CN212385475U - Two-rotation one-shift low-profile parallel mechanism with three constraint branches - Google Patents
Two-rotation one-shift low-profile parallel mechanism with three constraint branches Download PDFInfo
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- CN212385475U CN212385475U CN202021662841.6U CN202021662841U CN212385475U CN 212385475 U CN212385475 U CN 212385475U CN 202021662841 U CN202021662841 U CN 202021662841U CN 212385475 U CN212385475 U CN 212385475U
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Abstract
The utility model discloses a two change one that contain three restraint branch move low section parallel mechanism belongs to the antenna and connects in parallel technical field. The device comprises a base, a movable platform, three driving branches and three constraint branches, wherein the three driving branches and the three constraint branches are used for connecting the base and the movable platform; the three driving branches are distributed on three vertexes of the equilateral triangle, and in an initial state, the axes of the three driving branches are parallel to each other and are respectively vertical to the base and the movable platform; the three constraint branches are distributed in the same plane, wherein two constraint branches are parallel to each other and perpendicular to the third constraint branch. The utility model discloses three drive branch configuration is the SPS structure, and three restraint branch configuration is the SS structure. The utility model has the characteristics of bearing capacity is big, and the base with move the section between the platform low, the drive branch is two power poles with restraint branch, the atress is even stable.
Description
Technical Field
The utility model belongs to the technical field of antenna parallel mechanism, especially indicate a two change one that contain three restraint branch moves low section parallel mechanism.
Background
The parallel mechanism is generally formed by connecting a base and a movable platform through a plurality of branched chains, and compared with a serial mechanism, the parallel mechanism has the characteristics of compact mechanism, high rigidity, strong bearing capacity, small accumulated error and the like, so that the parallel mechanism is widely applied to the fields of motion simulation, motion compensation, pose adjustment and the like. However, the parallel mechanism with less degrees of freedom is difficult to have the characteristics of low section, large bearing capacity and only tension and pressure of the driving branch, which limits the application and popularization of the parallel mechanism to a certain extent.
The two-rotation one-movement type parallel mechanism belongs to a mechanism with less degrees of freedom, generally has a higher section, and a driving branch can bear bending moment while bearing pulling pressure, so that the two-rotation one-movement type parallel mechanism is not suitable for being used under a heavy load condition. Such as 3RSR parallel mechanism, which uses the rotating pair as the driving pair, the carrying capacity is greatly limited. The bearing capacity of the 3RPS type parallel mechanism is improved, but the section of the mechanism is high, and meanwhile, the driving branch can bear bending moment.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a two change one that contain three restraint branch move low section parallel mechanism, this parallel mechanism have the bearing capacity big, the low characteristics of section, can realize the motion mode that two changes one moved.
In order to realize the purpose, the utility model discloses a technical scheme be:
a two-rotation one-shift low-profile parallel mechanism containing three constraint branches comprises a base and a movable platform; in addition, the device also comprises three driving branches and three constraint branches, wherein the driving branches are telescopic rods, and the driving branches and the constraint branches are respectively connected with the base and the movable platform through ball joints at two ends of the driving branches and the constraint branches; in an initial state, the three driving branches are distributed on three vertexes of the equilateral triangle, the three driving branches are parallel to each other and are perpendicular to the base and the movable platform, two of the three constraint branches are parallel to each other and are perpendicular to the third constraint branch, and the three constraint branches are parallel to the base and the movable platform.
Furthermore, the center distances between the ball joints at the two ends of the three constraint branches are equal.
Furthermore, the base is provided with three supports, one end of the constraint branch is connected with the movable platform through a ball joint, and the other end of the constraint branch is connected with one support on the base through the ball joint.
Furthermore, the telescopic rod is of a sleeve-piston rod structure.
Compared with the prior art, the utility model have following advantage:
1. the utility model discloses simple structure, low cost easily makes the realization.
2. The utility model discloses on keeping the basis that parallel mechanism bearing capacity is strong, compact structure, stability are good, realized low section, the good characteristics of branch's atress.
Drawings
Fig. 1 is a schematic structural diagram of a parallel mechanism in an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of the driving branch in fig. 1.
Fig. 3 is a schematic structural diagram of the constraint branch in fig. 1.
In the figure: 1. the device comprises a base, 2, a first driving branch, 3, a first constraint branch, 4, a movable platform, 5, a second constraint branch, 6, a second driving branch, 7, a third constraint branch, 8, a third driving branch, 9, a first ball joint, 10, a sleeve, 11, a piston rod, 12, a second ball joint, 13, a third ball joint, 14, a constraint branch rod body, 15 and a fourth ball joint.
Detailed Description
The technical solution of the present invention will be further explained with reference to the accompanying drawings.
As shown in FIG. 1, the two-rotation one-shift low-profile parallel mechanism with three constraint branches comprises a base 1, a movable platform 4, a first driving branch 2, a second driving branch 6, a third driving branch 8, a first constraint branch 3, a second constraint branch 5 and a third constraint branch 7, wherein the first driving branch, the second driving branch and the third driving branch are used for connecting the base 1 and the movable platform 4. Initially, the three driving branches are distributed on three vertices of an equilateral triangle, and the axes of the three driving branches are parallel to each other and perpendicular to the base 1 and the movable platform 4. In addition, in the initial state, the three constraint branches are distributed in the same plane, and the plane is parallel to the base 1 and the movable platform 4, wherein the two constraint branches are parallel to each other and are perpendicular to the third constraint branch.
As shown in fig. 2, the three driving branches are SPS (Spherical pair-prism pair-Spherical pair, Spherical pair-kinematic pair-Spherical pair) structures. Specifically, each drive branch comprises a sleeve 10 and a piston rod 11, and a first ball joint 9 and a second ball joint 12 are respectively arranged at two ends of the drive branch.
One end of the driving branch connects the sleeve 10 with the base 1 through the first ball joint 9, and the other end connects the piston rod 11 with the movable platform 4 through the second ball joint 12. The axis of the sleeve and the axis of the piston rod are superposed and can move relatively to form a moving pair.
As shown in fig. 3, the three constraint branches are all SS (Spherical pair-Spherical pair) structures. Specifically, each restriction branch comprises a rod 14, and a third ball joint 13 and a fourth ball joint 15 are respectively arranged at two ends of the rod 14.
The three constraint branches have the same structure and the same length and are fixed and unadjustable. One end of each constraint branch is connected with the bracket on the base 1 through a third ball joint 13, and the other end is connected with the movable platform 4 through a fourth ball joint 15. The centers of the first ball joint and the second ball joint of the constraint branches are distributed on the axes of the constraint branches, and the distances between the centers of the two ball joints in each constraint branch are equal.
In a word, the utility model has the characteristics of bearing capacity is big, and the base with move the section between the platform low, drive branch and restraint branch are two power poles, the atress is even stable.
Claims (4)
1. A two-rotation one-shift low-profile parallel mechanism containing three constraint branches comprises a base and a movable platform; the device is characterized by further comprising three driving branches and three constraint branches, wherein the driving branches are telescopic rods, and the driving branches and the constraint branches are respectively connected with the base and the movable platform through ball joints at two ends of the driving branches and the constraint branches; in an initial state, the three driving branches are distributed on three vertexes of the equilateral triangle, the three driving branches are parallel to each other and are perpendicular to the base and the movable platform, two of the three constraint branches are parallel to each other and are perpendicular to the third constraint branch, and the three constraint branches are parallel to the base and the movable platform.
2. The two-over-one-shift low profile parallel mechanism of claim 1, comprising three constraint branches, wherein the ball joints at the two ends of the three constraint branches are all equidistant from each other.
3. The two-rotation one-movement low-profile parallel mechanism with three constraint branches as claimed in claim 1, wherein the base is provided with three supports, one end of the constraint branch is connected with the movable platform through a ball joint, and the other end of the constraint branch is connected with one support on the base through a ball joint.
4. The two-turn one-shift low profile parallel mechanism of claim 1, wherein the telescoping rod is a sleeve-piston rod structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021662841.6U CN212385475U (en) | 2020-08-11 | 2020-08-11 | Two-rotation one-shift low-profile parallel mechanism with three constraint branches |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021662841.6U CN212385475U (en) | 2020-08-11 | 2020-08-11 | Two-rotation one-shift low-profile parallel mechanism with three constraint branches |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212385475U true CN212385475U (en) | 2021-01-22 |
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| CN202021662841.6U Active CN212385475U (en) | 2020-08-11 | 2020-08-11 | Two-rotation one-shift low-profile parallel mechanism with three constraint branches |
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| CN (1) | CN212385475U (en) |
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- 2020-08-11 CN CN202021662841.6U patent/CN212385475U/en active Active
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