CN208854625U - A kind of mobile parallel institution of a rotation one - Google Patents
A kind of mobile parallel institution of a rotation one Download PDFInfo
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- CN208854625U CN208854625U CN201821322293.5U CN201821322293U CN208854625U CN 208854625 U CN208854625 U CN 208854625U CN 201821322293 U CN201821322293 U CN 201821322293U CN 208854625 U CN208854625 U CN 208854625U
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Abstract
A kind of mobile parallel institution of a rotation one disclosed by the utility model, including the moving platform in isosceles right triangle and in the fixed platform of isosceles right triangle, respectively by the first branch, the second branch and third branch chain link between moving platform and fixed platform, first branch, the second branch and third branch are parallel to each other two-by-two.Two kinds of 1R1T motor pattern moving direction disclosed by the utility model is identical, and rotation direction is different, is not only simple in structure stabilization, and has the characteristics that rigidity is high, accuracy is high and dexterity is strong.
Description
Technical field
The utility model belongs to robotic technology field, is related to the mobile parallel institution of one rotation of one kind one.
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.
The mobile parallel institution of one rotation one of the utility model one kind is more rare, and current existing similar means have 1R1T
(1 rotation 1 is mobile) and two kinds of motor patterns of 1T1H (1 mobile 1 screw).Expansion to this kind of parallel institution configuration, design
There is certain application prospect when with containing closed loop moving chain with multi-mode parallel institution.
Utility model content
The purpose of the utility model is to provide the mobile parallel institutions of one rotation of one kind one, have rigidity height, accuracy high
And the feature that dexterity is strong.
The utility model is the technical scheme adopted is that one kind one rotates a mobile parallel institution, including is in that isosceles are straight
The moving platform of angle triangle and fixed platform in isosceles right triangle pass through first respectively between moving platform and fixed platform
Chain, the second branch and third branch chain link, the first branch, the second branch and third branch chain link are parallel to each other two-by-two；
First branch includes the prismatic pair P11 connecting with fixed platform, and prismatic pair P11 is connected with first connecting rod, rotation in turn
Secondary R12, second connecting rod, prismatic pair P13, third connecting rod and revolute pair R14, revolute pair R14 connect moving platform；
Second branch includes that the prismatic pair P21 connecting with fixed platform, prismatic pair P21 are connected with fourth link, rotation in turn
Secondary R22, the 5th connecting rod, prismatic pair P23, six-bar linkage and revolute pair R24, revolute pair R24 connection moving platform；
Third branch includes that the prismatic pair P31 connecting with fixed platform, prismatic pair P31 are connected with seven-link assembly, rotation in turn
Secondary R32, the 8th connecting rod, prismatic pair P33, the 9th connecting rod and revolute pair R34, revolute pair R34 connection moving platform.
Other features of the utility model also reside in,
The axis of the axis of prismatic pair P11, the axis of revolute pair R12 and prismatic pair P13 is vertical two-by-two, prismatic pair P13's
Axis is parallel with the axis of revolute pair R14.
The axis of the axis of prismatic pair P21, the axis of revolute pair R22 and prismatic pair P23 is vertical two-by-two, prismatic pair P23's
Axis is parallel with the axis of revolute pair R24.
The axis of the axis of prismatic pair P31, the axis of revolute pair R32 and prismatic pair P33 is vertical two-by-two, prismatic pair P33's
Axis is parallel with the axis of revolute pair R34.
The utility model has the beneficial effects that the mobile parallel institution of one rotation of one kind one, two kinds of 1R1T motor patterns move
Dynamic direction is identical, and rotation direction is different, is not only simple in structure stabilization, and, accuracy high with rigidity be high and dexterity is strong
Feature.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the mobile parallel institution of the rotation of one kind one one of the utility model；
Fig. 2 is the first 1R1T motor pattern position shape of the mobile parallel institution of the rotation of one kind one one of the utility model
Figure；
Fig. 3 is second of 1R1T motor pattern position shape of the mobile parallel institution of the rotation of one kind one one of the utility model
Figure.
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. the 9th connecting rods, 10. moving platforms, 11. fixed platforms.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
The mobile parallel institution of the rotation of one kind one one of the utility model, as shown in Figure 1, including is in isosceles right triangle
Moving platform 10 and fixed platform 11 in isosceles right triangle, pass through first between moving platform 10 and fixed platform 11 respectively
Chain, the second branch and third branch chain link, the first branch, the second branch and third branch are parallel to each other two-by-two.
First branch includes the prismatic pair P11 connecting with fixed platform 11, and prismatic pair P11 is connected with first connecting rod 1 in turn, turns
Dynamic secondary R12, second connecting rod 2, prismatic pair P13, third connecting rod 3 connect moving platform 10 with revolute pair R14, revolute pair R14.
The axis of prismatic pair P11, revolute pair R12 axis is vertical and the axis of prismatic pair P13 is vertical two-by-two, prismatic pair
The axis of P13 is parallel with the axis of revolute pair R14, is connected with driving motor on prismatic pair P11.
Second branch includes that the prismatic pair P21 connecting with fixed platform 11, prismatic pair P21 are connected with fourth link 4 in turn, turn
Dynamic secondary R22, the 5th connecting rod 5, prismatic pair P23, six-bar linkage 6 and revolute pair R24, revolute pair R24 connection moving platform 10.
The axis of the axis of prismatic pair P21, the axis of revolute pair R22 and prismatic pair P23 is vertical two-by-two, prismatic pair P23's
Axis is parallel with the axis of revolute pair R24, is connected with driving motor on prismatic pair P21.
Third branch includes that the prismatic pair P31 connecting with fixed platform 11, prismatic pair P31 are connected with seven-link assembly 7 in turn, turn
Dynamic secondary R32, the 8th connecting rod 8, prismatic pair P33, the 9th connecting rod 9 and revolute pair R34, revolute pair R34 connection moving platform 10.
The axis of the axis of prismatic pair P31, the axis of revolute pair R32 and prismatic pair P33 is vertical two-by-two, prismatic pair P33's
Axis is parallel with the axis of revolute pair R34, is connected with driving motor on prismatic pair P31.
The mobile parallel institution of the rotation one of one kind one of the utility model under the shape of mechanism position shown in Fig. 1, has 2R1T (2
Rotation 1 is mobile) motor pattern, moving direction is z-axis, and two pivot centers are B1B3 axis and B2B3 axis, and mechanism is in the position
2R1T (2 rotations 1 are mobile) motor pattern under shape is instantaneous.
Under position shape shown in Fig. 1, P21, P31 are locked, control P11 is moved along z-axis forward direction, drives the kinematic pair in each branch
Movement, may make moving platform to rotate around B2B3 axis, and mechanism becomes position shape shown in Fig. 2.Under this mechanism position shape, mechanism has
1R1T motor pattern, for mobile axis along z-axis, pivot center is B2B3 axis.
After mechanism enters the shape of mechanism position shown in Fig. 2, control P11's and P21 is moved up and down, and drives the movement in each branch
Secondary motion, controllable mechanism along z-axis move and around B2B3 axis rotation.
Under position shape shown in Fig. 1, P11 is locked, control P21 is moved up, and control P31 is moved down, and may make moving platform
It is rotated around B1B3 axis, mechanism becomes position shape shown in Fig. 3.Under this mechanism position shape, mechanism has 1R1T motor pattern, shifting axle
For line along z-axis, pivot center is B1B3 axis.
After mechanism enters the shape of mechanism position shown in Fig. 3, control P11's and P21 is moved up and down, and drives the movement in each branch
Secondary motion, controllable mechanism along z-axis move and around B1B3 axis rotation.
The driving pair configured on P31 is auxiliary drive pair, is only worked under the shape of transformation position shown in Fig. 1.
The parallel institution of the mobile parallel institution of one rotation of the utility model one kind one, two kinds of 1R1T (1 rotation 1 is mobile) fortune
Dynamic model formula moving direction is identical, and rotation direction is different, is not only simple in structure stabilization, and has high rigidity, accuracy height and spirit
The strong feature of skilful property.
Claims (4)
1. the mobile parallel institution of one rotation of one kind one, which is characterized in that the moving platform (10) including being in isosceles right triangle
With the fixed platform (11) for being in isosceles right triangle, pass through first between the moving platform (10) and fixed platform (11) respectively
Chain, the second branch and third branch chain link, first branch, the second branch and third branch are parallel to each other two-by-two；
First branch includes that the prismatic pair P11, the prismatic pair P11 connecting with the fixed platform (11) are connected in turn
One connecting rod (1), revolute pair R12, second connecting rod (2), prismatic pair P13, third connecting rod (3) and revolute pair R14, the revolute pair
The R14 connection moving platform (10)；
Second branch includes that the prismatic pair P21 connecting with the fixed platform (11), the prismatic pair P21 are connected in turn
Double leval jib (4), revolute pair R22, the 5th connecting rod (5), prismatic pair P23, six-bar linkage (6) and revolute pair R24, the revolute pair
The R24 connection moving platform (10)；
The third branch includes that the prismatic pair P31 connecting with the fixed platform (11), the prismatic pair P31 are connected in turn
Seven-link assembly (7), revolute pair R32, the 8th connecting rod (8), prismatic pair P33, the 9th connecting rod (9) and revolute pair R34, the revolute pair
The R34 connection moving platform (10).
2. the mobile parallel institution of one rotation of one kind one as described in claim 1, which is characterized in that the prismatic pair P11's
The axis of axis, the axis of the revolute pair R12 and the prismatic pair P13 is vertical two-by-two, the axis of the prismatic pair P13 and institute
The axis for stating revolute pair R14 is parallel, is connected with driving motor on the prismatic pair P11.
3. the mobile parallel institution of one rotation of one kind one as described in claim 1, which is characterized in that the prismatic pair P21's
The axis of axis, the axis of the revolute pair R22 and the prismatic pair P23 is vertical two-by-two, the axis of the prismatic pair P23 and institute
The axis for stating revolute pair R24 is parallel, is connected with driving motor on the prismatic pair P21.
4. the mobile parallel institution of one rotation of one kind one as described in claim 1, which is characterized in that the prismatic pair P31's
The axis of axis, the axis of the revolute pair R32 and the prismatic pair P33 is vertical two-by-two, the axis of the prismatic pair P33 and institute
The axis for stating revolute pair R34 is parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821322293.5U CN208854625U (en) | 2018-08-16 | 2018-08-16 | A kind of mobile parallel institution of a rotation one |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821322293.5U CN208854625U (en) | 2018-08-16 | 2018-08-16 | A kind of mobile parallel institution of a rotation one |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208854625U true CN208854625U (en) | 2019-05-14 |
Family
ID=66414829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821322293.5U Expired - Fee Related CN208854625U (en) | 2018-08-16 | 2018-08-16 | A kind of mobile parallel institution of a rotation one |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208854625U (en) |
-
2018
- 2018-08-16 CN CN201821322293.5U patent/CN208854625U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190514 Termination date: 20190816 |
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| CF01 | Termination of patent right due to non-payment of annual fee |