CN207606839U - A kind of slide block type multistage coupling parallel institution - Google Patents
A kind of slide block type multistage coupling parallel institution Download PDFInfo
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- CN207606839U CN207606839U CN201721852145.XU CN201721852145U CN207606839U CN 207606839 U CN207606839 U CN 207606839U CN 201721852145 U CN201721852145 U CN 201721852145U CN 207606839 U CN207606839 U CN 207606839U
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Abstract
A kind of slide block type multistage coupling parallel institution, it includes fixed platform, moving platform, three to be uniformly distributed along the circumference the branch for coupling platform and being separately connected fixed platform, coupling platform, moving platform, the first driving lever wherein connected in three branches of fixed platform and coupling platform is connect with one end of fixed platform and the first follower lever, the other end of first follower lever is connect with the lower surface of coupling platform, and first connecting rod is connect with the lower surface at the middle part of the first follower lever and the sliding block being located on coupling platform；The second driving lever in three branches of connection coupling platform and moving platform is connect with coupling platform upper surface and second follower lever one end, the other end of second follower lever and the lower surface of moving platform connect, and second connecting rod is connect with the upper surface at the middle part of the second driving lever and above-mentioned sliding block.The utility model increases the magnification of single or multistage coupling parallel institution, and increases working space, reduces the quantity of driving unit, is conducive to the control in work, improves the rigidity of mechanism.
Description
Technical field
The utility model belongs to robotic technology field, more particularly to a kind of parallel institution.
Background technology
Although parallel institution has many advantages, such as that rigidity is big, precision is high, dynamic property is good, due to dry by kinematic pair, branch
It relates to, the unusual influence in space so that this smaller general character disadvantage of parallel institution working space constrains the application water of parallel institution
It is flat.Many scholars attempt to carry out simple concatenated method, the i.e. side of series-parallel connection by common platform using between multiple parallel institutions
Method, it is intended that solve the problems, such as not only to retain parallel institution advantage simultaneously but also can overcome the disadvantages that working space deficiency.This mode is in theory
Really the effect having clear improvement to the working space of parallel institution, but since this connection type needs to put down in every level-one parallel connection
Platform installs power unit so that needs to undertake other than following dead weight at different levels per level-one mechanism, also needs to undertake these mechanism power
The weight of unit has highlighted the drawbacks of increasing step by step similar to each joint of serial mechanism, has integrally increased the volume of mechanism, practical
Property needs further to be confirmed.Therefore such mechanism is not common in engineer application.In addition, the space of parallel institution is also
It is limited by the working space of kinematic pair itself, the working space such as ball pair is extremely limited so that mechanism in practical application
Working space Distance Theory working space and prodigious gap.
Through the literature search of existing technologies, Patent No. CN20170155118.5, title：One kind being based on RSR structures
The Chinese patent of the modularized bionic snake-shaped robot of type parallel institution, which discloses, a kind of connecting multiple RSR parallel institutions
Hybrid mechanism.End effector has the superposition of two one moving movements of rotation relative to fixed platform, and motion mode is various, length
It is adjustable, the features such as body thickness can be changed.However, most hybrid mechanisms all exist subordinate be driven into higher level drive load to
The problem of greatly reducing mechanism dynamic characteristic, while higher level's driving volume is increased again, after plural serial stage, structure becomes very
It is too fat to move, lose practical meaning.Moreover, with the increase of joint in parallel number in hybrid mechanism, the positive and negative solution difficulty of kinematics is got over
Come it is bigger, driving also become very difficult.
Invention content
To solve the problems, such as that parallel institution working space is insufficient, rear stage mechanism is driven into previous stage in hybrid mechanism
Bulky disadvantage caused by the load of mechanism driving, and multistage hybrid mechanism are limited to the positive and negative solution difficulty of kinematics and cause
The more difficult problem of practical control, the utility model provides a kind of slide block type multistage and couples parallel institution.
The utility model includes fixed platform, moving platform, couples platform and be separately connected fixed platform, coupling platform, move and put down
Three to be uniformly distributed along the circumference the branch of platform, there are two types of connection types：
The first connection type：
It includes the first driving lever, the first ball bowl, first to connect fixed platform branch identical with coupling three structures of platform
Follower lever and first connecting rod, wherein one end of the first driving lever is connect by revolute pair with fixed platform, first driving lever it is another
One end is equipped with the first ball bowl for being connected by revolute pair, and is connect with one end of the first follower lever by spherical pair, this first from
The other end of lever is connect by revolute pair with the lower surface of coupling platform, is coupled and is set on platform there are three uniformly distributed sliding slot, sliding
Sliding block is equipped in slot, one end of first connecting rod is connect by revolute pair with the middle part of the first follower lever, the first connecting rod it is another
One end is connected by the lower surface of revolute pair and sliding block；
The identical branch of three structures of connection coupling platform and moving platform includes the second driving lever, the second ball bowl, second
Follower lever and second connecting rod, wherein one end of the second driving lever is connect by revolute pair with coupling platform upper surface, second actively
The other end of bar is equipped with the second ball bowl connected by revolute pair, and is connect with one end of the second follower lever by spherical pair, should
The other end of second follower lever is connected by the lower surface of revolute pair and moving platform, and one end of second connecting rod passes through revolute pair and the
The middle part of two driving levers connects, and the other end of the second connecting rod is connect by revolute pair with the upper surface of above-mentioned sliding block；
The moving platform of previous stage mechanism couples platform with the fixed platform of rear stage mechanism to be same, is propped up in adjacent two-step mechanism
The arrangement of chain phase is identical, and the follower lever of previous stage mechanism is symmetrically total to slider-crank with the driving lever of rear stage mechanism by described
Slide block mechanism coupled drive；With this coupled modes, parallel institution can couple parallel connection with any number of stages and go down；Mechanism has two turns
Move the multi-stage superimposed of an one-movement-freedom-degree；
Second of connection type：
In three branches for connecting fixed platform, coupling platform and moving platform, there is that two-strip structure is identical, component and connection side
Formula is identical as the branch of the first connection type, and one end of the first driving lever in another branch passes through revolute pair and fixed platform
Connection, the other end are connect by revolute pair with one end of the first follower lever, and the other end of first follower lever passes through revolute pair
It is connect with the lower surface of coupling platform, one end of first connecting rod is connect by revolute pair with the middle part of the first follower lever, this first
The other end of connecting rod is connect by revolute pair with the lower surface for being located at sliding block in sliding slot；One end of second driving lever with couple platform
Upper surface connects, and the other end of the second driving lever is equipped with and is connect with one end of the second follower lever by revolute pair, this is second driven
The other end of bar is connected by the lower surface of revolute pair and moving platform, and one end of second connecting rod passes through revolute pair and the second driving lever
Middle part connection, the other end of the second connecting rod connect by revolute pair with the upper surface of above-mentioned sliding block；
The moving platform of previous stage mechanism couples platform with the fixed platform of rear stage mechanism to be same, is propped up in adjacent two-step mechanism
The arrangement of chain phase is identical, and the follower lever of previous stage mechanism is symmetrically total to slider-crank with the driving lever of rear stage mechanism by described
Slide block mechanism coupled drive；With this coupled modes, parallel institution can couple parallel connection with any number of stages and go down；Mechanism has one turn
Move the multi-stage superimposed of an one-movement-freedom-degree.
The utility model has the following advantages that compared with prior art：
1, increased about the coupling symmetrical coupled motions relationship of platform by adjacent two-stage parallel connection mechanism same-phase branch, made
It obtains previous stage mechanism output angle and quantitatively passes to rear stage mechanism as input angle, according to the method in the inter-agency increasing of plural parallel stage
Add identical coupled motions relationship so that movement is driven step by step, and working space amplifies step by step, passes through certain series parallel institution
Coupling, you can realize the effect of similar series connection mechanical arm.
2, by increasing isolated degree of freedom to branch hammer pair, the magnification of single or multistage coupling parallel institution is increased；
Since there are coupled relations between mechanism, the quantity of driving unit is greatly reduced, and eliminate the fiber crops in terms of many wirings
It is tired；When parallel institution sizes at different levels are identical, the positive and negative solution of kinematics becomes extremely simple, is advantageous to the control of engineering in practice
Work processed.Simultaneously by increasing slider-crank mechanism, the rigidity of mechanism is improved.
Description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the utility model embodiment 1.
Fig. 2 is 1 deflection state schematic diagram of the utility model embodiment.
Fig. 3 is 1 contraction state schematic diagram of the utility model embodiment.
Fig. 4 is the three-dimensional simplified schematic diagram of the utility model embodiment 2.
Fig. 5 is 2 deflection state schematic diagram of the utility model embodiment.
Fig. 6 is 2 contraction state schematic diagram of the utility model embodiment.
In figure：1. fixed platform, 2. coupling platforms, 3. moving platforms, 4. first driving levers, 5. first ball bowls, 6. first driven
Bar, 7. first connecting rods, 8. sliding blocks, 9. second driving levers, 10. second ball bowls, 11. second follower levers, 12. second connecting rods.
Specific implementation mode
Embodiment 1
In Fig. 1, Fig. 2, slide block type multistage shown in Fig. 3 coupling parallel institution schematic diagram, connection fixed platform 1 and coupling are flat
One end of the first driving lever 4 in the identical branch of three structures of platform 2 is connect by revolute pair with fixed platform, first active
The other end of bar is equipped with the first ball bowl 5 connected by revolute pair, and is connect with one end of the first follower lever 6 by spherical pair,
The other end of first follower lever is connect by revolute pair with the lower surface of coupling platform, is coupled uniformly distributed there are three being set on platform
Sliding slot is equipped with sliding block 8 in sliding slot, and one end of first connecting rod 7 is connect by revolute pair with the middle part of the first follower lever, this first
The other end of connecting rod is connected by the lower surface of revolute pair and sliding block；
One end of the second driving lever 9 in the identical branch of three structures of connection coupling platform and moving platform 3 is by turning
Dynamic pair is connect with coupling platform upper surface, and the other end of the second driving lever is equipped with the second ball bowl 10 connected by revolute pair, and
It is connect with one end of the second follower lever 11 by spherical pair, the other end of second follower lever passes through under revolute pair and moving platform
Surface connects, and one end of second connecting rod 12 is connect by revolute pair with the middle part of the second driving lever, the other end of the second connecting rod
It is connect with the upper surface of above-mentioned sliding block by revolute pair；
The pivot center of the revolute pair of connected ball bowl passes through the spherical pair centre of gyration, connects the first driving lever and fixed platform
The axis co-planar of three revolute pairs of the axis co-planar of three revolute pairs, the first follower lever of connection and coupling platform, connection second
The axis co-planar of three revolute pairs of driving lever and coupling platform, connects the axis of three revolute pairs of the second follower lever and moving platform
Line is coplanar.
The moving platform of previous stage mechanism couples platform with the fixed platform of rear stage mechanism to be same, is propped up in adjacent two-step mechanism
The arrangement of chain phase is identical, and the follower lever of previous stage mechanism is symmetrically total to slider-crank with the driving lever of rear stage mechanism by described
Slide block mechanism coupled drive；With this coupled modes, parallel institution can couple parallel connection with any number of stages and go down；Mechanism has two turns
Move the multi-stage superimposed of an one-movement-freedom-degree.
Embodiment 2
As shown in Figure 4, Figure 5 and Figure 6, in three branches for connecting fixed platform 1, coupling platform 2 and moving platform 3, there are two
Structure is identical, and component and connection type are identical as the connection type of the branch of embodiment 1, and first in another branch is actively
One end of bar 4 is connect by revolute pair with fixed platform, and the other end is connect by revolute pair with one end of the first follower lever 6, should
The other end of first follower lever is connect by revolute pair with the lower surface of coupling platform, and one end of first connecting rod 7 passes through revolute pair
It is connect with the middle part of the first follower lever, the other end of the first connecting rod passes through revolute pair and the lower surface for being located at sliding block 8 in sliding slot
Connection；One end of second driving lever 9 connect with coupling platform upper surface, the other end of the second driving lever be equipped with through revolute pair and
One end of second follower lever 11 connects, and the other end of second follower lever is connected by the lower surface of revolute pair and moving platform, the
One end of two connecting rods 12 is connect by revolute pair with the middle part of the second driving lever, the other end of the second connecting rod by revolute pair with
The upper surface of above-mentioned sliding block connects；
Connect the axis co-planar of three revolute pairs of the first driving lever and fixed platform, the first follower lever of connection and coupling platform
Three revolute pairs axis co-planar, the second driving lever of connection and couple platform three revolute pairs axis co-planar, connection the
The axis co-planar of three revolute pairs of two follower levers and moving platform.
The moving platform of previous stage mechanism couples platform with the fixed platform of rear stage mechanism to be same, is propped up in adjacent two-step mechanism
The arrangement of chain phase is identical, and the follower lever of previous stage mechanism is symmetrically total to slider-crank with the driving lever of rear stage mechanism by described
Slide block mechanism coupled drive；With this coupled modes, parallel institution can couple parallel connection with any number of stages and go down；Mechanism has one turn
Move the multi-stage superimposed of an one-movement-freedom-degree.
Claims (2)
1. a kind of slide block type multistage couples parallel institution comprising fixed platform, moving platform, coupling platform and being separately connected allocate
Three to be uniformly distributed along the circumference the branch of platform, coupling platform, moving platform, it is characterised in that：Connect the three of fixed platform and coupling platform
The identical branch of structure includes the first driving lever, the first ball bowl, the first follower lever and first connecting rod, wherein the first driving lever
One end is connect by revolute pair with fixed platform, and the other end of first driving lever is equipped with the first ball bowl connected by revolute pair,
And connect with one end of the first follower lever by spherical pair, the other end of first follower lever by revolute pair with couple platform
Lower surface connects, and couples uniformly distributed sliding slot there are three being set on platform, sliding block is equipped in sliding slot, one end of first connecting rod is by turning
Dynamic pair is connect with the middle part of the first follower lever, and the other end of the first connecting rod is connected by the lower surface of revolute pair and sliding block；
The identical branch of three structures of connection coupling platform and moving platform includes the second driving lever, the second ball bowl, second driven
Bar and second connecting rod, wherein one end of the second driving lever is connect by revolute pair with coupling platform upper surface, the second driving lever
The other end is equipped with the second ball bowl connected by revolute pair, and is connect with one end of the second follower lever by spherical pair, this second
The other end of follower lever is connected by the lower surface of revolute pair and moving platform, and one end of second connecting rod passes through revolute pair and the second master
The middle part of lever connects, and the other end of the second connecting rod is connect by revolute pair with the upper surface of above-mentioned sliding block；
The moving platform of previous stage mechanism and the fixed platform of rear stage mechanism be it is same couple platform, branch phase in adjacent two-step mechanism
Position arrangement is identical, and the follower lever of previous stage mechanism is symmetrically total to slider-crank sliding block with the driving lever of rear stage mechanism by described
Mechanism coupled drive；With this coupled modes, parallel institution can couple parallel connection with any number of stages and go down；Mechanism has two rotations one
One-movement-freedom-degree it is multi-stage superimposed.
2. slide block type multistage according to claim 1 couples parallel institution, it is characterised in that：Connect fixed platform, coupling is put down
In three branches of platform and moving platform, there is one end of the first driving lever in a branch to be connect with fixed platform by revolute pair,
Its other end is connect by revolute pair with one end of the first follower lever, the other end of first follower lever by revolute pair with couple
The lower surface of platform connects, and one end of first connecting rod is connect by revolute pair with the middle part of the first follower lever, the first connecting rod
The other end is connect by revolute pair with the lower surface for being located at sliding block in sliding slot；One end of second driving lever with couple platform upper surface
Connection, the other end of the second driving lever are equipped with and are connect with one end of the second follower lever by revolute pair, second follower lever it is another
One end is connected by the lower surface of revolute pair and moving platform, the middle part that one end of second connecting rod passes through revolute pair and the second driving lever
Connection, the other end of the second connecting rod are connect by revolute pair with the upper surface of above-mentioned sliding block；
The moving platform of previous stage mechanism and the fixed platform of rear stage mechanism be it is same couple platform, branch phase in adjacent two-step mechanism
Position arrangement is identical, and the follower lever of previous stage mechanism is symmetrically total to slider-crank sliding block with the driving lever of rear stage mechanism by described
Mechanism coupled drive；With this coupled modes, parallel institution can couple parallel connection with any number of stages and go down；Mechanism has a rotation one
One-movement-freedom-degree it is multi-stage superimposed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721852145.XU CN207606839U (en) | 2017-12-26 | 2017-12-26 | A kind of slide block type multistage coupling parallel institution |
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| CN201721852145.XU CN207606839U (en) | 2017-12-26 | 2017-12-26 | A kind of slide block type multistage coupling parallel institution |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932487A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of multistage coupling parallel institution of slide block type |
| CN114288027A (en) * | 2021-12-31 | 2022-04-08 | 北京工业大学 | RCM platform applied to minimally invasive surgery |
-
2017
- 2017-12-26 CN CN201721852145.XU patent/CN207606839U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932487A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of multistage coupling parallel institution of slide block type |
| CN114288027A (en) * | 2021-12-31 | 2022-04-08 | 北京工业大学 | RCM platform applied to minimally invasive surgery |
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Granted publication date: 20180713 Termination date: 20181226 |