CN203109938U - Parallel mechanism containing six revolute pairs and two sliding pairs - Google Patents
Parallel mechanism containing six revolute pairs and two sliding pairs Download PDFInfo
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- CN203109938U CN203109938U CN 201220731194 CN201220731194U CN203109938U CN 203109938 U CN203109938 U CN 203109938U CN 201220731194 CN201220731194 CN 201220731194 CN 201220731194 U CN201220731194 U CN 201220731194U CN 203109938 U CN203109938 U CN 203109938U
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- connecting rod
- revolute pair
- hooke
- subchain
- hinge
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Abstract
The utility model relates to a parallel mechanism containing six revolute pairs and two sliding pairs. The parallel mechanism comprises an opened loop subchain, a five-bar mechanism closed loop subchain and an actuating mechanism subchain. The opened loop subchain can control a first hooke joint to move; the five-bar mechanism closed loop subchain can control a second hooke joint to move; and the movement of the first hooke joint and the second hooke joint can realize space motion of a moving platform. According to the parallel mechanism containing the six revolute pairs and the two sliding pairs, the movement of the two hooke joints in space can be controlled through the opened loop subchain and the closed loop subchain, so that the space motion of the moving platform is realized, the parallel mechanism has the advantages of compact structure and simplicity in control, the mechanism motion inertia is small, and the dynamical property is good.
Description
Technical field
The utility model relates to the robot field, particularly a kind of parallel institution that contains the closed loop subchain.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: no accumulated error, and precision is higher; Drive unit can place on the fixed platform or near the position of fixed platform, motion parts is in light weight like this, the speed height, and dynamic response is good; Compact conformation, the rigidity height, bearing capacity is big.Because parallel institution itself is with regard to more complicated, if closed loop is contained again in branch, its mechanism will be more complicated, so in general, parallel institution symmetry, that 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 have only a driving lever to be connected in the driving that is cemented on the frame, like this multiple freedom parallel mechanism moves with regard to the mode that needs many side chains or take a plurality of driving levers of series connection on the side chain for realizing it, and the parallel institution complex structure of many side chains control difficulty, a plurality of driving levers of series connection can influence the exercise performance of parallel institution on the side chain.
Summary of the invention
The purpose of this utility model is to provide a kind of parallel institution that contains the closed loop subchain, solves the shortcoming of the parallel institution complex structure control difficulty of many side chains.
The utility model achieves the above object by the following technical programs: a kind of parallel institution that contains six revolute pairs and two moving sets comprises open loop subchain, five-rod closed loop subchain and executing agency's subchain.
Described open loop subchain is formed by connecting by first connecting rod, first slide block and first column, first column links to each other with frame by first revolute pair, first slide block is connected on first column by first moving sets, and first connecting rod one end is connected with first slide block by second revolute pair
Described five-rod closed loop subchain is by second connecting rod, third connecting rod, the first craspedodrome bar, the 4th connecting rod and second column are formed by connecting, second column links to each other with frame by the 3rd revolute pair, second connecting rod one end is connected on second column by the 4th revolute pair, the second connecting rod other end is connected with third connecting rod by the 5th revolute pair, the third connecting rod other end is connected with the first craspedodrome bar by the 6th revolute pair, the first craspedodrome bar other end is connected with the 4th connecting rod by second moving sets, the 4th connecting rod other end is connected with second column by the 7th revolute pair
Described executing agency subchain by first Hooke's hinge, second Hooke's hinge, and moving platform be formed by connecting, first Hooke's hinge is connected with first connecting rod by the 8th revolute pair, first Hooke's hinge is connected with moving platform by the 9th revolute pair, second Hooke's hinge is connected with the first craspedodrome bar by the 6th revolute pair, second Hooke's hinge is connected with moving platform by the tenth revolute pair, and first Hooke's hinge, second Hooke's hinge can realize that in the motion of separately space moving platform is in the motion in space.
Outstanding advantage of the present utility model is:
1, passes through the motion of closed loop subchain and open loop subchain controlling organization;
2, syndeton is simple, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, by at moving platform the end effector of various different purposes being installed, this mechanism may be used in the work such as extracting, carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is a kind of first structural representation that contains the parallel institution of six revolute pairs and two moving sets described in the utility model.
Fig. 2 is a kind of second structural representation that contains the parallel institution of six revolute pairs and two moving sets described in the utility model.
Fig. 3 is a kind of the 3rd structural representation that contains the parallel institution of six revolute pairs and two moving sets described in the utility model.
Fig. 4 is a kind of the 4th structural representation that contains the parallel institution of six revolute pairs and two moving sets 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 and Fig. 4, a kind of parallel institution that contains six revolute pairs and two moving sets comprises open loop subchain, five-rod closed loop subchain and executing agency's subchain.
Described open loop subchain is formed by connecting by first connecting rod 7, first slide block 5 and first column 3, first column 3 links to each other with frame 1 by first revolute pair 2, first slide block 5 is connected on first column 3 by first moving sets 4, and first connecting rod 7 one ends are connected with first slide block 5 by second revolute pair 6
Described five-rod closed loop subchain is by second connecting rod 14, third connecting rod 16, the first craspedodrome bar 18, the 4th connecting rod 20 and second column 12 are formed by connecting, second column 12 links to each other with frame 1 by the 3rd revolute pair 11, second connecting rod 14 1 ends are connected on second column 12 by the 4th revolute pair 13, second connecting rod 14 other ends are connected with third connecting rod 16 by the 5th revolute pair 15, third connecting rod 16 other ends are connected with the first craspedodrome bar 18 by the 6th revolute pair 17, the first craspedodrome bar, 18 other ends are connected with the 4th connecting rod 20 by second moving sets 19, the 4th connecting rod 20 other ends are connected with second column 12 by the 7th revolute pair 21
Described executing agency subchain by first Hooke's hinge 9, second Hooke's hinge 22, and moving platform 24 be formed by connecting, first Hooke's hinge is connected with first connecting rod 7 by the 8th revolute pair 8, first Hooke's hinge 9 is connected with moving platform 24 by the 9th revolute pair 10, second Hooke's hinge 22 is connected with the first craspedodrome bar 18 by the 6th revolute pair 17, second Hooke's hinge 22 is connected with moving platform 24 by the tenth revolute pair 23, and first Hooke's hinge 9, second Hooke's hinge 22 can be realized the motion in the space of moving platform in the motion of separately space.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, first Hooke's hinge 9, second Hooke's hinge 22 can realize the motion in the space of moving platform 24 in the motion of separately space.
Claims (1)
1. a parallel institution that contains six revolute pairs and two moving sets comprises open loop subchain, five-rod closed loop subchain and executing agency's subchain, and its structure and connected mode are:
Described open loop subchain is formed by connecting by first connecting rod, first slide block and first column, first column links to each other with frame by first revolute pair, first slide block is connected on first column by first moving sets, and first connecting rod one end is connected with first slide block by second revolute pair
Described five-rod closed loop subchain is by second connecting rod, third connecting rod, the first craspedodrome bar, the 4th connecting rod and second column are formed by connecting, second column links to each other with frame by the 3rd revolute pair, second connecting rod one end is connected on second column by the 4th revolute pair, the second connecting rod other end is connected with third connecting rod by the 5th revolute pair, the third connecting rod other end is connected with the first craspedodrome bar by the 6th revolute pair, the first craspedodrome bar other end is connected with the 4th connecting rod by second moving sets, the 4th connecting rod other end is connected with second column by the 7th revolute pair
Described executing agency subchain by first Hooke's hinge, second Hooke's hinge, and moving platform be formed by connecting, first Hooke's hinge is connected with first connecting rod by the 8th revolute pair, first Hooke's hinge is connected with moving platform by the 9th revolute pair, second Hooke's hinge is connected with the first craspedodrome bar by the 6th revolute pair, and 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 201220731194 CN203109938U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing six revolute pairs and two sliding pairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220731194 CN203109938U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing six revolute pairs and two sliding pairs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203109938U true CN203109938U (en) | 2013-08-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220731194 Expired - Fee Related CN203109938U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing six revolute pairs and two sliding pairs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203109938U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990649A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing prr kinematic pair open-loop sub-chain and rrrpr kinematic pair closed-loop sub-chain |
| CN104551469A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Method for carrying out welding construction by using rotary rocker arm type connection rod mechanism |
-
2012
- 2012-12-27 CN CN 201220731194 patent/CN203109938U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990649A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing prr kinematic pair open-loop sub-chain and rrrpr kinematic pair closed-loop sub-chain |
| CN102990649B (en) * | 2012-12-27 | 2015-08-26 | 广西大学 | A kind of parallel institution containing prr kinematic pair open loop subchain and rrrpr kinematic pair closed-loop subchain |
| CN104551469A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Method for carrying out welding construction by using rotary rocker arm type connection rod mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130807 Termination date: 20151227 |
|
| EXPY | Termination of patent right or utility model |