CN211662049U - Large-rotation-angle three-rotation two-movement parallel mechanism - Google Patents
Large-rotation-angle three-rotation two-movement parallel mechanism Download PDFInfo
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- CN211662049U CN211662049U CN201922128003.4U CN201922128003U CN211662049U CN 211662049 U CN211662049 U CN 211662049U CN 201922128003 U CN201922128003 U CN 201922128003U CN 211662049 U CN211662049 U CN 211662049U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 32
- 230000007704 transition Effects 0.000 claims description 5
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- 238000003466 welding Methods 0.000 description 2
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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
Technical Field
The utility model relates to the technical field of robot, specifically a big corner is three rotates two and removes parallel mechanism.
Background
The parallel mechanism refers to a closed loop mechanism with two or more branches connected in parallel to connect the end moving platform and the fixed platform. Compared with an open-loop series mechanism, the parallel mechanism has the advantages of high rigidity, high movement speed, small accumulated error and the like. Therefore, the parallel mechanism can be well applied to machine tools, spraying, welding and positioning devices. In recent decades, the study of the students at home and abroad has been carried out. The parallel mechanism with three rotation, two movement and five degrees of freedom is one of the more important mechanisms and has high research value.
The prior published patent application of the utility model, namely 'three-rotation two-movement parallel mechanism' (CN 107932482A, CN105818135A), is characterized in that a plurality of branches which are symmetrically arranged are connected with a terminal platform and a frame, the branches adopt a telescopic device to control the parallel mechanism, the rotation angle of the terminal movable platform is small, and the requirement of practical application on the rotation capacity of the mechanism cannot be met; therefore, the utility model discloses a three rotation two removal parallel mechanism of big corner with big gesture variable ability is very necessary.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that overcome above-mentioned background art not enough, provide a big corner three and rotate two and remove parallel mechanism, this mechanism has advantages such as turned angle is big, rigidity is good.
The utility model provides a technical scheme is:
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;
the first branched chain comprises a sixteenth revolute pair, a fifth connecting rod, an eighth revolute pair, a fourth connecting rod and a sixth revolute pair which are sequentially connected between the rack and the first middle platform; the second branched chain comprises a seventeenth revolute pair, a seventh connecting rod, a tenth revolute pair, a sixth connecting rod and a ninth revolute pair which are sequentially connected between the rack and the first middle platform; the third branched chain comprises an eighteenth revolute pair, a ninth connecting rod, an eleventh revolute pair, an eighth connecting rod and a seventh revolute pair which are sequentially connected between the rack and the first middle platform;
the two second branches are a fourth branch and a fifth branch respectively;
the fourth branched chain comprises a twentieth rotating pair, an eleventh connecting rod, a thirteenth rotating pair, a tenth connecting rod and a twelfth rotating pair which are sequentially connected between the rack and the second middle platform; the fifth branched chain comprises a nineteenth revolute pair, a twelfth connecting rod, a fourteenth revolute pair, a thirteenth connecting rod and a fifteenth revolute pair which are sequentially connected between the rack and the second middle platform;
the third branch comprises a fourth revolute pair, a transition connecting rod, a third revolute pair, a first middle connecting rod and a second revolute pair which are sequentially connected between the first middle platform and the movable platform;
the fourth branch comprises a fifth rotating pair, a second middle connecting rod and a first rotating pair which are sequentially connected between the second middle platform and the moving platform.
The axes of all the revolute pairs in the first branch and the second branch are parallel to each other.
In the third branch: the axes of the fourth revolute pair and the third revolute pair are parallel to each other and perpendicular to the axis of the revolute pair in the first branch, and the axis of the second revolute pair is perpendicular to the axis of the third revolute pair.
In the fourth branch: the fifth revolute pair axis is perpendicular to the revolute pair axis in the second branch; the first revolute pair axis is perpendicular to the axis of the fifth revolute pair and parallel to the second revolute pair axis in the third branch.
The first branch and the second branch are connected with five revolute pairs of the rack and are coaxially arranged.
The five revolute pairs of which the first branch and the second branch are connected with the rack are driving pairs and are driven by a servo motor.
The utility model has the advantages that: the utility model provides a parallel mechanism can realize three rotation and two removal degrees of freedom in space, has advantages such as low in manufacturing cost, control are easy, turned angle is big, rigidity is good, can be used to fields such as lathe, spraying, welding, location.
Drawings
Fig. 1 is a schematic perspective view of a large-rotation-angle three-rotation two-movement parallel mechanism.
In the figure: the device comprises a frame 1, a movable platform 2, a first intermediate connecting rod 3, a second intermediate connecting rod 4, a transition connecting rod 5, a first intermediate platform 6, a fourth connecting rod 7, a fifth connecting rod 8, a sixth connecting rod 9, a seventh connecting rod 10, an eighth connecting rod 11, a ninth connecting rod 12, a second intermediate platform 13, a tenth connecting rod 14, an eleventh connecting rod 15, a twelfth connecting rod 16, a thirteenth connecting rod 17, a first revolute pair R1 and a second revolute pair R2, a third revolute pair R3, a fourth revolute pair R4, a fifth revolute pair R5, a sixth revolute pair R6, a seventh revolute pair R7, an eighth revolute pair R8, a ninth revolute pair R9, a tenth revolute pair R10, an eleventh revolute pair R11, a twelfth revolute pair R12, a thirteenth revolute pair R13, a fourteenth revolute pair R14, a fifteenth revolute pair R15, a sixteenth revolute pair R16, a seventeenth revolute pair R17, an eighteenth revolute pair R18, a nineteenth revolute pair R19, and a twentieth revolute pair R20.
Detailed Description
The invention will be further explained with reference to the following embodiments shown in the drawings.
The large-corner three-rotation two-movement parallel mechanism shown in the attached drawing comprises a rack 1, a movable platform 2, three first branches connected between the rack 1 and a first middle platform 6, two second branches connected between the rack 1 and a second middle platform 13, a third branch connected between the first middle platform and the movable platform 2 and a fourth branch connected between the second middle platform and the movable platform.
As shown in the drawing, the movable 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 and second revolute pairs R1 and R2, respectively, which are parallel to each other in axis. The other end of the first intermediate link 3 is connected with one end of a transition link 5 through a third revolute pair R3, and the other end of the transition link 5 is connected with a first intermediate platform 6 through a fourth revolute pair R4 (the rotation axis of the third revolute pair R3 is parallel to the rotation axis of the fourth revolute pair R4; the rotation axis of the third revolute pair R3 and the rotation axis of the fourth revolute pair R4 are perpendicular to the rotation axis of the first revolute pair R1 and the rotation axis of the second revolute pair R2). The other end of the second intermediate link 4 is connected to the second intermediate platform 13 through a fifth revolute pair R5 (the rotation axis of the fifth revolute pair R5 is perpendicular to the rotation axes of the first revolute pair R1 and the second revolute pair R2).
As shown in the figure, the first intermediate platform 6 is connected to the fourth link 7, the 8 th link 11 and the sixth link 9 through a sixth revolute pair R6, a seventh revolute pair R7 and a ninth revolute pair R9, respectively. The other end of the fourth link 7 is connected to one end of the fifth link 8 through an eighth revolute pair R8, and the other end of the fifth link 8 is connected to the frame 1 through one end of a sixteenth revolute pair R16. The other end of the sixth link 9 is connected to one end of the seventh link 10 through a tenth revolute pair R10, and the other end of the seventh link 10 is connected to the frame 1 through a seventeenth revolute pair R17. The other end of the eighth link 11 is connected to one end of the ninth link 12 through an eleventh revolute pair R11, and the other end of the ninth link 12 is connected to the frame 1 through an eighteenth revolute pair R18. The rotation axes of the sixth revolute pair R6, the seventh revolute pair R7, the eighth revolute pair R8, the ninth revolute pair R9, the tenth revolute pair R10, the eleventh revolute pair R11, the sixteenth revolute pair R16, the seventeenth revolute pair R17 and the eighteenth revolute pair R18 are parallel to each other and perpendicular to the rotation axes of the third revolute pair R3 and the fourth revolute pair R4.
As shown, the second intermediate platform 13 is connected to the tenth link 14 and the thirteenth link 17 through a twelfth revolute pair R12 and a fifteenth revolute pair R15, respectively (the rotation axis of the twelfth revolute pair R12 is parallel to the rotation axis of the fifteenth revolute pair R15 and perpendicular to the rotation axis of the fifth revolute pair R5). The other end of the thirteenth link 17 is connected to one end of the twelfth link 16 through a fourteenth revolute pair R14, and the other end of the twelfth link 16 is connected to the frame 1 through a nineteenth revolute pair R19. The other end of the tenth link 14 is connected to one end of an eleventh link 15 through a thirteenth revolute pair R13, and the other end of the eleventh link 15 is connected to the frame 1 through a twentieth revolute pair R20. The rotation axes of the twelfth revolute pair R12, the thirteenth revolute pair R13, the fourteenth revolute pair R14, the fifteenth revolute pair R15, the nineteenth revolute pair R19 and the twentieth revolute pair R20 are parallel to each other. The rotation axes of the sixteenth rotation pair R16, the seventeenth rotation pair R17, the eighteenth rotation pair R18, the nineteenth rotation pair R19 and the twentieth rotation pair R20 are positioned on the same shaft of the frame.
In the embodiment, the driving pairs are five rotating pairs connected to the rack, and are driven by a servo motor (omitted in the figure); when the revolute pair moves, the mechanism does three-rotation two-movement.
Claims (6)
1. 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 (1) and the first middle platform (6), two second branches positioned between the rack (1) and the second middle platform (13), a third branch positioned between the first middle platform (6) and the movable platform (2) and a fourth branch positioned between the second middle platform and the movable platform (2);
the three first branches are respectively a first branched chain, a second branched chain and a third branched chain;
the first branched chain comprises a sixteenth revolute pair (R16), a fifth connecting rod (8), an eighth revolute pair (R8), a fourth connecting rod (7) and a sixth revolute pair (R6) which are sequentially connected between the rack (1) and the first middle platform (6); the second branched chain comprises a seventeenth revolute pair (R17), a seventh connecting rod (10), a tenth revolute pair (R10), a sixth connecting rod (9) and a ninth revolute pair (R9) which are sequentially connected between the rack (1) and the first middle platform (6); the third branched chain comprises an eighteenth revolute pair (R18), a ninth connecting rod (12), an eleventh revolute pair (R11), an eighth connecting rod (11) and a seventh revolute pair (R7) which are sequentially connected between the rack (1) and the first middle platform (6);
the two second branches are a fourth branch and a fifth branch respectively;
the fourth branched chain comprises a twentieth revolute pair (R20), an eleventh connecting rod (15), a thirteenth revolute pair (R13), a tenth connecting rod (14) and a twelfth revolute pair (R12) which are sequentially connected between the rack (1) and the second middle platform (13); the fifth branched chain comprises a nineteenth revolute pair (R19), a twelfth connecting rod (16), a fourteenth revolute pair (R14), a thirteenth connecting rod (17) and a fifteenth revolute pair (R15) which are sequentially connected between the rack (1) and the second middle platform (13);
the third branch comprises a fourth revolute pair (R4), a transition connecting rod (5), a third revolute pair (R3), a first middle connecting rod (3) and a second revolute pair (R2) which are sequentially connected between the first middle platform (6) and the movable platform;
the fourth branch comprises a fifth revolute pair (R5), a second intermediate connecting rod (4) and a first revolute pair (R1) which are sequentially connected between the second intermediate platform (13) and the movable platform.
2. The large-rotation-angle three-rotation two-movement parallel mechanism according to claim 1, characterized in that: the axes of all the revolute pairs in the first branch and the second branch are parallel to each other.
3. The large-rotation-angle three-rotation two-movement parallel mechanism according to claim 2, characterized in that: in the third branch: the axes of the fourth revolute pair (R4) and the third revolute pair (R3) are parallel to each other and perpendicular to the revolute pair axes in the first branch, and the second revolute pair (R2) axis is perpendicular to the third revolute pair (R3).
4. The large-rotation-angle three-rotation two-movement parallel mechanism according to claim 3, characterized in that: in the fourth branch: the fifth revolute pair (R5) axis is perpendicular to the revolute pair axis in the second branch; the first revolute pair (R1) axis is perpendicular to the axis of the fifth revolute pair (R5) and parallel to the second revolute pair (R2) axis in the third branch.
5. The large-rotation-angle three-rotation two-movement parallel mechanism according to claim 4, characterized in that: the first branch and the second branch are connected with five revolute pairs of the rack and are coaxially arranged.
6. The large-rotation-angle three-rotation two-movement parallel mechanism according to claim 5, characterized in that: the five revolute pairs of which the first branch and the second branch are connected with the rack are driving pairs and are driven by a servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922128003.4U CN211662049U (en) | 2019-12-03 | 2019-12-03 | Large-rotation-angle three-rotation two-movement parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922128003.4U CN211662049U (en) | 2019-12-03 | 2019-12-03 | Large-rotation-angle three-rotation two-movement parallel mechanism |
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| CN211662049U true CN211662049U (en) | 2020-10-13 |
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| CN201922128003.4U Active CN211662049U (en) | 2019-12-03 | 2019-12-03 | Large-rotation-angle three-rotation two-movement parallel mechanism |
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