CN206899230U - A kind of sphere parallel mechanism - Google Patents
A kind of sphere parallel mechanism Download PDFInfo
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- CN206899230U CN206899230U CN201720725656.9U CN201720725656U CN206899230U CN 206899230 U CN206899230 U CN 206899230U CN 201720725656 U CN201720725656 U CN 201720725656U CN 206899230 U CN206899230 U CN 206899230U
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- moving platform
- revolute pair
- movement branched
- connecting rod
- revolute
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Abstract
A kind of sphere parallel mechanism, including support and moving platform, are provided with least two groups of movement branched chains between support and moving platform, one group of movement branched chain includes two drive connecting rods and two follower links；In same group of movement branched chain, two drive connecting rods are rotatablely connected by support revolute pair and support respectively, one drive connecting rod is corresponding to be rotatablely connected by the way that a link rotatable is secondary with a follower link, two follower links are rotatablely connected by exporting revolute pair, the tie point of two follower links is output reference point, and the output reference point is rotatablely connected by moving platform revolute pair and moving platform；Support revolute pair, link rotatable are secondary, export revolute pair and the axis of moving platform revolute pair is intersected in same point.The utility model load capacity is strong, and positioning precision is high, and working space is big, and whole mechanism does not have motor to be placed on moving component, simple and light.
Description
Technical field
It the utility model is related to a kind of sphere parallel mechanism.
Background technology
Spherical five-bar mechanisms are a kind of two-freedom mechanisms, and it is joined end to end by five rod members by five revolute pairs, and
And the axis of all revolute pairs intersects at a bit（That is center of rotation）, the output reference point of mechanism have two translations globally from
By spending.Compared with the four-bar mechanism of single-degree-of-freedom, it can complete more complicated movement locus, and with simple in construction, motion
Flexibly, the advantages that easily controllable.
Parallel institution is that moving platform is connected with silent flatform by least two independent kinematic chains, has two or two
The free degree above, and a kind of close loop mechanism driven with parallel way.Compared with serial manipulator, parallel robot have with
Lower advantage：Accumulated error is small, precision is higher；Drive device can be placed in the position on fixed platform or close to fixed platform, motion parts
In light weight, speed is high, and dynamic response is good；Compact-sized, rigidity is high, large carrying capacity.Therefore, parallel robot is firm to equipment
The applications that degree, movement velocity, positioning precision or load-carrying require higher are relatively broad.Wherein, sphere parallel mechanism is important
One of parallel institution, at present in the Practical Project field such as Satellite Tracking hunting gear, numerical control turntable, electronics dexterity eye
Through obtaining certain application.
But due to being limited by Singularity, the turning power of parallel institution moving platform is often all smaller, even
Relatively simple plane parallel mechanism, the slewing area that can reach in theory are also no more than 180 °, actually can be smaller；It is unusual
Position shape also affect moving platform motion flexibility because close to Singularity when moving platform load transmission efficiency rapidly under
Drop；In addition, bearing capacity is also poor when the movement branched chain of mechanism is less, so as to influence the service behaviour of moving platform.
Redundantly actuated parallel mechanism is the parallel institution that input link number is more than output link number of degrees of freedom, and some are in parallel
Mechanism can cross over Singularity by increasing redundant drive side chain come assistance platform, so as to obtain bigger turning power, but it is superfluous
Remaining driving can cause Planar Mechanisms to produce internal force, mechanism is faced the control problem of complexity；Some parallel institution is then
Selection increases redundant drive in some side chains, but which results in the appearance of mixed structure, so as to change original parallel institution
Load transmission characteristic.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of sphere parallel mechanism, and load capacity is strong, positioning precision
Height, working space is big, and installation drive mechanism is not had on moving platform, simple and light.
In order to solve the above-mentioned technical problem, the utility model takes following technical scheme：
A kind of sphere parallel mechanism, including support and moving platform, at least two groups of fortune are provided between the support and moving platform
Dynamic side chain, one group of movement branched chain include two drive connecting rods and two follower links；
In same group of movement branched chain, two drive connecting rods are rotatablely connected by support revolute pair and support respectively, a master
Dynamic connecting rod is corresponding to be rotatablely connected by the way that a link rotatable is secondary with a follower link, and two follower links are by exporting revolute pair
Rotation connection, the tie point of two follower links is output reference point, and the output reference point is by moving platform revolute pair with moving
Platform is rotatablely connected；
The quantity of movement branched chain is equal to N, N >=2；
Support revolute pair, link rotatable are secondary, export revolute pair and the axis of moving platform revolute pair is intersected in same point.
The moving platform comprises at least two connecting rods.
As a kind of scheme, the moving platform is made up of 2 connecting rods, is rotated between 2 connecting rods by connecting rod
Pair rotation connection, two groups of movement branched chains form two output reference points, and this two output reference points are rotated by moving platform respectively
Secondary to be rotatablely connected with connecting rod, the moving platform revolute pair and connecting rod revolute pair are misaligned.
Alternatively, the moving platform is enclosed by four connecting rods by the head and the tail rotation connection of connecting rod revolute pair
Formed, two groups of movement branched chains are rotatablely connected by two moving platform revolute pairs and moving platform, wherein two moving platform revolute pairs
It is corresponding to be overlapped with symmetrical two connecting rod revolute pairs on the moving platform.
Alternatively scheme, the moving platform are enclosed by six roots of sensation connecting rod by the head and the tail rotation connection of connecting rod revolute pair
Close and formed, three groups of movement branched chains are rotatablely connected by three moving platform revolute pairs and moving platform, and wherein three moving platforms rotate
Pair is corresponding to be overlapped with three connecting rod revolute pairs on the moving platform.
The utility model crosses over Singularity so as to obtain bigger rotation energy by increasing movement branched chain, auxiliary moving platform
Power, and increase actually available working space, while the rigidity of mechanism is improved, so as to improve its load capacity and kinematic accuracy,
Improve its service behaviour.
The motion of two groups of movement branched chains is relative decoupling, so that its kinematics characteristic is simpler.Easily controllable,
Demarcation；Also enable its moving platform part to carry a variety of different types of mechanisms simultaneously, while complete multinomial different work,
So as to expand its application.
Furthermore it is possible to moving platform re-configurability can be converted into globally normal direction shifting by increasing by one on moving platform
Dynamic end effector, avoid that extra motor is installed on moving platform.Or moving platform is directly used as using re-configurability
End effector, realize the operation such as crawl.
Brief description of the drawings
Accompanying drawing 1 is structural representation of the present utility model；
Accompanying drawing 2 is dimensional structure diagram of the present utility model；
Accompanying drawing 3 is motion schematic diagram of the present utility model；
Accompanying drawing 4 is that platform of the present utility model reconstructs schematic diagram；
The schematic diagram that accompanying drawing 5 reconstructs for the concurrent life platform of motion of the present utility model；
Accompanying drawing 6 is that the utility model drives the end effector structural representation that globally normal direction moves；
Accompanying drawing 7 is that the utility model drives the end effector local process schematic diagram that globally normal direction moves；
Accompanying drawing 8 is process schematic of the utility model directly as end effector clamping workpiece；
Accompanying drawing 9 is process schematic of the utility model directly as end effector clamping workpiece；
Accompanying drawing 10 is process schematic of the utility model directly as end effector clamping workpiece；
Accompanying drawing 11 is process schematic of the utility model directly as end effector clamping workpiece；
Accompanying drawing 12 is process schematic of the utility model directly as end effector clamping workpiece；
Accompanying drawing 13 is the schematic diagram that the utility model only carries a moving platform；
Accompanying drawing 14 is the schematic diagram that the utility model carries multiple moving platforms；
Accompanying drawing 15 is the schematic diagram that the utility model carries a variety of different moving platforms；
Accompanying drawing 16 is the structural representation of five degree of freedom sphere parallel mechanism in the utility model.
Embodiment
For the ease of the understanding of those skilled in the art, the utility model will be further described below in conjunction with the accompanying drawings.
As shown in figure 1 and 2, the utility model discloses a kind of sphere parallel mechanism, including support 1 and moving platform 2, institute
State and at least two groups of movement branched chains are provided between support 1 and moving platform 2, one group of movement branched chain includes two drive connecting rods 51 and two
Follower link 52；In same group of movement branched chain, two drive connecting rods 51 are rotatablely connected by support revolute pair 6 and support 1 respectively,
One drive connecting rod 51 is corresponding to be rotatablely connected by a link rotatable pair 53 with a follower link 52, and two follower links are led to
Cross output revolute pair 4 to be rotatablely connected, the tie point of two follower links is output reference point, i.e. the output reference point is located in
Export in revolute pair 4, the output reference point is rotatablely connected by moving platform revolute pair and moving platform.Drive connecting rod is by the external world
Driving force and act, moving follower link by link rotatable subband is rotated, and power is transferred into output reference point, then is passed through and exported ginseng
Examination point is transferred force on moving platform, so that moving platform moves.Drive connecting rod and follower link are curved.
The quantity of movement branched chain is equal to N, NN >=2.
Support revolute pair, link rotatable are secondary, export revolute pair and the axis of moving platform revolute pair is intersected in same point, so as to
The motion that ensure that moving platform is completed on sphere.
In addition, moving platform can be formed according to being actually needed to be combined by the connecting rod of at least two.
As shown in Figure 13, institute's moving platform is made up of 2 connecting rods, passes through connecting rod revolute pair between 2 connecting rods
Rotation connection, two groups of movement branched chains form two output reference points, and this two output reference points pass through moving platform revolute pair respectively
It is rotatablely connected with connecting rod.
As shown in accompanying drawing 1~12, now moving platform is enclosed by four connecting rods by the head and the tail rotation connection of connecting rod revolute pair
Close and formed, two groups of movement branched chains are rotatablely connected by two moving platform revolute pairs and moving platform, and wherein two moving platforms rotate
Pair is corresponding to be overlapped with symmetrical two connecting rod revolute pairs on the moving platform.
As shown in Figure 4, moving platform can utilize the free degree of original system redundancy that itself is reconstructed, and each connecting rod is entered
The certain rotation of row, the visible accompanying drawing 4 of its quality reconstruction figure.When accompanying drawing 5 is moving platform proper motion, while position, corner occurs
The schematic diagram changed with moving platform, the action of two groups of movement branched chains, transmits the force to moving platform so that the position of moving platform, phase
The corner of adjacent two connecting rods all changes.
In addition, can install an end effector on moving platform, as seen in figs. 6 and 7, the end effector can pass through
It is threadably received in moving platform revolute pair.The connecting rod B of end effector A and moving platform is cooperatively formed by screw thread
Screw pair, prismatic pair is formed with the connecting rod C of moving platform；When moving platform reconstructs, moving platform is driven to move by movement branched chain
Make, connecting rod B relatively rotates with respect to connecting rod C, and transmits motion to end effector A by screw thread engagement, and last
Prismatic pair between the actuator A and connecting rod C of end again limits end effector A rotation, therefore end effector A can only
The axis common along end effector A, connecting rod B and connecting rod C three, i.e. sphere normal direction make translation.Pass through this
Process, the reconstitution movement of moving platform is converted into the translation of end effector A globally normal direction, it is possible thereby to avoid in moving platform
Upper installation motor, so as to the inertia of reducing mechanism moving component.Moving platform can also be directly used as end using the re-configurability
Actuator is held, realizes the operation such as crawl.
As shown in accompanying drawing 8~12, directly using moving platform as end effector, using the moving platform clamping workpiece, pass through
Two groups of movement branched chains drive moving platform to realize the purpose that clamping workpiece acts.
In the structure of the moving platform being made up of four connecting rods disclosed in accompanying drawing 1~12, movement branched chain is two groups, should
The motion of two groups of movement branched chains is relative decoupling, so that moving platform can carry a variety of different types of mechanisms simultaneously,
Different work can be completed simultaneously, so as to expand its application.As shown in figure 1 and 2, only carrying one is dynamic flat
Platform.As shown in figures 14 and 15, moving platform is made up of more connecting rods.
As shown in Figure 16, the moving platform encloses shape by six roots of sensation connecting rod by the head and the tail rotation connection of connecting rod revolute pair
Into, now it is rotatablely connected with three groups of movement branched chains, three groups of movement branched chains by three moving platform revolute pairs and moving platform, wherein
Three moving platform revolute pairs are corresponding to be overlapped with three connecting rod revolute pairs on the moving platform.
In the utility model, the connecting rod parameter of the mechanism of each movement branched chain and moving platform carrying, and driving actively connect
The latitude of the motor arrangement of bar motion, whether it is uniform etc. be not particularly limited, space and load that can be as needed will
Ask to be adjusted, to reach different movement effects.
It should be noted that described above mainly open up so that movement branched chain quantity is the sphere parallel mechanism of two as an example
Show, it is described above be not to restriction of the present utility model, with it is above-mentioned be same class mechanism, and any same type is spherical surface parallel connected
Mechanism, within the scope of protection of the utility model.
Claims (5)
1. a kind of sphere parallel mechanism, including support and moving platform, it is characterised in that be provided with extremely between the support and moving platform
Few two groups of movement branched chains, one group of movement branched chain include two drive connecting rods and two follower links；
In same group of movement branched chain, two drive connecting rods are rotatablely connected by support revolute pair and support respectively, and an active connects
Bar is corresponding to be rotatablely connected by the way that a link rotatable is secondary with a follower link, and two follower links are rotated by exporting revolute pair
Connection, the tie point of two follower links is output reference point, and the output reference point passes through moving platform revolute pair and moving platform
Rotation connection；
The quantity of movement branched chain is equal to N, N >=2；
Support revolute pair, link rotatable are secondary, export revolute pair and the axis of moving platform revolute pair is intersected in same point.
2. sphere parallel mechanism according to claim 1, it is characterised in that the moving platform comprises at least two connections
Bar.
3. sphere parallel mechanism according to claim 2, it is characterised in that the moving platform is made up of 2 connecting rods, should
It is rotatablely connected between 2 connecting rods by connecting rod revolute pair, two groups of movement branched chains form two output reference points, and this two defeated
Go out reference point to be rotatablely connected by moving platform revolute pair and connecting rod respectively, the moving platform revolute pair does not weigh with connecting rod revolute pair
Close.
4. sphere parallel mechanism according to claim 2, it is characterised in that the moving platform passes through company by four connecting rods
The head and the tail rotation connection of extension bar revolute pair is enclosed to be formed, and two groups of movement branched chains are rotated by two moving platform revolute pairs and moving platform to be connected
Connect, wherein two moving platform revolute pairs are corresponding overlaps with symmetrical two connecting rod revolute pairs on the moving platform.
5. sphere parallel mechanism according to claim 2, it is characterised in that the moving platform passes through company by six roots of sensation connecting rod
The head and the tail rotation connection of extension bar revolute pair is enclosed to be formed, and three groups of movement branched chains are rotated by three moving platform revolute pairs and moving platform to be connected
Connect, wherein three moving platform revolute pairs are corresponding overlaps with three connecting rod revolute pairs on the moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720725656.9U CN206899230U (en) | 2017-06-21 | 2017-06-21 | A kind of sphere parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720725656.9U CN206899230U (en) | 2017-06-21 | 2017-06-21 | A kind of sphere parallel mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN206899230U true CN206899230U (en) | 2018-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720725656.9U Withdrawn - After Issue CN206899230U (en) | 2017-06-21 | 2017-06-21 | A kind of sphere parallel mechanism |
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| CN (1) | CN206899230U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139164A (en) * | 2017-06-21 | 2017-09-08 | 东莞爱创机器人科技有限公司 | A kind of sphere parallel mechanism |
-
2017
- 2017-06-21 CN CN201720725656.9U patent/CN206899230U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139164A (en) * | 2017-06-21 | 2017-09-08 | 东莞爱创机器人科技有限公司 | A kind of sphere parallel mechanism |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180119 Effective date of abandoning: 20230310 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180119 Effective date of abandoning: 20230310 |