CN203003878U - Parallel mechanism with two identical closed loop sub-chains - Google Patents
Parallel mechanism with two identical closed loop sub-chains Download PDFInfo
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- CN203003878U CN203003878U CN 201220733128 CN201220733128U CN203003878U CN 203003878 U CN203003878 U CN 203003878U CN 201220733128 CN201220733128 CN 201220733128 CN 201220733128 U CN201220733128 U CN 201220733128U CN 203003878 U CN203003878 U CN 203003878U
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- connecting rod
- closed loop
- revolute pair
- hooke
- column
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Abstract
The utility model relates to a parallel mechanism with two identical closed loop sub-chains. The parallel mechanism with the two identical closed loop sub-chains comprises a first five-bar mechanism closed loop sub-chain, a second five-bar mechanism closed loop sub-chain and an actuator sub-chain. The first five-bar mechanism closed loop sub-chain can control a first hooke joint to move, the second five-bar mechanism closed loop sub-chain can control a second hooke joint to move, motion of the first hooke joint and the second hooke joint can achieve spatial motion of a mobile platform. The parallel mechanism with the two identical closed loop sub-chains controls the motion of two hooke joints in space through two closed loop sub-chains, so that multi-degree of freedom motion of the mobile platform is achieved. The parallel mechanism with the two identical closed loop sub-chains has the advantages of being impact in structure, easy to control, small in inertia of mechanism motion and good in dynamics performance.
Description
Technical field
The utility model relates to the robot field, particularly a kind of multiple freedom parallel mechanism that contains the closed loop subchain.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: without accumulated error, precision is higher; Drive unit can be placed on fixed platform or near the position of fixed platform, motion parts is lightweight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is large; Symmetrical parallel institution has isotropism preferably.Due to parallel institution itself with regard to more complicated, if closed loop is contained again in branch, its mechanism will be more complicated, so in general, the parallel institution that symmetrical, branch does not contain closed loop just can have most typical character, appropriate but if closed loop is used, the performance of parallel institution will be more remarkable, as famous delta mechanism.In addition, existing parallel institution, its side chain is subjected to the restriction of connected mode, generally only have a driving lever to be connected in the driving that is cemented on frame, like this multiple freedom parallel mechanism is to realize that its motion just needs many side chains or the mode of a plurality of driving levers of taking to connect on side chain, and the parallel institution complex structure of many side chains is controlled difficulty, and on side chain, a plurality of driving levers of series connection can affect the exercise performance of parallel institution.
Summary of the invention
The purpose of this utility model is to provide a kind of parallel institution that contains two identical closed loop subchains, and the parallel institution complex structure that solves many side chains is controlled the shortcoming of difficulty.
The utility model achieves the above object by the following technical programs: a kind of parallel institution that contains two identical closed loop subchains comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
described the first five-rod closed loop subchain is by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column is connected with frame by the first revolute pair, first connecting rod one end is connected on the first column by the first moving sets, the first connecting rod other end is connected with second connecting rod by the second moving sets, the second connecting rod other end is connected with third connecting rod by the second revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 3rd revolute pair, the 4th connecting rod other end is connected with the first column by the 4th revolute pair, the motion of the first five-rod closed loop subchain can be controlled the first Hooke's hinge in spatial movement.
described the second five-rod closed loop subchain is by the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and the second column are formed by connecting, the second column is connected with frame by the 5th revolute pair, the 5th connecting rod one end is connected on the second column by three moving sets, the 5th connecting rod other end is connected with the 6th connecting rod by the 4th moving sets, the 6th connecting rod other end is connected with seven-link assembly by the 6th revolute pair, the seven-link assembly other end is connected with the 8th connecting rod by the 7th revolute pair, the 8th connecting rod other end is connected with the second column by the 8th revolute pair, the motion of the second five-rod closed loop subchain can be controlled the second Hooke's hinge in spatial movement.
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with second connecting rod by the second revolute pair, the first Hooke's hinge is connected with moving platform by the 9th revolute pair, the second Hooke's hinge is connected with the 6th connecting rod by the 6th revolute pair, the second Hooke's hinge is connected with moving platform by the tenth revolute pair, and the first Hooke's hinge, the second Hooke's hinge can be realized the space multifreedom motion of moving platform in the motion of separately space.
Outstanding advantages of the present utility model is:
1, by the motion of closed loop subchain controlling organization, mechanism's side chain can have a plurality of driving links to be connected on frame;
2, rod connection structure is simple, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, by the end effector of various different purposes is installed on moving platform, this mechanism may be used in the work such as crawl, carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is a kind of the first structural representation that contains the parallel institution of two identical closed loop subchains described in the utility model.
Fig. 2 is a kind of the second structural representation that contains the parallel institution of two identical closed loop subchains described in the utility model.
Fig. 3 is a kind of the 3rd structural representation that contains the parallel institution of two identical closed loop subchains described in the utility model.
Fig. 4 is a kind of the first work schematic diagram that contains the parallel institution of two identical closed loop subchains described in the utility model.
Fig. 5 is a kind of the second work schematic diagram that contains the parallel institution of two identical closed loop subchains described in the utility model.
The specific embodiment
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of parallel institution that contains two identical closed loop subchains comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
described the first five-rod closed loop subchain is by first connecting rod (4), second connecting rod (7), third connecting rod (8), the 4th connecting rod (10) and the first column (3) are formed by connecting, the first column (3) is connected with frame (1) by the first revolute pair (2), first connecting rod (4) one ends are connected on the first column (3) by the first moving sets (5), first connecting rod (4) other end is connected with second connecting rod (7) by the second moving sets (6), second connecting rod (7) other end is connected with third connecting rod (8) by the second revolute pair (27), third connecting rod (8) other end is connected with the 4th connecting rod (10) by the 3rd revolute pair (9), the 4th connecting rod (10) other end is connected with the first column (3) by the 4th revolute pair (11), the motion of the first five-rod closed loop subchain can be controlled the first Hooke's hinge (24) in spatial movement.
described the second five-rod closed loop subchain is by the 5th connecting rod (15), the 6th connecting rod (13), seven-link assembly (22), the 8th connecting rod (18) and the second column (19) are formed by connecting, the second column (19) is connected with frame (1) by the 5th revolute pair (20), the 5th connecting rod (15) one ends are connected on the second column (19) by three moving sets (16), the 5th connecting rod (15) other end is connected with the 6th connecting rod (13) by the 4th moving sets (14), the 6th connecting rod (13) other end is connected with seven-link assembly (22) by the 6th revolute pair (26), seven-link assembly (22) other end is connected with the 8th connecting rod (18) by the 7th revolute pair (21), the 8th connecting rod (18) other end is connected with the second column (19) by the 8th revolute pair (17), the motion of the second five-rod closed loop subchain can be controlled the second Hooke's hinge (23) in spatial movement.
Described executing agency subchain by the first Hooke's hinge (24), the second Hooke's hinge (23), and moving platform (12) be formed by connecting, the first Hooke's hinge (24) is connected with second connecting rod (7) by the second revolute pair (27), the first Hooke's hinge (24) is connected with moving platform (12) by the 9th revolute pair (28), the second Hooke's hinge (23) is connected with the 6th connecting rod (13) by the 6th revolute pair (26), and the second Hooke's hinge (23) is connected with moving platform (12) by the tenth revolute pair (25).
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5 by the motion of the first five-rod closed loop subchain itself and the rotation of the first column integral body, thereby drive the first Hooke's hinge (24) in spatial movement; By the motion of the second five-rod closed loop subchain itself and the rotation of the second column integral body, thereby drive the second Hooke's hinge (23) in spatial movement; The first Hooke's hinge (24), the second Hooke's hinge (23) can be realized the space multifreedom motion of moving platform (12) in the motion of separately space.
Claims (1)
1. a parallel institution that contains two identical closed loop subchains, comprise the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain, it is characterized in that:
described the first five-rod closed loop subchain is by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column is connected with frame by the first revolute pair, first connecting rod one end is connected on the first column by the first moving sets, the first connecting rod other end is connected with second connecting rod by the second moving sets, the second connecting rod other end is connected with third connecting rod by the second revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 3rd revolute pair, the 4th connecting rod other end is connected with the first column by the 4th revolute pair
described the second five-rod closed loop subchain is by the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and the second column are formed by connecting, the second column is connected with frame by the 5th revolute pair, the 5th connecting rod one end is connected on the second column by three moving sets, the 5th connecting rod other end is connected with the 6th connecting rod by the 4th moving sets, the 6th connecting rod other end is connected with seven-link assembly by the 6th revolute pair, the seven-link assembly other end is connected with the 8th connecting rod by the 7th revolute pair, the 8th connecting rod other end is connected with the second column by the 8th revolute pair
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with second connecting rod by the second revolute pair, the first Hooke's hinge is connected with moving platform by the 9th revolute pair, the second Hooke's hinge is connected with the 6th connecting rod by the 6th revolute pair, and the second Hooke's hinge is connected with moving platform by the tenth revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220733128 CN203003878U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism with two identical closed loop sub-chains |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220733128 CN203003878U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism with two identical closed loop sub-chains |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203003878U true CN203003878U (en) | 2013-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220733128 Withdrawn - After Issue CN203003878U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism with two identical closed loop sub-chains |
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| CN (1) | CN203003878U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990650A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two identical closed-loop sub-chains |
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2012
- 2012-12-27 CN CN 201220733128 patent/CN203003878U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990650A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two identical closed-loop sub-chains |
| CN102990650B (en) * | 2012-12-27 | 2015-04-01 | 广西大学 | Parallel mechanism containing two identical closed-loop sub-chains |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130619 Effective date of abandoning: 20150401 |
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| RGAV | Abandon patent right to avoid regrant |