CN215093584U - Three-freedom-degree parallel mechanism with continuous rotating shaft - Google Patents
Three-freedom-degree parallel mechanism with continuous rotating shaft Download PDFInfo
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- CN215093584U CN215093584U CN202121026776.2U CN202121026776U CN215093584U CN 215093584 U CN215093584 U CN 215093584U CN 202121026776 U CN202121026776 U CN 202121026776U CN 215093584 U CN215093584 U CN 215093584U
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Abstract
The utility model provides a three degree of freedom parallel mechanism with continuous pivot, it can realize that space two rotate a removal motion, has simple structure, and rigidity is high, and the dynamic performance is excellent, advantages such as control is easy. Meanwhile, the mechanism does not contain a ball hinge, and is easy to manufacture and process and high in precision. The structure of the movable platform comprises a fixed base and a movable platform, wherein the fixed base is connected with the movable platform through a first branched chain, a second branched chain and a third branched chain, the first branched chain, the second branched chain and the third branched chain respectively comprise a moving pair, a universal pair I and a connecting rod which are sequentially connected, the connecting rods of the first branched chain and the second branched chain are connected with the movable platform through a rotating pair, and the connecting rod of the third branched chain is connected with the movable platform through a universal pair II.
Description
Technical Field
The utility model relates to a manipulator technical field specifically is three degree of freedom parallel mechanism with continuous pivot.
Background
Most industrial robots widely applied at present are series robots. The series robot is of an open-loop structure, each joint is driven independently, coupling does not exist, and the series robot has the advantages of simple structure, convenience in control and easiness in solving the large-working-space kinematics positive solution. To date, various aspects of serial robots have been well studied and successfully applied in the fields of assembly, machining, palletizing, and the like. However, due to the open-loop structural form of the serial mechanism, the deformation and errors between the joints are accumulated, so that the precision of the robot is reduced; in addition, the structure of the tandem robot causes the overall rigidity to be low, and the performance of the tandem robot in practical application is limited. Therefore, in the machining field, the precision requirement is higher and higher today, and the traditional serial robot cannot meet the requirement gradually. To solve this problem, scholars and researchers at home and abroad have recently explored a novel multi-axis machining tool using a parallel robot as a main mechanism based on the parallel mechanism. Compared with a six-degree-of-freedom parallel mechanism, the less-degree-of-freedom parallel mechanism has the advantages of low coupling degree, easiness in modularization and the like, is more and more favored by researchers, and meanwhile, some less-degree-of-freedom parallel mechanisms are successfully applied to multi-axis processing machines.
The utility model discloses a patent (for example CN101066593A, CN106903677A, CN107175654A) is published to current parallel mechanism utility model, and the inside ball hinge of mechanism is too much, and the structure is comparatively complicated, and processing assembly precision is difficult to guarantee, makes the difficulty. In addition, a clearance is inevitably formed between the ball head of the ball hinge and the ball socket due to the movable fit relationship, the process error and the friction during the hinge motion can aggravate the clearance error, and the precision of the mechanism is reduced. Therefore, it is necessary to provide a novel three-degree-of-freedom parallel mechanism with simple structure and good processing performance.
SUMMERY OF THE UTILITY MODEL
To the inside ball hinge of current parallel mechanism many, problem that the structure is complicated, the utility model provides a three degree of freedom parallel mechanism with continuous pivot, it can realize that space two rotates a removal motion, and does not contain ball hinge, simple structure.
The technical scheme is as follows: three degree of freedom parallel mechanism with continuous pivot, it includes fixed baseplate and moves the platform, fixed baseplate through first branch chain, second branch chain and third branch chain with move the platform and be connected its characterized in that: the first branched chain, the second branched chain and the third branched chain respectively comprise a moving pair, a first universal pair and a connecting rod which are sequentially connected, the connecting rod of the first branched chain and the second branched chain is connected with the moving platform through a rotating pair, the connecting rod of the third branched chain is connected with the moving platform through a second universal pair, the axis of the moving pair is parallel to the rotating axis of the first universal pair in the corresponding branched chain, and the rotating axis of the rotating pair is parallel to the rotating axis of the first universal pair in the corresponding branched chain, which is connected with the connecting rod;
in the first branched chain and the second branched chain, the axes of the moving pair are coaxial, the first universal pair is coaxial with the rotating axis connected with the moving pair, and the rotating axes of the rotating pair are parallel;
in the third branched chain, a rotating axis of the first universal pair connected with the connecting rod is parallel to a rotating axis of the second universal pair connected with the connecting rod;
the axis of the moving pair in the first branched chain and the second branched chain is vertical to the axis of the moving pair in the third branched chain, the rotating axis of the first universal pair in the first branched chain and the second branched chain, which is connected with the moving pair, is intersected with the axis of the rotating shaft of the first universal pair in the third branched chain, which is connected with the moving pair, to form an intersection point, and the rotating axis of the second universal pair, which is connected with the moving platform, passes through the intersection point.
It is further characterized in that:
the universal pair II comprises a rotating block, the rotating block is rotatably connected with the connecting rod, and the rotating block is also rotatably connected with the movable platform through a connecting shaft penetrating through the movable platform;
the moving pair is a driving pair and comprises a first moving pair, a second moving pair and a third moving pair; the universal pair I comprises a first universal pair, a second universal pair and a third universal pair; the connecting rods comprise a first connecting rod, a second connecting rod and a third connecting rod; the revolute pair comprises a first revolute pair and a second revolute pair;
the first branch chain comprises a first moving pair, a first universal pair, a first connecting rod and a first rotating pair which are sequentially connected, the first moving pair is connected with the fixed base, the first connecting rod is connected with the moving platform through the first rotating pair, the first moving pair is connected with a first rotating shaft of the first universal pair, and the first connecting rod is connected with a second rotating shaft of the first universal pair;
the first sliding pair comprises a first guide rail and a first sliding block in sliding fit with the first guide rail;
the second branched chain comprises a second moving pair, a second universal pair, a second connecting rod and a second rotating pair which are sequentially connected, the second moving pair is connected with the fixed base, the second connecting rod is connected with the movable platform through the second rotating pair, the second moving pair is connected with a third rotating shaft of the second universal pair, and the second connecting rod is connected with a fourth rotating shaft of the second universal pair;
the second sliding pair comprises a second guide rail and a second sliding block in sliding fit with the second guide rail;
the third branched chain comprises a third moving pair, a third universal pair, a third connecting rod and a second universal pair which are sequentially connected, the third moving pair is connected with the fixed base, the third moving pair is connected with a fifth rotating shaft of the third universal pair, one end of the third connecting rod is connected with a sixth rotating shaft of the third universal pair, the other end of the third connecting rod is connected with a seventh rotating shaft of the second universal pair, and the movable platform is connected with an eighth rotating shaft of the second universal pair;
the third moving pair comprises a third guide rail and a third sliding block in sliding fit with the third guide rail;
the rotating axis of the first rotating shaft is parallel to the axis of the first moving pair, and the rotating axis of the first rotating pair is parallel to the rotating axis of the second rotating shaft; the rotation axis of the third rotating shaft is parallel to the axis of the second moving pair, and the rotation axis of the second rotating pair is parallel to the rotation axis of the fourth rotating shaft; the axes of the first moving pair and the second moving pair are coaxial, the rotation axis of the first rotating shaft and the rotation axis of the third rotating shaft are coaxial, and the axes of the first moving pair and the second moving pair are vertical to the axis of the third moving pair; the rotation axis of the first rotation pair is parallel to the rotation axis of the second rotation pair; the rotation axis of the fifth rotating shaft is parallel to the axis of the third moving pair, the rotation axis of the sixth rotating shaft is parallel to the rotation axis of the seventh rotating shaft, and the rotation axis of the eighth rotating shaft passes through the intersection point of the rotation axis of the first rotating shaft, the rotation axis of the third rotating shaft and the rotation axis of the fifth rotating shaft.
The utility model has the advantages that: the utility model provides a parallel mechanism can realize two rotations in space one and remove the motion, and two rotational motion's pivot is continuous pivot, has simple structure, and rigidity is high, and the dynamics performance is excellent, advantages such as control is easy. The mechanism does not contain a ball hinge, is easy to manufacture and process and has high precision. It can be connected in series with two-freedom-degree rotating heads or X/Y guide rails to form different types of five-freedom-degree series-parallel processing machine tools.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a diagram illustrating a first branch structure;
FIG. 3 is a schematic diagram of a second branched chain structure;
FIG. 4 is a schematic diagram of a third branched structure.
Detailed Description
As shown in fig. 1, the three-degree-of-freedom parallel mechanism with a continuous rotating shaft includes a fixed base 1 and a movable platform 5 equipped with a processing head, the fixed base 1 is connected with the movable platform 5 through a first branched chain 2, a second branched chain 3 and a third branched chain 4, the first branched chain 2 and the second branched chain 3 have completely identical structures and are symmetrically distributed on two sides of the third branched chain 4, specifically, the first branched chain 2, the second branched chain 3 and the third branched chain 4 respectively include a moving pair, a first universal pair and a connecting rod which are sequentially connected, wherein the moving pair is a driving pair and is fixedly connected with the fixed base 1, the connecting rods of the first branched chain 2 and the second branched chain 3 are connected with the movable platform 5 through a rotating pair, and the connecting rod of the third branched chain 4 is connected with the movable platform 5 through a second universal pair 44.
Specifically, referring to fig. 2, the first link 2 includes a first sliding pair 21, a first universal pair 22, a first link 23, and a first rotating pair 24, which are connected in sequence, where the branched chain is referred to as a PUR branched chain, the first sliding pair 21 is connected to the fixed base 1, the first sliding pair 21 includes a first guide rail 211 and a first slider 212 in sliding fit with the first guide rail 211, the first link 23 is connected to the moving platform 5 through the first rotating pair 24 (that is, the first link 23 is rotatably connected to the moving platform 5 through a rotating shaft), the universal pair may be a cross-axle type, the first sliding pair 21 is connected to a first rotating shaft of the first universal pair 22, the rotating axis of the first rotating shaft is 221, the first link 23 is connected to a second rotating shaft of the first universal pair 22, and the rotating axis of the second rotating shaft is 222.
Similarly, referring to fig. 3, the second branched chain 3 includes a second moving pair 31, a second universal pair 32, a second connecting rod 33 and a second rotating pair 34, which are connected in sequence, the branched chain is referred to as a PUR branched chain, the second moving pair 31 is connected to the fixed base 1, the second moving pair 31 includes a second guide rail 311 and a second slider 312 in sliding fit with the second guide rail 311, the second connecting rod 33 is connected to the moving platform 5 through the second rotating pair 34, the second moving pair 31 is connected to a third rotating shaft of the second universal pair 32, the rotating axis of the third rotating shaft is 321, the second connecting rod 33 is connected to a fourth rotating shaft of the second universal pair 32, and the rotating axis of the fourth rotating shaft is 322.
With reference to fig. 4, the third branched chain 4 includes a third moving pair 41, a third universal pair 42, a third connecting rod 43 and a second universal pair 44, which are connected in sequence, the branched chain is called a PUU branched chain, the third moving pair 41 is connected to the fixed base 1, the third moving pair 41 includes a third guide rail 411 and a third slider 412 slidably fitted to the third guide rail 411, the third moving pair 41 is connected to a fifth rotating shaft of the third universal pair 42, the rotating axis of the fifth rotating shaft is 421, one end of the third connecting rod 43 is connected to a sixth rotating shaft of the third universal pair 42, the rotating axis of the sixth rotating shaft is 422, the other end of the third connecting rod 43 is connected to a seventh rotating shaft of the second universal pair 44, the rotating axis of the seventh rotating shaft is 441, the movable platform 5 is connected to an eighth rotating shaft of the second universal pair 44, the rotating axis of the eighth rotating shaft is 442, it should be noted that in fig. 4, the second universal pair 44 does not adopt a cross shaft as other universal pairs, instead, the link is rotatably connected to the rotary block 443 via a rotary shaft, and the rotary block 443 is rotatably connected to the movable platform 5 via a connecting shaft 444 that is perpendicular to and inserted into the movable platform 5.
Referring to fig. 1-4, the positional relationship of the components is such that the axes of the sliding pairs and the rotational axes of the first universal pairs in the corresponding branched chains, which are connected to the sliding pairs, are parallel, that is, the axis of the first sliding pair 21 (i.e., the moving path) is parallel to the rotational axis 221 of the first rotating shaft, the axis of the second sliding pair 31 is parallel to the rotational axis 321 of the third rotating shaft, and the axis of the third sliding pair 41 is parallel to the rotational axis 421 of the fifth rotating shaft.
The rotation axis of the revolute pair and the rotation axis of the first universal pair of the corresponding branched chains are parallel to the rotation axis of the connecting rod connection, that is, the rotation axis of the first revolute pair 24 is parallel to the rotation axis 222 of the second rotary shaft, and the rotation axis of the second revolute pair 34 is parallel to the rotation axis 322 of the fourth rotary shaft.
In the first branch chain 2 and the second branch chain 3, the axes of the moving pairs are coaxial, namely, the axis of the first moving pair 21 and the axis of the second moving pair 22 are coaxial; meanwhile, in the first branched chain 2 and the second branched chain 3, the first universal pair is coaxial with the rotation axis connected with the moving pair, that is, the rotation axis 221 of the first rotating shaft is coaxial with the rotation axis 321 of the third rotating shaft; the axes of rotation of the revolute pairs are parallel, i.e. the axis of rotation of the first revolute pair 24 and the axis of rotation of the second revolute pair 34 are parallel.
In the third branched chain 4, the rotation axis (i.e. the rotation axis 422) of the first universal pair connected to the connecting rod is parallel to the rotation axis (i.e. the rotation axis 441) of the second universal pair connected to the connecting rod, that is, the rotation axis 422 of the sixth rotating shaft is parallel to the rotation axis 441 of the seventh rotating shaft.
The axes of the kinematic pair of the first branch 2 and the second branch 3 are perpendicular to the axis of the kinematic pair of the third branch 4, that is, the axes of the first kinematic pair 21 and the second kinematic pair 31 are perpendicular to the axis of the third kinematic pair 41; the rotation axis of the first universal pair and the moving pair in the first branch chain 2 and the second branch chain 3 is intersected with the rotation axis of the first universal pair and the moving pair in the third branch chain 4 to form an intersection point, the rotation axis of the second universal pair 44 and the moving platform 5 passes through the intersection point, namely, the rotation axis 442 of the eighth rotation shaft passes through the intersection point of the rotation axis 221 of the first rotation shaft, the rotation axis 321 of the third rotation shaft and the rotation axis 421 of the fifth rotation shaft.
In the utility model, three moving pairs are driving pairs and are fixed on the base; the input drive is realized by driving a ball screw to drive a sliding block to move through a servo motor; when the moving pair moves, the moving platform 5 can move in three degrees of freedom, namely two rotations and one movement, in the space, and has two continuous rotation axes. The scheme has the advantages of simple structure, high rigidity, excellent dynamic performance, easy control and the like. The mechanism does not contain a ball hinge, is easy to manufacture and process and has high precision. It can be connected in series with two-freedom-degree rotating heads or X/Y guide rails to form different types of five-freedom-degree series-parallel processing machine tools.
The above description is only for the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. Three degree of freedom parallel mechanism with continuous pivot, it includes fixed baseplate and moves the platform, fixed baseplate through first branch chain, second branch chain and third branch chain with move the platform and be connected its characterized in that: the first branched chain, the second branched chain and the third branched chain respectively comprise a moving pair, a first universal pair and a connecting rod which are sequentially connected, the connecting rod of the first branched chain and the second branched chain is connected with the moving platform through a rotating pair, the connecting rod of the third branched chain is connected with the moving platform through a second universal pair, the axis of the moving pair is parallel to the rotating axis of the first universal pair in the corresponding branched chain, and the rotating axis of the rotating pair is parallel to the rotating axis of the first universal pair in the corresponding branched chain, which is connected with the connecting rod;
in the first branched chain and the second branched chain, the axes of the moving pair are coaxial, the first universal pair is coaxial with the rotating axis connected with the moving pair, and the rotating axes of the rotating pair are parallel;
in the third branched chain, a rotating axis of the first universal pair connected with the connecting rod is parallel to a rotating axis of the second universal pair connected with the connecting rod;
the axis of the moving pair in the first branched chain and the second branched chain is vertical to the axis of the moving pair in the third branched chain, the rotating axis of the first universal pair in the first branched chain and the second branched chain, which is connected with the moving pair, is intersected with the axis of the rotating shaft of the first universal pair in the third branched chain, which is connected with the moving pair, to form an intersection point, and the rotating axis of the second universal pair, which is connected with the moving platform, passes through the intersection point.
2. The three-degree-of-freedom parallel mechanism with a continuous rotating shaft according to claim 1, characterized in that: the universal pair II comprises a rotating block, the rotating block is rotatably connected with the connecting rod, and the rotating block is rotatably connected with the movable platform through a connecting shaft penetrating through the movable platform.
3. The three-degree-of-freedom parallel mechanism with a continuous rotating shaft according to claim 1, characterized in that: the moving pair is a driving pair and comprises a first moving pair, a second moving pair and a third moving pair; the universal pair I comprises a first universal pair, a second universal pair and a third universal pair; the connecting rods comprise a first connecting rod, a second connecting rod and a third connecting rod; the revolute pair comprises a first revolute pair and a second revolute pair.
4. The three-degree-of-freedom parallel mechanism with a continuous rotating shaft according to claim 3, characterized in that: the first branch chain comprises a first moving pair, a first universal pair, a first connecting rod and a first rotating pair which are sequentially connected, the first moving pair is connected with the fixed base, the first rotating pair is connected with the moving platform, the first moving pair is connected with a first rotating shaft of the first universal pair, and the first connecting rod is connected with a second rotating shaft of the first universal pair.
5. The three-degree-of-freedom parallel mechanism with a continuous rotating shaft according to claim 4, characterized in that: the first sliding pair comprises a first guide rail and a first sliding block in sliding fit with the first guide rail.
6. The three-degree-of-freedom parallel mechanism with a continuous rotating shaft according to claim 4, characterized in that: the second branch chain comprises a second sliding pair, a second universal pair, a second connecting rod and a second rotating pair which are sequentially connected, the second sliding pair is connected with the fixed base, the second rotating pair is connected with the movable platform, the second sliding pair is connected with a third rotating shaft of the second universal pair, and the second connecting rod is connected with a fourth rotating shaft of the second universal pair.
7. The three-degree-of-freedom parallel mechanism with a continuous rotating shaft according to claim 6, characterized in that: the second sliding pair comprises a second guide rail and a second sliding block in sliding fit with the second guide rail.
8. The three-degree-of-freedom parallel mechanism with a continuous rotating shaft according to claim 6, characterized in that: the third branch chain is including connecting gradually the third remove vice the third is universal vice the third connecting rod with universal vice two, the third remove vice with fixed baseplate connects, the third remove vice with the fifth pivot of the universal pair of third is connected, third connecting rod one end with the sixth pivot of the universal pair of third is connected, the third connecting rod other end with the seventh pivot of universal pair two is connected, move the platform with the eighth pivot of universal pair two is connected.
9. The three-degree-of-freedom parallel mechanism with a continuous rotating shaft according to claim 8, characterized in that: the third moving pair comprises a third guide rail and a third sliding block in sliding fit with the third guide rail.
10. The three-degree-of-freedom parallel mechanism with a continuous rotating shaft according to claim 8, characterized in that: the rotating axis of the first rotating shaft is parallel to the axis of the first moving pair, and the rotating axis of the first rotating pair is parallel to the rotating axis of the second rotating shaft; the rotation axis of the third rotating shaft is parallel to the axis of the second moving pair, and the rotation axis of the second rotating pair is parallel to the rotation axis of the fourth rotating shaft; the axes of the first moving pair and the second moving pair are coaxial, the rotation axis of the first rotating shaft and the rotation axis of the third rotating shaft are coaxial, and the axes of the first moving pair and the second moving pair are vertical to the axis of the third moving pair; the rotation axis of the first rotation pair is parallel to the rotation axis of the second rotation pair; the rotation axis of the fifth rotating shaft is parallel to the axis of the third moving pair, the rotation axis of the sixth rotating shaft is parallel to the rotation axis of the seventh rotating shaft, and the rotation axis of the eighth rotating shaft passes through the intersection point of the rotation axis of the first rotating shaft, the rotation axis of the third rotating shaft and the rotation axis of the fifth rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121026776.2U CN215093584U (en) | 2021-05-14 | 2021-05-14 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121026776.2U CN215093584U (en) | 2021-05-14 | 2021-05-14 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
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| Publication Number | Publication Date |
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| CN215093584U true CN215093584U (en) | 2021-12-10 |
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| CN202121026776.2U Expired - Fee Related CN215093584U (en) | 2021-05-14 | 2021-05-14 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
| AU2021355606B2 (en) * | 2021-01-12 | 2023-09-14 | Shandong University Of Technology | Two-layer three-rail planar robot with parallelogram |
-
2021
- 2021-05-14 CN CN202121026776.2U patent/CN215093584U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2021355606B2 (en) * | 2021-01-12 | 2023-09-14 | Shandong University Of Technology | Two-layer three-rail planar robot with parallelogram |
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
| CN113246099B (en) * | 2021-05-14 | 2024-05-03 | 江南大学 | Three-degree-of-freedom parallel mechanism with continuous rotating shaft |
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