CN208246801U - Parallel institution with a two mobile rotations and three mobile two kinds of motor patterns - Google Patents

Parallel institution with a two mobile rotations and three mobile two kinds of motor patterns Download PDF

Info

Publication number
CN208246801U
CN208246801U CN201820709969.XU CN201820709969U CN208246801U CN 208246801 U CN208246801 U CN 208246801U CN 201820709969 U CN201820709969 U CN 201820709969U CN 208246801 U CN208246801 U CN 208246801U
Authority
CN
China
Prior art keywords
mobile
branch
hooke
hinge
pair
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201820709969.XU
Other languages
Chinese (zh)
Inventor
刘伟
刘宏昭
曹亚斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xian Polytechnic University
Original Assignee
Xian Polytechnic University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xian Polytechnic University filed Critical Xian Polytechnic University
Priority to CN201820709969.XU priority Critical patent/CN208246801U/en
Application granted granted Critical
Publication of CN208246801U publication Critical patent/CN208246801U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The parallel institution with a two mobile rotations and three mobile two kinds of motor patterns disclosed by the utility model, moving platform and fixed platform including rectangle, moving platform passes through the first branch, the second branch and third branch respectively and connect with fixed platform, to realize the transformation of two mobile a rotations and three moving movement modes, and it does not need to re-assembly the transformation that can be achieved with motor pattern, also has the characteristics that rigidity is high, accuracy is high and dexterity is strong.

Description

Parallel institution with a two mobile rotations and three mobile two kinds of motor patterns
Technical field
The utility model belongs to robot field, is related to a kind of with a two mobile rotations and three mobile two kinds of motor patterns Parallel institution.
Background technique
Parallel robot mechanism is the polycyclic whilst closed forms of space multiple degrees of freedom.Since last century the eighties, parallel machine Structure because its have the characteristics that rigidity height, large carrying capacity, accumulated error are small, dynamic characteristic is good, it is compact-sized due in imaginary axis machine The industry fields such as bed, inching operation platform, motion simulator and multi-dimension force sensor are widely applied.Parallel institution have 2, 3,4,5 or 6 freedom degrees, currently, the research to 6 freedom degree parallel connection mechanisms more and is goed deep into comprehensively, but parallel institution is free The reduction of degree will be so that mechanism structure be more simple, manufacture and control advantage of lower cost, therefore is meeting expected job requirement In the case of, Limited-DOF Parallel Robot has its unique advantage.
Parallel institution with multi-motion modes also referred to as can be changed with multiple modes of operation, Displacement Subgroup, have fortune Dynamic fork or restructural parallel institution, it is characterized in that: multi-motion modes may be implemented in less driving pair, and move mould Formula does not need to re-assembly mechanism when converting, thus can fast implement mechanism reconstruct, and some such parallel institutions exist When carrying out motor pattern transformation, it is required to the Singularity by mechanism.Parallel institution use with multi-motion modes compared with Multi-motion modes can be achieved in few driving, and the multiplicity in actual industrial production can be adapted to hoisting machine with less cost Demand.
Realize that a two mobile rotations are less with the parallel institution of three moving movement Mode changes at present.This kind of parallel machine Structure assembly in the industrial production, crawl etc. have certain application prospect.
Utility model content
The purpose of this utility model is to provide the parallel machines with a two mobile rotations and three mobile two kinds of motor patterns Structure can be realized the transformation of two mobile a rotations and three moving movement modes, and with rigidity height, accuracy is high and dexterity is strong The characteristics of.
The technical scheme adopted by the utility model is with a two mobile rotations and three mobile two kinds of motor patterns and Online structure, including moving platform and fixed platform, moving platform passes through the first branch, the second branch and third branch respectively and fixed platform connects It connects;
First branch includes the first connecting rod connecting with fixed platform, and first connecting rod is connected with prismatic pair P in turn11, second connect Bar, revolute pair R11, third connecting rod, revolute pair R12, fourth link, revolute pair R13, revolute pair R13It is connect with moving platform;
Second branch includes the Hooke's hinge U connecting with fixed platform22, Hooke's hinge U22It is connected with six-bar linkage, prismatic pair in turn P21, the 5th connecting rod and Hooke's hinge U21, Hooke's hinge U21It is connect with moving platform;
Third branch includes the ball secondary S connecting with fixed platform32, ball secondary S32It is connected with the 8th connecting rod, prismatic pair P in turn31、 Seven-link assembly and ball secondary S31, ball secondary S31It is connect with moving platform.
The utility model is also characterized by
Prismatic pair P11, revolute pair R11Pivot center, revolute pair R12Pivot center and revolute pair R13Pivot center it is equal It is arranged perpendicular to horizontal plane.
Prismatic pair P11With revolute pair R11On be respectively connected with driving motor.
Hooke's hinge U21In the pivot center of revolute pair and Hooke's hinge U that are connect with moving platform22In connect with fixed platform turn It moves secondary pivot center to be horizontally disposed with and be parallel to each other, Hooke's hinge U21With Hooke's hinge U22In adjacent two revolute pairs rotation Axis is arranged in parallel.
Prismatic pair P21It is connected with driving motor.
Prismatic pair P31It is connected with driving motor.
The beneficial effects of the utility model are: the utility model has a two mobile rotations and three mobile two kinds of motor patterns Parallel institution, do not need to re-assembly the transformation that can be achieved with two mobile a rotations and three moving movement modes, and have The feature that rigidity is high, accuracy is high and dexterity is strong.
Detailed description of the invention
Fig. 1 is the movement mould for the parallel institution that the utility model has a two mobile rotations and three mobile two kinds of motor patterns The structural schematic diagram of formula transformation position shape;
Fig. 2 is having for the parallel institution that the utility model has a two mobile rotations and three mobile two kinds of motor patterns The structural schematic diagram of 2T1R motor pattern;
Fig. 3 is parallel institution of the utility model with a two mobile rotations and three mobile two kinds of motor patterns with 3T The structural schematic diagram of motor pattern.
In figure: 1. first connecting rods, 2. second connecting rods, 3. third connecting rods, 4. fourth links, 5. the 5th connecting rods, 6. the 6th connect Bar, 7. seven-link assemblies, 8. the 8th connecting rods, 9. moving platforms, 10. fixed platforms.
Specific embodiment
The specific implementation method of the utility model is made a detailed explanation with reference to the accompanying drawing.
The utility model has the parallel institution of a two mobile rotations and three mobile two kinds of motor patterns, as shown in Figure 1, packet Moving platform 9 and fixed platform 10 are included, moving platform 9 is connect by the first branch, the second branch and third branch with fixed platform 10 respectively, Foundation is mutually perpendicular to mutually perpendicular three reference axis, respectively x-axis, y-axis and z-axis, and x-axis and y-axis are horizontally disposed, and z-axis is vertical It is arranged in horizontal plane, the junction of the first branch and fixed platform 10 is denoted as B1, the junction of the second branch and fixed platform 10 is denoted as B2, third branch and the junction of fixed platform 10 are denoted as B3, i.e. fixed platform is (B1B2B3);The connection of first branch and moving platform 9 Place is denoted as A1, the junction of the second branch and moving platform 9 is denoted as A2, third branch and the junction of moving platform 9 are denoted as A3
First branch includes and 10 (B of fixed platform1) connection first connecting rod 1, first connecting rod 1 is connected with prismatic pair in turn P11, second connecting rod 2, revolute pair R11, third connecting rod 3, revolute pair R12, fourth link 4, revolute pair R13, revolute pair R13It is put down with dynamic Platform 9 connects;Prismatic pair P11, revolute pair R11Pivot center, revolute pair R12Pivot center and revolute pair R13Pivot center it is equal It is arranged perpendicular to horizontal plane, i.e., is arranged along the z-axis direction, prismatic pair P11With revolute pair R11On be respectively connected with driving motor, driving electricity Machine is for driving prismatic pair P11Movement and driving revolute pair R11
Second branch includes and 10 (B of fixed platform2) connection Hooke's hinge U22, Hooke's hinge U22Be connected in turn six-bar linkage 6, Prismatic pair P21, the 5th connecting rod 5 and Hooke's hinge U21, Hooke's hinge U21It is connect with moving platform 9;Under the shape of mechanism position shown in Fig. 1, Hooke's hinge U21In the pivot center of revolute pair and Hooke's hinge U that are connect with moving platform 922In the rotation of revolute pair that is connect with fixed platform 10 Axis horizontal is arranged and is parallel to each other, i.e. Hooke's hinge U21In the pivot center of revolute pair and Hooke's hinge U that are connect with moving platform 922 In the pivot center of revolute pair that is connect with fixed platform 10 be arranged along the x-axis direction, Hooke's hinge U21With Hooke's hinge U22In adjacent two The pivot center of a revolute pair is arranged in parallel and is arranged perpendicular to horizontal plane, i.e., is arranged along the z-axis direction, prismatic pair P21It is connected with drive Dynamic motor, driving motor is for driving prismatic pair P21It is moved.
Third branch includes and 10 (B of fixed platform3) connection ball secondary S32, ball secondary S32It is connected with the 8th connecting rod 8, movement in turn Secondary P31, seven-link assembly 7 and ball secondary S31, ball secondary S31It is connect with moving platform 9, prismatic pair P31It is connected with driving motor, driving motor is used In driving prismatic pair P31It is moved, prismatic pair P under the shape of the position Fig. 131Direction and x-axis, y-axis and z-axis it is not parallel.
The utility model has two kinds of movement moulds of the parallel institution of a two mobile rotations and three mobile two kinds of motor patterns The process of formula transformation is specific as follows:
Under mechanism as shown in Figure 1 position shape, the utility model parallel institution has 3T1R transient motion mode, when control first Prismatic pair P in branch11Mobile and revolute pair R12It rotates, the prismatic pair P in the second branch21Mobile, in third branch movement Secondary P31It is mobile, it rotates moving platform 9 around z-axis, obtains mechanism position as shown in Figure 2 shape, the prismatic pair P in the first branch11, rotation Secondary R11Pivot center, revolute pair R12Pivot center and revolute pair R13Pivot center be each perpendicular to horizontal plane setting, i.e. edge Z-axis direction is arranged, the Hooke's hinge U in the second branch21With Hooke's hinge U22In the pivot centers of adjacent two revolute pairs set in parallel It sets and is arranged perpendicular to horizontal plane, i.e., be arranged along the z-axis direction, Hooke's hinge U21In the rotation axis of revolute pair that is connect with moving platform 9 Line and Hooke's hinge U22In the pivot center of revolute pair that is connect with fixed platform 10 setting and intersection, third branch is parallel to the horizontal plane Prismatic pair P in chain31Direction and x-axis, y-axis and z-axis it is not parallel, at this time the utility model parallel institution with 2T1R move Mode passes through the revolute pair R in the first branch of control11, prismatic pair P in the second branch21, prismatic pair P in third branch31, Realize the control to parallel institution;
Under mechanism as shown in Figure 1 position shape, the utility model parallel institution has 3T1R transient motion mode, when control first Prismatic pair P in branch11Mobile and revolute pair R12It rotates, the prismatic pair P in the second branch21Mobile, in third branch movement Secondary P31It is mobile, it moves up moving platform 9 along z-axis, obtains mechanism position as shown in Figure 3 shape, the prismatic pair P in the first branch11、 Revolute pair R11Pivot center, revolute pair R12Pivot center and revolute pair R13Pivot center be each perpendicular to horizontal plane setting, It is arranged along the z-axis direction, the Hooke's hinge U in the second branch21With Hooke's hinge U22In adjacent two revolute pairs pivot center it is flat Row setting, Hooke's hinge U21In the pivot center of revolute pair and Hooke's hinge U that are connect with moving platform 922In connect with fixed platform 10 The pivot center of revolute pair is horizontally disposed and is parallel to each other, i.e., is arranged along the x-axis direction, the prismatic pair P in third branch31Direction Not parallel with x-axis, y-axis and z-axis, the utility model parallel institution has 3T motor pattern at this time, by controlling the first branch In prismatic pair P11, prismatic pair P in the second branch21, prismatic pair P in third branch31, realize the control to parallel institution.
The utility model has the parallel institution of a two mobile rotations and three mobile two kinds of motor patterns, when mechanism is in figure Motor pattern shown in 1 convert position shape, when moving platform 9 around z-axis rotate, reach corresponding mechanism position shape, then have 2T1R move mould Formula reaches corresponding mechanism position shape when moving platform 9 is moved along the z-axis, then has 3T motor pattern, do not need to re-assembly energy Realize the transformation of two mobile a rotations and three moving movement modes, and spy high with rigidity, that accuracy is high and dexterity is strong Point.

Claims (6)

1. the parallel institution with a two mobile rotations and three mobile two kinds of motor patterns, it is characterised in that: including moving platform (9) With fixed platform (10), the moving platform (9) is connected by the first branch, the second branch and third branch and fixed platform (10) respectively It connects;
First branch includes the first connecting rod (1) connecting with fixed platform (10), and the first connecting rod (1) is connected with shifting in turn Dynamic secondary P11, second connecting rod (2), revolute pair R11, third connecting rod (3), revolute pair R12, fourth link (4), revolute pair R13, described turn Dynamic secondary R13It is connect with moving platform (9);
Second branch includes the Hooke's hinge U connecting with fixed platform (10)22, the Hooke's hinge U22It is connected with six-bar linkage in turn (6), prismatic pair P21, the 5th connecting rod (5) and Hooke's hinge U21, the Hooke's hinge U21It is connect with moving platform (9);
The third branch includes the ball secondary S connecting with fixed platform (10)32, the ball secondary S32Be connected in turn the 8th connecting rod (8), Prismatic pair P31, seven-link assembly (7) and ball secondary S31, the ball secondary S31It is connect with moving platform (9).
2. the parallel institution with a two mobile rotations and three mobile two kinds of motor patterns according to claim 1, special Sign is: the prismatic pair P11, revolute pair R11Pivot center, revolute pair R12Pivot center and revolute pair R13Rotation axis Line is each perpendicular to horizontal plane setting.
3. the parallel institution with a two mobile rotations and three mobile two kinds of motor patterns according to claim 2, special Sign is: the prismatic pair P11With revolute pair R11On be respectively connected with driving motor.
4. the parallel institution with a two mobile rotations and three mobile two kinds of motor patterns according to claim 1, special Sign is: the Hooke's hinge U21In the pivot center of revolute pair and Hooke's hinge U that are connect with moving platform (9)22In with fixed platform (10) pivot center of the revolute pair connected is horizontally disposed and is parallel to each other, the Hooke's hinge U21With Hooke's hinge U22In it is adjacent The pivot center of two revolute pairs is arranged in parallel.
5. the parallel institution with a two mobile rotations and three mobile two kinds of motor patterns according to claim 4, special Sign is: the prismatic pair P21It is connected with driving motor.
6. the parallel institution with a two mobile rotations and three mobile two kinds of motor patterns according to claim 1, special Sign is: the prismatic pair P31It is connected with driving motor.
CN201820709969.XU 2018-05-14 2018-05-14 Parallel institution with a two mobile rotations and three mobile two kinds of motor patterns Expired - Fee Related CN208246801U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820709969.XU CN208246801U (en) 2018-05-14 2018-05-14 Parallel institution with a two mobile rotations and three mobile two kinds of motor patterns

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820709969.XU CN208246801U (en) 2018-05-14 2018-05-14 Parallel institution with a two mobile rotations and three mobile two kinds of motor patterns

Publications (1)

Publication Number Publication Date
CN208246801U true CN208246801U (en) 2018-12-18

Family

ID=64634501

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201820709969.XU Expired - Fee Related CN208246801U (en) 2018-05-14 2018-05-14 Parallel institution with a two mobile rotations and three mobile two kinds of motor patterns

Country Status (1)

Country Link
CN (1) CN208246801U (en)

Similar Documents

Publication Publication Date Title
CN108638031A (en) Parallel institution with two kinds of motor patterns of 2T1R and 3T
CN208557482U (en) The parallel institution of 2T1R with spherical rotation freedom degree
CN101161428B (en) Plane parallel mechanism with constrained branched chain and its extended mechanical hand
CN104440866A (en) Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair
CN100519107C (en) Revolute joints non-overconstraint four-freedom parallel robot mechanism
CN101700621B (en) Full decoupled three-dimensional moving parallel robot mechanism
CN108818502A (en) The parallel institution of a two mobile rotations with spherical rotation freedom degree
CN203579660U (en) Manipulator
CN108621130A (en) Parallel institution with two kinds of motor patterns of 2R1T and 2T1R
CN110000755A (en) Parallel institution with a two mobile spirals and a two mobile rotational motion modes
CN201168960Y (en) Four-freedom degree parallel mechanism
CN208246801U (en) Parallel institution with a two mobile rotations and three mobile two kinds of motor patterns
CN204668388U (en) A kind of multi link enlarger
CN107696014A (en) Spherical surface two-freedom symmetrical parallel robot mechanism with redundant drive
CN100519108C (en) Gear joint and rackpin joint non-overconstraint four-freedom parallel robot mechanism
CN110000757A (en) Parallel institution with a two mobile rotations and a two mobile screw modes
CN108908296A (en) Parallel institution with two kinds of motor patterns of 3R1T and 2R2T
CN209158375U (en) A kind of 3-freedom parallel mechanism
CN208992702U (en) There are three types of the parallel institutions of motor pattern for a kind of tool
CN101700655A (en) Three-dimensional transformational parallel robot mechanism with large workspace
CN209158380U (en) There are three types of the 3-freedom parallel mechanisms of motor pattern for tool
CN108818499A (en) Angle platform parallel institution with RSR branch
CN208246798U (en) With the mobile parallel institution with a two mobile rotational motion modes of two rotation one
CN209533384U (en) Parallel institution with 3T, 2T1R and 1R2T motor pattern
CN201446406U (en) Four-degree-of-freedom paralleling working platform

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: 20181218

Termination date: 20190514