CN203003884U - Parallel mechanism with prr open loop sub-chain and pprrp closed loop sub-chain - Google Patents
Parallel mechanism with prr open loop sub-chain and pprrp closed loop sub-chain Download PDFInfo
- Publication number
- CN203003884U CN203003884U CN 201220733295 CN201220733295U CN203003884U CN 203003884 U CN203003884 U CN 203003884U CN 201220733295 CN201220733295 CN 201220733295 CN 201220733295 U CN201220733295 U CN 201220733295U CN 203003884 U CN203003884 U CN 203003884U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- chain
- closed loop
- revolute pair
- loop sub
- 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.)
- Withdrawn - After Issue
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
A parallel mechanism with a prr open loop sub-chain and a pprrp closed loop sub-chain comprises an actuator sub-chain and a four-bar mechanism closed loop sub-chain. The four-bar mechanism closed loop sub-chain can control a third connecting bar to move in a plane of the four-bar mechanism closed loop sub-chain, and motion of a first connecting bar and the third connecting bar can achieve spatial motion of a mobile platform. The parallel mechanism with the prr open loop sub-chain and the pprrp closed loop sub-chain controls and achieves spatial motion of the closed loop sub-chain, the first connecting bar and the third connecting bar through the closed loop sub-chain to achieve the spatial motion of the mobile platform. The parallel mechanism with the prr open loop sub-chain and the pprrp closed loop sub-chain has the advantages of being impact in structure and easy to control. All the connecting bars are connected with a rack, the bars can be made light, inertia of mechanism motion is small, and the dynamics performance is good.
Description
Technical field
The utility model relates to the robot field, particularly a kind of parallel institution that contains prr open loop subchain and pprrp 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.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, yet 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 the parallel institution of a kind of prr of containing open loop subchain and pprrp closed loop subchain, solves a plurality of drivings of side chain of traditional parallel institution and can not be connected to simultaneously shortcoming on frame.
The utility model achieves the above object by the following technical programs: a kind of parallel institution that contains prr open loop subchain and pprrp closed loop subchain, comprise executing agency's subchain and a four-bar mechanism closed loop subchain, and its structure and connected mode are:
described executing agency subchain is by first connecting rod 11, second connecting rod 15, the first slide block 13, the first Hooke's hinge 7, moving platform 4 and frame 1 are formed by connecting, first connecting rod 11 1 ends are connected on frame 1 by the first revolute pair 2, first connecting rod 11 other ends are connected with the first slide block 13 by the first moving sets 12, first slide block 13 other ends are connected with second connecting rod 15 1 ends by the second revolute pair 14, second connecting rod 15 other ends are connected with the lower topmast 9 of the first Hooke's hinge by the 3rd revolute pair 10, the upper topmast 8 of the first Hooke's hinge 7 is connected with moving platform 4 one ends by the 4th revolute pair 5,
described four-bar mechanism closed loop subchain is by third connecting rod 21, the 4th connecting rod 17, the 5th connecting rod 25, the 6th connecting rod 27, the second slide block 19, the 3rd slide block 22, the second Hooke's hinge 7 and frame 1 are formed by connecting, third connecting rod 21 1 ends rotate 3 pairs by the 5th and are connected on frame 1, third connecting rod 21 other ends are connected with the first slide block 19 by the first moving sets 20, first slide block 19 other ends are connected with the 4th connecting rod 17 by the 6th revolute pair 18, the 4th connecting rod 17 other ends are connected with the lower topmast 30 of the second Hooke's hinge 28 by the 7th revolute pair 31 with the 5th connecting rod 27 1 ends, the upper topmast 29 of the second Hooke's hinge 28 is connected with moving platform 4 other ends by the 8th revolute pair 6, the 5th connecting rod 27 other ends are connected with the 6th connecting rod 25 by three moving sets 26, the 6th connecting rod 25 is connected with the 3rd slide block 22 1 ends by the 9th revolute pair 24, the 3rd slide block 22 other ends are connected with third connecting rod 21 by the 4th moving sets 23,
Described the first moving sets, the second moving sets, the 4th moving sets, the first revolute pair, the 5th revolute pair rotation are parallel to each other, and the 4th revolute pair, the 8th revolute pair rotation are parallel to each other.
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 connecting rods to be connected on frame;
2, all connecting rods all are connected on frame, 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.
Description of drawings
Fig. 1 is a kind of the first structural representation that contains the parallel institution of prr open loop subchain and pprrp closed loop subchain described in the utility model.
Fig. 2 is a kind of the second structural representation that contains the parallel institution of prr open loop subchain and pprrp closed loop subchain described in the utility model.
Fig. 3 is a kind of base schematic diagram that contains the parallel institution of prr open loop subchain and pprrp closed loop subchain described in the utility model.
Fig. 4 is a kind of moving platform schematic diagram that contains the parallel institution of prr open loop subchain and pprrp closed loop subchain described in the utility model.
Fig. 5 is a kind of the first Hooke's hinge schematic diagram that contains the parallel institution of prr open loop subchain and pprrp closed loop subchain described in the utility model.
Fig. 6 is a kind of the second Hooke's hinge schematic diagram that contains the parallel institution of prr open loop subchain and pprrp closed loop subchain 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. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of parallel institution that contains prr open loop subchain and pprrp closed loop subchain comprises executing agency's subchain and a four-bar mechanism closed loop subchain, its structure and connected mode are:
described executing agency subchain is by first connecting rod 11, second connecting rod 15, the first slide block 13, the first Hooke's hinge 7, moving platform 4 and frame 1 are formed by connecting, first connecting rod 11 1 ends are connected on frame 1 by the first revolute pair 2, first connecting rod 11 other ends are connected with the first slide block 13 by the first moving sets 12, first slide block 13 other ends are connected with second connecting rod 15 1 ends by the second revolute pair 14, second connecting rod 15 other ends are connected with the lower topmast 9 of the first Hooke's hinge by the 3rd revolute pair 10, the upper topmast 8 of the first Hooke's hinge 7 is connected with moving platform 4 one ends by the 4th revolute pair 5,
described four-bar mechanism closed loop subchain is by third connecting rod 21, the 4th connecting rod 17, the 5th connecting rod 25, the 6th connecting rod 27, the second slide block 19, the 3rd slide block 22, the second Hooke's hinge 7 and frame 1 are formed by connecting, third connecting rod 21 1 ends rotate 3 pairs by the 5th and are connected on frame 1, third connecting rod 21 other ends are connected with the first slide block 19 by the first moving sets 20, first slide block 19 other ends are connected with the 4th connecting rod 17 by the 6th revolute pair 18, the 4th connecting rod 17 other ends are connected with the lower topmast 30 of the second Hooke's hinge 28 by the 7th revolute pair 31 with the 5th connecting rod 27 1 ends, the upper topmast 29 of the second Hooke's hinge 28 is connected with moving platform 4 other ends by the 8th revolute pair 6, the 5th connecting rod 27 other ends are connected with the 6th connecting rod 25 by three moving sets 26, the 6th connecting rod 25 is connected with the 3rd slide block 22 1 ends by the 9th revolute pair 24, the 3rd slide block 22 other ends are connected with third connecting rod 21 by the 4th moving sets 23,
Described the first moving sets, the second moving sets, the 4th moving sets, the first revolute pair, the 5th revolute pair rotation are parallel to each other, and the 4th revolute pair, the 8th revolute pair rotation are parallel to each other.
Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, first connecting rod and third connecting rod motion planar can realize the spatial movement of moving platform 4.
Claims (1)
1. a parallel institution that contains prr open loop subchain and pprrp closed loop subchain, comprise executing agency's subchain and a four-bar mechanism closed loop subchain, and its structure and connected mode are:
described executing agency subchain is by first connecting rod, second connecting rod, the first slide block, the first Hooke's hinge, moving platform and frame are formed by connecting, first connecting rod one end is connected on frame by the first revolute pair, the first connecting rod other end is connected with the first slide block by the first moving sets, the first slide block other end is connected with second connecting rod one end by the second revolute pair, the second connecting rod other end is connected with the lower topmast of the first Hooke's hinge by the 3rd revolute pair, the upper topmast of the first Hooke's hinge is connected with moving platform one end by the 4th revolute pair
described four-bar mechanism closed loop subchain is by third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, the second slide block, the 3rd slide block, the second Hooke's hinge and frame are formed by connecting, third connecting rod one end is connected on frame by the 5th revolute pair, the third connecting rod other end is connected with the first slide block by the first moving sets, the first slide block other end is connected with the 4th connecting rod by the 6th revolute pair, the 4th connecting rod other end is connected with the lower topmast of the second Hooke's hinge by the 7th revolute pair with the 5th connecting rod one end, the upper topmast of the second Hooke's hinge is connected with moving platform one end by the 8th revolute pair, the 5th connecting rod other end is connected with seven-link assembly by three moving sets, seven-link assembly is connected with the 3rd slide block one end by the 9th revolute pair, the 3rd slide block other end is connected with third connecting rod by the 4th moving sets,
Described the first moving sets, the second moving sets, the 4th moving sets, the first revolute pair, the 5th revolute pair rotation are parallel to each other, and the 4th revolute pair, the 8th revolute pair rotation are parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220733295 CN203003884U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism with prr open loop sub-chain and pprrp closed loop sub-chain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220733295 CN203003884U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism with prr open loop sub-chain and pprrp closed loop sub-chain |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203003884U true CN203003884U (en) | 2013-06-19 |
Family
ID=48595516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220733295 Withdrawn - After Issue CN203003884U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism with prr open loop sub-chain and pprrp closed loop sub-chain |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203003884U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990656A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing prr open-loop sub-chain and pprpr closed-loop sub-chain |
-
2012
- 2012-12-27 CN CN 201220733295 patent/CN203003884U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990656A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing prr open-loop sub-chain and pprpr closed-loop sub-chain |
| CN102990656B (en) * | 2012-12-27 | 2015-04-01 | 广西大学 | Parallel mechanism containing prr open-loop sub-chain and pprpr closed-loop sub-chain |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102601789A (en) | Three-degree-of-freedom parallel mechanism containing RPRPR closed-loop subchain | |
| CN203003886U (en) | Parallel mechanism provided with prrr kinematic pair open-loop subchain and prrrr kinematic pair closed-loop subchain | |
| CN102601787A (en) | Parallel mechanism capable of spatially three-dimensionally traversing and one-dimensionally circularly rotating | |
| CN203003873U (en) | Parallel mechanism provided with prrrp kinematic pair closed-loop subchain and rprpr kinematic pair closed-loop subchain | |
| CN203003884U (en) | Parallel mechanism with prr open loop sub-chain and pprrp closed loop sub-chain | |
| CN203003875U (en) | Parallel mechanism with prr open loop sub-chain and prrrp closed loop sub-chain | |
| CN203003885U (en) | Parallel mechanism with prr open loop sub-chain and pprpr closed loop sub-chain | |
| CN202556401U (en) | Parallel mechanism containing RRR closed-loop subchain | |
| CN203109938U (en) | Parallel mechanism containing six revolute pairs and two sliding pairs | |
| CN203003883U (en) | Parallel mechanism provided with prr kinematic pair open-loop subchain and pprrr kinematic pair closed-loop subchain | |
| CN203003880U (en) | Parallel mechanism comprising two symmetrical closed-loop subchains | |
| CN102990660A (en) | Parallel mechanism containing prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain | |
| CN202556402U (en) | Parallel mechanism capable of realizing three-dimension translation motion and one-dimension rotation | |
| CN102990657A (en) | Parallel mechanism containing prr open-loop sub-chain and pprpr closed-loop sub-chain | |
| CN203003874U (en) | Parallel mechanism comprising prr open-loop subchain and rrrrr kinematic pair closed-loop subchain | |
| CN203003876U (en) | Parallel mechanism provided with prr kinematic pair open-loop subchain and rprpr kinematic pair closed-loop subchain | |
| CN202556403U (en) | Three degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain | |
| CN202556405U (en) | Six degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain | |
| CN102825600A (en) | Parallel mechanism containing RRRR closed-loop subchain | |
| CN102601785A (en) | Six-degree-of-freedom parallel mechanism with RPRPR closed-loop subchains | |
| CN202556404U (en) | Three degree-of-freedom parallel mechanism containing RRR closed-loop branch chain | |
| CN203003882U (en) | Parallel mechanism with two pprrr closed loop sub-chains | |
| CN203003878U (en) | Parallel mechanism with two identical closed loop sub-chains | |
| CN103223667A (en) | Parallel mechanism containing prr open-loop subchain and prrrp closed-loop subchain | |
| CN203003877U (en) | Kinematic pair combined rprrr-prrrp double closed-loop sub-chain parallel mechanism |
Legal Events
| 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 |
|
| RGAV | Abandon patent right to avoid regrant |