CN106313017B - A kind of two-degree-of-freedom parallel mechanism promoting load capacity - Google Patents
A kind of two-degree-of-freedom parallel mechanism promoting load capacity Download PDFInfo
- Publication number
- CN106313017B CN106313017B CN201610989566.0A CN201610989566A CN106313017B CN 106313017 B CN106313017 B CN 106313017B CN 201610989566 A CN201610989566 A CN 201610989566A CN 106313017 B CN106313017 B CN 106313017B
- Authority
- CN
- China
- Prior art keywords
- stabilizer blade
- shaft
- pedestal
- axis
- moving platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 230000001737 promoting effect Effects 0.000 title claims abstract description 9
- 239000003381 stabilizer Substances 0.000 claims abstract description 63
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 36
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- 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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The present invention provides a kind of two-degree-of-freedom parallel mechanism promoting load capacity, including rack, moving platform and the first stabilizer blade being connected between rack and moving platform, second stabilizer blade and third stabilizer blade, second stabilizer blade and third stabilizer blade are scalable, the lower part of first stabilizer blade is rotatably installed in by one first spherical linkage in rack, the top of first stabilizer blade is rotatably installed in by a first rotating shaft on moving platform, the lower part of second stabilizer blade is rotatably installed in by a cross connecting piece in rack, the top of second stabilizer blade is rotatably connected on by one second spherical linkage on moving platform, the lower part of third stabilizer blade is rotatably installed in by one the 4th shaft in rack, the top of third stabilizer blade is rotatably installed in by one the 5th shaft on moving platform；The mechanism rigidity of the present invention is high, and bearing capacity is strong, and geometry is simple, has a good application prospect.
Description
Technical field
The present invention relates to parallel institution technical field more particularly to a kind of two-freedom parallel machines promoting load capacity
Structure.
Background technology
Parallel institution has the advantages that high rigidity, high-precision and big bearing capacity, researcher have invented a large amount of parallel connections
Mechanism, but most of is Three Degree Of Freedom and six-degree-of-freedom parallel connection mechanism, is related to the patent of invention of two-degree-of-freedom parallel mechanism
Seldom.Moreover, general two-degree-of-freedom parallel mechanism is two branched structures, bearing capacity is weaker, although some two-freedoms are simultaneously
Online structure is three branched structures, but since kinematic pair distribution is not reasonable, causes stress distribution suffered by each branch irregular, certain
Larger stress bears in branch, and consume is larger, and the structure of some mechanism kinematic pairs is too complicated, and assembly is very difficult, and operation is not
Just.
Invention content
In view of this, the present invention provides it is a kind of it is simple in structure, bearing capacity is strong, assembly is easy and can effectively promote load
The two-degree-of-freedom parallel mechanism of ability.
The present invention provides a kind of two-degree-of-freedom parallel mechanism promoting load capacity, including rack and moving platform, and described two
Freedom degree parallel connection mechanism further includes the first stabilizer blade, the second stabilizer blade and third stabilizer blade being connected between rack and moving platform, described
Second stabilizer blade and third stabilizer blade are scalable, and the lower part of first stabilizer blade is rotatably installed in described by one first spherical linkage
In rack, the top of first stabilizer blade is rotatably installed in by a first rotating shaft on the moving platform, second stabilizer blade
Lower part is rotatably installed in by a cross connecting piece in the rack, and the cross connecting piece includes orthogonal second shaft
With third shaft, second stabilizer blade can be rotated rotating around second shaft and third shaft, the top of second stabilizer blade
It is rotatably connected on the moving platform by one second spherical linkage, the lower part of the third stabilizer blade is rotated by one the 4th shaft
In the rack, the third stabilizer blade can be rotated around the 4th shaft, and the top of the third stabilizer blade passes through one
Five shafts are rotatably installed on the moving platform.
Further, the first pedestal, the second pedestal and third base of distribution in equilateral triangle are fixed in the rack
Seat, first spherical linkage are rotatablely connected first pedestal, and second shaft is rotatablely connected second pedestal, described
4th shaft is rotatablely connected the third pedestal.
Further, the 4th pedestal, the 5th pedestal and the 6th of distribution in equilateral triangle are fixed on the moving platform
Pedestal, the first rotating shaft are rotatablely connected the 4th pedestal, and second spherical linkage is rotatablely connected the 5th pedestal, institute
It states the 5th shaft and is rotatablely connected the 6th pedestal.
Further, first stabilizer blade includes a constraining rod, the constraining rod not flexible, and second stabilizer blade includes
First drive rod and the second drive rod, second drive rod do flexible fortune by first movement pair in first drive rod
Dynamic, the third stabilizer blade includes third drive rod and the 4th drive rod, and the 4th drive rod is by the second prismatic pair described
Stretching motion is done in third drive rod.
Further, the axis of the third shaft is vertical with the axis of first movement pair, the 4th shaft
Axis is parallel and vertical with the axis of the second prismatic pair with the axis of the 5th shaft, the axis of the first rotating shaft with
The axis of 5th shaft is parallel.
Further, the first movement pair and second prismatic pair are driven respectively, first stabilizer blade, described
The position of moving platform and posture described in two stabilizer blades and the third stabilizer blade co- controlling realize a rotational freedom and a shifting
Dynamic degree of freedom：The shaft of rotational freedom is the centre of sphere by the first spherical linkage and is parallel to the direction of first rotating shaft axis,
The moving direction of one-movement-freedom-degree is the normal direction along first rotating shaft axis and the plane of constraint rod axis composition.
Further, the first movement pair and second prismatic pair are used as active drive kinematic pair, type of drive
For motor driving or Driven by Hydraulic Cylinder.
The advantageous effect that technical scheme of the present invention is brought is：The two-degree-of-freedom parallel mechanism of the present invention includes three branch
Foot, mechanism rigidity is high, and ability to bear is strong, and geometry is simple, and assembly is simple and convenient, has a good application prospect.
Description of the drawings
Fig. 1 is the structural schematic diagram of two-degree-of-freedom parallel mechanism of the present invention.
Fig. 2 is two-degree-of-freedom parallel mechanism post exercise structural schematic diagram of the present invention.
In figure：1- racks, the first pedestals of 11-, the second pedestals of 12-, 13- third pedestals, 2- moving platforms, the 4th pedestals of 21-,
The 5th pedestals of 22-, the 6th pedestals of 23-, the first stabilizer blades of 3-, the first spherical linkages of 31-, 32- constraining rods, 33- first rotating shafts, 4-
Two stabilizer blades, 41- cross connecting pieces, the second shafts of 411-, 412- third shafts, the first drive rods of 42-, 43- first movement pairs,
The second drive rods of 44-, the second spherical linkages of 45-, 5- third stabilizer blades, the 4th shafts of 51-, 52- third drive rods, 53- second are moved
Dynamic pair, the 4th drive rods of 54-, the 5th shafts of 55-.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is further described.
Referring to FIG. 1, the embodiment provides a kind of two-degree-of-freedom parallel mechanisms promoting load capacity, including
First stabilizer blade 3 in parallel, the second stabilizer blade 4 and third stabilizer blade 5, rack 1 between rack 1, moving platform 2 and rack 1 and moving platform 2
On be fixed with the first pedestal 11, the second pedestal 12 and third pedestal 13 of distribution in equilateral triangle, 2 downside of moving platform is fixed with
The 4th pedestal 21, the 5th pedestal 22 and the 6th pedestal 23 of distribution in equilateral triangle.
First stabilizer blade 3 includes constraining rod 32, and the lower end of 32 not flexible of constraining rod, constraining rod 32 passes through the first spherical linkage
31 the first pedestals 11 of rotation connection, the upper end of constraining rod 32 are rotatablely connected the 4th pedestal 21 by first rotating shaft 33, therefore, constraint
The lower end of bar 32 is carried out using the tie point of the first spherical linkage 31 as fulcrum in the spatial dimension that the first spherical linkage 31 constrains
Rotation, the upper end of constraining rod 32 can be rotated around first rotating shaft 33.
Second stabilizer blade 4 includes cross connecting piece 41, the first drive rod 42 and the second drive rod 44.Under first drive rod 42
End is rotatablely connected the second pedestal 12 by a cross connecting piece 41, and cross connecting piece 41 includes orthogonal second shaft 411
With third shaft 412, therefore, the first drive rod 42 can be rotated rotating around the second shaft 411 and third shaft 412.First drives
Lever 42 connects the second drive rod 44 by first movement pair 43, and the first drive rod 42 (cylinder barrel) is hollow, the second drive rod 44
(piston rod) does stretching motion by first movement pair 43 in the first drive rod 42, to adjust the height of the second stabilizer blade 4.The
The upper end of two drive rods 44 is rotatablely connected the 5th pedestal 22 by the second spherical linkage 45, and the second drive rod 44 is with the second spherical hinge
The tie point of chain 45 is that fulcrum is rotated in the spatial dimension that the second spherical linkage 45 constrains.Wherein, third shaft 412
Axis is vertical with the axis of first movement pair 43.
Third stabilizer blade 5 includes the 4th shaft 51, third drive rod 52 and the 4th drive rod 54.The lower end of third drive rod 52
It is rotatablely connected third pedestal 13 by the 4th shaft 51, therefore, third drive rod 52 can be rotated around the 4th shaft 51.Third is driven
Lever 52 (cylinder barrel) be it is hollow, third drive rod 52 (piston rod) by the second prismatic pair 53 connect the 4th drive rod 54, the 4th
Drive rod 54 can do stretching motion in third drive rod 52, to adjust the height of third stabilizer blade 5.4th drive rod 54 it is upper
End is rotatablely connected the 6th pedestal 23 by the 5th shaft 55, and the 4th drive rod 54 can be rotated around the 5th shaft 55.Wherein, the 4th
The axis of shaft 51 is parallel with the axis of the 5th shaft 55, and vertical with the axis of the second prismatic pair 53, the axis of first rotating shaft 33
Line is parallel with the axis of the 5th shaft 55.
With reference to figure 2, Fig. 2 is the schematic diagram after the mechanism kinematic in Fig. 1.There is first rotating shaft 33 axis a, constraining rod 32 to have
There are central axis b, the first spherical linkage 31 that there is the centre of sphere, line c is by the centre of sphere and is parallel to axis a, and line d is axis a and b composition
The normal of plane.First movement pair 43 and the second prismatic pair 53 are driven respectively, wherein the first stabilizer blade 3, the second stabilizer blade 4 and third
The posture of 5 co- controlling moving platform 2 of stabilizer blade realizes a rotational freedom and an one-movement-freedom-degree, the shaft of rotational freedom
For line c, the directions d along one-movement-freedom-degree.
In the embodiment of the present invention, first movement pair 43 and the second prismatic pair 53 are used as active drive kinematic pair, driving side
Formula can be motor driving or Driven by Hydraulic Cylinder.
Herein, the nouns of locality such as involved front, rear, top, and bottom are to be located in figure with parts in attached drawing and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Use should not limit the claimed range of the application.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of two-degree-of-freedom parallel mechanism promoting load capacity, including rack and moving platform, it is characterised in that：Described two certainly
Further include the first stabilizer blade, the second stabilizer blade and third stabilizer blade being connected between rack and moving platform by degree parallel institution, described
Two stabilizer blades and third stabilizer blade are scalable, and the lower part of first stabilizer blade is rotatably installed in the machine by one first spherical linkage
On frame, the top of first stabilizer blade is rotatably installed in by a first rotating shaft on the moving platform, under second stabilizer blade
Portion is rotatably installed in by a cross connecting piece in the rack, the cross connecting piece include orthogonal second shaft and
The lower part of third shaft, second stabilizer blade can be rotated rotating around second shaft and third shaft, second stabilizer blade
Top is rotatably connected on by one second spherical linkage on the moving platform, and the lower part of the third stabilizer blade passes through one the 4th shaft
Be rotatably installed in the rack, the lower part of the third stabilizer blade can be rotated around the 4th shaft, the third stabilizer blade it is upper
Portion is rotatably installed in by one the 5th shaft on the moving platform；
The first pedestal, the second pedestal and third pedestal of distribution in equilateral triangle, first ball are fixed in the rack
Shape hinge is rotatablely connected first pedestal, and second shaft is rotatablely connected second pedestal, the 4th shaft rotation
Connect the third pedestal；
It is fixed with the 4th pedestal, the 5th pedestal and the 6th pedestal of distribution in equilateral triangle on the moving platform, described first
Shaft is rotatablely connected the 4th pedestal, and second spherical linkage is rotatablely connected the 5th pedestal, and the 5th shaft turns
Dynamic connection the 6th pedestal；
First stabilizer blade includes a constraining rod, and the lower end of the constraining rod not flexible, constraining rod passes through the first spherical linkage
It is rotatablely connected the first pedestal, the upper end of constraining rod is rotatablely connected the 4th pedestal by first rotating shaft, and second stabilizer blade includes the
One drive rod and the second drive rod, second drive rod do flexible fortune by first movement pair in first drive rod
Dynamic, the third stabilizer blade includes third drive rod and the 4th drive rod, and the 4th drive rod is by the second prismatic pair described
Stretching motion is done in third drive rod；
The axis of the third shaft is vertical with the axis of first movement pair, the axis and the described 5th of the 4th shaft
The axis of shaft is parallel and vertical with the axis of the second prismatic pair, the axis of the first rotating shaft and the 5th shaft
Axis is parallel.
2. promoting the two-degree-of-freedom parallel mechanism of load capacity as described in claim 1, it is characterised in that：The first movement
Secondary and described second prismatic pair is driven respectively, first stabilizer blade, second stabilizer blade and the third stabilizer blade co- controlling
The position of the moving platform and posture realize that a rotational freedom and an one-movement-freedom-degree, the shaft of rotational freedom are
By the first spherical linkage the centre of sphere and be parallel to the direction of first rotating shaft axis, the moving direction of one-movement-freedom-degree is along first
The normal direction of shaft axis and the plane of constraint rod axis composition.
3. promoting the two-degree-of-freedom parallel mechanism of load capacity as described in claim 1, it is characterised in that：The first movement
It is motor driving or Driven by Hydraulic Cylinder that secondary and described second prismatic pair, which is used as active drive kinematic pair, type of drive,.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610989566.0A CN106313017B (en) | 2016-11-10 | 2016-11-10 | A kind of two-degree-of-freedom parallel mechanism promoting load capacity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610989566.0A CN106313017B (en) | 2016-11-10 | 2016-11-10 | A kind of two-degree-of-freedom parallel mechanism promoting load capacity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106313017A CN106313017A (en) | 2017-01-11 |
| CN106313017B true CN106313017B (en) | 2018-10-12 |
Family
ID=57816899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610989566.0A Expired - Fee Related CN106313017B (en) | 2016-11-10 | 2016-11-10 | A kind of two-degree-of-freedom parallel mechanism promoting load capacity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106313017B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856025B (en) * | 2017-12-20 | 2023-12-26 | 歌尔科技有限公司 | Robot and angle adjusting mechanism thereof |
| CN109774874B (en) * | 2019-02-19 | 2023-09-15 | 长沙学院 | Vibration reduction mechanism and buffer cylinder type flexible connecting device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103144096B (en) * | 2013-03-13 | 2015-04-08 | 燕山大学 | Overconstraint-free asymmetric parallel mechanism with two rotations and one movement |
| JP2014233819A (en) * | 2013-06-04 | 2014-12-15 | 株式会社前田精密製作所 | Three degrees of freedom introduction mechanism and four degrees of freedom lifter mechanism |
| CN105856193B (en) * | 2016-05-10 | 2018-01-23 | 燕山大学 | A kind of two degrees of freedom one-rotation parallel mechanism that two continuous pivot centers be present |
| CN105936044B (en) * | 2016-06-02 | 2018-04-03 | 燕山大学 | A kind of two turn of one motion three-freedom-degree parallel mechanism of full decoupled formula |
| CN206287134U (en) * | 2016-11-10 | 2017-06-30 | 中国地质大学（武汉） | A kind of two-degree-of-freedom parallel mechanism for lifting load capacity |
-
2016
- 2016-11-10 CN CN201610989566.0A patent/CN106313017B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN106313017A (en) | 2017-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106272358B (en) | A kind of four-freedom parallel connection robot mechanism | |
| CN106426096B (en) | A kind of one mobile parallel connection mechanism of rotation of big corner two | |
| CN206287134U (en) | A kind of two-degree-of-freedom parallel mechanism for lifting load capacity | |
| CN103029121B (en) | Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure | |
| CN105666471B (en) | A kind of SPS+UPU+ (2RPS+R) type four-freedom-degree parallel-connection robot | |
| CN104985590B (en) | Six degree of freedom partly decoupled parallel institution | |
| CN106313017B (en) | A kind of two-degree-of-freedom parallel mechanism promoting load capacity | |
| US9931534B2 (en) | Elliptical trainer with variable stride | |
| US7608019B1 (en) | Elliptical exercise methods and apparatus | |
| CN106181974A (en) | A kind of freedom degree parallel connection platform mechanism | |
| CN103029120A (en) | Folding static load balance adjusting parallel platform | |
| CN205166941U (en) | Facial expression robot eye constructional device | |
| CN207175290U (en) | A kind of chemical industry metal bucket boom hoisting | |
| CN104999472B (en) | The bionical shoulder joint of hybrid type five degree of freedom of scapula linkage | |
| CN106002956A (en) | Over-constrained self-balancing three-degree-of-freedom parallel-connection platform | |
| CN206066428U (en) | A kind of freedom degree parallel connection platform mechanism | |
| CN205521372U (en) | Remove parallelly connected bionical ankle joint of vice redundant driven 2 -DOF sphere | |
| CN106495070A (en) | A kind of device of achievable table top wide-angle tilt | |
| CN206527734U (en) | A kind of 2R two-degree-of-freedom parallel mechanisms for lifting load capacity | |
| CN105479441B (en) | Robot hand with three under-actuated fingers connected in parallel | |
| CN106426105B (en) | A kind of 2R two-degree-of-freedom parallel mechanism promoting load capacity | |
| CN104985591B (en) | Six degree of freedom rotates and mobile full decoupled parallel institution | |
| CN206066430U (en) | A kind of four-freedom parallel connection robot mechanism | |
| CN106272359B (en) | A kind of four-freedom parallel connection robot mechanism | |
| CN103722547B (en) | There is the decoupling space parallel mechanism of two one turn of Three Degree Of Freedom of shifting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181012 |