CN208896088U - A kind of 3-freedom parallel mechanism with multiple operation modes - Google Patents
A kind of 3-freedom parallel mechanism with multiple operation modes Download PDFInfo
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- CN208896088U CN208896088U CN201821263862.3U CN201821263862U CN208896088U CN 208896088 U CN208896088 U CN 208896088U CN 201821263862 U CN201821263862 U CN 201821263862U CN 208896088 U CN208896088 U CN 208896088U
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Abstract
The utility model relates to robotic technology fields.Purpose is to provide a kind of 3-freedom parallel mechanism with multiple operation modes, and the parallel institution service speed is high, dynamic performance is good, has multiple operation modes.Technical solution is: a kind of 3-freedom parallel mechanism with multiple operation modes, including rack, moving platform and two the first branches and two the second branches being connected in parallel between rack and moving platform；It is characterized by: first branch and the second branch are spaced apart from each other and symmetrically are arranged in moving platform surrounding；First branch includes the first movement pair guide rail being connected in turn between rack and moving platform, first movement pair sliding block, the lower Hooke's hinge of Hooke's hinge, first connecting rod and first on first；First rotation axis axis of Hooke's hinge is parallel with first movement secondary axis on described first, and second rotation axis axis of Hooke's hinge descends the first rotation axis axis of Hooke's hinge parallel and both perpendicular to first movement secondary axis with first on first.
Description
Technical field
The utility model relates to robotic technology field, specifically a kind of freedom degree parallel connection with multiple operation modes
Mechanism.
Background technique
Due to service speed with higher, precision, rigidity, preferable dynamic performance, parallel institution is widely used
In modern production, such as antenna posture adjustment, movement simulation, parallel machine field.With the development and progress of science and technology, some modern times
The production field of change usually has multiple working stages, it is desirable that and executing agency has the operation mode of multiple and different kinetic characteristics,
This just urgently requires parallel institution to have the ability for entering another operating mode from an operating mode.
Compared to six-degree-of-freedom parallel connection mechanism, minority carrier generation lifetime has working space big, and structure is simple, at low cost
The advantages that, therefore it has a extensive future.Particularly, 3-freedom parallel mechanism can be applied to product sorting, series-parallel machine tool
Equal fields.However the 3-freedom parallel mechanism (CN103144097B, CN105904436A) proposed at present is only with single
Operation mode does not adapt to the modern production with multiple working stages and multiple operating mode requirement.It is therefore proposed that one kind has
The 3-freedom parallel mechanism of multiple operation modes is necessary.
Utility model content
The purpose of the utility model is to overcome deficiencies existing for background technique, provide a kind of three with multiple operation modes
Freedom degree parallel connection mechanism, the parallel institution should have that service speed is high, rigidity is high, dynamic performance is good, has multiple operation moulds
The characteristics of formula.
The technical solution of the utility model is:
A kind of 3-freedom parallel mechanism with multiple operation modes, including rack, moving platform and be connected in parallel
Two the first branches and two the second branches between rack and moving platform；It is characterized by: first branch and second point
Branch is spaced apart from each other and symmetrically is arranged in moving platform surrounding；
First branch includes the first movement pair guide rail being connected in turn between rack and moving platform, first movement pair
Sliding block, the lower Hooke's hinge of Hooke's hinge, first connecting rod and first on first；On described first first rotation axis axis of Hooke's hinge with
First movement secondary axis is parallel, the first rotation axis axis of the second rotation axis axis of Hooke's hinge and the first lower Hooke's hinge on first
In parallel and both perpendicular to first movement secondary axis；
Second branch includes the second prismatic pair guide rail, the second prismatic pair being connected in turn between rack and moving platform
Sliding block, the second revolute pair, second connecting rod and the second Hooke's hinge；Alternatively, the second branch successively includes being connected to rack and moving flat
The second prismatic pair guide rail, the second prismatic pair sliding block, the second revolute pair, second connecting rod and the second ball pair between platform；Described
Two revolute pair axis are parallel with the first rotation axis axis of the second Hooke's hinge and both perpendicular to the second mobile secondary axis；
In two first branches, first rotation axis axis of Hooke's hinge is overlapped on two first, two first lower tigers
Gram hinge the second rotation axis axis be overlapped；In two second branches, two the second revolute pair axis are parallel, two second tigers
Gram hinge the second rotation axis axis be overlapped.
The first rotation axis axis of the first Hooke's hinge is parallel to second in two the second branches in two first branches
The first movement secondary axis of revolute pair axis, two the first branches is parallel, and the mobile secondary axis of the second of two the second branches is parallel,
And the first movement secondary axis of the first branch is perpendicular to the second mobile secondary axis of the second branch.
A kind of 3-freedom parallel mechanism with multiple operation modes, including rack, moving platform and be connected in parallel
Two article of the 4th branch and two articles of quintafurcations between rack and moving platform；It is characterized by: the 4th branch and the 5th point
Branch is spaced apart from each other and symmetrically is arranged in moving platform surrounding；
4th branch includes the third Hooke's hinge being connected in turn between rack and moving platform, the 4th prismatic pair cunning
Set, the 4th prismatic pair slide bar and the 4th Hooke's hinge being slidably matched with the 4th prismatic pair sliding sleeve；Second turn of third Hooke's hinge
Moving axis axis is vertical with the first rotation axis axis of third Hooke's hinge and the 4th mobile secondary axis respectively, and the of the 4th Hooke's hinge
One rotation axis axis is parallel to the second rotation axis axis of third Hooke's hinge；
The quintafurcation includes the 5th revolute pair being connected in turn between rack and moving platform, the 5th prismatic pair cunning
Set, the 5th prismatic pair slide bar and the 5th Hooke's hinge being slidably matched with the 5th prismatic pair sliding sleeve；Alternatively, quintafurcation include according to
Secondary the 5th revolute pair being connected between rack and moving platform, the 5th prismatic pair sliding sleeve are slidably matched with the 5th prismatic pair sliding sleeve
The 5th prismatic pair slide bar and the 5th ball pair；First rotation axis axis of the 5th Hooke's hinge and the 5th revolute pair axis are parallel simultaneously
And perpendicular to the 5th mobile secondary axis；
In two article of the 4th branch, the first rotation axis axis of two third Hooke's hinges is overlapped, two third Hooke's hinges
The second rotation axis axis it is parallel, the second rotation axis axis of two article of the 4th Hooke's hinge is overlapped；In two articles of quintafurcations, two
Article the 5th revolute pair axis is parallel, and the second rotation axis axis of two article of the 5th Hooke's hinge is overlapped；
The first rotation axis axis of third Hooke's hinge, is parallel to the 5th revolute pair axis in quintafurcation in 4th branch.
First rotation axis axis of the third Hooke's hinge and the second rotation axis axis of third Hooke's hinge are vertical and intersect.
The beneficial effects of the utility model are:
The utility model proposes parallel institution can enter multiple Three Degree Of Freedoms operation mode, have service speed
The advantages that height, rigidity are high, dynamic performance is good, the modern production field that can be used for that there are multiple working stages.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model embodiment one.
Fig. 2 is the schematic perspective view of the utility model embodiment two.
Fig. 3 is the schematic perspective view of the utility model embodiment three.
Fig. 4 is the schematic perspective view of the utility model embodiment four.
Fig. 5 is the schematic perspective view of the first branch in embodiment one and embodiment two.
Fig. 6 is the schematic perspective view of the second branch in embodiment one.
Fig. 7 is the schematic perspective view of the second branch in embodiment two.
Fig. 8 is the schematic perspective view of the 4th branch in embodiment three and example IV.
Fig. 9 is the schematic perspective view of quintafurcation in embodiment three.
Figure 10 is the schematic perspective view of quintafurcation in example IV.
Specific 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
As shown in Fig. 1, Fig. 5 and Fig. 6, a kind of 3-freedom parallel mechanism with multiple operation modes, including rack (figure
Middle omission), moving platform 1 and two the first branches and two the second branches being connected in parallel between rack and moving platform,
One branch and the second branch are spaced apart from each other and symmetrically are arranged in moving platform surrounding.
First branch includes the first movement pair guide rail 11 being connected in turn between rack and moving platform, first movement
Secondary sliding block 12 (first movement pair guide rail and first movement pair sliding block cooperatively form first movement pair), Hooke's hinge 13 on first, the
One connecting rod 14 and the first lower Hooke's hinge 15.
Wherein: the first movement pair guide rail is fixed with rack；First rotation axis axis of Hooke's hinge is (i.e. on described first
The rotation axis axis that Hooke's hinge is connected with first movement pair sliding block on first), first on Hooke parallel with first movement secondary axis
Hooke's hinge under the second rotation axis axis (the rotation axis axis that Hooke's hinge is connect with first connecting rod on i.e. first) of hinge and first
First rotation axis axis (the i.e. first lower Hooke's hinge with the rotation axis axis that first connecting rod connects) it is parallel and also both perpendicular to
First movement secondary axis (i.e. first movement pair mobile axis；It is similar below).
In two the first branches: two first movement secondary axis are parallel, the first rotation axis axis of Hooke's hinge on two first
Line is overlapped, and second rotation axis axis of Hooke's hinge is parallel on two first, the second rotation axis axis of two first lower Hooke's hinges
(the rotation axis axis that the i.e. first lower Hooke's hinge is connect with moving platform) is overlapped, the first rotation axis axis of two first lower Hooke's hinges
In parallel.
Second branch successively includes the second prismatic pair guide rail 21, second movement being connected between rack and moving platform
Secondary sliding block 22 (the second prismatic pair guide rail and the second prismatic pair sliding block cooperatively form the second prismatic pair), the second revolute pair 23, second
Connecting rod 24 and the second Hooke's hinge 25.
Wherein: the second prismatic pair guide rail is fixed with rack；The of the second revolute pair axis and the second Hooke's hinge
One rotation axis axis (i.e. the second Hooke's hinge with the rotation axis axis that second connecting rod connects) is parallel and mobile both perpendicular to second
Secondary axis.
In two the second branches: two second mobile secondary axis are parallel, and two the second revolute pair axis are parallel, and two second
The second rotation axis axis (i.e. the rotation axis axis that the second Hooke's hinge is connect with moving platform) of Hooke's hinge is overlapped, two the second Hookes
First rotation axis axis of hinge is parallel.
For the first branch and the second branch, the first rotation axis axis of the first Hooke's hinge is parallel to the second turns auxiliary shaft
Line, first movement secondary axis is vertical with the second mobile secondary axis, and the second revolute pair axis is parallel to first of Hooke's hinge on first
Rotation axis axis.
When initial position, the second rotation axis axis of the first lower Hooke's hinge is parallel to the first rotation axis of Hooke's hinge on first
Second rotation axis axis of axis, the second Hooke's hinge is parallel to the second rotation axis axis of Hooke's hinge on first.
In the present embodiment, ball-screw (omitting in figure) is can be selected in the secondary prismatic pair in each branch of driving, driving method；
Since initial position, by suitably controlling the secondary movement of driving, parallel institution can be made to enter two kinds of Three Degree Of Freedom operations
Mode is a two mobile rotation operation modes and two one moving operation modes of rotation respectively.
Embodiment two
As shown in Fig. 2, Fig. 5 and Fig. 7, a kind of 3-freedom parallel mechanism with multiple operation modes, including rack (figure
Middle omission), moving platform 1 and two the first branches and two the second branches being connected in parallel between rack and moving platform.It is real
The structure for applying example two is similar with the structure of embodiment one, the difference is that: in the second branch of embodiment two, second connecting rod with
It is connected between moving platform by the second ball pair 35.When initial position, the second ball sub-center line in two the second branches is parallel
Second rotation axis axis of Hooke's hinge on first in the first branch.
Embodiment three
As shown in Fig. 3, Fig. 8 and Fig. 9, a kind of 3-freedom parallel mechanism with multiple operation modes, including rack (figure
Middle omission), moving platform 1 and two article of the 4th branch being connected in parallel between rack and moving platform and two articles of quintafurcations,
Four branches and quintafurcation are spaced apart from each other and symmetrically are arranged in moving platform surrounding.
4th branch includes the third Hooke's hinge 43 being connected in turn between rack and moving platform, the 4th prismatic pair cunning
Set 44, the 4th prismatic pair slide bar 45 and the 4th Hooke's hinge 46 being slidably matched with the 4th prismatic pair sliding sleeve.
Wherein: the left hinged seat 41 and right hinged seat 42 of third Hooke's hinge are fixed with rack；Second turn of third Hooke's hinge
Moving axis axis (i.e. third Hooke's hinge connect with the 4th prismatic pair sliding sleeve rotation axis axis) respectively with third Hooke's hinge first
Rotation axis axis (i.e. third Hooke's hinge connect with rack rotation axis axis) and the 4th mobile secondary axis are vertical, the 4th Hooke
The first rotation axis axis (i.e. the rotation axis axis that the 4th Hooke's hinge is connect with the 4th prismatic pair slide bar) of hinge is parallel to third tiger
Gram hinge the second rotation axis axis；First rotation axis axis of the third Hooke's hinge and the second rotation axis axis of third Hooke's hinge
Line is vertical and intersects.
In two article of the 4th branch: the first rotation axis axis of third Hooke's hinge is overlapped, the second rotation axis of third Hooke's hinge
Axis is parallel, the second rotation axis axis (i.e. the rotation axis axis that the 4th Hooke's hinge is connect with moving platform) weight of the 4th Hooke's hinge
It closes.
The quintafurcation includes the 5th revolute pair 56 being connected in turn between rack and moving platform, the 5th prismatic pair cunning
Set 53, the 5th prismatic pair slide bar 54 and the 5th Hooke's hinge 55 being slidably matched with the 5th prismatic pair sliding sleeve.
Wherein: the 5th prismatic pair sliding sleeve is positioned on the rack by left support seat 51 and right support seat 52；5th tiger
Gram hinge the first rotation axis axis (i.e. the rotation axis axis that the 5th Hooke's hinge connect with the 5th prismatic pair slide bar) and the 5th rotate
Secondary axis is parallel and perpendicular to the 5th mobile secondary axis.
In two articles of quintafurcations: two article of the 5th revolute pair axis is parallel, the second rotation axis axis of two article of the 5th Hooke's hinge
(i.e. the rotation axis axis that the 5th Hooke's hinge is connect with moving platform) is overlapped.
For the 4th branch and quintafurcation, the first rotation axis axis of third Hooke's hinge is parallel to the 5th turns auxiliary shaft
Line.
When initial position, the second rotation axis axis of the 4th Hooke's hinge is parallel to the first rotation axis axis of third Hooke's hinge
Second rotation axis axis of line, the 5th Hooke's hinge is parallel to the second rotation axis axis of third Hooke's hinge.
In the present embodiment, ball-screw (omitting in figure) is can be selected in the secondary prismatic pair in each branch of driving, driving method；
Since initial position, by suitably controlling the secondary movement of driving, parallel institution can be made to enter two kinds of Three Degree Of Freedom operations
Mode is a two mobile rotation operation modes and two one moving operation modes of rotation respectively.
Example IV
As shown in Fig. 4, Fig. 8 and Figure 10, a kind of 3-freedom parallel mechanism with multiple operation modes, including rack
(being omitted in figure), moving platform 1 and two article of the 4th branch being connected in parallel between rack and moving platform and two articles of quintafurcations.
The structure of example IV is similar with the structure of embodiment three, the difference is that: in the quintafurcation of example IV, the 5th is mobile
It is connected between secondary slide bar 54 and moving platform by the 5th ball pair 65.When initial position, in the 5th ball pair in two articles of quintafurcations
Heart line is parallel to the second rotation axis axis of third Hooke's hinge.
Claims (4)
1. a kind of 3-freedom parallel mechanism with multiple operation modes, including rack, moving platform (1) and it is connected in parallel
Two the first branches and two the second branches between rack and moving platform；It is characterized by: first branch and second point
Branch is spaced apart from each other and symmetrically is arranged in moving platform surrounding；
First branch includes the first movement pair guide rail (11) being connected in turn between rack and moving platform, first movement pair
Sliding block (12), Hooke's hinge (13), first connecting rod (14) and first are lower Hooke's hinge (15) on first；Hooke's hinge on described first
First rotation axis axis is parallel with first movement secondary axis, the second rotation axis axis of Hooke's hinge and the first lower Hooke's hinge on first
The first rotation axis axis it is parallel and both perpendicular to first movement secondary axis；
Second branch includes the second prismatic pair guide rail (21), the second prismatic pair being connected in turn between rack and moving platform
Sliding block (22), the second revolute pair (23), second connecting rod (24) and the second Hooke's hinge (25)；Alternatively, the second branch successively includes
Be connected to the second prismatic pair guide rail (21) between rack and moving platform, the second prismatic pair sliding block (22), the second revolute pair (23),
Second connecting rod (24) and the second ball are secondary (35)；First rotation axis axis of the second revolute pair axis and the second Hooke's hinge is flat
It goes and both perpendicular to the second mobile secondary axis；
In two first branches, first rotation axis axis of Hooke's hinge is overlapped on two first, two first lower Hooke's hinges
The second rotation axis axis be overlapped；In two second branches, two the second revolute pair axis are parallel, two the second Hooke's hinges
The second rotation axis axis be overlapped；
The first rotation axis axis of the first Hooke's hinge, is parallel to the second revolute pair axis in the second branch in first branch.
2. a kind of 3-freedom parallel mechanism with multiple operation modes according to claim 1, it is characterised in that: institute
The first movement secondary axis for stating two the first branches is parallel, and the mobile secondary axis of the second of two the second branches is parallel, and first
Second mobile secondary axis of the first movement secondary axis of branch perpendicular to the second branch.
3. a kind of 3-freedom parallel mechanism with multiple operation modes, including rack, moving platform (1) and it is connected in parallel
Two article of the 4th branch and two articles of quintafurcations between rack and moving platform；It is characterized by: the 4th branch and the 5th point
Branch is spaced apart from each other and symmetrically is arranged in moving platform surrounding；
4th branch includes third Hooke's hinge (43), the 4th prismatic pair sliding sleeve being connected in turn between rack and moving platform
(44), the 4th prismatic pair slide bar (45) and the 4th Hooke's hinge (46) being slidably matched with the 4th prismatic pair sliding sleeve；Third Hooke
Second rotation axis axis of hinge is vertical with the first rotation axis axis of third Hooke's hinge and the 4th mobile secondary axis respectively, and the 4th
First rotation axis axis of Hooke's hinge is parallel to the second rotation axis axis of third Hooke's hinge；
The quintafurcation includes the 5th revolute pair (56) being connected in turn between rack and moving platform, the 5th prismatic pair sliding sleeve
(53), the 5th prismatic pair slide bar (54) and the 5th Hooke's hinge (55) being slidably matched with the 5th prismatic pair sliding sleeve；Alternatively, the 5th
Branch includes that the 5th revolute pair being connected in turn between rack and moving platform, the 5th prismatic pair sliding sleeve (53) and the 5th are mobile
The 5th prismatic pair slide bar (54) and the 5th ball that secondary sliding sleeve is slidably matched are secondary (65)；First rotation axis axis of the 5th Hooke's hinge
It is parallel with the 5th revolute pair axis and perpendicular to the 5th mobile secondary axis；
In two article of the 4th branch, the first rotation axis axis of two third Hooke's hinges is overlapped, and the of two articles of third Hooke's hinges
Two rotation axis axis are parallel, and the second rotation axis axis of two article of the 4th Hooke's hinge is overlapped；In two articles of quintafurcations, two article
Five revolute pair axis are parallel, and the second rotation axis axis of two article of the 5th Hooke's hinge is overlapped；
The first rotation axis axis of third Hooke's hinge, is parallel to the 5th revolute pair axis in quintafurcation in 4th branch.
4. the 3-freedom parallel mechanism according to claim 3 with multiple operation modes, it is characterised in that: described
First rotation axis axis of three Hooke's hinges and the second rotation axis axis of third Hooke's hinge are vertical and intersect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821263862.3U CN208896088U (en) | 2018-08-07 | 2018-08-07 | A kind of 3-freedom parallel mechanism with multiple operation modes |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821263862.3U CN208896088U (en) | 2018-08-07 | 2018-08-07 | A kind of 3-freedom parallel mechanism with multiple operation modes |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972509A (en) * | 2018-08-07 | 2018-12-11 | 浙江理工大学 | A kind of 3-freedom parallel mechanism with multiple operation modes |
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2018
- 2018-08-07 CN CN201821263862.3U patent/CN208896088U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972509A (en) * | 2018-08-07 | 2018-12-11 | 浙江理工大学 | A kind of 3-freedom parallel mechanism with multiple operation modes |
| CN108972509B (en) * | 2018-08-07 | 2024-03-29 | 浙江理工大学 | Three-degree-of-freedom parallel mechanism with multiple operation modes |
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