CN206527734U - A kind of 2R two-degree-of-freedom parallel mechanisms for lifting load capacity - Google Patents
A kind of 2R two-degree-of-freedom parallel mechanisms for lifting load capacity Download PDFInfo
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- CN206527734U CN206527734U CN201621212795.3U CN201621212795U CN206527734U CN 206527734 U CN206527734 U CN 206527734U CN 201621212795 U CN201621212795 U CN 201621212795U CN 206527734 U CN206527734 U CN 206527734U
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- rotating shaft
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- pedestal
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Abstract
The utility model provides a kind of 2R two-degree-of-freedom parallel mechanisms for lifting load capacity, including frame, moving platform and the first leg being connected between frame and moving platform, second leg and the 3rd leg, the bottom of first leg and the 3rd leg is rotatably installed in frame by the first cross connecting piece and the 3rd cross connecting piece respectively, the top of first leg and the 3rd leg is rotatably installed on moving platform by the 3rd rotating shaft and eighth-turn axle respectively, second leg is scalable, the bottom of second leg is rotatably installed in frame by the second cross connecting piece, the top of second leg is rotatably connected on moving platform by a spherical linkage；Mechanism rigidity of the present utility model is high, and bearing capacity is strong, and control is easy, has a good application prospect.
Description
Technical field
The utility model is related to parallel institution technical field, more particularly to a kind of 2R two-freedoms for lifting load capacity are simultaneously
Online structure.
Background technology
Parallel institution has the advantages that high rigidity, high accuracy and big bearing capacity, and utility model goes out largely researcher
Parallel institution, but most of is Three Degree Of Freedom and six-degree-of-freedom parallel connection mechanism, is related to the practicality of two-degree-of-freedom parallel mechanism
New patent is seldom.Moreover, general two-degree-of-freedom parallel mechanism is two branched structures, bearing capacity is weaker, although some two
Freedom degree parallel connection mechanism is three branched structures, but is due to that kinematic pair distribution is not reasonable, causes stress distribution suffered by each branch
Irregular, larger stress bears in some branches, consumes larger, and the structure of some mechanism kinematic pairs is too complicated, control inconvenience.
The content of the invention
In view of this, the utility model provides the 2R two-freedoms parallel connection that a kind of structure is relatively easy and bearing capacity is strong
Mechanism.
The utility model provides a kind of 2R two-degree-of-freedom parallel mechanisms for lifting load capacity, including frame and moving platform,
Also include the first leg, the second leg and the 3rd leg being connected between frame and moving platform, second leg is scalable,
The bottom of first leg is rotatably installed in the frame by one first cross connecting piece, first cross connecting piece
Including orthogonal first rotating shaft and the second rotating shaft, first leg can turn rotating around the first rotating shaft and the second rotating shaft
Dynamic, the top of first leg is arranged on the moving platform by one the 3rd axis of rotation；
The bottom of second leg is rotatably installed in the frame by one second cross connecting piece, and the described 20th
Word connector includes orthogonal 4th rotating shaft and the 5th rotating shaft, and second leg can be rotating around the 4th rotating shaft and the
Five axis of rotation, the top of second leg is rotatably connected on the moving platform by a spherical linkage；
The bottom of 3rd leg is rotatably installed in the frame by one the 3rd cross connecting piece, and the described 30th
Word connector includes orthogonal 6th rotating shaft and the 7th rotating shaft, and the 3rd leg can be rotating around the 6th rotating shaft and the
Seven axis of rotation, the top of the 3rd leg is rotatably installed on the moving platform by an eighth-turn axle.
Further, first leg includes first connecting rod, and second leg includes second connecting rod and third connecting rod, institute
State third connecting rod and stretching motion is done in the second connecting rod by the first prismatic pair, the 3rd leg includes fourth link.
Further, the first pedestal being distributed in equilateral triangle, the second pedestal and the 3rd pedestal are fixed with the frame,
The first rotating shaft rotates connection first pedestal, and the 4th axis of rotation connects second pedestal, described 6th turn
Axle rotates connection the 3rd pedestal.
Further, the 4th pedestal being distributed in equilateral triangle, the 5th pedestal and are fixed with the downside of the moving platform
Six pedestals, the position of the 4th pedestal, the 5th pedestal and the 6th pedestal respectively with the first pedestal, the second pedestal and the 3rd pedestal
Position be adapted, the 3rd axis of rotation connects the 4th pedestal, and the spherical linkage rotates connection the 5th base
Seat, the 8th axis of rotation connects the 6th pedestal.
Further, the first rotating shaft and the axis collinear of the 6th rotating shaft, and with the diameter parallel of the 4th rotating shaft, institute
State the diameter parallel of the second rotating shaft, the 3rd rotating shaft, the 5th rotating shaft, the 7th rotating shaft and eighth-turn axle, the axis of the 4th rotating shaft
It is vertical with the axis of first prismatic pair with the axis of the 5th rotating shaft.
Further, the first rotating shaft and second rotating shaft be as active drive kinematic pair, first leg, described
The position of moving platform and posture, realize two rotational freedoms, one described in second leg and the 3rd leg co- controlling
The rotating shaft of rotational freedom is parallel to the direction of first rotating shaft axis, and the rotating shaft of another rotational freedom is parallel to second
The direction of shaft axis.
Further, the 6th rotating shaft and the 7th rotating shaft be as active drive kinematic pair, first leg, described
The position of moving platform and posture, realize two rotational freedoms, one described in second leg and the 3rd leg co- controlling
The rotating shaft of rotational freedom is parallel to the direction of the 6th shaft axis, and the rotating shaft of another rotational freedom is parallel to the 7th
The direction of shaft axis.
Further, the type of drive of institute's active drive kinematic pair is that motor drives or Driven by Hydraulic Cylinder.
The beneficial effect that the technical solution of the utility model is brought is：Two-degree-of-freedom parallel mechanism of the present utility model includes
Three legs, mechanism rigidity is high, and ability to bear is strong, and control is simple easily to be realized, is had a good application prospect.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model 2R two-degree-of-freedom parallel mechanisms.
Fig. 2 is the utility model 2R two-degree-of-freedom parallel mechanism post exercise structural representations.
In figure：1- frames, the pedestals of 11- first, the pedestals of 12- second, the pedestals of 13- the 3rd, 2- moving platforms, the pedestals of 21- the 4th,
The pedestals of 22- the 5th, the pedestals of 23- the 6th, the legs of 3- first, the cross connecting pieces of 31- first, 311- first rotating shafts, second turn of 312-
Axle, 32- first connecting rods, the rotating shafts of 33- the 3rd, the legs of 4- second, the cross connecting pieces of 41- second, the rotating shafts of 411- the 4th, 412-
Five rotating shafts, 42- second connecting rods, the prismatic pairs of 43- first, 44- third connecting rods, 45- spherical linkages, the legs of 5- the 3rd, 51- the 30th
Word connector, the rotating shafts of 511- the 6th, the rotating shafts of 512- the 7th, 52- fourth links, 53- eighth-turn axles.
Embodiment
It is new to this practicality below in conjunction with accompanying drawing to make the purpose of this utility model, technical scheme and advantage clearer
Type embodiment is further described.
Embodiment 1
Fig. 1 is refer to, embodiment of the present utility model provides a kind of 2R two-freedom parallel machines for lifting load capacity
The first leg 3 in parallel, the second leg 4 between structure, including frame 1, moving platform 2 and frame 1 and moving platform 2 and the 3rd
The first pedestal 11 being distributed in equilateral triangle, the second pedestal 12 and the 3rd pedestal 13, moving platform 2 are fixed with pin 5, frame 1
Downside be fixed with the 4th pedestal 21, the 5th pedestal 22 and the 6th pedestal 23 being distributed in equilateral triangle, the 4th pedestal 21,
Mutually fit position of the position of five pedestals 22 and the 6th pedestal 23 respectively with the first pedestal 11, the second pedestal 12 and the 3rd pedestal 13
Match somebody with somebody.
First leg 3 includes first connecting rod 32, and non-telescoping, the lower end of the first leg 3 passes through the first cross connecting piece 31
The first pedestal 11 of connection is rotated, the first cross connecting piece 31 includes the orthogonal rotating shaft 312 of first rotating shaft 311 and second, the
The upper end of one leg 3 rotates the 4th pedestal 21 of connection by the 3rd rotating shaft 33, and therefore, the lower end of the first leg 3 can be with the 10th
Two orthogonal rotating shafts of word connector 31（The rotating shaft 312 of first rotating shaft 311 and second）Rotated for axis, the first leg 3
Upper end can be rotated around the 3rd rotating shaft 33.
Second leg 4 includes second connecting rod 42 and third connecting rod 44, and the lower end of second connecting rod 42 is connected by the second cross
Part 41 rotates the second pedestal 12 of connection, and the second cross connecting piece 41 includes orthogonal 4th rotating shaft 411 and the 5th rotating shaft
412, therefore, the lower end of second connecting rod 42 can be rotated rotating around the 4th rotating shaft 411 and the 5th rotating shaft 412, and second connecting rod 42 leads to
Cross the first prismatic pair 43 connection third connecting rod 44, second connecting rod 42（Cylinder barrel）For hollow, third connecting rod 44（Piston rod）Pass through
One prismatic pair 43 does stretching motion in second connecting rod 42, so as to adjust the height of the second leg 4, the upper end of third connecting rod 44 leads to
Cross spherical linkage 45 and rotate the 5th pedestal 22 of connection, the upper end of third connecting rod 44 can be existed using the tie point of spherical linkage 45 as fulcrum
Rotated in the spatial dimension that spherical linkage 45 is constrained, wherein, the 4th rotating shaft 411, the axis of the 5th rotating shaft 412 and first move
The axis of dynamic pair 43 is vertical.
3rd leg 5 includes fourth link 52, and non-telescoping, the lower end of the 3rd leg 5 passes through the 3rd cross connecting piece 51
The 3rd pedestal 13 of connection is rotated, the 3rd cross connecting piece 51 includes orthogonal 6th rotating shaft 511 and the 7th rotating shaft 512, the
The upper end of three legs 5 rotates the 6th pedestal 23 of connection by eighth-turn axle 53, and therefore, the lower end of the 3rd leg 5 can be with the 30th
Two orthogonal rotating shafts of word connector 51（6th rotating shaft 511 and the 7th rotating shaft 512）Rotated for axis, the 3rd leg 5
Upper end can be rotated around eighth-turn axle 53.
The axis collinear of the rotating shaft 511 of first rotating shaft 311 and the 6th, and with the diameter parallel of the 4th rotating shaft 411, the second rotating shaft
312nd, the diameter parallel of the 3rd rotating shaft 33, the 5th rotating shaft 412, the 7th rotating shaft 512 and eighth-turn axle 53, the axle of the 4th rotating shaft 411
Line and the axis of the 5th rotating shaft 412 are vertical with the axis of the first prismatic pair 43.
With reference to Fig. 2, Fig. 2 is two rotational freedom rotating shaft distributed architecture schematic diagrames of Tu1Zhong mechanisms.First rotating shaft 311
The axis of label is line a, and the axis of the second rotating shaft 312 is line b, and line c is parallel to line b, and line d is parallel to line a.First rotating shaft 311
With the second rotating shaft 312 as active drive kinematic pair, wherein the first leg 3, the second leg 4 and the co- controlling of the 3rd leg 5 are dynamic
The posture of platform 2 realizes the movement of two rotational freedoms, and two rotating shafts of rotational freedom are line c and line d directions.
In the utility model embodiment, the type of drive of active drive kinematic pair can be motor driving or Driven by Hydraulic Cylinder.
Two-degree-of-freedom parallel mechanism of the present utility model includes three legs, and mechanism rigidity is high, and ability to bear is strong, control letter
Folk prescription just, has a good application prospect.
Embodiment 2
The present embodiment is differed only in embodiment 1, and the 6th rotating shaft 511 and the 7th rotating shaft 512 are transported as active drive
Dynamic pair, it is remaining then substantially the same manner as Example 1.
Two-degree-of-freedom parallel mechanism of the present utility model includes three legs, and mechanism rigidity is high, and ability to bear is strong, control letter
Folk prescription just, has a good application prospect.
Herein, the involved noun of locality such as forward and backward, upper and lower is to be located at parts in accompanying drawing in figure and zero
The position of part each other is intended merely to the clear of expression technology scheme and conveniently come what is defined.It should be appreciated that the noun of locality
Use should not limit the claimed scope of the application.
In the case where not conflicting, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
Preferred embodiment of the present utility model is the foregoing is only, it is all in this practicality not to limit the utility model
Within new spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in guarantor of the present utility model
Within the scope of shield.
Claims (8)
1. a kind of 2R two-degree-of-freedom parallel mechanisms for lifting load capacity, including frame and moving platform, it is characterised in that：Also include
The first leg, the second leg and the 3rd leg between frame and moving platform are connected to, second leg is scalable, described
The bottom of one leg is rotatably installed in the frame by one first cross connecting piece, and first cross connecting piece includes phase
Mutually vertical first rotating shaft and the second rotating shaft, first leg can be rotating around the first rotating shaft and the second axis of rotation, institute
The top for stating the first leg is arranged on the moving platform by one the 3rd axis of rotation；
The bottom of second leg is rotatably installed in the frame by one second cross connecting piece, and second cross connects
Fitting includes orthogonal 4th rotating shaft and the 5th rotating shaft, and second leg can be rotating around the 4th rotating shaft and the 5th turn
Axle is rotated, and the top of second leg is rotatably connected on the moving platform by a spherical linkage；
The bottom of 3rd leg is rotatably installed in the frame by one the 3rd cross connecting piece, and the 3rd cross connects
Fitting includes orthogonal 6th rotating shaft and the 7th rotating shaft, and the 3rd leg can be rotating around the 6th rotating shaft and the 7th turn
Axle is rotated, and the top of the 3rd leg is rotatably installed on the moving platform by an eighth-turn axle.
2. the 2R two-degree-of-freedom parallel mechanisms of load capacity are lifted as claimed in claim 1, it is characterised in that：Described first
Pin includes first connecting rod, and second leg includes second connecting rod and third connecting rod, and the third connecting rod passes through the first prismatic pair
Stretching motion is done in the second connecting rod, the 3rd leg includes fourth link.
3. the 2R two-degree-of-freedom parallel mechanisms of load capacity are lifted as claimed in claim 2, it is characterised in that：In the frame
The first pedestal, the second pedestal and the 3rd pedestal being distributed in equilateral triangle are fixed with, it is described that the first rotating shaft rotates connection
First pedestal, the 4th axis of rotation connects second pedestal, and the 6th axis of rotation connects the 3rd pedestal.
4. the 2R two-degree-of-freedom parallel mechanisms of load capacity are lifted as claimed in claim 3, it is characterised in that：The moving platform
Downside be fixed with the 4th pedestal, the 5th pedestal and the 6th pedestal being distributed in equilateral triangle, the 4th pedestal, the 5th base
Position of the position of seat and the 6th pedestal respectively with the first pedestal, the second pedestal and the 3rd pedestal is adapted, the 3rd rotating shaft
Connection the 4th pedestal is rotated, the spherical linkage rotates connection the 5th pedestal, and the 8th axis of rotation connects institute
State the 6th pedestal.
5. the 2R two-degree-of-freedom parallel mechanisms of load capacity are lifted as claimed in claim 4, it is characterised in that：Described first turn
Axle and the axis collinear of the 6th rotating shaft, and with the diameter parallel of the 4th rotating shaft, second rotating shaft, the 3rd rotating shaft, the 5th
The diameter parallel of rotating shaft, the 7th rotating shaft and eighth-turn axle, the axis of the 4th rotating shaft and the axis of the 5th rotating shaft with
The axis of first prismatic pair is vertical.
6. the 2R two-degree-of-freedom parallel mechanisms of load capacity are lifted as claimed in claim 5, it is characterised in that：Described first turn
Axle and second rotating shaft are as active drive kinematic pair, and first leg, second leg and the 3rd leg are common
With the position and posture for controlling the moving platform, two rotational freedoms are realized, the rotating shaft of a rotational freedom is parallel to
The direction of first rotating shaft axis, the rotating shaft of another rotational freedom is parallel to the direction of the second shaft axis.
7. the 2R two-degree-of-freedom parallel mechanisms of load capacity are lifted as claimed in claim 5, it is characterised in that：Described 6th turn
Axle and the 7th rotating shaft are as active drive kinematic pair, and first leg, second leg and the 3rd leg are common
With the position and posture for controlling the moving platform, two rotational freedoms are realized, the rotating shaft of a rotational freedom is parallel to
The direction of 6th shaft axis, the rotating shaft of another rotational freedom is parallel to the direction of the 7th shaft axis.
8. the 2R two-degree-of-freedom parallel mechanisms of lifting load capacity as claimed in claims 6 or 7, it is characterised in that：The master
The secondary type of drive of dynamic powered motion drives or Driven by Hydraulic Cylinder for motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621212795.3U CN206527734U (en) | 2016-11-10 | 2016-11-10 | A kind of 2R two-degree-of-freedom parallel mechanisms for lifting load capacity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621212795.3U CN206527734U (en) | 2016-11-10 | 2016-11-10 | A kind of 2R two-degree-of-freedom parallel mechanisms for lifting load capacity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206527734U true CN206527734U (en) | 2017-09-29 |
Family
ID=59921608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621212795.3U Expired - Fee Related CN206527734U (en) | 2016-11-10 | 2016-11-10 | A kind of 2R two-degree-of-freedom parallel mechanisms for lifting load capacity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206527734U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426105A (en) * | 2016-11-10 | 2017-02-22 | 中国地质大学（武汉） | 2R two-degree-of-freedom parallel mechanism for improving load capacity |
| CN109262592A (en) * | 2018-11-09 | 2019-01-25 | 燕山大学 | Two translations, one rotation branch's non complete symmetry parallel institution |
-
2016
- 2016-11-10 CN CN201621212795.3U patent/CN206527734U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426105A (en) * | 2016-11-10 | 2017-02-22 | 中国地质大学（武汉） | 2R two-degree-of-freedom parallel mechanism for improving load capacity |
| CN106426105B (en) * | 2016-11-10 | 2019-09-17 | 中国地质大学（武汉） | A kind of 2R two-degree-of-freedom parallel mechanism promoting load capacity |
| CN109262592A (en) * | 2018-11-09 | 2019-01-25 | 燕山大学 | Two translations, one rotation branch's non complete symmetry parallel institution |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170929 Termination date: 20191110 |