CN106584429A - Drive fixed two rotating and one movable parallel mechanism - Google Patents
Drive fixed two rotating and one movable parallel mechanism Download PDFInfo
- Publication number
- CN106584429A CN106584429A CN201611032065.XA CN201611032065A CN106584429A CN 106584429 A CN106584429 A CN 106584429A CN 201611032065 A CN201611032065 A CN 201611032065A CN 106584429 A CN106584429 A CN 106584429A
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- moving sets
- moving
- guide rail
- branch
- parallel
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a drive fixed two rotating and one movable parallel mechanism and aims at achieving the purpose that the provided parallel mechanism has the beneficial effects of being high in operation speed, compact in structure, high in rigidity, large in bearing capacity, good in kinetics performance and the like. According to the technical scheme, the drive fixed two rotating and one movable parallel mechanism comprises a rack, a movable platform, two first branches and a second branch; each first branch comprises a first moving pair guide rail, a first moving pair sliding block, a hooke joint, a first connecting rod and a first revolute pair; the second branch comprises a second moving pair guide rail, a second moving pair sliding block, a first ball pair, a second connecting rod and a second revolute pair; and in the two first branches, first rotating axes of the hooke joints coincide, the axes of first moving pairs are perpendicular to the axis of the second revolute pair in the second branch, and the axes of the moving pairs in the two first branches are perpendicular to the axis of a second moving pair in the second branch.
Description
Technical field
The present invention relates to robotics, specifically a kind of to drive two fixed one mobile parallel connection mechanisms of rotation.
Background technology
Compared to serial mechanism, there is many in parallel institution and be not required to that the passive joint for driving is installed, this causes it to have
Higher service speed and preferable dynamic performance.Further, since its special many closed loop feature, the structure of parallel institution is tight
Gather, rigidity is high, large carrying capacity.Therefore, parallel institution having a extensive future in modern processing, and obtained wide
General research.Especially, the parallel institution with two rotation one-movement-freedom-degrees can be used for Control During Paint Spraying by Robot, welding, parallel machine
The fields such as bed, cause the highest attention of people.
The preferable drive arrangement scheme of parallel institution is will to drive all to be arranged on the joint that is connected with frame, so can be with
The quality of motion parts is reduced as far as possible, obtains optimum dynamic performance.But more existing two rotate a mobile parallel connection
The driving of mechanism (A of CN 104889978, CN 103144097 B) all can not be arranged in frame, have impact on the operation of mechanism
Speed, limits the application of mechanism.It is therefore proposed that a kind of driving is fixed, two high one mobile parallel connection mechanisms of rotation of service speed
It is necessary.
The content of the invention
The technical problem to be solved is to overcome the shortcomings of that background technology is present, there is provided the two of a kind of driving fixation
A mobile parallel connection mechanism is rotated, the parallel institution should have service speed height, compact conformation, rigidity height, large carrying capacity, power
The advantages of performance is good.
The technical scheme is that：
It is a kind of to drive two fixed one mobile parallel connection mechanisms of rotation, including frame, moving platform and it is connected in frame in parallel
Two the first branches and second branch between moving platform；It is characterized in that：
First branch includes that the first moving sets guide rail being connected in turn between frame and moving platform, the first moving sets are slided
Block, Hooke's hinge, first connecting rod and first rotate secondary；The first rotation axis of Hooke's hinge and the first moving sets diameter parallel, tiger
Gram second rotation axis that be connecteds with first connecting rod of hinge and the first turns auxiliary shaft line move secondary axis parallel and perpendicular to first；
Second branch includes that the second moving sets guide rail being connected in turn between frame and moving platform, the second moving sets are slided
Block, the first ball are secondary, second connecting rod and the second rotation are secondary；
In described two first branches, the first rotation axis of Hooke's hinge overlap, and the first turns auxiliary shaft line is perpendicular to second
Second turns auxiliary shaft line in branch, the second movement countershaft in the first movement secondary axis and the second branch in two the first branches
Line is vertical.
First moving sets guide rail, the second moving sets guide rail are each parallel to horizontal plane.
Second moving sets guide rail is arranged horizontal by acute angle.
Second moving sets guide rail and horizontal plane.
It is a kind of to drive two fixed one mobile parallel connection mechanisms of rotation, including frame, moving platform and it is connected in frame in parallel
Two the first branches and the 3rd branch between moving platform；It is characterized in that：
First branch includes that the first moving sets guide rail being connected in turn between frame and moving platform, the first moving sets are slided
Block, Hooke's hinge, first connecting rod and first rotate secondary；The first rotation axis of Hooke's hinge and the first moving sets diameter parallel, tiger
Gram second rotation axis that be connecteds with first connecting rod of hinge and the first turns auxiliary shaft line move secondary axis parallel and perpendicular to first；
3rd branch includes that the three moving sets guide rail being connected in turn between frame and moving platform, three moving sets are slided
Block, the 3rd rotate secondary, third connecting rod and the second ball pair；3rd turns auxiliary shaft line is perpendicular to three moving sets axis；
In described two first branches, the first rotation axis of Hooke's hinge overlap, and first moves secondary axis and the 3rd branch
In three moving sets axis it is vertical.
First moving sets guide rail, three moving sets guide rail are arranged each parallel to horizontal plane.
Three moving sets guide rail is arranged horizontal by acute angle.
Three moving sets guide rail and horizontal plane.
The invention has the beneficial effects as follows：
Parallel institution proposed by the present invention can perform the moving movement of two rotation one, with drive fixed, service speed it is high,
The advantages of compact conformation, rigidity height, large carrying capacity, good dynamic performance, can be used for the neck such as Control During Paint Spraying by Robot, parallel machine
Domain.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the embodiment of the present invention one.
Fig. 2 is the dimensional structure diagram of the embodiment of the present invention two.
Fig. 3 is the dimensional structure diagram of the embodiment of the present invention three.
Fig. 4 is the dimensional structure diagram of the embodiment of the present invention four.
Fig. 5 is the dimensional structure diagram of the embodiment of the present invention five.
Fig. 6 is the dimensional structure diagram of the embodiment of the present invention six.
Fig. 7 is the dimensional structure diagram of the first branch.
Fig. 8 is the dimensional structure diagram of the second branch.
Fig. 9 is the dimensional structure diagram of the 3rd branch.
Specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited in following examples.
Embodiment one
Such as Fig. 1, shown in 7,8, two fixed one mobile parallel connection mechanisms of rotation of a kind of driving, including frame (omitting in figure),
Moving platform 1 and two the first branches being connected in parallel between frame and moving platform and second branch.
First branch includes that the first moving sets guide rail 11 being connected in turn between frame and moving platform, the first moving sets are slided
Block 12 (the first moving sets guide rail and the first moving sets slide block cooperatively form the first moving sets), Hooke's hinge 13, first connecting rod 14 with
And first rotate secondary 15；The first rotation axis (the rotary shaft axis that i.e. Hooke's hinge is connected with the first moving sets slide block) of Hooke's hinge
With the first moving sets diameter parallel, Hooke's hinge it is parallel with the first turns auxiliary shaft line with the second rotation axis that first connecting rod connects and
Perpendicular to first movement secondary axis (i.e. the first moving sets mobile axis；It is similar below).
Second branch includes that the second moving sets guide rail 21 being connected in turn between frame and moving platform, the second moving sets are slided
Block 22, the first ball pair 23, second connecting rod 24 and second rotate secondary 25；Second moving sets guide rail and the second moving sets slide block coordinate
Form the second moving sets.
In two the first branches, the first rotation axis of Hooke's hinge overlap, and the first turns auxiliary shaft line is perpendicular to the second branch
In the second turns auxiliary shaft line.The second movement secondary axis in the first movement secondary axis and the second branch in two the first branches hangs down
Directly.Second moving sets guide rail parallel arranges that the first moving sets guide rail is arranged also parallel with horizontal plane in horizontal plane.
In the present embodiment, the secondary moving sets in each branch, type of drive are driven to can select ball-screw (omitting in figure)；
When secondary motion is driven, mechanism makees two and rotates a movement three-degree-of-freedom motion.
Embodiment two
Two fixed one mobile parallel connection mechanisms of rotation are driven as shown in Fig. 2 a kind of, including it is frame (omitting in figure), dynamic flat
Platform 1 and two the first branches being connected in parallel between frame and moving platform and second branch.The structure of embodiment two
Similar with the structure of embodiment one, difference is：Second moving sets guide rail is arranged horizontal by acute angle in embodiment two,
Concrete angle determines as needed.
Embodiment three
Two fixed one mobile parallel connection mechanisms of rotation are driven as shown in figure 3, a kind of, including it is frame (omitting in figure), dynamic flat
Platform 1 and two the first branches being connected in parallel between frame and moving platform and second branch.The structure of embodiment three
Similar with the structure of embodiment one, difference is：Second moving sets guide rail and horizontal plane in embodiment three.
Example IV
Such as Fig. 4, shown in 7,9, two fixed one mobile parallel connection mechanisms of rotation of a kind of driving, including frame (omitting in figure),
Moving platform 1 and two the first branches being connected in parallel between frame and moving platform and the 3rd branch.
First branch includes that the first moving sets guide rail 11 being connected in turn between frame and moving platform, the first moving sets are slided
Block 12 (the first moving sets guide rail and the first moving sets slide block cooperatively form the first moving sets), Hooke's hinge 13, first connecting rod 14 with
And first rotate secondary 15；The first rotation axis (the rotary shaft axis that i.e. Hooke's hinge is connected with the first moving sets slide block) of Hooke's hinge
With the first moving sets diameter parallel, Hooke's hinge it is parallel with the first turns auxiliary shaft line with the second rotation axis that first connecting rod connects and
Perpendicular to the first movement secondary axis.
3rd branch includes that the three moving sets guide rail 31, three moving sets being connected in turn between frame and moving platform is slided
Block 32 (three moving sets guide rail and three moving sets slide block cooperatively form three moving sets), the 3rd rotate secondary 33, third connecting rod
34 and the second ball pair 35；3rd turns auxiliary shaft line is perpendicular to three moving sets axis.
In two the first branches, the first rotation axis of Hooke's hinge overlap.The first movement countershaft in two the first branches
Line is vertical with the three moving sets axis in the 3rd branch.Three moving sets guide rail parallel is in horizontal plane arrangement, the first moving sets
Guide rail is arranged also parallel with horizontal plane.
In the present embodiment, the secondary moving sets in each branch, type of drive are driven to can select ball-screw (omitting in figure)；
When secondary motion is driven, mechanism makees two and rotates a movement three-degree-of-freedom motion.
Embodiment five
Two fixed one mobile parallel connection mechanisms of rotation are driven as shown in figure 5, a kind of, including it is frame (omitting in figure), dynamic flat
Platform 1 and two the first branches being connected in parallel between frame and moving platform and the 3rd branch.The structure of embodiment five
Similar with the structure of example IV, difference is：Three moving sets guide rail is arranged horizontal by acute angle in embodiment five,
Concrete angle determines as needed.
Embodiment six
Two fixed one mobile parallel connection mechanisms of rotation are driven as shown in fig. 6, a kind of, including it is frame (omitting in figure), dynamic flat
Platform 1 and two the first branches being connected in parallel between frame and moving platform and the 3rd branch.The structure of embodiment six
Similar with the structure of example IV, difference is：Three moving sets guide rail and horizontal plane in embodiment six.
Claims (8)
1. it is a kind of to drive two fixed one mobile parallel connection mechanisms of rotation, including frame, moving platform (1) and it is connected in frame in parallel
Two the first branches and second branch between moving platform；It is characterized in that：
First branch includes the first moving sets guide rail (11), the first moving sets slide block being connected in turn between frame and moving platform
(12), Hooke's hinge (13), first connecting rod (14) and first rotate secondary (15)；The first rotation axis of Hooke's hinge and the first movement
Secondary axis is parallel, and the second rotation axis that Hooke's hinge is connected with first connecting rod are with the first turns auxiliary shaft line parallel and perpendicular to first
Mobile secondary axis；
Second branch includes the second moving sets guide rail (21), the second moving sets slide block being connected in turn between frame and moving platform
(22), the first ball pair (23), second connecting rod (24) and second rotate secondary (25)；
In described two first branches, the first rotation axis of Hooke's hinge overlap, and the first turns auxiliary shaft line is perpendicular to the second branch
In the second turns auxiliary shaft line, the second movement secondary axis in the first movement secondary axis and the second branch in two the first branches is vertical
Directly.
It is 2. according to claim 1 to drive two fixed one mobile parallel connection mechanisms of rotation, it is characterised in that：First moving sets
Guide rail, the second moving sets guide rail are arranged each parallel to horizontal plane.
3. two of the driving fixation according to claim requires 1 rotate a mobile parallel connection mechanisms, it is characterised in that：Second moves
Dynamic pair guide rail is arranged horizontal by acute angle.
4. two of the driving fixation according to claim requires 1 rotate a mobile parallel connection mechanisms, it is characterised in that：Second moves
Dynamic pair guide rail and horizontal plane.
5. it is a kind of to drive two fixed one mobile parallel connection mechanisms of rotation, including frame, moving platform (1) and it is connected in frame in parallel
Two the first branches and the 3rd branch between moving platform；It is characterized in that：
First branch includes the first moving sets guide rail (11), the first moving sets slide block being connected in turn between frame and moving platform
(12), Hooke's hinge (13), first connecting rod (14) and first rotate secondary (15)；The first rotation axis of Hooke's hinge and the first movement
Secondary axis is parallel, and the second rotation axis that Hooke's hinge is connected with first connecting rod are with the first turns auxiliary shaft line parallel and perpendicular to first
Mobile secondary axis；
3rd branch includes three moving sets guide rail (31), the three moving sets slide block being connected in turn between frame and moving platform
(32), the 3rd secondary (33), third connecting rod (34) and the second ball pair (35) are rotated；3rd turns auxiliary shaft line is perpendicular to the 3rd movement
Secondary axis；
In described two first branches, the first rotation axis of Hooke's hinge overlap, the first movement countershaft in two the first branches
Line is vertical with the three moving sets axis in the 3rd branch.
6. two of the driving fixation according to right 5 rotate a mobile parallel connection mechanisms, it is characterised in that：First moving sets are led
Rail, three moving sets guide rail are arranged each parallel to horizontal plane.
It is 7. according to claim 5 to drive two fixed one mobile parallel connection mechanisms of rotation, it is characterised in that：Three moving sets
Guide rail is arranged horizontal by acute angle.
It is 8. according to claim 5 to drive two fixed one mobile parallel connection mechanisms of rotation, it is characterised in that：Three moving sets
Guide rail and horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611032065.XA CN106584429B (en) | 2016-11-22 | 2016-11-22 | Two-rotation one-movement parallel mechanism with fixed driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611032065.XA CN106584429B (en) | 2016-11-22 | 2016-11-22 | Two-rotation one-movement parallel mechanism with fixed driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106584429A true CN106584429A (en) | 2017-04-26 |
| CN106584429B CN106584429B (en) | 2023-09-08 |
Family
ID=58592530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611032065.XA Active CN106584429B (en) | 2016-11-22 | 2016-11-22 | Two-rotation one-movement parallel mechanism with fixed driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106584429B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108465929A (en) * | 2018-01-22 | 2018-08-31 | 清华大学 | A kind of agitating friction welder and the stirring friction welding system including it |
| CN110116400A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of PRS-PRU-PUR parallel institution |
| CN110116399A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of Three Degree Of Freedom 2PRU-PSR parallel institution |
| CN111197693A (en) * | 2018-11-16 | 2020-05-26 | 英业达科技有限公司 | Gas storage device |
| CN113715003A (en) * | 2021-09-16 | 2021-11-30 | 江南大学 | RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts |
| CN114668629A (en) * | 2022-04-22 | 2022-06-28 | 河北工业大学 | Novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with son closed chain |
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| CN105834576A (en) * | 2016-05-03 | 2016-08-10 | 浙江理工大学 | Redundant-driven friction stir welding parallel robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108465929A (en) * | 2018-01-22 | 2018-08-31 | 清华大学 | A kind of agitating friction welder and the stirring friction welding system including it |
| US11260469B2 (en) | 2018-01-22 | 2022-03-01 | Tsinghua University | Friction stir welding apparatus and friction stir welding system comprising the same |
| CN111197693A (en) * | 2018-11-16 | 2020-05-26 | 英业达科技有限公司 | Gas storage device |
| CN111197693B (en) * | 2018-11-16 | 2021-11-26 | 英业达科技有限公司 | Gas storage device |
| CN110116400A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of PRS-PRU-PUR parallel institution |
| CN110116399A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of Three Degree Of Freedom 2PRU-PSR parallel institution |
| CN113715003A (en) * | 2021-09-16 | 2021-11-30 | 江南大学 | RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts |
| CN114668629A (en) * | 2022-04-22 | 2022-06-28 | 河北工业大学 | Novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with son closed chain |
| CN114668629B (en) * | 2022-04-22 | 2024-01-12 | 河北工业大学 | Four-degree-of-freedom ankle joint rehabilitation parallel mechanism with closed chain of children |
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