CN108161901A - A kind of two turns of parallel institutions with high deflection capacity - Google Patents
A kind of two turns of parallel institutions with high deflection capacity Download PDFInfo
- Publication number
- CN108161901A CN108161901A CN201711450674.1A CN201711450674A CN108161901A CN 108161901 A CN108161901 A CN 108161901A CN 201711450674 A CN201711450674 A CN 201711450674A CN 108161901 A CN108161901 A CN 108161901A
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- CN
- China
- Prior art keywords
- branch
- revolute pair
- moving platform
- rack
- pair
- 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.)
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Design And Manufacture Of Integrated Circuits (AREA)
- Manipulator (AREA)
Abstract
A kind of two turns of parallel institutions with high deflection capacity, the mechanism include rack, moving platform and the first branch and the second branch being connected in parallel between rack and moving platform；Above-mentioned first branch includes the revolute pair being sequentially arranged from rack to moving platform and prismatic pair, and the second branch includes the first revolute pair, prismatic pair and the second revolute pair that are sequentially arranged from rack to moving platform；The revolute pair axis of above-mentioned first branch, the first revolute pair axis of the second branch and the second revolute pair axis junction on one point of the second branch.The present invention is compact-sized, deflection capacity is high, flexible without Singularity, movement.There is good application prospect in the mechanism in operating robot and spherical surface engraving machine field.
Description
Technical field：
The present invention is a kind of two turns of parallel institutions with high deflection capacity, belongs to parallel robot mechanism field.
Background technology：
With the development of industry, many occasion Structure of need are compact, and space is big, move flexible point, machine with high accuracy
Structure type, and even mechanism can be very good to meet such requirement, wherein two turns of parallel institutions have, branch is few, compact-sized,
It moves the features such as flexible and is designed and applied by extensive.
Existing two turns of parallel institution types are more, and Chinese patent CN 205394532U have invented a kind of big working space
Two turns of parallel institutions of spherical surface；Chinese patent CN205394530U has invented two one-rotation parallel mechanisms of big working space；It is Chinese special
Sharp CN 103472852A have invented a kind of two one-rotation parallel mechanism of two-freedom；Chinese patent CN 205614648U have invented height
The two degrees of freedom sphere parallel mechanism of rigidity redundant drive；It is in parallel that Chinese patent CN103624773A has invented two-freedom rotation
Mechanism；Chinese patent CN104325456A has invented a kind of novel two one-rotation parallel mechanism；Chinese patent CN 104308842A are sent out
Understand a kind of novel symmetrical two one-rotation parallel mechanism in face.Involved two-freedom mechanism is mostly three branches in foregoing invention patent
Or three is more than branch, structure is complex, and kinematic pair is revolute pair and linear type prismatic pair, kinematic pair quantity and rod piece quantity compared with
More, their manufacture and installation is complex.
Chinese patent CN 107443987A have invented a kind of sphere parallel mechanism and spherical surface engraving machine；Chinese patent
CN106965161A has invented a kind of 3-freedom parallel mechanism with arc prismatic pair；Chinese patent CN104308833A is sent out
Understand two one-rotation parallel mechanism of decoupling type of achievable hemisphere rotation.Arc prismatic pair is employed in foregoing invention patent, but is had
There are high deflection capacity and two turns of parallel institutions of prismatic pair containing arc without Singularity not to be involved also.
Invention content：
The present invention relates to a kind of two turns of parallel institutions with high deflection capacity, which is different from structure and principle
Existing two turns of parallel institutions and the mechanism of the existing movement containing arc.The mechanism structure is compact, deflection capacity is high, no Singularity
Shape, movement are flexible, available for operating robot and spherical surface engraving machine.
A kind of two turns of parallel institutions with high deflection capacity, it includes rack, moving platform and is connected in rack in parallel
The first branch and the second branch between moving platform；Above-mentioned first branch includes the rotation being sequentially arranged from rack to moving platform
Pair, L-shaped circular arc slide bar, prismatic pair and the T-shaped slider being connected with moving platform；Above-mentioned second branch includes putting down from rack to dynamic
The first revolute pair, L-shaped circular arc slide bar, prismatic pair, T-shaped slider and the second revolute pair that platform is sequentially arranged；L in above-mentioned first branch
Shape circular arc slide bar is connect with rack by revolute pair, and the T-shaped slider being connected on moving platform passes through prismatic pair with L-shaped circular arc slide bar
Connection；L-shaped circular arc slide bar is connect with rack by the first revolute pair in above-mentioned second branch, and T-shaped slider is led to L-shaped circular arc slide bar
Prismatic pair connection is crossed, moving platform is connect with T-shaped slider by the second revolute pair；The revolute pair axis of above-mentioned first branch, second
First revolute pair axis of branch and the second revolute pair axis junction on one point of the second branch, the junction point are in two branches
The public center of circle of L-shaped circular arc slide bar.
Description of the drawings：
Fig. 1 is the structure diagram of the present invention.
Fig. 2 is the stereogram of L-shaped circular arc slide bar.
Fig. 3 is the stereogram of the T-shaped slider of the first branch.
Fig. 4 is the stereogram of the T-shaped slider of the second branch.
In Fig. 1：1- racks, 2- moving platforms, the revolute pair of the first branches of R11-, the first branches of P11- prismatic pair, R21-
First revolute pair of the second branch, the prismatic pair of the second branches of P21-, the second revolute pair of the second branches of R22-, O- junctions point.
Specific implementation method：
A kind of two turns of parallel institutions with high deflection capacity of the present invention are described in detail with reference to attached drawing as
Under：
Please refer to Fig.1 to Fig.4, a kind of two turns of parallel institutions with high deflection capacity, it include rack 1, moving platform 2 with
And it is connected in the first branch and the second branch between rack 1 and moving platform 2 in parallel；Above-mentioned first branch include from rack 1 to
Revolute pair R11, L-shaped circular arc slide bar, prismatic pair P11 and the T-shaped slider being connected with moving platform 2 that moving platform 2 is sequentially arranged；
Above-mentioned second branch includes the first revolute pair R21, L-shaped circular arc slide bar, the prismatic pair that are sequentially arranged from rack 1 to moving platform 2
P21, T-shaped slider and the second revolute pair R22；L-shaped circular arc slide bar is connect with rack by revolute pair R11 in above-mentioned first branch,
The T-shaped slider being connected on moving platform 2 is connect with L-shaped circular arc slide bar by prismatic pair P11；L-shaped circular arc in above-mentioned second branch
Slide bar is connect with rack 1 by the first revolute pair R21, and T-shaped slider is connect with L-shaped circular arc slide bar by prismatic pair P21, moving platform
2 are connect with T-shaped slider by the second revolute pair R22；The revolute pair R11 axis of above-mentioned first branch, first turn of the second branch
Dynamic secondary R21 axis and the second revolute pair R22 axis junction on one point of the second branch, the junction point are that L-shaped is justified in two branches
The public center of circle of arc slide bar.
Claims (1)
1. a kind of two turns of parallel institutions with high deflection capacity, it is characterised in that：It includes rack, moving platform and parallel connection even
The first branch and the second branch being connected between rack and moving platform；Above-mentioned first branch includes the cloth successively from rack to moving platform
The revolute pair put, L-shaped circular arc slide bar, prismatic pair and the T-shaped slider being connected with moving platform；Above-mentioned second branch includes slave
The first revolute pair, L-shaped circular arc slide bar, prismatic pair, T-shaped slider and the second revolute pair that frame is sequentially arranged to moving platform；Above-mentioned
L-shaped circular arc slide bar is connect with rack by revolute pair in one branch, the T-shaped slider and L-shaped circular arc slide bar being connected on moving platform
It is connected by prismatic pair；L-shaped circular arc slide bar is connect with rack by the first revolute pair in above-mentioned second branch, T-shaped slider and L-shaped
Circular arc slide bar is connected by prismatic pair, and moving platform is connect with T-shaped slider by the second revolute pair；The revolute pair of above-mentioned first branch
Axis, the first revolute pair axis of the second branch and the second revolute pair axis junction on one point of the second branch, the junction point
The public center of circle for L-shaped circular arc slide bar in two branches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711450674.1A CN108161901B (en) | 2017-12-27 | 2017-12-27 | Two-rotation parallel mechanism with high deflection capability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711450674.1A CN108161901B (en) | 2017-12-27 | 2017-12-27 | Two-rotation parallel mechanism with high deflection capability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108161901A true CN108161901A (en) | 2018-06-15 |
| CN108161901B CN108161901B (en) | 2020-02-14 |
Family
ID=62518748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711450674.1A Expired - Fee Related CN108161901B (en) | 2017-12-27 | 2017-12-27 | Two-rotation parallel mechanism with high deflection capability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108161901B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11458614B2 (en) * | 2017-06-09 | 2022-10-04 | Shenzhen Institutes Of Advanced Technology | 2 degree-of-freedoms decoupling parallel mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1854591A1 (en) * | 2006-05-11 | 2007-11-14 | Jean-Marie Chenu | Parallel robot |
| CN102147046A (en) * | 2011-03-04 | 2011-08-10 | 燕山大学 | Two-freedom parallel mechanism capable of rotating and decoupling |
| CN103072134A (en) * | 2013-01-14 | 2013-05-01 | 燕山大学 | Two-degree-of-freedom decoupling parallel mechanism with mixed movement |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
| CN104959972A (en) * | 2015-05-19 | 2015-10-07 | 江南大学 | Non-coupling completely-isotropic two-degree-of-freedom parallel robot mechanism |
| CN105538296A (en) * | 2016-02-03 | 2016-05-04 | 中北大学 | Reconfigurable spherical parallel robot |
-
2017
- 2017-12-27 CN CN201711450674.1A patent/CN108161901B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1854591A1 (en) * | 2006-05-11 | 2007-11-14 | Jean-Marie Chenu | Parallel robot |
| CN102147046A (en) * | 2011-03-04 | 2011-08-10 | 燕山大学 | Two-freedom parallel mechanism capable of rotating and decoupling |
| CN103072134A (en) * | 2013-01-14 | 2013-05-01 | 燕山大学 | Two-degree-of-freedom decoupling parallel mechanism with mixed movement |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
| CN104959972A (en) * | 2015-05-19 | 2015-10-07 | 江南大学 | Non-coupling completely-isotropic two-degree-of-freedom parallel robot mechanism |
| CN105538296A (en) * | 2016-02-03 | 2016-05-04 | 中北大学 | Reconfigurable spherical parallel robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11458614B2 (en) * | 2017-06-09 | 2022-10-04 | Shenzhen Institutes Of Advanced Technology | 2 degree-of-freedoms decoupling parallel mechanism |
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| Publication number | Publication date |
|---|---|
| CN108161901B (en) | 2020-02-14 |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for 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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200214 Termination date: 20211227 |