CN102990660A - Parallel mechanism containing prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain - Google Patents
Parallel mechanism containing prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain Download PDFInfo
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- CN102990660A CN102990660A CN2012105783348A CN201210578334A CN102990660A CN 102990660 A CN102990660 A CN 102990660A CN 2012105783348 A CN2012105783348 A CN 2012105783348A CN 201210578334 A CN201210578334 A CN 201210578334A CN 102990660 A CN102990660 A CN 102990660A
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- connecting rod
- revolute pair
- loop subchain
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Abstract
A parallel mechanism containing a prr kinematic pair open loop subchain and an rprrp kinematic pair closed loop subchain comprises an execution mechanism subchain and a five-rod mechanism closed loop subchain. The five-rod mechanism closed loop subchain can control a third connection rod to move in a plane of the five-rod mechanism closed loop subchain, and movement of a first connection rod and the third connection rod can achieve space movement of a movable platform. The parallel mechanism utilizes one closed loop subchain to control achievement of space movement of the closed loop subchain, the first connection rod and the third connection rod and achieve space movement of the movable platform accordingly. The parallel mechanism has the advantages of being compact in structure, simple to control, small in mechanism movement inertia and good in dynamic performance due to the fact that all the connection rods are connected onto a frame and can be made into light rods.
Description
Technical field
The present invention relates to the robot field, particularly contain the parallel institution of prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: without accumulated error, precision is higher; Drive unit can place on the fixed platform or near the position of fixed platform, motion parts is lightweight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is large.Because parallel institution itself is with regard to more complicated, if closed loop is contained again in branch, its mechanism will be more complicated, so in general, the parallel institution that symmetrical, branch does not contain closed loop just can have most typical character, appropriate but if closed loop is used, the performance of parallel institution will be more remarkable, such as famous delta mechanism.In addition, existing parallel institution, its side chain is subjected to the restriction of connected mode, generally only have a driving lever to be connected in the driving that is cemented on the frame, like this multiple freedom parallel mechanism moves with regard to the mode that needs many side chains or take a plurality of driving levers of series connection on the side chain for realizing it, yet the parallel institution complex structure of many side chains control difficulty, a plurality of driving levers of series connection can affect the exercise performance of parallel institution on the side chain.
Summary of the invention
The object of the present invention is to provide the parallel institution that contains prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain, solve a plurality of drivings of side chain of traditional parallel institution and can not be connected to simultaneously shortcoming on the frame.
The present invention achieves the above object by the following technical programs: contain the parallel institution of prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain, comprise executing agency's subchain and a five-rod closed loop subchain, its structure and connected mode are:
Described executing agency subchain is by first connecting rod 11, second connecting rod 15, the first slide block 13, the first Hooke's hinge 7, moving platform 4 and frame 1 are formed by connecting, first connecting rod 11 1 ends are connected on the frame 1 by the first revolute pair 2, first connecting rod 11 other ends are connected with the first slide block 13 by the first moving sets 12, the first slide block 13 other ends are connected with second connecting rod 15 1 ends by the second revolute pair 14, second connecting rod 15 other ends are connected with the lower topmast 9 of the first Hooke's hinge by the 3rd revolute pair 10, the upper topmast 8 of the first Hooke's hinge 7 is connected with moving platform 4 one ends by the 4th revolute pair 5
Described five-rod closed loop subchain is by third connecting rod 20, the 4th connecting rod 25, the 5th connecting rod 27, the 6th connecting rod 16, seven-link assembly 23, the second slide block 18, the first bearing 21, the second Hooke's hinge 7, moving platform 4 and frame 1 are formed by connecting, third connecting rod 20 1 ends are connected on the frame 1 by the 5th revolute pair 3, third connecting rod 20 other ends are connected with the first slide block 18 by the second moving sets 19, the first slide block 18 other ends are connected with the 4th connecting rod 16 by the 6th revolute pair 17, the 4th connecting rod 16 other ends are connected with the lower topmast 30 of the second Hooke's hinge 28 by the 7th revolute pair 31 with the 5th connecting rod 26 1 ends, the upper topmast 29 of Hooke's hinge 28 is connected with moving platform 4 other ends by the 8th revolute pair 6, the 5th connecting rod 27 other ends are connected with the 6th connecting rod 25 by three moving sets 26, the 6th connecting rod 25 other ends are connected with seven-link assembly 23 by the 9th revolute pair 24, seven-link assembly 23 other ends are connected with the first bearing 21 on being fixed on third connecting rod 20 by the tenth revolute pair 22
Described the first moving sets, the second moving sets, the first revolute pair, the 5th revolute pair rotation are parallel to each other, and the 4th revolute pair and the 8th revolute pair rotation are parallel to each other.
Outstanding advantages of the present invention is:
1, by the motion of closed loop subchain controlling organization, mechanism's side chain can have a plurality of connecting rods to be connected on the frame;
2, all connecting rods all are connected on the frame, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, by the end effector of various different purposes is installed at moving platform, this mechanism may be used in the work such as crawl, carrying, piling.
Description of drawings
Fig. 1 is the first structural representation that contains the parallel institution of prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain of the present invention.
Fig. 2 is the second structural representation that contains the parallel institution of prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain of the present invention.
Fig. 3 is the bearing schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain of the present invention.
Fig. 4 is the moving platform schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain of the present invention.
Fig. 5 is the first Hooke's hinge schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain of the present invention.
Fig. 6 is the second Hooke's hinge schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, contain the parallel institution of prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain, comprise executing agency's subchain and a five-rod closed loop subchain, its structure and connected mode are:
Described executing agency subchain is by first connecting rod 11, second connecting rod 15, the first slide block 13, the first Hooke's hinge 7, moving platform 4 and frame 1 are formed by connecting, first connecting rod 11 1 ends are connected on the frame 1 by the first revolute pair 2, first connecting rod 11 other ends are connected with the first slide block 13 by the first moving sets 12, the first slide block 13 other ends are connected with second connecting rod 15 1 ends by the second revolute pair 14, second connecting rod 15 other ends are connected with the lower topmast 9 of the first Hooke's hinge by the 3rd revolute pair 10, the upper topmast 8 of the first Hooke's hinge 7 is connected with moving platform 4 one ends by the 4th revolute pair 5
Described five-rod closed loop subchain is by third connecting rod 20, the 4th connecting rod 25, the 5th connecting rod 27, the 6th connecting rod 16, seven-link assembly 23, the second slide block 18, the first bearing 21, the second Hooke's hinge 7, moving platform 4 and frame 1 are formed by connecting, third connecting rod 20 1 ends are connected on the frame 1 by the 5th revolute pair 3, third connecting rod 20 other ends are connected with the first slide block 18 by the second moving sets 19, the first slide block 18 other ends are connected with the 4th connecting rod 16 by the 6th revolute pair 17, the 4th connecting rod 16 other ends are connected with the lower topmast 30 of the second Hooke's hinge 28 by the 7th revolute pair 31 with the 5th connecting rod 26 1 ends, the upper topmast 29 of Hooke's hinge 28 is connected with moving platform 4 other ends by the 8th revolute pair 6, the 5th connecting rod 27 other ends are connected with the 6th connecting rod 25 by three moving sets 26, the 6th connecting rod 25 other ends are connected with seven-link assembly 23 by the 9th revolute pair 24, seven-link assembly 23 other ends are connected with the first bearing 21 on being fixed on third connecting rod 20 by the tenth revolute pair 22
Described the first moving sets, the second moving sets, the first revolute pair, the 5th revolute pair rotation are parallel to each other, and the 4th revolute pair and the 8th revolute pair rotation are parallel to each other.
Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the first driving lever motion planar can realize the spatial movement of moving platform 4.
Claims (1)
1. the parallel institution that contains prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain comprises executing agency's subchain and a five-rod closed loop subchain, and its structure and connected mode are:
Described executing agency subchain is by first connecting rod, second connecting rod, the first slide block, the first Hooke's hinge, moving platform and frame are formed by connecting, first connecting rod one end is connected on the frame by the first revolute pair, the first connecting rod other end is connected with the first slide block by the first moving sets, the first slide block other end is connected with second connecting rod one end by the second revolute pair, the second connecting rod other end is connected with the lower topmast of the first Hooke's hinge by the 3rd revolute pair, the upper topmast of the first Hooke's hinge is connected with moving platform one end by the 4th revolute pair
Described five-rod closed loop subchain is by third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the second slide block, the first bearing, the second Hooke's hinge, moving platform and frame are formed by connecting, third connecting rod one end is connected on the frame by the 5th revolute pair, the third connecting rod other end is connected with the first slide block by the second moving sets, the first slide block other end is connected with the 4th connecting rod by the 6th revolute pair, the 4th connecting rod other end be connected hydraulic connecting rod one end and be connected with the lower topmast of the second Hooke's hinge by the 7th revolute pair, the upper topmast of the second Hooke's hinge is connected with the moving platform other end by the 8th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by three moving sets, the 6th connecting rod other end is connected with seven-link assembly by the 9th revolute pair, the seven-link assembly other end is connected with the first bearing on being fixed on third connecting rod by the 9th revolute pair
Described the first moving sets, the second moving sets, the first revolute pair, the 5th revolute pair rotation are parallel to each other, and the 4th revolute pair and the 8th revolute pair rotation are parallel to each other.
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| CN2012105783348A CN102990660A (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain |
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| CN2012105783348A CN102990660A (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552243A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Controllable mechanism type metamorphic wheeled mobile welding robot |
| CN105356091A (en) * | 2015-10-13 | 2016-02-24 | 国家电网公司 | Uninterrupted puncture clamp with electric wire correction function |
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| US20060245894A1 (en) * | 2005-03-21 | 2006-11-02 | Michael Merz | Parallel robot |
| CN102166749A (en) * | 2011-03-16 | 2011-08-31 | 安徽理工大学 | 2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism |
| CN201979513U (en) * | 2011-03-16 | 2011-09-21 | 安徽理工大学 | 2-PRR (Planning Release Record) and PPRR (Persistent Programming Research Report) three-degree-of-freedom spatial parallel robot mechanism |
| CN102601789A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Three-degree-of-freedom parallel mechanism containing RPRPR closed-loop subchain |
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2012
- 2012-12-27 CN CN2012105783348A patent/CN102990660A/en active Pending
Patent Citations (4)
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| US20060245894A1 (en) * | 2005-03-21 | 2006-11-02 | Michael Merz | Parallel robot |
| CN102166749A (en) * | 2011-03-16 | 2011-08-31 | 安徽理工大学 | 2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism |
| CN201979513U (en) * | 2011-03-16 | 2011-09-21 | 安徽理工大学 | 2-PRR (Planning Release Record) and PPRR (Persistent Programming Research Report) three-degree-of-freedom spatial parallel robot mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552243A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Controllable mechanism type metamorphic wheeled mobile welding robot |
| CN105356091A (en) * | 2015-10-13 | 2016-02-24 | 国家电网公司 | Uninterrupted puncture clamp with electric wire correction function |
| CN105356091B (en) * | 2015-10-13 | 2018-03-16 | 国家电网公司 | A kind of puncture folder that do not have a power failure with correction electric wire effect |
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Application publication date: 20130327 |