CN209158380U - There are three types of the 3-freedom parallel mechanisms of motor pattern for tool - Google Patents

There are three types of the 3-freedom parallel mechanisms of motor pattern for tool Download PDF

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Publication number
CN209158380U
CN209158380U CN201821719269.5U CN201821719269U CN209158380U CN 209158380 U CN209158380 U CN 209158380U CN 201821719269 U CN201821719269 U CN 201821719269U CN 209158380 U CN209158380 U CN 209158380U
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revolute pair
branch
rod
pair
connect
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刘伟
刘宏昭
曹亚斌
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Xian Polytechnic University
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Xian Polytechnic University
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Abstract

There are three types of the 3-freedom parallel mechanisms of motor pattern for tool disclosed by the utility model, including fixed platform and moving platform, fixed platform passes through the first branch, the second branch and the 8th connecting rod respectively and third branch is connect with moving platform, second branch and third branch are connected to the both ends of the 8th connecting rod, and the middle part of the 8th connecting rod connects prismatic pair P4, prismatic pair P4It is connected on moving platform;The problem of it is single that parallel institution disclosed by the utility model solves existing parallel institution structure, is not able to satisfy work requirements under complicated circumstances.The parallel institution of the utility model can be lived use by the settings of three branches, the revolute pair connecting respectively with fixed platform and moving platform in three branches constitutes universal hinge, can flexible motion, under certain condition by control prismatic pair and revolute pair enable to the parallel institution to realize different motor patterns.

Description

There are three types of the 3-freedom parallel mechanisms of motor pattern for tool
Technical field
The utility model belongs to robotic technology field, is related to a kind of three-freedom parallel of tool there are three types of motor pattern Structure.
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, under the shape of mechanism singularity position, the characteristic with Motion Bifurcation, Ke Yitong It crosses less driving pair and branch and realizes multi-motion modes, to adapt to a variety of different needs of work.And this kind of mechanism Motor pattern transformation, do not need to re-assembly mechanism, the conversion rate of motor pattern is fast, process is easy.Currently, tool There are three mobile (3T), a two mobile rotations (2T1R), two rotations one mobile (1T2R), the freedom degree parallel connection of three kinds of motor patterns Mechanism is more rare.This kind of methodology of novel parallel mechanism can adapt to a variety of different motion modes, adapt to the work under a variety of circumstances, There is certain application prospect in fields such as motion simulation, machine assembly, sorting crawl, parallel machines.
Utility model content
The purpose of the utility model is to provide a kind of tool, there are three types of the 3-freedom parallel mechanisms of motor pattern, solve existing The problem of having parallel institution structure single, not being able to satisfy work requirements under complicated circumstances.
The utility model the technical scheme adopted is that tool there are three types of motor pattern 3-freedom parallel mechanism, including Moving platform and fixed platform, fixed platform passes through the first branch, the second branch, the 8th connecting rod and third branch respectively and moving platform connects It connects, the second branch and third branch one end are connected to the both ends of the 8th connecting rod, and the other end is connected on fixed platform, and the 8th connects The middle part of bar connects prismatic pair P4, prismatic pair P4It is connected on moving platform, the first branch includes the revolute pair connecting with fixed platform R11, revolute pair R11It is sequentially connected revolute pair R12, first connecting rod, revolute pair R13, second connecting rod, revolute pair R14With revolute pair R15, Revolute pair R15It is connected on moving platform, revolute pair R11With revolute pair R12Connect and compose universal hinge, revolute pair R14With revolute pair R15 Connect and compose universal hinge, revolute pair R12Connect rotational drive motor, revolute pair R11Connect auxiliary drive motor.
Other features of the utility model also reside in,
Second branch includes the revolute pair R connecting with fixed platform21, revolute pair R21It is sequentially connected revolute pair R22, third connect Bar, revolute pair R23, fourth link, revolute pair R24With revolute pair R25, revolute pair R21With revolute pair R22Universal hinge is connected and composed, is turned Dynamic secondary R24With revolute pair R25Connect and compose universal strand, revolute pair R25It is connected to one end of the 8th connecting rod.
Revolute pair R22Connect rotational drive motor.
Third branch includes the revolute pair R connecting with fixed platform31, revolute pair R31It is sequentially connected the 5th connecting rod, revolute pair R32, six-bar linkage, revolute pair R33, seven-link assembly and revolute pair R34, revolute pair R34It is connected to the other end of the 8th connecting rod.
Revolute pair R31Connect rotational drive motor.
The utility model has the beneficial effects that a kind of tool is solved there are three types of the 3-freedom parallel mechanism of motor pattern The problem of existing parallel institution structure is single, is not able to satisfy work requirements under complicated circumstances.The parallel institution of the utility model is logical The setting for crossing three branches can be used flexibly, and the revolute pair connecting respectively with fixed platform and moving platform in three branches constitutes ten thousand To hinge, can flexible motion, enable to the parallel institution to realize not by control prismatic pair and revolute pair under certain condition Same motor pattern rotates a movement (1T2R) including three mobile (3T), a two mobile rotations (2T1R), two, can be applicable in To fields such as motion simulation, machine assembly, sorting crawl, parallel machines.
Detailed description of the invention
Fig. 1 is a kind of 3-freedom parallel mechanism 2T1R motor pattern position of tool there are three types of motor pattern of the utility model Shape schematic diagram;
Fig. 2 is a kind of 3-freedom parallel mechanism 3T1R instantaneous freedom degree of tool there are three types of motor pattern of the utility model Position shape schematic diagram;
Fig. 3 is that there are three types of the 2R1T of 3-freedom parallel mechanism of motor pattern to move to 3T for a kind of tool of the utility model The transition position shape schematic diagram of mode conversion;
Fig. 4 be the utility model a kind of tool there are three types of motor pattern 3-freedom parallel mechanism 3T motor pattern Schematic diagram;
Fig. 5 be the utility model a kind of tool there are three types of motor pattern 3-freedom parallel mechanism 2T2R instantaneously freely Spend position shape schematic diagram;
Fig. 6 be the utility model a kind of tool there are three types of motor pattern 3-freedom parallel mechanism 1T2R motor pattern Position shape schematic diagram.
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 connect, 9. moving platforms, 10. fixed platforms.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
There are three types of the 3-freedom parallel mechanisms of motor pattern for the tool of the utility model, as shown in Figure 1, including moving platform 9 With fixed platform 10, fixed platform 10 is connected by the first branch, the second branch and the 8th connecting rod 8 and third branch and moving platform 9 respectively It connecing, the second branch and third branch one end are connected to the both ends of the 8th connecting rod 8, and the other end is connected on fixed platform 10, and The middle part of eight connecting rods 8 connects prismatic pair P4, prismatic pair P4It is connected on moving platform 9.Define moving platform 9 and the first branch junction For A1, define the 8th connecting rod and the second branch junction be A2, the 8th connecting rod and third branch junction are A3
First branch includes the revolute pair R connecting with fixed platform 1011, revolute pair R11It is sequentially connected revolute pair R12, first connect Bar 1, revolute pair R13, second connecting rod 2, revolute pair R14With revolute pair R15, revolute pair R15It is connected on moving platform 9, revolute pair R11 With revolute pair R12Connect and compose universal hinge, revolute pair R14With revolute pair R15Connect and compose universal hinge.
Revolute pair R12Connect rotational drive motor, revolute pair R11Connect auxiliary drive motor.
Second branch includes the revolute pair R connecting with fixed platform 1021, revolute pair R21It is sequentially connected revolute pair R22, third connect Bar 3, revolute pair R23, fourth link 4, revolute pair R24With revolute pair R25, revolute pair R21With revolute pair R22Universal hinge is connected and composed, Revolute pair R24With revolute pair R25Connect and compose universal strand, revolute pair R25It is connected to one end of the 8th connecting rod 8.
Revolute pair R22Connect rotational drive motor.
Third branch includes the revolute pair R connecting with fixed platform 1031, revolute pair R31It is sequentially connected the 5th connecting rod 5, rotation Secondary R32, six-bar linkage 6, revolute pair R33, seven-link assembly 7 and revolute pair R34, revolute pair R34It is connected to the other end of the 8th connecting rod 8.
Revolute pair R31Connect rotational drive motor.
There are three types of the 3-freedom parallel mechanisms of motor pattern for the tool of the utility model, in parallel under position shape shown in Fig. 1 Mechanism has 2T1R motor pattern, revolute pair R11Shaft axis along Y-axis, revolute pair R12, revolute pair R13With revolute pair R14Turn Axis axis is along Z axis, revolute pair R15Shaft axis be parallel to plane XOY;Revolute pair R21Shaft axis be parallel to Z axis, rotate Secondary R22, revolute pair R23With revolute pair R24Shaft axis it is parallel, revolute pair R22Shaft axis perpendicular to revolute pair R21Turn Axis axis, revolute pair R25Shaft axis be parallel to Z axis, revolute pair R21Shaft axis and revolute pair R25Shaft axis exist It is not conllinear under mechanism kinematic mode shown in FIG. 1;Revolute pair R31, revolute pair R32With revolute pair R33Shaft axis be parallel to Z Axis, revolute pair R34Shaft axis and revolute pair R33Shaft axis it is vertical.
There are three types of the 3-freedom parallel mechanisms of motor pattern for the tool of the utility model, under mechanism position shape shown in Fig. 1, The parallel institution has 2T1R motor pattern, controls rotate driving secondary R12, rotate driving secondary R22, rotate driving secondary R31, so that machine Structure moves to mechanism position shown in Fig. 2 shape.Revolute pair R under this shape, in the first branch11Shaft axis and revolute pair R15Shaft axis it is conllinear, under this shape, the first branch have partial rotational freedom degree.Control auxiliary drive secondary R11So that machine Structure is in position shape shown in Fig. 3, and under the shape of mechanism position shown in Fig. 3, mechanism has 3T motor pattern, control driving secondary R11, revolute pair R12, revolute pair R22With revolute pair R31, so that mechanism is moved along Z axis, mechanism is in position shape shown in Fig. 4, control driving secondary R12, turn Dynamic secondary R22, revolute pair R31The control of implementation mechanism mechanism under 3T motor pattern.
Under the shape of mechanism position shown in FIG. 1, rotate driving secondary R is controlled12, rotate driving secondary R22, rotate driving secondary R31, so that Mechanism kinematic is to mechanism position shown in fig. 5 shape, under this mechanism position shape, revolute pair R21Shaft axis and revolute pair R25Turn Axis axis is not conllinear, revolute pair R22Shaft axis and revolute pair R34Shaft axis it is parallel.Under this shape, revolute pair R24With Revolute pair R34Axis is parallel, and mechanism has the instantaneous freedom degree of 2R2T, control driving secondary R11, revolute pair R12, revolute pair R22And rotation Secondary R31, may make moving platform around being parallel to revolute pair R24Axis rotation, parallel institution enter mechanism position shown in fig. 6 shape, this Under the shape of position, mechanism has 2R1T motor pattern, controls rotate driving secondary R12, revolute pair R22With revolute pair R31, it can be achieved that mechanism exists Control under 2R1T motor pattern.
The parallel institution of the utility model passes through control prismatic pair by the setting of three branches under certain condition and turns Dynamic pair enables to the parallel institution to realize different motor patterns, that is, include three mobile (3T), a two mobile rotations (2T1R), Two rotations one mobile (1T2R) can be adapted to the fields such as motion simulation, machine assembly, sorting crawl, parallel machine.

Claims (5)

1. there are three types of the 3-freedom parallel mechanisms of motor pattern for tool, which is characterized in that including moving platform (9) and fixed platform (10), the fixed platform (10) is put down by the first branch, the second branch, the 8th connecting rod (8) and third branch and described move respectively Platform (9) connection, second branch and third branch one end are connected to the both ends of the 8th connecting rod (8), and the other end connects It connects on the fixed platform (10), the middle part of the 8th connecting rod (8) connects prismatic pair P4, the prismatic pair P4It is connected to described On moving platform (9), first branch includes the revolute pair R connecting with the fixed platform (10)11, the revolute pair R11Successively Connect revolute pair R12, first connecting rod (1), revolute pair R13, second connecting rod (2), revolute pair R14With revolute pair R15, the revolute pair R15It is connected on the moving platform (9), the revolute pair R11With revolute pair R12Connect and compose universal hinge, the revolute pair R14With Revolute pair R15Connect and compose universal hinge, the revolute pair R12Connect rotational drive motor, the revolute pair R11Connect auxiliary drive Motor.
2. there are three types of the 3-freedom parallel mechanisms of motor pattern for tool as described in claim 1, which is characterized in that described second Branch includes the revolute pair R connecting with fixed platform (10)21, the revolute pair R21It is sequentially connected revolute pair R22, third connecting rod (3), Revolute pair R23, fourth link (4), revolute pair R24With revolute pair R25, the revolute pair R21With revolute pair R22It connects and composes universal Hinge, the revolute pair R24With revolute pair R25Connect and compose universal strand, the revolute pair R25It is connected on the 8th connecting rod (8).
3. there are three types of the 3-freedom parallel mechanisms of motor pattern for tool as claimed in claim 2, which is characterized in that the rotation Secondary R22Connect rotational drive motor.
4. there are three types of the 3-freedom parallel mechanisms of motor pattern for tool as described in claim 1, which is characterized in that the third Branch includes the revolute pair R connecting with the fixed platform (10)31, the revolute pair R31It is sequentially connected the 5th connecting rod (5), rotation Secondary R32, six-bar linkage (6), revolute pair R33, seven-link assembly (7) and revolute pair R34, the revolute pair R34The described 8th is connected to connect The other end of bar (8).
5. there are three types of the 3-freedom parallel mechanisms of motor pattern for tool as claimed in claim 4, which is characterized in that the rotation Secondary R31Connect rotational drive motor.
CN201821719269.5U 2018-10-23 2018-10-23 There are three types of the 3-freedom parallel mechanisms of motor pattern for tool Active CN209158380U (en)

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CN201821719269.5U CN209158380U (en) 2018-10-23 2018-10-23 There are three types of the 3-freedom parallel mechanisms of motor pattern for tool

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