CN211662049U - Large-rotation-angle three-rotation two-movement parallel mechanism - Google Patents

Abstract

The utility model relates to a robotechnology field. The purpose is to provide a large-rotation-angle three-rotation two-movement parallel mechanism which has the advantages of large rotation angle, good rigidity and the like. The technical scheme is as follows: a big corner three rotates two and removes parallel mechanism which characterized in that: the parallel mechanism comprises three first branches positioned between the rack and the first middle platform, two second branches positioned between the rack and the second middle platform, a third branch positioned between the first middle platform and the movable platform and a fourth branch positioned between the second middle platform and the movable platform; the three first branches are respectively a first branched chain, a second branched chain and a third branched chain.

Description

A large-angle three-rotation two-movement parallel mechanism

technical field

The utility model relates to the technical field of robots, in particular to a large-angle, three-rotation, two-movement parallel mechanism.

Background technique

The parallel mechanism refers to a closed-loop mechanism in which two or more branches are connected in parallel to connect the end moving platform and the fixed platform. Compared with the open-loop series mechanism, the parallel mechanism has the advantages of high stiffness, fast movement speed, and small cumulative error. Therefore, the parallel mechanism can be well used in machine tools, spraying, welding and positioning devices. In recent decades, a large number of domestic and foreign scholars have carried out research on it. The parallel mechanism with three rotations, two movements and five degrees of freedom is one of the more important mechanisms and has high research value.

The existing published utility model patent applications "Three-rotation and Two-movement Parallel Mechanism" (CN 107932482A, CN105818135A) are all connected by several symmetrically arranged branches to connect the end platform and the frame. The rotation angle of the moving platform is small, which cannot meet the requirement of the rotation capability of the mechanism in practical applications; therefore, it is necessary for the utility model to have a large-angle three-rotation two-movement parallel mechanism with large attitude change capability.

Utility model content

The technical problem to be solved by the utility model is to overcome the deficiencies of the above-mentioned background technology, and proposes a three-rotation, two-movement parallel mechanism with a large rotation angle, which has the advantages of large rotation angle and good rigidity.

The technical scheme provided by the utility model is:

A large-angle three-rotation two-movement parallel mechanism is characterized in that: the parallel mechanism includes three first branches positioned between the frame and the first intermediate platform, and two positioned between the frame and the second intermediate platform. a second branch, a third branch positioned between the first intermediate platform and the moving platform, and a fourth branch positioned between the second intermediate platform and the moving platform;

The three first branches are respectively a first branch chain, a second branch chain, and a third branch chain;

The first branch chain includes a sixteenth rotation pair, a fifth link, an eighth rotation pair, a fourth link and a sixth rotation pair sequentially connected between the frame and the first intermediate platform; the second branch chain includes The seventeenth rotation pair, the seventh link, the tenth rotation pair, the sixth link and the ninth rotation pair are sequentially connected between the frame and the first intermediate platform; The eighteenth rotation pair, the ninth link, the eleventh rotation pair, the eighth link and the seventh rotation pair between the frame and the first intermediate platform;

The two second branches are the fourth branch chain and the fifth branch chain respectively;

The fourth branch chain includes a twentieth rotation pair, an eleventh link, a thirteenth rotation pair, a tenth link and a twelfth rotation pair sequentially connected between the frame and the second intermediate platform; the fifth the branch chain includes a nineteenth rotation pair, a twelfth link, a fourteenth rotation pair, a thirteenth link and a fifteenth rotation pair sequentially connected between the frame and the second intermediate platform;

The third branch includes a fourth rotating pair, a transition link, a third rotating pair, a first intermediate link and a second rotating pair sequentially connected between the first intermediate platform and the moving platform;

The fourth branch includes a fifth rotating pair, a second intermediate link and a first rotating pair sequentially connected between the second intermediate platform and the moving platform.

The axes of all the rotating pairs in the first branch and the second branch are parallel to each other.

In the third branch: the axes of the fourth rotating pair and the third rotating pair are parallel to each other and perpendicular to the rotating pair axis in the first branch, and the second rotating pair axis is perpendicular to the axis of the third rotating pair.

In the fourth branch: the fifth rotational axis is perpendicular to the rotational axis in the second branch; the first rotational axis is perpendicular to the fifth rotational axis and parallel to the second rotational axis in the third branch .

The first branch and the second branch are connected to the five rotating pairs of the frame and are arranged coaxially.

The five rotating pairs of the first branch and the second branch connected to the frame are drive pairs, which are driven by servo motors.

The beneficial effects of the utility model are as follows: the parallel mechanism proposed by the utility model can realize three rotations and two moving degrees of freedom in space, has the advantages of low manufacturing cost, easy control, large rotation angle, good rigidity, etc., and can be used in machine tools, Spraying, welding, positioning and other fields.

Description of drawings

FIG. 1 is a schematic three-dimensional structure diagram of a three-rotation, two-movement parallel mechanism with a large turning angle.

In the figure: frame 1, moving platform 2, first intermediate link 3, second intermediate link 4, transition link 5, first intermediate platform 6, fourth link 7, fifth link 8, sixth link Link 9, seventh link 10, eighth link 11, ninth link 12, second intermediate platform 13, tenth link 14, eleventh link 15, twelfth link 16, tenth link Three connecting rods 17, first rotating pair R1, second rotating pair R2, third rotating pair R3, fourth rotating pair R4, fifth rotating pair R5, sixth rotating pair R6, seventh rotating pair R7, eighth rotating pair Vice R8, ninth turning pair R9, tenth turning pair R10, eleventh turning pair R11, twelfth turning pair R12, thirteenth turning pair R13, fourteenth turning pair R14, fifteenth turning pair R15, The sixteenth rotational pair R16, the seventeenth rotational pair R17, the eighteenth rotational pair R18, the nineteenth rotational pair R19, and the twentieth rotational pair R20.

Detailed ways

The present utility model will be further described below with reference to the embodiments shown in the accompanying drawings.

The large-angle, three-rotation, two-movement parallel mechanism shown in the accompanying drawings includes a frame 1, a moving platform 2, three first branches connected between the frame 1 and the first intermediate platform 6, and a connection between the frame 1 and the first intermediate platform 6. Two second branches between the two intermediate platforms 13, a third branch connected between the first intermediate platform and the moving platform 2, and a fourth branch connected between the second intermediate platform and the moving platform.

As shown in the figure, the moving platform 2 is connected to one end of the second intermediate link 4 and one end of the first intermediate link 3 by rotating the first rotating pair R1 and the second rotating pair R2 which are parallel to each other. The other end of the first intermediate link 3 is connected to one end of the transition link 5 through the third rotation pair R3, and the other end of the transition link 5 is connected to the first intermediate platform 6 through the fourth rotation pair R4 (the rotation of the third rotation pair R3 The axis is parallel to the rotation axis of the fourth rotation pair R4; the rotation axis of the third rotation pair R3 and the rotation axis of the fourth rotation pair R4 are perpendicular to the rotation axis of the first rotation pair R1 and the rotation axis of the second rotation pair R2) . The other end of the second intermediate link 4 is connected to the second intermediate platform 13 through the fifth rotation pair R5 (the rotation axis of the fifth rotation pair R5 is perpendicular to the rotation axes of the first rotation pair R1 and the second rotation pair R2).

As shown in the figure, the first intermediate platform 6 is connected to the fourth link 7 , the eighth link 11 , and the sixth link 9 through the sixth rotation pair R6 , the seventh rotation pair R7 , and the ninth rotation pair R9 , respectively. The other end of the fourth link 7 is connected to one end of the fifth link 8 through the eighth rotation pair R8, and the other end of the fifth link 8 is connected to the frame 1 through one end of the sixteenth rotation pair R16. The other end of the sixth link 9 is connected to one end of the seventh link 10 through the tenth rotation pair R10, and the other end of the seventh link 10 is connected to the frame 1 through the seventeenth rotation pair R17. The other end of the eighth link 11 is connected to one end of the ninth link 12 through the eleventh rotation pair R11, and the other end of the ninth link 12 is connected to the frame 1 through the eighteenth rotation pair R18. The sixth rotating pair R6, the seventh rotating pair R7, the eighth rotating pair R8, the ninth rotating pair R9, the tenth rotating pair R10, the eleventh rotating pair R11, the sixteenth rotating pair R16, the seventeenth rotating pair R17 The rotation axes of the eighteenth rotation pair R18 are parallel to each other and are perpendicular to the rotation axes of the third rotation pair R3 and the fourth rotation pair R4.

As shown in the figure, the second intermediate platform 13 is connected to the tenth link 14 and the thirteenth link 17 through the twelfth rotation pair R12 and the fifteenth rotation pair R15 respectively (the rotation axis of the twelfth rotation pair R12 is parallel to the The axis of rotation of the fifteenth rotary pair R15 is perpendicular to the axis of rotation of the fifth rotary pair R5). The other end of the thirteenth link 17 is connected to one end of the twelfth link 16 through the fourteenth rotation pair R14, and the other end of the twelfth link 16 is connected to the frame 1 through the nineteenth rotation pair R19. The other end of the tenth link 14 is connected to one end of the eleventh link 15 through the thirteenth rotation pair R13, and the other end of the eleventh link 15 is connected to the frame 1 through the twentieth rotation pair R20. The rotational axes of the twelfth rotational pair R12, the thirteenth rotational pair R13, the fourteenth rotational pair R14, the fifteenth rotational pair R15, the nineteenth rotational pair R19, and the twentieth rotational pair R20 are parallel to each other. The rotation axes of the sixteenth rotating pair R16, the seventeenth rotating pair R17, the eighteenth rotating pair R18, the nineteenth rotating pair R19, and the twentieth rotating pair R20 are on the same axis of the frame.

In this embodiment, the driving pairs are five rotating pairs connected to the frame, which are driven by servo motors (omitted in the figure); when the rotating pairs move, the mechanism performs three rotations and two movements.

Claims (6)

1. A large-angle three-rotation two-movement parallel mechanism is characterized in that: the parallel mechanism comprises three first branches positioned between the frame (1) and the first intermediate platform (6), positioned at the frame (1) ) and two second branches between the second intermediate platform (13), the third branch located between the first intermediate platform (6) and the moving platform (2), and the third branch located between the second intermediate platform and the moving platform ( 2) the fourth branch between; The three first branches are respectively a first branch chain, a second branch chain, and a third branch chain; The first branch chain includes a sixteenth rotation pair (R16), a fifth link (8), an eighth rotation pair (R8), The fourth connecting rod (7) and the sixth rotating pair (R6); the second branch chain includes the seventeenth rotating pair (R17), which are sequentially connected between the frame (1) and the first intermediate platform (6), The seventh link (10), the tenth rotation pair (R10), the sixth link (9) and the ninth rotation pair (R9); the third branch chain comprises a sequence connected to the frame (1) and the first middle The eighteenth rotation pair (R18), the ninth link (12), the eleventh rotation pair (R11), the eighth link (11) and the seventh rotation pair (R7) between the platforms (6); The two second branches are the fourth branch chain and the fifth branch chain respectively; The fourth branch chain includes a twentieth rotation pair (R20), an eleventh link (15), and a thirteenth rotation pair (R13) sequentially connected between the frame (1) and the second intermediate platform (13). ), the tenth link (14) and the twelfth rotation pair (R12); the fifth branch chain includes the nineteenth rotation pair (R12) sequentially connected between the frame (1) and the second intermediate platform (13). R19), the twelfth link (16), the fourteenth rotation pair (R14), the thirteenth link (17) and the fifteenth rotation pair (R15); The third branch includes a fourth rotating pair (R4), a transition link (5), a third rotating pair (R3), a first intermediate connecting the rod (3) and the second rotating pair (R2); The fourth branch includes a fifth rotating pair (R5), a second intermediate link (4) and a first rotating pair (R1) sequentially connected between the second intermediate platform (13) and the moving platform. 2 . The large-angle three-rotation two-movement parallel mechanism according to claim 1 , wherein the axes of all the rotating pairs in the first branch and the second branch are parallel to each other. 3 . 3. The large-angle three-rotation two-movement parallel mechanism according to claim 2, characterized in that: in the third branch: the axes of the fourth rotating pair (R4) and the third rotating pair (R3) are parallel and perpendicular to each other Regarding the axis of rotation of the first branch, the axis of the second rotation pair ( R2 ) is perpendicular to the axis of the third rotation pair ( R3 ). 4. The large-angle, three-rotation, two-movement parallel mechanism according to claim 3, characterized in that: in the fourth branch: the axis of the fifth rotation pair (R5) is perpendicular to the axis of the rotation pair in the second branch; the first The axis of the rotational pair ( R1 ) is perpendicular to the axis of the fifth rotational pair ( R5 ) and parallel to the axis of the second rotational pair ( R2 ) in the third branch. 5 . The large-angle three-rotation and two-movement parallel mechanism according to claim 4 , wherein the first branch and the second branch are connected to the five rotating pairs of the frame and are arranged coaxially. 6 . 6 . The large-angle three-rotation two-movement parallel mechanism according to claim 5 , wherein the first branch and the second branch are connected to the five rotating pairs of the frame as driving pairs, which are driven by servo motors. 7 .

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