CN105619398A - Branched-chain coupling two-rotation parallel mechanism - Google Patents
Branched-chain coupling two-rotation parallel mechanism Download PDFInfo
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- CN105619398A CN105619398A CN201610171832.9A CN201610171832A CN105619398A CN 105619398 A CN105619398 A CN 105619398A CN 201610171832 A CN201610171832 A CN 201610171832A CN 105619398 A CN105619398 A CN 105619398A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
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Abstract
The invention discloses a branched-chain coupling two-rotation parallel mechanism. The branched-chain coupling two-rotation parallel mechanism comprises a fixed platform, a movable platform, and three or more movement branched-chains connected with the movable and fixed platforms. The movement branched-chains are connected with each other through multiple coupling connecting rods and a center connecting rod; each movement branched-chain and the center connecting rod are connected by one coupling connecting rod; one ends of the coupling connecting rods are fixedly connected with middle connecting rods in the movement branched-chains, and the other ends of the coupling connecting rods are connected with the center connecting rod through a rotating pair; each movement branched-chain consists of a lower connecting rod, a middle connecting rod and an upper connecting rod; and three types of movement branched-chains connected with the movable and fixed platforms are provided. The branched-chain coupling two-rotation parallel mechanism can realize two-degree-of-freedom rotation of the movable platform around the fixed platform, has such advantages as large rotating working space and high rigidity, and can be widely applied to such fields as robots, precise equipment and equipment.
Description
Technical field
The invention belongs to robot, sensitive instrument and equipment field, in particular to two one-rotation parallel mechanisms of a kind of link coupling.
Technical background
Parallel institution be may be defined as moving platform and is connected by least two independent kinematic links with fixed platform, and mechanism has two or more degree of freedom, and a kind of close loop mechanism with parallel way driving. Parallel institution has the advantages such as motion precision height, rigidity is big, dynamic response is good, but owing to parallel institution affects by kinematic pair working space and side chain interference etc., make the motion space of parallel institution general less, seriously constrain the application of parallel institution in fields such as industry and robots, so the parallel institution that research has big working space has important using value.
The degree of freedom of parallel institution can be divided into one-movement-freedom-degree and rotatably mounted degree, and wherein mobile working space increases by the way of enlarging mechanism size, but rotation work space does not but increase with the increase of mechanism size. Big working space being rotated the research of class parallel institution relatively early abroad, patent of invention US7478576B2 and patent of invention US7472622B2 discloses a kind of three side chain two one-rotation parallel mechanisms with big working space, and is successfully applied to the fields such as joint of robot; Patent of invention US6658962B1 discloses a kind of four side chain two one-rotation parallel mechanisms, and is applied in bionic machine people, achieves good effect. Domestic less to having big rotation work space parallel mechanism achievement in research, wherein big working space two one-rotation parallel mechanism has been studied by patent of invention CN103217986A and patent of invention CN103433916A, and achieves some achievements. Though the research that big working space rotates class parallel institution both at home and abroad achieves certain achievement, but new mechanism configuration is still comparatively deficient, and the rigidity disclosing mechanism is general less, limits the further application in the industry of such mechanism.
Summary of the invention
For solving the problem, the present invention provides two one-rotation parallel mechanisms of a kind of link coupling, it may be achieved moving platform does two-freedom relative to fixed platform and rotates, and it is big to have rigidity, the advantages such as rotation work space is big, can be widely used in the field such as robot, sensitive instrument and equipment.
The technical scheme of the present invention is specific as follows:
The present invention mainly comprises fixed platform, moving platform, connects movement branched chain dynamic, fixed platform, and it has three kinds of mode of connection:
The first mode of connection: be connected by least three movement branched chain between described moving platform and fixed platform, it is interconnected by many coupled links and a center rod between described movement branched chain, it is connected by a coupled links between every bar movement branched chain and center rod, coupled links one end is fixedly connected with the middle connecting rod in movement branched chain, the coupled links the other end is secondary by rotating with center rod to be connected, the axis of the rotation pair that all coupled links and center rod are connected to form overlaps and forms an axis, if axis L centered by this axis;
All movement branched chain structures are identical, every bar movement branched chain is by lower link, middle connecting rod and upper connecting rod composition, wherein lower link one end and middle connecting rod are secondary by rotating is connected, and this turns auxiliary shaft line and described center axis L intersect at a point P, and the lower link the other end passes through with fixed platform that sphere is secondary to be connected; Upper connecting rod one end and moving platform are secondary by rotating to be connected, and this turns auxiliary shaft line and described center axis L intersect at a point Q, and some Q does not overlap with described some P, and the upper connecting rod the other end passes through with middle connecting rod that sphere is secondary to be connected.
2nd kind of mode of connection: be connected by least three articles of movement branched chain between described moving platform and fixed platform, it is interconnected by many coupled links and a center rod between described movement branched chain, it is connected by a coupled links between every bar movement branched chain and center rod, coupled links one end is fixedly connected with the middle connecting rod in movement branched chain, the coupled links the other end is secondary by rotating with center rod to be connected, the axis of the rotation pair that all coupled links and center rod are connected to form overlaps and forms an axis, if axis L centered by this axis;
All movement branched chain structures are identical, every bar movement branched chain is by lower link, middle connecting rod and upper connecting rod composition, wherein lower link one end and fixed platform are secondary by rotating is connected, and this turns auxiliary shaft line and described center axis L intersect at a point P, and the lower link the other end passes through with middle connecting rod that sphere is secondary to be connected; Upper connecting rod one end and middle connecting rod are secondary by rotating to be connected, and this turns auxiliary shaft line and described center axis L intersect at a point Q, and some Q does not overlap with described some P, and the upper connecting rod the other end passes through with moving platform that sphere is secondary to be connected.
The third mode of connection: be connected by least three movement branched chain between described moving platform and fixed platform, it is interconnected by many coupled links and a center rod between described movement branched chain, it is connected by a coupled links between every bar movement branched chain and center rod, coupled links one end is fixedly connected with the middle connecting rod in movement branched chain, the coupled links the other end is secondary by rotating with center rod to be connected, the axis of the rotation pair that all coupled links and center rod are connected to form overlaps and forms an axis, if axis L centered by this axis;
All movement branched chain structures are identical, every bar movement branched chain is by lower link, middle connecting rod and upper connecting rod composition, wherein lower link one end is secondary by rotating with fixed platform is connected, and this turns auxiliary shaft line and described center axis L intersect at a point P, the lower link the other end is secondary by rotating with middle connecting rod to be connected, and described some P crossed by this turns auxiliary shaft line; Upper connecting rod one end and moving platform are secondary by rotating to be connected, and this turns auxiliary shaft line and described center axis L intersect at a point Q, and some Q does not overlap with described some P, and the upper connecting rod the other end passes through rotation pair and is connected with middle connecting rod, and described some Q crossed by this turns auxiliary shaft line.
For increasing the rigidity of mechanism further, in above-mentioned three kinds of mode of connection, described center rod one end and fixed platform are secondary or universal be hinged by sphere, and this sphere center of rotation that is secondary or universal hinge overlaps with described some P; The described center rod the other end and moving platform are secondary or universal be hinged by sphere, and this sphere center of rotation that is secondary or universal hinge overlaps with described some Q.
In above-mentioned three kinds of mode of connection, the movement branched chain of described connection moving platform and fixed platform there are two movement branched chain be active movement side chain, and these two active movement side chains are adjacent two movement branched chain; Described active movement side chain is driven by linear actuator, and the take-off lever of linear actuator is secondary by rotating with the lower link in active movement side chain to be connected, and linear actuator tail end is secondary by rotating with support to be connected, and described support is fixedly connected with fixed platform. The take-off lever front end of described linear actuator is provided with mechanics sensor.
In above-mentioned three kinds of mode of connection, the movement branched chain of described connection moving platform and fixed platform have at least a movement branched chain be driven movement branched chain, it is provided with linear damper between described driven movement branched chain and support, the take-off lever of linear damper is connected with the lower link of driven movement branched chain is secondary by rotating, and linear damper tail end is secondary by rotating with support to be connected. The take-off lever front end of described linear damper is provided with mechanics sensor.
The present invention compared with prior art tool have the following advantages:
(1) mechanism's moving platform relative fixed platform rotation work space is big, and it rotates angle can reach �� 90 degree;
(2) it is interconnected by coupled links and center rod between each bar movement branched chain of mechanism, it is to increase the stress performance of mechanism, increases the rigidity of mechanism;
(3) mechanism structure is compact, and movement branched chain structure is simple, facilitates processing and manufacturing.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention 1 three-dimensional arrangement simplified schematic diagram;
Fig. 2 is the embodiment of the present invention 2 three-dimensional arrangement simplified schematic diagram;
Fig. 3 is the embodiment of the present invention 3 three-dimensional arrangement simplified schematic diagram;
Fig. 4 is the embodiment of the present invention 4 three-dimensional arrangement simplified schematic diagram;
Fig. 5 is the embodiment of the present invention 5 three-dimensional arrangement simplified schematic diagram;
Fig. 6 is the embodiment of the present invention 6 three-dimensional arrangement simplified schematic diagram;
In figure: 1. fixed platform, 2. moving platform, (A3, B3, C3, D3). lower link, (A4, B4, C4, D4). middle connecting rod, (A5, B5, C5, D5). upper connecting rod, (A6, B6, C6, D6). coupled links, 7. center rod, (A8, B8). linear actuator, (C8, D8). linear damper, (A9, B9, C9, D9). take-off lever, (A10, B10, C10, D10). pressure transmitter, 11. supports.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described, and in all of the figs, described Ri, Rij represent that one is rotated secondary, and described Si, Sij all represent a sphere pair, and described Ui represents universal hinge, and wherein i, j are natural number.
Embodiment 1
It is the 1st embodiment disclosed by the invention as shown in Figure 1, two one-rotation parallel mechanisms of a kind of link coupling, comprise fixed platform 1, moving platform 2, connect three movement branched chain of fixed platform 1, moving platform 2, wherein: be interconnected by three coupled links and a center rod 7 between three movement branched chain, it is connected by a coupled links between every bar movement branched chain and center rod 7, wherein the middle connecting rod A4 in first coupled links A6 one end and the first movement branched chain is connected, and by rotating, secondary R15 is connected the coupled links A6 the other end with center rod 7; Middle connecting rod B4 in 2nd coupled links B6 one end and the 2nd movement branched chain is connected, and by rotating, secondary R25 is connected the coupled links B6 the other end with center rod 7; Middle connecting rod C4 in 3rd coupled links C6 one end and the 3rd movement branched chain is connected, and by rotating, secondary R35 is connected the coupled links C6 the other end with center rod 7. Described rotation secondary R15 axis, rotation secondary R25 axis, rotation secondary R35 axis overlap and form an axis, if axis L centered by this axis.
Article three, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3, middle connecting rod A4 and upper connecting rod A5, it is connected by sphere secondary S11 between lower link A3 one end and fixed platform 1, secondary R12 is connected by rotating for the lower link A3 the other end and middle connecting rod A4, and rotation secondary R12 axis and described center axis L intersect at a point P; Upper connecting rod A5 one end is connected by sphere secondary S13 with middle connecting rod A4, is connected by rotating secondary R14 between the upper connecting rod A5 the other end and moving platform 2, and rotation secondary R14 axis and described center axis L intersect at a point Q, put Q and do not overlap with described some P; 2nd movement branched chain is made up of lower link B3, middle connecting rod B4 and upper connecting rod B5, is connected by sphere secondary S21 between lower link B3 one end and fixed platform 1, and by rotating, secondary R22 is connected the lower link B3 the other end with middle connecting rod B4, rotates secondary R22 axis and crosses described some P; Upper connecting rod B5 one end is connected by sphere secondary S23 with middle connecting rod B4, is connected by rotating secondary R24, rotates secondary R24 axis and cross described some Q between the upper connecting rod B5 the other end and moving platform 2; 3rd movement branched chain is made up of lower link C3, middle connecting rod C4 and upper connecting rod C5, is connected by sphere secondary S31 between lower link C3 one end and fixed platform 1, and by rotating, secondary R32 is connected the lower link C3 the other end with middle connecting rod C4, rotates secondary R32 axis and crosses described some P; Upper connecting rod C5 one end is connected by sphere secondary S33 with middle connecting rod C4, is connected by rotating secondary R34, rotates secondary R34 axis and cross described some Q between the upper connecting rod C5 the other end and moving platform 2.
Center rod 7 one end is connected by universal hinge U1 with fixed platform 1, and the center of rotation of universal hinge U1 overlaps with described some P; Center rod 7 the other end is connected by universal hinge U2 with moving platform 2, and the center of rotation of universal hinge U2 overlaps with described some Q.
Embodiment 2
It is the 2nd embodiment disclosed by the invention as shown in Figure 2, two one-rotation parallel mechanisms of a kind of link coupling, comprise fixed platform 1, moving platform 2, connect four movement branched chain of fixed platform 1, moving platform 2, wherein: be interconnected by four coupled links and a center rod 7 between four movement branched chain, it is connected by a coupled links between every bar movement branched chain and center rod 7, wherein the middle connecting rod A4 in first coupled links A6 one end and the first movement branched chain is connected, and by rotating, secondary R15 is connected the coupled links A6 the other end with center rod 7; Middle connecting rod B4 in 2nd coupled links B6 one end and the 2nd movement branched chain is connected, and by rotating, secondary R25 is connected the coupled links B6 the other end with center rod 7; Middle connecting rod C4 in 3rd coupled links C6 one end and the 3rd movement branched chain is connected, and by rotating, secondary R35 is connected the coupled links C6 the other end with center rod 7; Middle connecting rod D4 in 4th coupled links D6 one end and the 4th movement branched chain is connected, and by rotating, secondary R45 is connected the coupled links D6 the other end with center rod 7. Described rotation secondary R15 axis, rotation secondary R25 axis, rotation secondary R35 axis, rotation secondary R45 axis overlap and form an axis, if axis L centered by this axis.
Article four, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3, middle connecting rod A4 and upper connecting rod A5, it is connected by sphere secondary S11 between lower link A3 one end and fixed platform 1, secondary R12 is connected by rotating for the lower link A3 the other end and middle connecting rod A4, and rotation secondary R12 axis and described center axis L intersect at a point P; Upper connecting rod A5 one end is connected by sphere secondary S13 with middle connecting rod A4, is connected by rotating secondary R14 between the upper connecting rod A5 the other end and moving platform 2, and rotation secondary R14 axis and described center axis L intersect at a point Q, put Q and do not overlap with described some P; 2nd movement branched chain is made up of lower link B3, middle connecting rod B4 and upper connecting rod B5, is connected by sphere secondary S21 between lower link B3 one end and fixed platform 1, and by rotating, secondary R22 is connected the lower link B3 the other end with middle connecting rod B4, rotates secondary R22 axis and crosses described some P; Upper connecting rod B5 one end is connected by sphere secondary S23 with middle connecting rod B4, is connected by rotating secondary R24, rotates secondary R24 axis and cross described some Q between the upper connecting rod B5 the other end and moving platform 2; 3rd movement branched chain is made up of lower link C3, middle connecting rod C4 and upper connecting rod C5, is connected by sphere secondary S31 between lower link C3 one end and fixed platform 1, and by rotating, secondary R32 is connected the lower link C3 the other end with middle connecting rod C4, rotates secondary R32 axis and crosses described some P; Upper connecting rod C5 one end is connected by sphere secondary S33 with middle connecting rod C4, is connected by rotating secondary R34, rotates secondary R34 axis and cross described some Q between the upper connecting rod C5 the other end and moving platform 2; 4th movement branched chain is made up of lower link D3, middle connecting rod D4 and upper connecting rod D5, is connected by sphere secondary S41 between lower link D3 one end and fixed platform 1, and by rotating, secondary R42 is connected the lower link D3 the other end with middle connecting rod D4, rotates secondary R42 axis and crosses described some P; Upper connecting rod D5 one end is connected by sphere secondary S43 with middle connecting rod D4, is connected by rotating secondary R44, rotates secondary R44 axis and cross described some Q between the upper connecting rod D5 the other end and moving platform 2.
Center rod 7 one end is connected by sphere secondary S1 with fixed platform 1, and the center of rotation of sphere secondary S1 overlaps with described some P; Center rod 7 the other end is connected by sphere secondary S2 with moving platform 2, and the center of rotation of sphere secondary S2 overlaps with described some Q.
Embodiment 3
It is the 3rd embodiment disclosed by the invention as shown in Figure 3, two one-rotation parallel mechanisms of a kind of link coupling, comprise fixed platform 1, moving platform 2, connect three movement branched chain of fixed platform 1, moving platform 2, wherein: be interconnected by three coupled links and a center rod 7 between three movement branched chain, being connected by a coupled links between every bar movement branched chain and center rod 7, concrete structure is with embodiment 1.
Article three, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3, middle connecting rod A4 and upper connecting rod A5, it is connected by rotating secondary R11 between lower link A3 one end and fixed platform 1, the lower link A3 the other end is connected by sphere secondary S12 with middle connecting rod A4, rotates secondary R11 axis and described center axis L and intersects at a point P; Secondary R13 is connected by rotating for upper connecting rod A5 one end and middle connecting rod A4, is connected by sphere secondary S14 between the upper connecting rod A5 the other end and moving platform 2, and rotation secondary R13 axis and described center axis L intersect at a point Q, put Q and do not overlap with described some P; 2nd movement branched chain is made up of lower link B3, middle connecting rod B4 and upper connecting rod B5, is connected by rotating secondary R21 between lower link B3 one end and fixed platform 1, and the lower link B3 the other end is connected by sphere secondary S22 with middle connecting rod B4, rotates secondary R21 axis and crosses described some P; By rotating, secondary R23 is connected with middle connecting rod B4 in upper connecting rod B5 one end, is connected by sphere secondary S24, rotates secondary R23 axis and cross described some Q between the upper connecting rod B5 the other end and moving platform 2; 3rd movement branched chain is made up of lower link C3, middle connecting rod C4 and upper connecting rod C5, is connected by rotating secondary R31 between lower link C3 one end and fixed platform 1, and the lower link C3 the other end is connected by sphere secondary S32 with middle connecting rod C4, rotates secondary R31 axis and crosses described some P; By rotating, secondary R33 is connected with middle connecting rod C4 in upper connecting rod C5 one end, is connected by sphere secondary S34, rotates secondary R33 axis and cross described some Q between the upper connecting rod C5 the other end and moving platform 2.
Center rod 7 one end is connected by universal hinge U1 with fixed platform 1, and the center of rotation of universal hinge U1 overlaps with described some P; Center rod 7 the other end is connected by universal hinge U2 with moving platform 2, and the center of rotation of universal hinge U2 overlaps with described some Q.
Described first movement branched chain is active movement side chain, drive by linear actuator A8, by rotating, secondary R16 is connected the take-off lever A9 of linear actuator A8 with the lower link A3 in the first movement branched chain, by rotating, secondary R17 is connected linear actuator A8 tail end with support 11, support 11 is fixedly connected with fixed platform 1, secondary R17 axis is parallel to each other with rotating to rotate secondary R16 axis, and is parallel to rotation secondary R11 axis simultaneously. The take-off lever A9 front end of linear actuator A8 is provided with mechanics sensor A10.
Described 2nd movement branched chain is active movement side chain, drive by linear actuator B8, by rotating, secondary R26 is connected the take-off lever B9 of linear actuator B8 with the lower link B3 in the 2nd movement branched chain, by rotating, secondary R27 is connected the tail end of linear actuator B8 with support 11, secondary R27 axis is parallel to each other with rotating to rotate secondary R26 axis, and is parallel to rotation secondary R21 axis simultaneously. The take-off lever B9 front end of described linear actuator B8 is provided with mechanics sensor B10.
Described 3rd movement branched chain is driven movement branched chain, it is connected by linear damper C8 between 3rd movement branched chain and support 11, by rotating, secondary R36 is connected the take-off lever C9 of linear damper C8 with the lower link C3 in the 3rd movement branched chain, by rotating, secondary R37 is connected the tail end of linear damper C8 with support 11, secondary R37 axis is parallel to each other with rotating to rotate secondary R36 axis, and is parallel to rotation secondary R31 axis simultaneously. The take-off lever C9 front end of described linear damper C8 is provided with mechanics sensor C10.
Embodiment 4
It is the 4th embodiment disclosed by the invention as shown in Figure 4, two one-rotation parallel mechanisms of a kind of link coupling, comprise fixed platform 1, moving platform 2, connect four movement branched chain of fixed platform 1, moving platform 2, wherein: be interconnected by four coupled links and a center rod 7 between four movement branched chain, being connected by a coupled links between every bar movement branched chain and center rod 7, concrete structure is with embodiment 2.
Article four, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3, middle connecting rod A4 and upper connecting rod A5, it is connected by rotating secondary R11 between lower link A3 one end and fixed platform 1, the lower link A3 the other end is connected by sphere secondary S12 with middle connecting rod A4, rotates secondary R11 axis and described center axis L and intersects at a point P; Secondary R13 is connected by rotating for upper connecting rod A5 one end and middle connecting rod A4, is connected by sphere secondary S14 between the upper connecting rod A5 the other end and moving platform 2, and rotation secondary R13 axis and described center axis L intersect at a point Q, put Q and do not overlap with described some P; 2nd movement branched chain is made up of lower link B3, middle connecting rod B4 and upper connecting rod B5, is connected by rotating secondary R21 between lower link B3 one end and fixed platform 1, and the lower link B3 the other end is connected by sphere secondary S22 with middle connecting rod B4, rotates secondary R21 axis and crosses described some P; By rotating, secondary R23 is connected with middle connecting rod B4 in upper connecting rod B5 one end, is connected by sphere secondary S24, rotates secondary R23 axis and cross described some Q between the upper connecting rod B5 the other end and moving platform 2; 3rd movement branched chain is made up of lower link C3, middle connecting rod C4 and upper connecting rod C5, is connected by rotating secondary R31 between lower link C3 one end and fixed platform 1, and the lower link C3 the other end is connected by sphere secondary S32 with middle connecting rod C4, rotates secondary R31 axis and crosses described some P; By rotating, secondary R33 is connected with middle connecting rod C4 in upper connecting rod C5 one end, is connected by sphere secondary S34, rotates secondary R33 axis and cross described some Q between the upper connecting rod C5 the other end and moving platform 2; 4th movement branched chain is made up of lower link D3, middle connecting rod D4 and upper connecting rod D5, is connected by rotating secondary R41 between lower link D3 one end and fixed platform 1, and the lower link D3 the other end is connected by sphere secondary S42 with middle connecting rod D4, rotates secondary R41 axis and crosses described some P; By rotating, secondary R43 is connected with middle connecting rod D4 in upper connecting rod D5 one end, is connected by sphere secondary S44, rotates secondary R44 axis and cross described some Q between the upper connecting rod D5 the other end and moving platform 2.
Center rod 7 one end is connected by sphere secondary S1 with fixed platform 1, and the center of rotation of sphere secondary S1 overlaps with described some P; Center rod 7 the other end is connected by sphere secondary S2 with moving platform 2, and the center of rotation of sphere secondary S2 overlaps with described some Q.
Described first movement branched chain is active movement side chain, drive by linear actuator A8, by rotating, secondary R16 is connected the take-off lever A9 of linear actuator A8 with the lower link A3 in the first movement branched chain, by rotating, secondary R17 is connected linear actuator A8 tail end with support 11, support 11 is fixedly connected with fixed platform 1, secondary R17 axis is parallel to each other with rotating to rotate secondary R16 axis, and is parallel to rotation secondary R11 axis simultaneously. The take-off lever A9 front end of linear actuator A8 is provided with mechanics sensor A10.
Described 2nd movement branched chain is active movement side chain, drive by linear actuator B8, by rotating, secondary R26 is connected the take-off lever B9 of linear actuator B8 with the lower link B3 in the 2nd movement branched chain, by rotating, secondary R27 is connected the tail end of linear actuator B8 with support 11, secondary R27 axis is parallel to each other with rotating to rotate secondary R26 axis, and is parallel to rotation secondary R21 axis simultaneously. The take-off lever B9 front end of described linear actuator B8 is provided with mechanics sensor B10.
Described 3rd movement branched chain is driven movement branched chain, it is connected by linear damper C8 between 3rd movement branched chain and support 11, by rotating, secondary R36 is connected the take-off lever C9 of linear damper C8 with the lower link C3 in the 3rd movement branched chain, by rotating, secondary R37 is connected the tail end of linear damper C8 with support 11, secondary R37 axis is parallel to each other with rotating to rotate secondary R36 axis, and is parallel to rotation secondary R31 axis simultaneously. The take-off lever C9 front end of described linear damper C8 is provided with mechanics sensor C10.
Described 4th movement branched chain is driven movement branched chain, it is connected by linear damper D8 between 4th movement branched chain and support 11, by rotating, secondary R46 is connected the take-off lever D9 of linear damper D8 with the lower link D3 in the 4th movement branched chain, by rotating, secondary R47 is connected the tail end of linear damper D8 with support 11, secondary R47 axis is parallel to each other with rotating to rotate secondary R46 axis, and is parallel to rotation secondary R41 axis simultaneously. The take-off lever D9 front end of described linear damper D8 is provided with mechanics sensor D10.
Embodiment 5
It is the 5th embodiment disclosed by the invention as shown in Figure 5, two one-rotation parallel mechanisms of a kind of link coupling, comprise fixed platform 1, moving platform 2, connect three movement branched chain of fixed platform 1, moving platform 2, wherein: be interconnected by three coupled links and a center rod 7 between three movement branched chain, being connected by a coupled links between every bar movement branched chain and center rod 7, concrete structure is with embodiment 1.
Article three, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3, middle connecting rod A4 and upper connecting rod A5, it is connected by rotating secondary R11 between lower link A3 one end and fixed platform 1, by rotating, secondary R12 is connected the lower link A3 the other end with middle connecting rod A4, and rotation secondary R11 axis, rotation secondary R12 axis, center axis L intersect at 1 P; By rotating, secondary R13 is connected with middle connecting rod A4 in upper connecting rod A5 one end, is connected by rotating secondary R14 between the upper connecting rod A5 the other end and moving platform 2, and rotation secondary R13 axis, rotation secondary R14 axis, center axis L intersect at 1 Q, and some Q does not overlap with a described P; 2nd movement branched chain is made up of lower link B3, middle connecting rod B4 and upper connecting rod B5, it is connected by rotating secondary R21 between lower link B3 one end and fixed platform 1, by rotating, secondary R22 is connected the lower link B3 the other end with middle connecting rod B4, and rotation secondary R21 axis, rotation secondary R22 axis intersect at described some P; By rotating, secondary R23 is connected with middle connecting rod B4 in upper connecting rod B5 one end, is connected by rotating secondary R24 between the upper connecting rod B5 the other end and moving platform 2, and rotation secondary R23 axis, rotation secondary R24 axis intersect at and state a Q; 3rd movement branched chain is made up of lower link C3, middle connecting rod C4 and upper connecting rod C5, it is connected by rotating secondary R31 between lower link C3 one end and fixed platform 1, by rotating, secondary R32 is connected the lower link C3 the other end with middle connecting rod C4, and rotation secondary R31 axis, rotation secondary R32 axis intersect at described some P; By rotating, secondary R33 is connected with middle connecting rod C4 in upper connecting rod C5 one end, is connected by rotating secondary R34 between the upper connecting rod C5 the other end and moving platform 2, and rotation secondary R33 axis, rotation secondary R34 axis intersect at described some Q.
Center rod 7 one end is connected by sphere secondary S1 with fixed platform 1, and the center of rotation of sphere secondary S1 overlaps with described some P; Center rod 7 the other end is connected by sphere secondary S2 with moving platform 2, and the center of rotation of sphere secondary S2 overlaps with described some Q.
Described first movement branched chain is active movement side chain, drives by linear actuator A8, and concrete structure is with embodiment 3; Described 2nd movement branched chain is active movement side chain, drives by linear actuator B8, and concrete structure is with embodiment 3; Described 3rd movement branched chain is driven movement branched chain, is connected by linear damper C8 between the 3rd movement branched chain and support 11, and concrete structure is with embodiment 3.
Embodiment 6
It is the 6th embodiment disclosed by the invention as shown in Figure 6, two one-rotation parallel mechanisms of a kind of link coupling, comprise fixed platform 1, moving platform 2, connect four movement branched chain of fixed platform 1, moving platform 2, wherein: be interconnected by four coupled links and a center rod 7 between four movement branched chain, being connected by a coupled links between every bar movement branched chain and center rod 7, concrete structure is with embodiment 2.
Article four, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3, middle connecting rod A4 and upper connecting rod A5, it is connected by rotating secondary R11 between lower link A3 one end and fixed platform 1, by rotating, secondary R12 is connected the lower link A3 the other end with middle connecting rod A4, and rotation secondary R11 axis, rotation secondary R12 axis, center axis L intersect at 1 P; By rotating, secondary R13 is connected with middle connecting rod A4 in upper connecting rod A5 one end, is connected by rotating secondary R14 between the upper connecting rod A5 the other end and moving platform 2, and rotation secondary R13 axis, rotation secondary R14 axis, center axis L intersect at 1 Q, and some Q does not overlap with a described P; 2nd movement branched chain is made up of lower link B3, middle connecting rod B4 and upper connecting rod B5, it is connected by rotating secondary R21 between lower link B3 one end and fixed platform 1, by rotating, secondary R22 is connected the lower link B3 the other end with middle connecting rod B4, and rotation secondary R21 axis, rotation secondary R22 axis intersect at described some P; By rotating, secondary R23 is connected with middle connecting rod B4 in upper connecting rod B5 one end, is connected by rotating secondary R24 between the upper connecting rod B5 the other end and moving platform 2, and rotation secondary R23 axis, rotation secondary R24 axis intersect at described some Q; 3rd movement branched chain is made up of lower link C3, middle connecting rod C4 and upper connecting rod C5, it is connected by rotating secondary R31 between lower link C3 one end and fixed platform 1, by rotating, secondary R32 is connected the lower link C3 the other end with middle connecting rod C4, and rotation secondary R31 axis, rotation secondary R32 axis intersect at described some P; By rotating, secondary R33 is connected with middle connecting rod C4 in upper connecting rod C5 one end, is connected by rotating secondary R34 between the upper connecting rod C5 the other end and moving platform 2, and rotation secondary R33 axis, rotation secondary R34 axis intersect at described some Q; 4th movement branched chain is made up of lower link D3, middle connecting rod D4 and upper connecting rod D5, it is connected by rotating secondary R41 between lower link D3 one end and fixed platform 1, by rotating, secondary R42 is connected the lower link D3 the other end with middle connecting rod D4, and rotation secondary R41 axis, rotation secondary R42 axis intersect at described some P; By rotating, secondary R43 is connected with middle connecting rod D4 in upper connecting rod D5 one end, is connected by rotating secondary R44 between the upper connecting rod D5 the other end and moving platform 2, and rotation secondary R43 axis, rotation secondary R44 axis intersect at described some Q.
Center rod 7 one end is connected by universal hinge U1 with fixed platform 1, and the center of rotation of universal hinge U1 overlaps with described some P; Center rod 7 the other end is connected by universal hinge U2 with moving platform 2, and the center of rotation of universal hinge U2 overlaps with described some Q.
Described first movement branched chain is active movement side chain, drives by linear actuator A8, and concrete structure is with embodiment 4; Described 2nd movement branched chain is active movement side chain, drives by linear actuator B8, and concrete structure is with embodiment 4; Described 3rd movement branched chain is driven movement branched chain, is connected by linear damper C8 between the 3rd movement branched chain and support 11, and concrete structure is with embodiment 4; Described 4th movement branched chain is driven movement branched chain, is connected by linear damper D8 between the 4th movement branched chain and support 11, and concrete structure is with embodiment 4.
Claims (10)
1. two one-rotation parallel mechanisms of one kind link coupling, comprise fixed platform, moving platform, it is fixed to connect, the movement branched chain of moving platform, it is characterized in that: be connected by least three movement branched chain between described moving platform and fixed platform, it is interconnected by many coupled links and a center rod between described movement branched chain, it is connected by a coupled links between every bar movement branched chain and center rod, coupled links one end is fixedly connected with the middle connecting rod in movement branched chain, the coupled links the other end is secondary by rotating with center rod to be connected, the axis of the rotation pair that all coupled links and center rod are connected to form overlaps and forms an axis, if axis L centered by this axis,
All movement branched chain structures are identical, every bar movement branched chain is by lower link, middle connecting rod and upper connecting rod composition, wherein lower link one end and middle connecting rod are secondary by rotating is connected, and this turns auxiliary shaft line and described center axis L intersect at a point P, and the lower link the other end passes through with fixed platform that sphere is secondary to be connected; Upper connecting rod one end and moving platform are secondary by rotating to be connected, and this turns auxiliary shaft line and described center axis L intersect at a point Q, and some Q does not overlap with described some P, and the upper connecting rod the other end passes through with middle connecting rod that sphere is secondary to be connected.
2. two one-rotation parallel mechanisms of one kind link coupling, comprise fixed platform, moving platform, it is fixed to connect, the movement branched chain of moving platform, it is characterized in that: be connected by least three movement branched chain between described moving platform and fixed platform, it is interconnected by many coupled links and a center rod between described movement branched chain, it is connected by a coupled links between every bar movement branched chain and center rod, coupled links one end is fixedly connected with the middle connecting rod in movement branched chain, the coupled links the other end is secondary by rotating with center rod to be connected, the axis of the rotation pair that all coupled links and center rod are connected to form overlaps and forms an axis, if axis L centered by this axis,
All movement branched chain structures are identical, every bar movement branched chain is by lower link, middle connecting rod and upper connecting rod composition, wherein lower link one end and fixed platform are secondary by rotating is connected, and this turns auxiliary shaft line and described center axis L intersect at a point P, and the lower link the other end passes through with middle connecting rod that sphere is secondary to be connected; Upper connecting rod one end and middle connecting rod are secondary by rotating to be connected, and this turns auxiliary shaft line and described center axis L intersect at a point Q, and some Q does not overlap with described some P, and the upper connecting rod the other end passes through with moving platform that sphere is secondary to be connected.
3. two one-rotation parallel mechanisms of one kind link coupling, comprise fixed platform, moving platform, it is fixed to connect, the movement branched chain of moving platform, it is characterized in that: be connected by least three movement branched chain between described moving platform and fixed platform, it is interconnected by many coupled links and a center rod between described movement branched chain, it is connected by a coupled links between every bar movement branched chain and center rod, coupled links one end is fixedly connected with the middle connecting rod in movement branched chain, the coupled links the other end is secondary by rotating with center rod to be connected, the axis of the rotation pair that all coupled links and center rod are connected to form overlaps and forms an axis, if axis L centered by this axis,
All movement branched chain structures are identical, every bar movement branched chain is by lower link, middle connecting rod and upper connecting rod composition, wherein lower link one end is secondary by rotating with fixed platform is connected, and this turns auxiliary shaft line and described center axis L intersect at a point P, the lower link the other end is secondary by rotating with middle connecting rod to be connected, and described some P crossed by this turns auxiliary shaft line; Upper connecting rod one end and moving platform are secondary by rotating to be connected, and this turns auxiliary shaft line and described center axis L intersect at a point Q, and some Q does not overlap with described some P, and the upper connecting rod the other end passes through rotation pair and is connected with middle connecting rod, and described some Q crossed by this turns auxiliary shaft line.
4. two one-rotation parallel mechanisms of a kind of link coupling according to claim 1 or 2 or 3, it is characterised in that: described center rod one end and fixed platform are secondary or universal be hinged by sphere, and this sphere center of rotation that is secondary or universal hinge overlaps with described some P; The described center rod the other end and moving platform are secondary or universal be hinged by sphere, and this sphere center of rotation that is secondary or universal hinge overlaps with described some Q.
5. two one-rotation parallel mechanisms of a kind of link coupling according to claim 1 or 2 or 3, it is characterised in that: described movement branched chain there are two movement branched chain be active movement side chain, and these two active movement side chains are adjacent two movement branched chain.
6. two one-rotation parallel mechanisms of a kind of link coupling according to claim 5, it is characterised in that: described active movement side chain is driven by linear actuator.
7. two one-rotation parallel mechanisms of a kind of link coupling according to claim 6, it is characterized in that: the take-off lever of described linear actuator is secondary by rotating with the lower link in active movement side chain to be connected, linear actuator tail end is secondary by rotating with support to be connected, and described support is fixedly connected with fixed platform.
8. two one-rotation parallel mechanisms of a kind of link coupling according to claim 6, it is characterised in that: the take-off lever front end of described linear actuator is provided with mechanics sensor.
9. two one-rotation parallel mechanisms of a kind of link coupling according to claim 5, it is characterized in that: in described movement branched chain, a movement branched chain is had at least to be driven movement branched chain, it is provided with linear damper between described driven movement branched chain and support, the take-off lever of linear damper is connected with the lower link of driven movement branched chain is secondary by rotating, and linear damper tail end is secondary by rotating with support to be connected.
10. two one-rotation parallel mechanisms of a kind of link coupling according to claim 9, it is characterised in that: the take-off lever front end of described linear damper is provided with mechanics sensor.
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