CN211137145U - Partially decoupled two-degree-of-freedom rotation parallel mechanism - Google Patents
Partially decoupled two-degree-of-freedom rotation parallel mechanism Download PDFInfo
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- CN211137145U CN211137145U CN201921251319.6U CN201921251319U CN211137145U CN 211137145 U CN211137145 U CN 211137145U CN 201921251319 U CN201921251319 U CN 201921251319U CN 211137145 U CN211137145 U CN 211137145U
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Abstract
The utility model discloses a partially decoupled two-degree-of-freedom rotating parallel mechanism, which comprises a movable platform, a static platform, a first main branched chain and a second main branched chain, wherein the first main branched chain and the second main branched chain are respectively fixedly connected between the movable platform and the static platform; the second main branched chain comprises a first branched chain, a second branched chain and a third branched chain; the first branched chain and the second branched chain have the same structure and are symmetrical about the third branched chain, and both comprise a fourth rotating pair, a fifth rotating pair, a second moving pair, a second connecting rod and a second sliding block, wherein the second connecting rod is connected with the fourth rotating pair, the fifth rotating pair and the second moving pair; the third branched chain comprises a ball pair and a fourth connecting rod connected with the ball pair; the utility model discloses the precision is high, and rigidity is high, and the volume ratio is little, and the error is little, moves the partial decoupling zero of rotation of platform, has good kinematics performance and higher flexibility.
Description
Technical Field
The utility model relates to a robot, in particular to two degree of freedom parallel mechanism.
Background
The parallel robot mechanism is in a space multi-degree-of-freedom multi-ring closed chain form. Since the eighties of the last century, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small accumulated error, good dynamic characteristic, compact structure and the like, and is widely applied to the industrial fields of virtual axis machine tools, micro-motion operation tables, motion simulators, multi-dimensional force sensors and the like. The parallel mechanism has 2, 3, 4, 5 or 6 degrees of freedom, and at present, the parallel mechanism with 6 degrees of freedom is comprehensively and deeply researched, but the more the degrees of freedom are, the higher the manufacturing and controlling cost is, the difficulty in controlling is caused, and the manufacturing and installing process is complicated. Therefore, the reduction of the freedom degree of the parallel mechanism enables the mechanism structure to be simpler, and the manufacturing and control cost to be relatively lower, so that the parallel robot with less freedom degrees has unique advantages under the condition of meeting the expected working requirement.
Decoupling is one of the hot spots in the mechanical field, if decoupling can be realized by the motion of the mechanism, the working space of the mechanism is enlarged, the mechanism is easy to control, higher motion precision can be achieved, and the mechanism has certain significance on motion control and track planning of the mechanism. In the decoupling mechanism of the present utility model, the number of the two-degree-of-freedom rotating decoupling parallel mechanism is limited.
Disclosure of Invention
An object of the utility model is to provide a two degrees of freedom of partial decoupling zero rotate parallel mechanism, this kind of parallel mechanism rigidity is high, the volume ratio is little, the precision is high, the error is little, can realize moving the partial decoupling zero of rotation of platform.
The utility model adopts the technical proposal that:
a partially decoupled two-degree-of-freedom rotary parallel mechanism comprises a movable platform, a static platform, a first main branched chain and a second main branched chain, wherein the first main branched chain and the second main branched chain are fixedly connected between the movable platform and the static platform respectively;
the first main branched chain comprises a first connecting rod, one end of the first connecting rod is fixedly connected with a support of a second revolute pair, two ends of the connecting rod are respectively fixedly connected with a rotating shaft of the second revolute pair and the middle of the front wall of the movable platform, the other end of the first connecting rod is rotatably and movably connected with a horizontally arranged third sliding rod through a cylindrical pair, a first sliding block is fixedly connected with the support of the first revolute pair, the left and right ends of the third sliding rod are fixedly connected with the left and right vertical side walls of the U-shaped support, the rotating shaft of the first revolute pair is fixedly connected with the middle of the bottom wall of the U-shaped support, and the first sliding block and the first sliding rod of the static platform are mutually connected in a sliding manner to form a first movable pair;
the second main branched chain comprises a first branched chain, a second branched chain and a third branched chain;
the third branched chain comprises a fourth connecting rod, one end of the fourth connecting rod is fixedly connected with the middle of the second sliding rod, and the other end of the fourth connecting rod is rotatably connected with the middle of the rotating platform through a ball pair;
the first branched chain and the second branched chain have the same structure and are symmetrical about the third branched chain, the first branched chain and the second branched chain respectively comprise second connecting rods, the upper ends of the second connecting rods are fixedly connected with rotating shafts of fifth rotating pairs on the corresponding sides, the lower ends of the second connecting rods are rotatably connected with second sliding blocks through fourth rotating pairs, the second sliding blocks are mutually connected with one ends of second sliding rods of the static platform in a sliding manner to form second moving pairs, and the two second connecting rods and the two second sliding blocks of the first branched chain and the second branched chain are respectively arranged on the left side and the right side of the fourth connecting rods;
in the first main branched chain, the moving direction of the first moving pair is kept parallel to the rotating axis of the first rotating pair and is kept perpendicular to the rotating axis of the cylindrical pair, and the rotating axis of the cylindrical pair is kept parallel to the rotating axis of the second rotating pair;
in the second main branched chain, the rotating direction of the third rotating pair is kept parallel to the rotating axis of the second rotating pair of the first main branched chain, and is kept perpendicular to the rotating axis of the fifth rotating pair in the first branched chain and the rotating axis of the fifth rotating pair in the second branched chain;
in the first branched chain, the moving direction of the second moving pair on the right side is vertical to the rotating axis of a fourth rotating pair, and the rotating axis of the fourth rotating pair is parallel to the rotating axis of a fifth rotating pair;
in the second branched chain, the moving direction of the left second revolute pair is perpendicular to the rotation axis of the fourth revolute pair, and the rotation axis of the left fourth revolute pair is parallel to the rotation axis of the left fifth revolute pair.
The utility model has the advantages that:
1. the mechanism has two degrees of freedom, the movable platform can realize the rotation in two directions, and the moving part in one rotation direction is decoupled;
2. the mechanism is composed of two main motion branches, and has high rigidity and small volume ratio;
3. the mechanism has the advantages of simple positive and negative kinematics solution, good kinematics performance, high flexibility, high precision and small error, and can be widely applied to the fields of robots, aerospace, medicine, numerical control machines and the like.
Drawings
Fig. 1 is a schematic structural diagram of a partially decoupled two-degree-of-freedom rotary parallel mechanism of the present invention;
FIG. 2 is a schematic structural view of the mechanism shown in FIG. 1;
fig. 3 is a schematic structural view of the mechanism shown in fig. 1.
Detailed Description
The present invention will be further described with reference to the accompanying drawings. The following detailed description is a preferred embodiment of the invention and should not be taken as limiting the invention.
As shown in fig. 1, fig. 2 and fig. 3, the utility model discloses a two degrees of freedom rotation parallel mechanism of partial decoupling zero, including moving platform 6, quiet platform 1 and linking firmly first main branch chain 2 and the second main branch chain between moving platform 6 and quiet platform 1 respectively, quiet platform 1 be the T shape, quiet platform include first slide bar 21 and the second slide bar 22 of perpendicular setting each other. The middle of the movable platform 6 is provided with a through groove, a rotary platform 14 is arranged in the through groove, the left side and the right side of the rotary platform 14 are rotatably connected with the movable platform 6 through a third revolute pair 15 respectively, the left side and the right side of the rotary platform 14 are respectively provided with an installation through groove, each installation through groove is internally provided with a fifth revolute pair 20 respectively, and the rotary shaft of the fifth revolute pair 20 is rotatably connected with the front side wall and the rear side wall of the installation through groove which are correspondingly arranged.
First main branch chain 2 include first connecting rod 12, the one end of first connecting rod 12 and the fixed linking to each other of support of second revolute pair 13, the both ends of a connecting rod respectively with second revolute pair 13's pivot and the antetheca middle fixed connection that moves platform 6, the other end of first connecting rod 12 rotate and remove the connection through the vice 11 third slide bar 10 that sets up with the level of cylinder, first slider 8 and the fixed linking to each other of support of first revolute pair 9, third slide bar 10 about both ends and U-shaped support 23 vertical lateral wall fixed linking to each other about, the pivot of first revolute pair 9 and the diapire middle fixed connection of U-shaped support 23. The first sliding block 8 and the first sliding rod 21 of the static platform 1 are connected with each other in a sliding manner to form a first sliding pair.
The second main branched chain comprises a first branched chain 3, a second branched chain 4 and a third branched chain 5.
The third branched chain 5 comprises a fourth connecting rod 16, one end of the fourth connecting rod 16 is fixedly connected with the middle of the second sliding rod 22, and the other end of the fourth connecting rod 16 is rotatably connected with the middle of the rotating platform 14 through a ball pair 7.
The first branched chain 3 and the second branched chain 4 have the same structure and are symmetrical about the third branched chain 5, the first branched chain 3 and the second branched chain 4 both comprise a second connecting rod 19, the upper end of the second connecting rod 19 is fixedly connected with a rotating shaft of a fifth rotating pair 20 at the corresponding side, the lower end of the second connecting rod is rotatably connected with a second sliding block 17 through a fourth rotating pair 18, and the second sliding block 17 is slidably connected with one end of a second sliding rod 22 of the static platform 1 to form a second moving pair. The two second connecting rods 19 and the two second sliding blocks 17 of the first branched chain 3 and the second branched chain 4 are respectively arranged at the left side and the right side of the fourth connecting rod 16.
In the first main branch chain 2, the moving direction P of the first moving pair1With the axis of rotation R of said first rotary pair 91Parallel to and perpendicular to the rotation axis C of the cylindrical pair 11, and the rotation axis of the cylindrical pair 11 and the rotation axis R of the second rotation pair 132Remain parallel.
In the second main branch, the direction of rotation R of the third revolute pair 153And the rotation axis R of the second revolute pair 13 of the first main branch chain 22Parallel to the axis of rotation R of the fifth revolute pair 20 of said first branch 35And the axis of rotation R of the fifth revolute pair 20 in the second branch chain 47Remain vertical.
In the first branched chain 3, the moving direction P of the second moving pair on the right side2And the axis of rotation R of the fourth revolute pair 184Kept vertical, the axis of rotation R of said fourth revolute pair 184And the axis of rotation R of the fifth revolute pair 205Remain parallel.
In the second branched chain 4, the moving direction P of the second moving pair on the left side3And the axis of rotation R of the fourth revolute pair 186The rotation axis R of the fourth revolute pair 18 kept vertical and on the left6With the axis of rotation R of the fifth left-hand revolute pair 207Remain parallel. The first branched chain 3 and the second branched chain 4 are structurally symmetrical, the first branched chain 3 is an active branched chain, and the second branched chain 4 is a passive branched chain.
In this embodiment, the operation principle that the movable platform 6 is pulled by the first main branch chain 2 and the second main branch chain 4 to make two-directional rotational motion is as follows:
the movable platform 6 is arranged along the center of the ball passing pair 7 and parallel to the moving direction P of the first moving pair1Axis of rotation R8When the movable platform rotates, the second moving pair of the first branched chain 3 is required to input power for driving, at the moment, the rotating motion of the movable platform 6 is related to the second moving pair, and at the moment, the motion state of the movable platform 6 is decoupled.
The movable platform 6 is arranged along the rotation axis R of the third revolute pair 15 of the second main branched chain3When rotating, the first moving pair of the first main branched chain 2 and the second moving pair of the first branched chain 3 need to be simultaneously provided with input power drive, at this time, the rotating motion of the movable platform 6 is related to both the first moving pair and the second moving pair, and at this time, the motion state of the movable platform 6 is not decoupled.
The above description describes the preferred embodiments of the present invention, and the present invention is not limited to the above embodiments, but rather, changes and modifications may be made without departing from the spirit and scope of the present invention.
Claims (1)
1. The utility model provides a two degrees of freedom of partial decoupling rotate parallel mechanism, includes movable platform (6), quiet platform (1) and links firmly first main branch chain (2) and second main branch chain between movable platform (6) and quiet platform (1) respectively which characterized in that: the static platform is T-shaped and comprises a first sliding rod (21) and a second sliding rod (22) which are vertically arranged, a through groove is formed in the middle of the movable platform (6), a rotating platform (14) is installed in the through groove, the left side and the right side of the rotating platform are respectively and rotatably connected with the movable platform (6) through a third rotating pair (15), an installation through groove is respectively formed in the left side and the right side of the rotating platform, a fifth rotating pair (20) is respectively installed in each installation through groove, and a rotating shaft of each fifth rotating pair is respectively and rotatably connected with the front side wall and the rear side wall of the corresponding installation through groove;
the first main branched chain (2) comprises a first connecting rod (12), one end of the first connecting rod is fixedly connected with a support of the second revolute pair (13), two ends of one connecting rod are respectively fixedly connected with a rotating shaft of the second revolute pair (13) and the middle of the front wall of the movable platform (6), the other end of the first connecting rod is rotatably and movably connected with a third sliding rod (10) which is horizontally arranged through a cylindrical pair (11), a first sliding block (8) is fixedly connected with a support of a first rotating pair (9), the left end and the right end of the third sliding rod are fixedly connected with the left vertical side wall and the right vertical side wall of the U-shaped bracket (23), the rotating shaft of the first rotating pair (9) is fixedly connected with the middle of the bottom wall of the U-shaped bracket (23), the first sliding block (8) and a first sliding rod (21) of the static platform (1) are mutually connected in a sliding manner to form a first sliding pair;
the second main branched chain comprises a first branched chain (3), a second branched chain (4) and a third branched chain (5);
the third branched chain (5) comprises a fourth connecting rod (16), one end of the fourth connecting rod is fixedly connected with the middle of the second sliding rod (22), and the other end of the fourth connecting rod is rotatably connected with the middle of the rotating platform (14) through a ball pair (7);
the first branched chain (3) and the second branched chain (4) are identical in structure and symmetrical about the third branched chain (5), the first branched chain (3) and the second branched chain (4) respectively comprise second connecting rods (19), the upper ends of the second connecting rods are fixedly connected with rotating shafts of fifth rotating pairs (20) on the corresponding sides, the lower ends of the second connecting rods are rotatably connected with second sliding blocks (17) through fourth rotating pairs (18), the second sliding blocks (17) are mutually connected with one ends of second sliding rods (22) of the static platform (1) in a sliding mode to form second moving pairs, and the two second connecting rods (19) and the two second sliding blocks (17) of the first branched chain (3) and the second branched chain (4) are respectively arranged on the left side and the right side of the fourth connecting rod (16);
in the first main branched chain (2), the moving direction of the first moving pair is kept parallel to the rotating axis of the first rotating pair (9) and is kept vertical to the rotating axis of the cylindrical pair (11), and the rotating axis of the cylindrical pair is kept parallel to the rotating axis of the second rotating pair (13);
in the second main branch chain, the rotating direction of a third rotating pair (15) is kept parallel to the rotating axis of a second rotating pair (13) of the first main branch chain (2), and is kept perpendicular to the rotating axis of a fifth rotating pair (20) in the first branch chain (3) and the rotating axis of a fifth rotating pair in the second branch chain (4);
in the first branched chain (3), the moving direction of the second moving pair on the right side is vertical to the rotating axis of a fourth rotating pair, and the rotating axis of the fourth rotating pair (18) is parallel to the rotating axis of a fifth rotating pair (20);
in the second branched chain (4), the moving direction of the left second revolute pair is vertical to the rotation axis of the fourth revolute pair, and the rotation axis of the left fourth revolute pair (18) is parallel to the rotation axis of the left fifth revolute pair (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921251319.6U CN211137145U (en) | 2019-08-02 | 2019-08-02 | Partially decoupled two-degree-of-freedom rotation parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921251319.6U CN211137145U (en) | 2019-08-02 | 2019-08-02 | Partially decoupled two-degree-of-freedom rotation parallel mechanism |
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| CN211137145U true CN211137145U (en) | 2020-07-31 |
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| CN201921251319.6U Withdrawn - After Issue CN211137145U (en) | 2019-08-02 | 2019-08-02 | Partially decoupled two-degree-of-freedom rotation parallel mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450137A (en) * | 2019-08-02 | 2019-11-15 | 天津大学 | A kind of two degrees of freedom one-rotation parallel mechanism of partly decoupled |
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2019
- 2019-08-02 CN CN201921251319.6U patent/CN211137145U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450137A (en) * | 2019-08-02 | 2019-11-15 | 天津大学 | A kind of two degrees of freedom one-rotation parallel mechanism of partly decoupled |
| CN110450137B (en) * | 2019-08-02 | 2024-02-02 | 天津大学 | Partially-decoupled two-degree-of-freedom rotary parallel mechanism |
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