CN215471119U - 1-UU &2-UPU two-degree-of-freedom spherical parallel mechanism - Google Patents
1-UU &2-UPU two-degree-of-freedom spherical parallel mechanism Download PDFInfo
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Abstract
The utility model relates to a 1-UU &2-UPU two-degree-of-freedom spherical parallel mechanism which comprises a movable platform (1), a fixed platform (4), 2U-P-U kinematic chains (2) and 1U-U kinematic chain (3), wherein the movable platform (1) and the fixed platform (4) are connected with the 1U-U kinematic chain (3) through the 2U-P-U kinematic chains (2), the 2U-P-U kinematic chains (2) and the 1U-U kinematic chain (3) are distributed at equal angles on the circumference, and the axes of the 3U-U kinematic chains are intersected at one point under the parallel state of a table top of the movable platform (1) and the table top of the fixed platform (4). The mechanism has the advantages of simple structure, few kinematic types, symmetrical structure, simple processing and manufacturing, high rigidity, strong load capacity and the like.
Description
Technical Field
The utility model relates to the technical field of spherical parallel mechanisms, in particular to a 1-UU &2-UPU two-degree-of-freedom spherical parallel mechanism.
Background
The precision mechanism has wide application in the fields of microelectronic manufacturing, optical engineering, biomedicine and the like. The traditional precision mechanism mostly adopts a serial structure form, and the expected movement is obtained through the combination of a plurality of degrees of freedom. The mechanism has the defects of large inertia, low rigidity, obvious accumulated error and the like. Generally, the parallel mechanism has the advantages of compact structure, high rigidity, small accumulated error and the like, and forms a complementary relationship with the serial mechanism. Since the 90 s in the 20 th century, the development of a multi-degree-of-freedom compound motion mechanism with excellent performance, economy and reasonability gradually becomes a new research direction of a precision positioning technology, and various mature industrial products such as a Stewart parallel mechanism, a Delta and Tricept parallel mechanism and the like appear.
Spherical motion means that when an object moves, a point in the body keeps unchanged in spatial position, and other points in the body rotate around the point. The spherical parallel mechanism refers to a parallel mechanism of a moving platform which does spherical motion. According to the degree of freedom, the mechanism can be divided into two-degree-of-freedom spherical mechanism and three-degree-of-freedom spherical mechanism. The existing spherical mechanism has three rotational degrees of freedom, and although the spherical mechanism can be used for posture adjustment and positioning with two degrees of freedom, the redundant degrees of freedom increase the driving number of the mechanism and make the control of the mechanism more complicated. In addition, the existing two-degree-of-freedom spherical parallel mechanism has the problems of structural abnormal shape, poor manufacturing and assembling manufacturability and the like.
Chinese patent application CN1803410A discloses a two-degree-of-freedom decoupling spherical parallel mechanism, which comprises a base, a movable platform and two moving branched chains connected between the movable platform and the base. One of the moving branched chains comprises two revolute pairs and a moving pair, and the axes of the revolute pairs are required to be parallel to each other; the other motion branched chain comprises two revolute pairs, the two rotation axes are vertical and intersected, and the intersection point is the rotation center of the spherical mechanism movable platform.
Chinese patent application CN112192551A discloses a two-degree-of-freedom spherical motion parallel mechanism. The mechanism comprises 6 links. The 6 connecting rods are connected through kinematic pairs to respectively form an RRR serial branch and a URU serial branch. The 1 st connecting rod is a fixed connecting rod, the 4 th connecting rod is a tail end connecting rod, and the 4 th connecting rod should make spherical motion relative to the 1 st connecting rod.
Chinese patent CN205310261U discloses a two-degree-of-freedom 2-PUS + U spherical parallel mechanism, wherein a fixed platform and a movable platform are connected with two UPS branched chains through 1 universal joint (U). The universal joint (U) is used as an independent motion branched chain, and the UPS branched chain is composed of 1 universal joint (U), 1 moving pair (P) and 1 spherical pair (S).
The existing two-degree-of-freedom spherical parallel mechanism has complex configuration, special parts, more types of adopted kinematic pairs, large processing and adjusting difficulty and high manufacturing cost. Furthermore, such mechanisms have poor constraint characteristics and low planar stiffness. Therefore, the design of the two-degree-of-freedom spherical mechanism with compact structure, simple manufacture, high supporting rigidity and strong loading capacity has important significance.
SUMMERY OF THE UTILITY MODEL
The utility model provides a 1-UU &2-UPU two-degree-of-freedom spherical parallel mechanism, and aims to solve the problems of complex configuration, difficulty in manufacturing and assembling, low rigidity, poor load capacity and the like in the prior art. The mechanism has the advantages of simple structure, few types of kinematic pairs, symmetrical structure, simple processing and manufacturing, high rigidity, strong load capacity and the like.
The technical problem solved by the utility model can be realized by the following technical scheme:
A1-UU &2-UPU two-degree-of-freedom spherical parallel mechanism comprises a movable platform, a fixed platform, 2U-P-U kinematic chains and 1U-U kinematic chain;
the U-P-U kinematic chain comprises 1 first upper universal joint, 1 first lower universal joint and 1 sliding pair, wherein the first upper universal joint and the first lower universal joint are respectively positioned at two ends of the U-P-U kinematic chain, and the sliding pair is positioned between the first upper universal joint and the first lower universal joint;
the U-U kinematic chain comprises 1 second upper universal joint and 1 second lower universal joint, and the two universal joints are connected through an intermediate rod;
the movable platform and the fixed platform are connected through the 2U-P-U kinematic chains and the 1U-U kinematic chain, wherein a first upper universal joint of the U-P-U kinematic chain is connected with the movable platform, a first lower universal joint is connected with the fixed platform, a second upper universal joint of the U-U kinematic chain is connected with the movable platform, and a second lower universal joint is connected with the fixed platform;
2U-P-U kinematic chains and 1U-U kinematic chain are distributed on the circumference at equal angles, and the axes of the 3 kinematic chains are intersected at one point under the parallel state of the movable platform surface and the fixed platform surface;
the cross plane of the first upper universal joint of the U-P-U kinematic chain is intersected with the cross plane of the first lower universal joint;
the cross plane of the second upper universal joint of the U-U kinematic chain intersects the cross plane of the second lower universal joint.
The movable platform comprises a circular ring structure, and the first upper universal joint and the second upper universal joint are connected with the movable platform in a mode of being distributed on the circular ring structure at equal angles.
The fixed platform comprises a circular ring structure, and the first lower universal joint and the second lower universal joint are connected with the fixed platform in a mode of being distributed on the circular ring structure at equal angles.
The sliding pair comprises more than one sleeve and a sliding rod, one end of the sliding rod can slide relative to the adjacent sleeve, and the other end of the sliding rod is provided with the first upper universal joint. The sliding pair comprises a sliding rod and more than one sleeve, one end of the sliding rod can slide relative to the adjacent sleeve, and the other end of the sliding rod is provided with the first universal joint.
The utility model has the following beneficial effects:
1) the utility model has the advantages of symmetrical structure, simple configuration, few types of kinematic pairs, simple processing and manufacturing and easy realization of space geometric constraint conditions.
2) The movable platform and the fixed platform are connected by two U-P-U kinematic chains and one U-U kinematic chain, and the movable platform is respectively subjected to 3 axial constraints and 3 plane constraints under the state that two sliding pairs P are locked, so that the mechanism has the advantages of high plane rigidity and strong load capacity.
Drawings
FIG. 1 is a schematic diagram of a 1-UU &2-UPU two-degree-of-freedom spherical parallel mechanism;
FIG. 2 is a schematic view of a U-P-U kinematic chain;
FIG. 3 is a schematic view of a U-U kinematic chain;
FIG. 4 is a schematic diagram of a two-degree-of-freedom spherical parallel mechanism with a kinematic chain intersecting at a point;
FIG. 5 is a schematic diagram of a two-degree-of-freedom spherical parallel mechanism of 1-S &1-UPU & 1-UPS;
FIG. 6 is a two-degree-of-freedom spherical parallel mechanism of SP & 2-UPU.
Detailed Description
Embodiments of the present invention will be described below with reference to the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Various structural schematics according to embodiments of the present invention are shown in the figures. The figures are not drawn to scale, wherein certain details are exaggerated and possibly omitted for clarity of presentation. The shapes of various regions, layers, and relative sizes and positional relationships therebetween shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, as actually required.
The utility model is provided for solving the problems of complex configuration, difficult manufacturing and assembling, low rigidity, poor load capacity and the like of a two-degree-of-freedom spherical parallel mechanism in the prior art, can be presented in various forms, and some examples of the utility model are described below.
Fig. 1 is a schematic diagram of a 1-UU &2-UPU two-degree-of-freedom spherical parallel mechanism, which includes a movable platform 1, 2U-P-U kinematic chains 2, 1U-U kinematic chain, and a fixed platform 4.
In the schematic diagram of the U-P-U kinematics chain shown in fig. 2, the U-P-U kinematics chain 2 comprises 1 first upper gimbal 5, 1 first lower gimbal 6 and 1 sliding pair 7, the first upper gimbal 5 and the first lower gimbal 6 are respectively located at two ends of the U-P-U kinematics chain, and the sliding pair 7 is located between the first upper gimbal 5 and the first lower gimbal 6. The sliding pair 7 comprises a sliding rod and more than one sleeve, one end of the sliding rod can slide relative to the adjacent sleeve, and the other end of the sliding rod is provided with the first upper universal joint 5.
In the schematic view of the U-U kinematics chain shown in fig. 3, the U-U kinematics chain 3 comprises 1 second upper gimbal 8 and 1 second lower gimbal 9, which are connected by an intermediate bar 10.
The movable platform 1 and the fixed platform 4 are connected through 2U-P-U kinematic chains 2 and 1U-U kinematic chain 3, wherein a first upper universal joint 5 of the U-P-U kinematic chain 2 is connected with the movable platform 1, a first lower universal joint 6 is connected with the fixed platform 4, a second upper universal joint 8 of the U-P kinematic chain 3 is connected with the movable platform 1, and a second lower universal joint 9 is connected with the fixed platform 4;
the 2U-P-U kinematic chains 2 and the 1U-U kinematic chain 3 are distributed on the circumference at equal angles, and as shown in figure 4, the axes of the 3 kinematic chains intersect at a point under the parallel state of the table top of the movable platform 1 and the table top of the fixed platform 4.
The cross plane of the first upper joint 5 of the U-P-U kinematics chain 2 and the cross plane of the first lower joint 6 intersect.
The cross plane of the second upper universal joint 8 of the U-U kinematics chain 3 and the cross plane of the second lower universal joint 9 intersect.
The movable platform 1 comprises a circular ring structure, and the first upper universal joint 5 and the second upper universal joint 8 are connected with the movable platform in a mode of being distributed on the circular ring structure at equal angles.
The fixed platform 4 comprises a circular ring structure, and the first lower universal joint 6 and the second lower universal joint 9 are connected with the fixed platform in a mode of being distributed in the circular ring structure at equal angles.
The utility model has the advantages of symmetrical structure, simple configuration, few types of kinematic pairs, simple processing and manufacturing, easy realization of space geometric constraint conditions and solves the problems of complex configuration and difficult manufacturing and assembly in the prior art.
For the above embodiments, the following technical solutions may be adopted instead. As shown in FIG. 5, the two-degree-of-freedom spherical parallel mechanism of the 1-S &1-UPU &1-UPS comprises a related structure of 1 spherical pair S11, 1U-P-U branched chain and 1 UPS branched chain 13, and as shown in FIG. 6, the two-degree-of-freedom spherical parallel mechanism of the SP &2-UPU comprises a related structure of 1S-P branched chain 14 and two U-P-U branched chains 15. The spherical pair consists of a ball head and a ball bowl. Compared with the 1-UU &2-UPU two-degree-of-freedom spherical parallel mechanism, the replacement scheme replaces the structure of the kinematic chain, and the whole mechanism still has the advantages of symmetrical structure, simple configuration, high mechanism plane rigidity and strong load capacity.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and these examples are only for illustrative purpose and are not intended to limit the scope of the present invention. The scope of the utility model is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the utility model, and these alternatives and modifications are intended to fall within the scope of the utility model.
Claims (6)
1. The utility model provides a 1-UU &2-UPU two degree of freedom sphere parallel mechanism, includes movable platform (1), decides platform (4), its characterized in that: also comprises 2U-P-U kinematic chains (2) and 1U-U kinematic chain (3);
the U-P-U kinematic chain (2) comprises 1 first upper universal joint (5), 1 first lower universal joint (6) and 1 sliding pair (7), wherein the first upper universal joint (5) and the first lower universal joint (6) are respectively positioned at two ends of the U-P-U kinematic chain, and the sliding pair (7) is positioned between the first upper universal joint (5) and the first lower universal joint (6);
the U-U kinematic chain (3) comprises 1 second upper universal joint (8) and 1 second lower universal joint (9), and the two universal joints are connected through an intermediate rod (10);
the movable platform (1) and the fixed platform (4) are connected with the 1U-U kinematic chain (3) through the 2U-P-U kinematic chains (2), wherein a first upper universal joint (5) of the U-P-U kinematic chain (2) is connected with the movable platform (1), a first lower universal joint (6) is connected with the fixed platform (4), a second upper universal joint (8) of the U-U kinematic chain (3) is connected with the movable platform (1), and a second lower universal joint (9) is connected with the fixed platform (4);
the 2U-P-U kinematic chains (2) and the 1U-U kinematic chain (3) are distributed on the circumference at equal angles, and the axes of the 3 kinematic chains intersect at one point under the parallel state of the table top of the movable platform (1) and the table top of the fixed platform (4).
2. The two-degree-of-freedom spherical parallel mechanism of the 1-UU &2-UPU as claimed in claim 1, wherein:
the cross plane of the first upper universal joint (5) of the U-P-U kinematic chain (2) and the cross plane of the first lower universal joint (6) intersect.
3. The two-degree-of-freedom spherical parallel mechanism of the 1-UU &2-UPU as claimed in claim 1, wherein:
the cross plane of the second upper universal joint (8) of the U-U kinematic chain (3) and the cross plane of the second lower universal joint (9) intersect.
4. The two-degree-of-freedom spherical parallel mechanism of the 1-UU &2-UPU as claimed in claim 1, wherein: the movable platform (1) comprises a circular ring structure, and the first upper universal joint (5) and the second upper universal joint (8) are connected with the movable platform in a mode of being distributed on the circular ring structure at equal angles.
5. The two-degree-of-freedom spherical parallel mechanism of the 1-UU &2-UPU as claimed in claim 1, wherein: the fixed platform (4) comprises a circular ring structure, and the first lower universal joint (6) and the second lower universal joint (9) are connected with the fixed platform in a mode of being distributed on the circular ring structure at equal angles.
6. The two-degree-of-freedom spherical parallel mechanism of the 1-UU &2-UPU as claimed in claim 1, wherein: the sliding pair (7) comprises a sliding rod and more than one sleeve, one end of the sliding rod can slide relative to the adjacent sleeve, and the other end of the sliding rod is provided with the first upper universal joint (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121487792.1U CN215471119U (en) | 2021-07-01 | 2021-07-01 | 1-UU &2-UPU two-degree-of-freedom spherical parallel mechanism |
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| CN202121487792.1U CN215471119U (en) | 2021-07-01 | 2021-07-01 | 1-UU &2-UPU two-degree-of-freedom spherical parallel mechanism |
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