel connection mechanisms, including it is frame (being omitted in figure), dynamic flat Platform 1 and two the first branches and the 3rd branch being connected in parallel between frame and moving platform.The structure of embodiment five Similar with the structure of example IV, difference is:Three moving sets guide rail is arranged horizontal by acute angle in embodiment five, Specific angle is determined as needed.
Embodiment six
As shown in fig. 6, a kind of drive fixed two to rotate a mobile parallel connection mechanisms, including it is frame (being omitted in figure), dynamic flat Platform 1 and two the first branches and the 3rd branch being connected in parallel between frame and moving platform.The structure of embodiment six Similar with the structure of example IV, difference is:Three moving sets guide rail and horizontal plane in embodiment six.

Claims (8)

1. a kind of drive fixed two to rotate a mobile parallel connection mechanisms, including frame, moving platform (1) and it is connected in frame in parallel Two the first branches and second branch between moving platform;It is characterized in that:
First branch includes the first prismatic pair guide rail (11), the first prismatic pair sliding block being connected in turn between frame and moving platform (12), Hooke's hinge (13), first connecting rod (14) and the first revolute pair (15);The first rotation axis of Hooke's hinge and the first movement Secondary axis is parallel, and the second rotation axis that Hooke's hinge is connected with first connecting rod is with the first revolute pair axis parallel and perpendicular to first Mobile 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 first ball secondary (23), second connecting rod (24) and the second revolute pair (25);
In described two first branches, the first rotation axis of Hooke's hinge is overlapped, and the first revolute pair axis is perpendicular to the second branch In the second revolute pair axis, the first movement secondary axis in two the first branches and the second movement secondary axis in the second branch are vertical Directly.
2. two fixed one mobile parallel connection mechanisms of rotation of driving according to claim 1, it is characterised in that:First prismatic pair Guide rail, the second prismatic pair guide rail are arranged each parallel to horizontal plane.
3. two one mobile parallel connection mechanisms of rotation of the driving fixation according to claim requirement 1, it is characterised in that:Second moves Dynamic pair guide rail is arranged horizontal by acute angle.
4. two one mobile parallel connection mechanisms of rotation of the driving fixation according to claim requirement 1, it is characterised in that:Second moves Dynamic pair guide rail and horizontal plane.
5. a kind of drive fixed two to rotate a mobile parallel connection mechanisms, including frame, moving platform (1) and it is connected in frame in parallel Two the first branches and the 3rd branch between moving platform;It is characterized in that:
First branch includes the first prismatic pair guide rail (11), the first prismatic pair sliding block being connected in turn between frame and moving platform (12), Hooke's hinge (13), first connecting rod (14) and the first revolute pair (15);The first rotation axis of Hooke's hinge and the first movement Secondary axis is parallel, and the second rotation axis that Hooke's hinge is connected with first connecting rod is with the first revolute pair axis parallel and perpendicular to first Mobile secondary axis;
3rd branch includes three moving sets guide rail (31), the three moving sets sliding block being connected in turn between frame and moving platform (32), the 3rd revolute pair (33), third connecting rod (34) and the second ball are secondary (35);3rd revolute pair axis is perpendicular to the 3rd movement Secondary axis;
In described two first branches, the first rotation axis of Hooke's hinge is overlapped, the first movement countershaft in two the first branches Line is vertical with the three moving sets axis in the 3rd branch.
6. two fixed one mobile parallel connection mechanisms of rotation of driving according to claim 5, it is characterised in that:First prismatic pair Guide rail, three moving sets guide rail are arranged each parallel to horizontal plane.
7. two fixed one mobile parallel connection mechanisms of rotation of driving according to claim 5, it is characterised in that:Three moving sets Guide rail is arranged horizontal by acute angle.
8. two fixed one mobile parallel connection mechanisms of rotation of driving according to claim 5, it is characterised in that:Three moving sets Guide rail and horizontal plane.
CN201621253330.2U 2016-11-22 2016-11-22 It is a kind of to drive fixed two to rotate a mobile parallel connection mechanism Active CN206344134U (en)

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CN201621253330.2U CN206344134U (en) 2016-11-22 2016-11-22 It is a kind of to drive fixed two to rotate a mobile parallel connection mechanism

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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108465929A (en) * 2018-01-22 2018-08-31 清华大学 A kind of agitating friction welder and the stirring friction welding system including it

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108465929A (en) * 2018-01-22 2018-08-31 清华大学 A kind of agitating friction welder and the stirring friction welding system including it
US11260469B2 (en) 2018-01-22 2022-03-01 Tsinghua University Friction stir welding apparatus and friction stir welding system comprising the same

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