CN207509211U - A kind of six-degree-of-freedom parallel connection mechanism - Google Patents
A kind of six-degree-of-freedom parallel connection mechanism Download PDFInfo
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- CN207509211U CN207509211U CN201721419336.7U CN201721419336U CN207509211U CN 207509211 U CN207509211 U CN 207509211U CN 201721419336 U CN201721419336 U CN 201721419336U CN 207509211 U CN207509211 U CN 207509211U
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Abstract
The utility model discloses a kind of six-degree-of-freedom parallel connection mechanisms, including fixed platform and moving platform and the two RRPS movement branched chains and a SPS movement branched chain that connect them, RRPS movement branched chains include the first revolute, second revolute, first movement pair and the first ball pair, the axis of first revolute is vertical with fixed platform, first revolute, second revolute, first movement is secondary to sequentially pass through first connecting rod between the first ball pair, second connecting rod is connected with third connecting rod, SPS movement branched chains include the second ball pair, second prismatic pair and third ball pair, second ball pair, fourth link is sequentially passed through between second prismatic pair and third ball pair to connect with the 5th connecting rod, first ball pair and third ball pair are connected with moving platform, first revolute and the second ball pair are connected with fixed platform.The utility model branch is few, degree of freedom is more, rigidity is big, moving platform working space is big.
Description
Technical field
The utility model belongs to robot and mechanical manufacturing field, relates more specifically to a kind of six-degree-of-freedom parallel connection mechanism.
Background technology
Parallel institution may be defined as moving platform and is connected with fixed platform by least two independent movement branched chains, have two
A and more than two degree of freedom, and a kind of close loop mechanism driven with parallel way.Parallel institution has kinematic accuracy height, rigidity
Greatly, the advantages that dynamic response is good, but six-degree-of-freedom parallel connection mechanism branch is more, is influenced by movement branched chain interference, space
Universal smaller, existing three branches parallel institution degree of freedom is generally less, seriously constrains parallel institution in industry and robot
The application in the fields of grade, so research three-branch chain six-freedom degree and parallel institution with larger working space is with important application
Value.
Invention content
The utility model provides a kind of six-degree-of-freedom parallel connection mechanism to solve technical problem present in known technology, should
Mechanism branch is few, degree of freedom is more, rigidity is big, moving platform working space is big.
The utility model is adopted the technical scheme that solve technical problem present in known technology：One kind six is freely
Parallel institution is spent, including fixed platform and moving platform, it is identical between the fixed platform and the moving platform to be disposed with two-strip structure
RRPS movement branched chains and a SPS movement branched chain, the RRPS movement branched chains include the first revolute, the second revolute, the
One prismatic pair and the first ball pair, the first ball pair are connected with the moving platform, first revolute and the fixed platform phase
Even, the axis of first revolute is vertical with the fixed platform, first revolute, second revolute, described the
First connecting rod is sequentially passed through between one prismatic pair and the first ball pair, second connecting rod is connected with third connecting rod, the SPS movements
Branch includes secondary the second ball, the second prismatic pair and third ball pair, the third ball pair and is connected with the moving platform, second ball
It is secondary to be connected with the fixed platform, sequentially pass through the 4th between the second ball pair, second prismatic pair and the third ball pair
Connecting rod and the connection of the 5th connecting rod.
The first movement pair and the second revolute axis are vertical.
Second revolute and the first revolute axis are vertical.
The identical RRPS movement branched chains of two-strip structure and a SPS movement branched chain are evenly distributed described fixed
Between platform and the moving platform.
Rotating seat is fixed on the fixed platform, one end of the first connecting rod is mounted in the rotating seat, the two
Form first revolute.
Ball seat is fixed on the fixed platform, bulb, the fourth link are fixed in one end of the fourth link
On bulb be mounted on the fixed platform ball seat in, the two forms the second ball pair.
Ball seat is fixed on the moving platform, bulb, the third connecting rod are fixed in one end of the third connecting rod
On bulb be mounted on the moving platform ball seat in, the two forms the first ball pair, the third ball pair and described first
Ball auxiliary structure is identical.
The utility model has the advantages and positive effects of：By using two RRPS movement branched chains and a SPS fortune
Dynamic branch chain link fixed platform and moving platform form parallel institution, it can be achieved that rotation and three of the moving platform on the direction of three, space
Movement on direction, mechanism is symmetrical, branch is few, degree of freedom is more, rigidity is big, moving platform working space is big, is easy to control, practicability
By force, it is more convenient when realizing special exercise track.
Description of the drawings
Fig. 1 is the structure diagram of the first initial pose of the utility model；
Fig. 2 is the structure diagram of the second initial pose of the utility model；
Fig. 3 is the fixed platform structure diagram of the utility model；
Fig. 4 is the moving platform structure diagram of the utility model；
Fig. 5 is the RRPS movement branched chain structure diagrams of the utility model；
Fig. 6 is the SPS movement branched chain structure diagrams of the utility model.
In figure：1st, fixed platform；101st, rotating seat；102nd, ball seat；2nd, first connecting rod；3rd, second connecting rod；4th, third connecting rod；
401st, bulb；5th, fourth link；501st, bulb；6th, moving platform；601st, ball seat；7th, the 5th connecting rod；The first revolutes of R1-；R2-
Two revolutes；P1- first movement pairs；P2- first movement pairs；S1- the first ball pairs；S2- the second ball pairs；S3- third ball pairs.
Specific embodiment
For that can further appreciate that the invention, features and effects of the utility model, the following examples are hereby given, and coordinates
Detailed description are as follows for attached drawing：
Please refer to Fig.1~Fig. 6, a kind of six-degree-of-freedom parallel connection mechanism, including fixed platform 1 and moving platform 6, in the fixed platform
The identical RRPS movement branched chains of two-strip structure and a SPS movement branched chain are disposed between 1 and the moving platform 6.
The RRPS movement branched chains include the first revolute R1, the second revolute R2, first movement secondary P1 and the first ball pair
S1, the first ball secondary S1 are connected with the moving platform 6, and the first revolute R1 is connected with the fixed platform 1, and described first
The axis of revolute R1 is vertical with the fixed platform 1, and the first revolute R1, the second revolute R2, described first move
It is dynamic to sequentially pass through first connecting rod 2, second connecting rod 3 and third connecting rod 4 between secondary P1 and the first ball secondary S1 and connect.
The SPS movement branched chains include the second ball secondary S2, the second prismatic pair P2 and third ball secondary S3, the third ball secondary S3
It is connected with the moving platform 6, the second ball secondary S2 is connected with the fixed platform 1, the second ball secondary S2, second movement
5 and the 5th connecting rod 7 of fourth link is sequentially passed through between secondary P2 and the third ball secondary S3 to connect.
In the present embodiment, in order to realize specific movement locus, the first movement secondary P1 and described second can be made
Revolute R2 axis are vertical and/or the second revolute R2 and the first revolute R1 axis it is vertical, two can also be made
The identical RRPS movement branched chains of structure and a SPS movement branched chain are evenly distributed in the fixed platform 1 and described
Between moving platform 6.In the present embodiment, rotating seat 101, one end peace of the first connecting rod 2 are fixed on the fixed platform 1
In the rotating seat 101, the two forms the first revolute R1.Ball seat 102 is fixed on the fixed platform 1,
One end of the fourth link 5 is fixed with bulb 501, and the bulb 501 in the fourth link 5 is mounted on the fixed platform 1
In ball seat 102, the two forms the second ball secondary S2.Ball seat 601 is fixed on the moving platform 6, in the third connecting rod 4
One end be fixed with bulb 401, the bulb 401 on the third connecting rod 4 is mounted in the ball seat 601 of the moving platform 6, the two
The first ball secondary S1 is formed, the third ball secondary S3 is identical with the first ball secondary S1 structures.
Fig. 1 is referred to, under the first initial pose, the second revolute R2 axis of two RRPS movement branched chains are parallel.Please
Referring to Fig. 2, under the second initial pose, the second revolute R2 of two RRPS movement branched chains intersects 60 °.
Although the preferred embodiment of the utility model is described above in conjunction with attached drawing, the utility model is not
Above-mentioned specific embodiment is confined to, above-mentioned specific embodiment is only schematical, is not restricted, ability
The those of ordinary skill in domain is not departing from the utility model aims and claimed under the enlightenment of the utility model
In the case of range, many forms can also be made, these are belonged within the scope of protection of the utility model.
Claims (7)
1. a kind of six-degree-of-freedom parallel connection mechanism, including fixed platform and moving platform, which is characterized in that in the fixed platform and described dynamic
The identical RRPS movement branched chains of two-strip structure and a SPS movement branched chain, the RRPS movement branched chains packet are disposed between platform
It includes the first revolute, the second revolute, first movement pair and the first ball pair, the first ball pair with the moving platform to be connected, institute
It states the first revolute with the fixed platform to be connected, the axis of first revolute is vertical with the fixed platform, first rotation
Turn to sequentially pass through first connecting rod, second connecting rod between the secondary and described first ball pair of secondary, described second revolute, the first movement
It is connected with third connecting rod, the SPS movement branched chains include secondary the second ball, the second prismatic pair and third ball pair, the third ball pair
It is connected with the moving platform, the second ball pair is connected with the fixed platform, the second ball pair, second prismatic pair and institute
It states and sequentially passes through fourth link between third ball pair and connected with the 5th connecting rod.
2. six-degree-of-freedom parallel connection mechanism according to claim 1, which is characterized in that the first movement pair and described second
Revolute axis is vertical.
3. six-degree-of-freedom parallel connection mechanism according to claim 1, which is characterized in that second revolute and described first
Revolute axis is vertical.
4. six-degree-of-freedom parallel connection mechanism according to claim 1, which is characterized in that the identical RRPS fortune of two-strip structure
Dynamic branch and a SPS movement branched chain are evenly distributed between the fixed platform and the moving platform.
5. six-degree-of-freedom parallel connection mechanism according to claim 1, which is characterized in that rotation is fixed on the fixed platform
Seat, one end of the first connecting rod are mounted in the rotating seat, and the two forms first revolute.
6. six-degree-of-freedom parallel connection mechanism according to claim 1, which is characterized in that be fixed with ball on the fixed platform
Seat, is fixed with bulb in one end of the fourth link, and the bulb in the fourth link is mounted on the ball seat of the fixed platform
Interior, the two forms the second ball pair.
7. six-degree-of-freedom parallel connection mechanism according to claim 1, which is characterized in that be fixed with ball on the moving platform
Seat, is fixed with bulb in one end of the third connecting rod, and the bulb on the third connecting rod is mounted on the ball seat of the moving platform
Interior, the two forms the first ball pair, and the third ball pair is identical with the first ball auxiliary structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721419336.7U CN207509211U (en) | 2017-10-30 | 2017-10-30 | A kind of six-degree-of-freedom parallel connection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721419336.7U CN207509211U (en) | 2017-10-30 | 2017-10-30 | A kind of six-degree-of-freedom parallel connection mechanism |
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| Publication Number | Publication Date |
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| CN207509211U true CN207509211U (en) | 2018-06-19 |
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|---|---|---|---|
| CN201721419336.7U Expired - Fee Related CN207509211U (en) | 2017-10-30 | 2017-10-30 | A kind of six-degree-of-freedom parallel connection mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598902A (en) * | 2017-10-30 | 2018-01-19 | 天津工业大学 | A kind of six-degree-of-freedom parallel connection mechanism |
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2017
- 2017-10-30 CN CN201721419336.7U patent/CN207509211U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598902A (en) * | 2017-10-30 | 2018-01-19 | 天津工业大学 | A kind of six-degree-of-freedom parallel connection mechanism |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180619 Termination date: 20191030 |
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| CF01 | Termination of patent right due to non-payment of annual fee |