CN211220684U - Two-rotation two-movement parallel mechanism driven by full-moving pair - Google Patents
Two-rotation two-movement parallel mechanism driven by full-moving pair Download PDFInfo
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- CN211220684U CN211220684U CN201921879671.4U CN201921879671U CN211220684U CN 211220684 U CN211220684 U CN 211220684U CN 201921879671 U CN201921879671 U CN 201921879671U CN 211220684 U CN211220684 U CN 211220684U
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Abstract
The utility model provides a two of full sliding pair driven change two and move parallel mechanism, is connected with a pair of first mixed branch and the second mixed branch that sets up alone including moving the platform on moving the platform, and the first mixed branch on left and right sides sets up according to moving the platform symmetry, and the second mixes the branch and is located between the first mixed branch. The utility model provides a parallel mechanism can be by six sliding pair drives, and control moves two rotational motion that remove of platform execution, has characteristics such as the singular position shape is few, bearing capacity is high, working space is big, can be used to the motion simulation field.
Description
Technical Field
The utility model relates to a mechanical structure technical field especially relates to a parallel mechanism, specifically is a two of full moving pair driven transfer parallel mechanism.
Background
The parallel mechanism with less degrees of freedom refers to a parallel mechanism with less than six degrees of freedom. In practical application, a proper parallel mechanism with few degrees of freedom can meet the task requirement and save energy consumption. The two-rotation two-shift parallel mechanism is an important parallel mechanism with few degrees of freedom, the total number of degrees of freedom is four, and at least four drives are required to be arranged.
Some applications with large loads, such as motion simulators, have high requirements on the bearing capacity of an actuating mechanism, and if a parallel mechanism as a body is driven by a rotating pair, the requirements of tasks cannot be met. In addition, when the driving number of the mechanism is equal to the degree of freedom, a singular configuration inevitably exists in the parallel mechanism, and the bearing capacity of the mechanism is seriously influenced. In the technical scheme of the prior two-rotation two-movement parallel mechanism published patents such as patent numbers CN208826619U and CN208880711U, part or all of driving pairs are revolute pairs, the driving number is equal to the degree of freedom, the bearing capacity is low, and the interior is singular. Therefore, it is necessary to provide a full-sliding pair driving two-rotation two-shift parallel mechanism with less singular configurations and high bearing capacity.
SUMMERY OF THE UTILITY MODEL
The utility model discloses solve the problem that above-mentioned prior art exists, provide a two of full moving pair driven and change two and move parallel mechanism, solve the problem that present six degree of freedom parallel mechanism structure is complicated, control difficulty.
The utility model provides a technical scheme that its technical problem adopted: the two-rotation two-shift parallel mechanism driven by the full moving pair comprises a moving platform 1, wherein the moving platform 1 is connected with a pair of first mixing branches and a second mixing branch which is arranged independently, the first mixing branches on the left side and the right side are symmetrically arranged according to the moving platform 1, the second mixing branch is positioned between the two first mixing branches, and the first mixing branch comprises a first fixed seat 2, a second fixed seat 7, a first moving pair and a second moving pair which move in a telescopic manner, and a Hooke hinge 6; one ends of the first moving pair and the second moving pair are respectively and rotatably connected to the first fixing seat 2 and the second fixing seat 7 through the first rotating pair 3 and the second rotating pair 8, the other ends of the first moving pair and the second moving pair meet and are rotatably connected to a first rotating shaft of the Hooke hinge 6, a second rotating shaft of the Hooke hinge 6 is connected with the rotating platform 1, and the axes of the first rotating pair and the second rotating pair are parallel to the first rotating shaft of the Hooke hinge and are perpendicular to the axes of the first moving pair and the second moving pair; the second mixed branch comprises a third fixed seat 11, a fourth fixed seat 16, a third moving pair and a fourth moving pair which do telescopic motion, and a composite ball pair 15; one ends of the third sliding pair and the fourth sliding pair are respectively and rotatably connected to the third fixed seat 11 and the fourth fixed seat 16 through the first ball pair 12 and the second ball pair 17, and the other ends of the third sliding pair and the fourth sliding pair are rotatably connected to the composite ball pair 15 and are connected to the movable platform 1 through the composite ball pair.
As the utility model discloses a further improvement, in the first mixed branch, the axis of first revolute pair and second revolute pair is parallel to each other, controls the same pivot of second axis of rotation of side hooke's hinge for being located on moving the platform.
As a further improvement, the first sliding pair is composed of a first connecting rod and a second connecting rod, the second sliding pair is composed of a third connecting rod and a fourth connecting rod, the first connecting rod is connected with the first fixing seat through the first rotating pair, the third connecting rod is connected with the second fixing seat through the second rotating pair, and the second connecting rod and the fourth connecting rod are connected with the first rotating shaft of the hooke hinge in a converging and rotating manner.
As a further improvement, the third moving pair is composed of a fifth connecting rod and a sixth connecting rod telescopic connection, the fourth moving pair is composed of a seventh connecting rod and an eighth connecting rod telescopic connection, the fifth connecting rod is connected with the third fixing seat through the first ball pair, the seventh connecting rod is connected with the fourth fixing seat through the second ball pair, and the sixth connecting rod is connected with the eighth connecting rod through the composite ball pair.
As a further improvement of the present invention, the first fixing seat, the second fixing seat, the third fixing seat and the fourth fixing seat are fixed in the frame.
The utility model discloses profitable effect is: the utility model provides a parallel mechanism can be by six sliding pair drives, and control moves two rotational motion that remove of platform execution, has characteristics such as the singular position shape is few, bearing capacity is high, working space is big, can be used to the motion simulation field.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Description of reference numerals: the device comprises a movable platform 1, a first fixed seat 2, a first revolute pair 3, a first connecting rod 4, a second connecting rod 5, a hook hinge 6, a second fixed seat 7, a second revolute pair 8, a third connecting rod 9, a fourth connecting rod 10, a third fixed seat 11, a first ball pair 12, a fifth connecting rod 13, a sixth connecting rod 14, a composite ball pair 15, a fourth fixed seat 16, a second ball pair 17, a seventh connecting rod 18 and an eighth connecting rod 19.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
with reference to the accompanying drawings: the two-rotation two-shift parallel mechanism driven by the full moving pair in the embodiment comprises a moving platform 1, wherein the moving platform 1 is connected with a pair of first mixing branches and a second mixing branch which is arranged independently, the first mixing branches on the left side and the right side are symmetrically arranged according to the moving platform 1, the second mixing branch is positioned between the two first mixing branches, and the first mixing branch comprises a first fixed seat 2, a second fixed seat 7, a first moving pair and a second moving pair which move in a telescopic manner, and a Hooke hinge 6; one ends of the first moving pair and the second moving pair are respectively and rotatably connected to the first fixing seat 2 and the second fixing seat 7 through the first rotating pair 3 and the second rotating pair 8, the other ends of the first moving pair and the second moving pair meet and are rotatably connected to a first rotating shaft of the Hooke hinge 6, a second rotating shaft of the Hooke hinge 6 is connected with the rotating platform 1, and the axes of the first rotating pair and the second rotating pair are parallel to the first rotating shaft of the Hooke hinge and are perpendicular to the axes of the first moving pair and the second moving pair; the second mixed branch comprises a third fixed seat 11, a fourth fixed seat 16, a third moving pair and a fourth moving pair which do telescopic motion, and a composite ball pair 15; one ends of the third sliding pair and the fourth sliding pair are respectively and rotatably connected to the third fixed seat 11 and the fourth fixed seat 16 through the first ball pair 12 and the second ball pair 17, and the other ends of the third sliding pair and the fourth sliding pair are rotatably connected to the composite ball pair 15 and are connected to the movable platform 1 through the composite ball pair.
In the first mixing branch, the axes of the first rotating pair and the second rotating pair are parallel to each other; the second rotating shafts of the hooke joints on the left side and the right side are the same rotating shaft positioned on the movable platform 1.
First sliding pair comprises first connecting rod 4 and 5 telescopic connection of second connecting rod, and the second sliding pair comprises third connecting rod 9 and fourth connecting rod 10 telescopic connection, and first connecting rod 4 one end is passed through first revolute pair and is connected with 2 rotations of first fixing base, and 9 one end of third connecting rod pass through the second revolute pair and link to each other with second fixing base 7, and second connecting rod 5 and fourth connecting rod 10 meet the rotary connection on the first axis of rotation of hooke hinge 6. The first sliding pair is composed of a first connecting rod 4 and a second connecting rod 5 in a telescopic connection mode, the second sliding pair is composed of a third connecting rod 9 and a fourth connecting rod 10 in a telescopic connection mode, one end of the first sliding pair and one end of the second sliding pair are respectively connected to the first fixing seat 2 and the second fixing seat 7 in a rotating mode, the other end of the first sliding pair and one end of the second sliding pair are connected to the hook hinge 6 in a concentrated rotating mode, in the first sliding pair and the second sliding pair in a telescopic process, one end of each fixing seat is fixed, and the other end of each fixing seat is adjusted through the hook hinge 6 to move one end of the.
The third sliding pair is formed by telescopically connecting a fifth connecting rod 13 and a sixth connecting rod 14, the fourth sliding pair is formed by telescopically connecting a seventh connecting rod 18 and an eighth connecting rod 19, the fifth connecting rod is connected with the third fixed seat 11 through a first ball pair, the seventh connecting rod is connected with a fourth fixed seat 16 through a second ball pair, and the sixth connecting rod 14 and the eighth connecting rod are rotatably connected on the composite ball pair 15. The third sliding pair is composed of a fifth connecting rod 13 and a sixth connecting rod 14 in a telescopic connection mode, the fourth sliding pair is composed of a seventh connecting rod 18 and an eighth connecting rod 19 in a telescopic connection mode, one end of the third sliding pair and one end of the fourth sliding pair are fixed on the third fixing seat 11 and the fourth fixing seat 16 respectively in a rotating mode through the ball pairs, the other end of the third sliding pair and one end of the fourth sliding pair are connected to the ball pairs in a converging and concentrated rotating mode, therefore, the rotating angle of the third sliding pair and the fourth sliding pair is adjusted and fixed at the end of the fixing seats when the third sliding pair and the fourth sliding pair stretch out and draw back, the angle and the position of the movable platform are adjusted and adjusted.
The first fixing seat 2, the second fixing seat 7, the third fixing seat 11 and the fourth fixing seat 16 are all fixed on the frame.
In the embodiment, the driving pair is a moving pair in each branch, and the servo motor drives the ball screw mechanism to omit the driving; when the moving pair moves, the mechanism moves in two-moving two-rotating four-freedom degree.
While the invention has been shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the appended claims.
Claims (5)
1. The utility model provides a two of full sliding pair driven transfer parallel mechanism, is including moving platform (1), moves and is connected with a pair of first mixed branch and the second mixed branch that sets up alone on platform (1), and the first mixed branch on left and right sides sets up according to moving platform (1) symmetry, and the second mixes the branch and is located between two first mixed branches, its characterized in that: the first mixing branch comprises a first fixed seat (2), a second fixed seat (7), a first moving pair and a second moving pair which perform telescopic motion, and a Hooke hinge (6); one ends of the first moving pair and the second moving pair are respectively and rotatably connected to the first fixing seat (2) and the second fixing seat (7) through the first rotating pair (3) and the second rotating pair (8), the other ends of the first moving pair and the second moving pair meet and are rotatably connected to a first rotating shaft of the Hooke hinge (6), a second rotating shaft of the Hooke hinge (6) is connected with the movable platform (1), and the axes of the first rotating pair and the second rotating pair are parallel to the first rotating shaft of the Hooke hinge and vertical to the axes of the first moving pair and the second moving pair; the second mixing branch comprises a third fixed seat (11), a fourth fixed seat (16), a third moving pair and a fourth moving pair which do telescopic motion, and a composite ball pair (15); one ends of the third moving pair and the fourth moving pair are respectively and rotatably connected to the third fixing seat (11) and the fourth fixing seat (16) through the first ball pair (12) and the second ball pair (17), and the other ends of the third moving pair and the fourth moving pair are rotatably connected to the composite ball pair (15) and are connected to the movable platform (1) through the composite ball pair.
2. The full-revolute pair drive two-turn two-shift parallel mechanism according to claim 1, wherein: in the first mixing branch, the axes of the first rotating pair and the second rotating pair are parallel to each other; and the second rotating shafts of the Hooke's joints on the left side and the right side are the same rotating shaft positioned on the movable platform (1).
3. The full-revolute pair drive two-turn two-shift parallel mechanism according to claim 1, wherein: first sliding pair comprises first connecting rod (4) and second connecting rod (5) telescopic connection, second sliding pair comprises third connecting rod (9) and fourth connecting rod (10) telescopic connection, first connecting rod (4) one end is rotated with first fixing base (2) through first rotating pair and is connected, third connecting rod (9) one end is passed through second rotating pair and is linked to each other with second fixing base (7), second connecting rod (5) and fourth connecting rod (10) meet to rotate and connect on the first axis of rotation of hooke's hinge (6).
4. The full-revolute pair driven two-turn two-shift parallel mechanism according to claim 1 or 3, wherein: the third sliding pair is composed of a fifth connecting rod (13) and a sixth connecting rod (14) in a telescopic connection mode, the fourth sliding pair is composed of a seventh connecting rod (18) and an eighth connecting rod (19) in a telescopic connection mode, the fifth connecting rod is connected with a third fixing seat (11) through a first ball pair, the seventh connecting rod is connected with a fourth fixing seat (16) through a second ball pair, and the sixth connecting rod (14) and the eighth connecting rod are rotatably connected onto a composite ball pair (15).
5. The full-revolute pair drive two-turn two-shift parallel mechanism according to claim 1, wherein: the first fixing seat (2), the second fixing seat (7), the third fixing seat (11) and the fourth fixing seat (16) are all fixed on the rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921879671.4U CN211220684U (en) | 2019-11-04 | 2019-11-04 | Two-rotation two-movement parallel mechanism driven by full-moving pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921879671.4U CN211220684U (en) | 2019-11-04 | 2019-11-04 | Two-rotation two-movement parallel mechanism driven by full-moving pair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211220684U true CN211220684U (en) | 2020-08-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921879671.4U Active CN211220684U (en) | 2019-11-04 | 2019-11-04 | Two-rotation two-movement parallel mechanism driven by full-moving pair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211220684U (en) |
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2019
- 2019-11-04 CN CN201921879671.4U patent/CN211220684U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230929 Address after: 201406 Room 408, No. 30, Lane 4808, Jinhai Road, Fengxian District, Shanghai Patentee after: Shanghai Jiuling Power Technology Co.,Ltd. Address before: Hangzhou City, Zhejiang province Binjiang District 310053 shore road 528 Patentee before: ZHEJIANG INSTITUTE OF MECHANICAL & ELECTRICAL ENGINEERING |
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| TR01 | Transfer of patent right |