CN208744817U - There are two types of the four-freedom parallel mechanisms of motor pattern for a kind of tool - Google Patents
There are two types of the four-freedom parallel mechanisms of motor pattern for a kind of tool Download PDFInfo
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- CN208744817U CN208744817U CN201821121707.8U CN201821121707U CN208744817U CN 208744817 U CN208744817 U CN 208744817U CN 201821121707 U CN201821121707 U CN 201821121707U CN 208744817 U CN208744817 U CN 208744817U
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Abstract
There are two types of the four-freedom parallel mechanisms of motor pattern for a kind of tool disclosed by the utility model, including rectangle moving platform B1B2B3B4 and rectangle fixed platform A1A2A3A4, fixed platform A1A2A3A4 passes through the first branch, the second branch, third branch and the 4th branch respectively and connect with moving platform B1B2B3B4, and the junction of the first branch, the second branch, third branch and the 4th branch and moving platform B1B2B3B4 are denoted as B1, B2, B3 and B4 respectively.Parallel institution disclosed by the utility model has two different four-degree-of-freedom motor patterns, in the motor pattern of 3R1T or 2R2T, 4 drivings are only needed to can be achieved with the control to the mechanism, with less driving pair, two different motor patterns may be implemented, the application range of the mechanism is increased, the manufacturing cost of the mechanism is reduced.
Description
Technical field
The utility model belongs to robot field, is related to a kind of four-freedom parallel mechanism of tool there are two types of motor pattern.
Background technique
Parallel robot mechanism is the polycyclic whilst closed forms of space multiple degrees of freedom.Since last century the eighties, parallel machine
Structure because its have the characteristics that rigidity height, large carrying capacity, accumulated error are small, dynamic characteristic is good, it is compact-sized due in imaginary axis machine
The industry fields such as bed, inching operation platform, motion simulator and multi-dimension force sensor are widely applied.Parallel institution have 2,
3,4,5 or 6 freedom degrees, currently, the research to 6 freedom degree parallel connection mechanisms more and is goed deep into comprehensively, but parallel institution is free
The reduction of degree will be so that mechanism structure be more simple, manufacture and control advantage of lower cost, therefore is meeting expected job requirement
In the case of, Limited-DOF Parallel Robot has its unique advantage, and the parallel robot accuracy of lower-mobility it is relatively low,
Dexterity is relatively weak.
Utility model content
The utility model aim is to provide a kind of four-freedom parallel mechanism of tool there are two types of motor pattern, solves existing
The problem that parallel institution accuracy is relatively low, dexterity is relatively weak.The mechanism of the utility model has rigidity height, accuracy
High and strong dexterity feature.
The utility model the technical scheme adopted is that a kind of tool there are two types of motor pattern four-freedom parallel mechanism,
Pass through the first branch, respectively including rectangle moving platform B1B2B3B4 and rectangle fixed platform A1A2A3A4, fixed platform A1A2A3A4
Two branches, third branch and the 4th branch are connect with moving platform B1B2B3B4, the first branch, the second branch, third branch and
The junction of four branches and moving platform B1B2B3B4 are denoted as B1, B2, B3 and B4 respectively, and the first branch is included in fixed platform
The universal hinge installed at the A1 of A1A2A3A4, universal to be hinged revolute pair R11 and revolute pair R12, universal hinge is sequentially connected first
Connecting rod, prismatic pair P13, second connecting rod, second connecting rod in universal hinge by being connected at the universal B1 point for being hinged and connected to moving platform
Driving motor is provided on the revolute pair R15 and revolute pair R14 of two axis intersection, prismatic pair P13.
Other features of the utility model also reside in,
Second branch includes the prismatic pair P21 connecting with the A2 of fixed platform A1A2A3A4 point, and prismatic pair P21 connection third connects
Bar, third connecting rod are connect by flexural pivot S22 with fourth link, and fourth link is connected to moving platform by prismatic pair P23
At the B2 point of B1B2B3B4, driving motor is provided on prismatic pair P21 and prismatic pair P23.
Third branch includes that ball secondary S31, ball secondary the S31 connection the 5th being connected at the A3 point of fixed platform A1A2A3A4 connects
Bar, the 5th connecting rod are connected to moving platform B1B2B3B4 by ball secondary S33 by prismatic pair P32 connection six-bar linkage, six-bar linkage
B3 point at, be provided with driving motor on prismatic pair P32.
4th branch includes the ball secondary S43 being connected at the A4 point of fixed platform A1A2A3A4, and ball secondary S43 connection the 7th connects
Bar, seven-link assembly are connected to moving platform B1B2B3B4 by ball secondary S44 by the 8th connecting rod of prismatic pair P42 connection, the 8th connecting rod
B4 point at, be provided with driving motor on prismatic pair P42.
The utility model has the beneficial effects that a kind of tool is solved there are two types of the four-freedom parallel mechanism of motor pattern
The problem that existing parallel institution accuracy is relatively low, dexterity is relatively weak.The device of the utility model has rigidity high, smart
The feature that exactness is high and dexterity is strong.The device has two different four-degree-of-freedom motor patterns, 3R1T's or 2R2T
In motor pattern, it is only necessary to which 4 drive the control that can be achieved with to the mechanism to may be implemented two kinds not with less driving pair
Same motor pattern, increases the application range of the mechanism, reduces the manufacturing cost of the mechanism.
Detailed description of the invention
Fig. 1 be the utility model a kind of tool there are two types of motor pattern four-freedom parallel mechanism structural schematic diagram；
Fig. 2 be the utility model a kind of tool there are two types of motor pattern four-freedom parallel mechanism be in 2R2T move mould
Structural schematic diagram under formula；
Fig. 3 be the utility model a kind of tool there are two types of motor pattern four-freedom parallel mechanism be in 3R1T move mould
Structural schematic diagram under formula.
In figure, 1. first connecting rods, 2. second connecting rods, 3. third connecting rods, 4. fourth links, 5. the 5th connecting rods, 6. the 6th connect
Bar, 7. seven-link assemblies, 7. the 8th connecting rods, 9. fixed platforms, 10. moving platforms.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
There are two types of the four-freedom parallel mechanisms of motor pattern for a kind of tool of the utility model, as shown in Figure 1, including rectangle
Moving platform B1B2B3B410 and rectangle fixed platform A1A2A3A49, fixed platform A1A2A3A49 pass through the first branch, second respectively
Chain, third branch and the 4th branch are connect with moving platform B1B2B3B410, the first branch, the second branch, third branch and the 4th
The junction of branch and moving platform B1B2B3B410 are denoted as B1, B2, B3 and B4 respectively.
First branch include at the A1 of fixed platform A1A2A3A4 install universal hinge, it is universal be hinged revolute pair R11 and
Revolute pair R12, revolute pair R11 are fixedly connected at A1 point, and the shaft axis of revolute pair R11 is parallel with Y-axis, revolute pair
The shaft axis of R12 and the axis of revolute pair R11 intersect at A1 point, and universal hinge is sequentially connected first connecting rod 1, prismatic pair P13, the
Two connecting rods 2, second connecting rod 2 is by the way that at the universal B1 point for being hinged and connected to moving platform, there are two shaft axis phases for connection in universal hinge
The revolute pair R15 and revolute pair R14 of friendship.
Second branch includes the prismatic pair P21 connecting with the A2 of fixed platform A1A2A3A4 point, prismatic pair P21 connection third
Connecting rod 3, third connecting rod 3 are connect by flexural pivot S22 with fourth link 4, and fourth link 4 is connected to moving platform by prismatic pair P23
At the B2 point of B1B2B3B4.
Third branch includes the 5th connecting rod of ball secondary S31, ball secondary S31 connection being connected at the A3 point of fixed platform A1A2A3A4
5, the 5th connecting rod 5 is connected to moving platform by ball secondary S33 by prismatic pair P32 connection six-bar linkage 6, six-bar linkage 6
At the B3 point of B1B2B3B4.
4th branch includes the ball secondary S43 being connected at the A4 point of fixed platform A1A2A3A4, ball secondary S43 connection seven-link assembly
7, seven-link assembly 7 is connected to moving platform by ball secondary S44 by the 8th connecting rod 8 of prismatic pair P42 connection, the 8th connecting rod 8
At the B4 point of B1B2B3B4.
There are two types of the four-freedom parallel mechanisms of motor pattern for a kind of tool of the utility model, under position shape as shown in Figure 1,
Mechanism has 3R2T motor pattern at this time, which has instantaneity, and moving platform has 3 rotational freedoms and along Y, Z
2 one-movement-freedom-degrees of axis direction.The 5 mobile drivings controlled in 4 branches are secondary, so that mechanism reaches difference in Fig. 2, Fig. 3
The mechanism position shape of motor pattern；
Moving platform 10 is moved along the prismatic pair P23 for being parallel to branch 2, obtains the shape of mechanism position shown in Fig. 2, mechanism has at this time
2R2T motor pattern, moving platform have around 2 rotational freedoms for being parallel to the rotation of two shafts of R11 and R12, and along Y, Z axis
The mobile one-movement-freedom-degree of mobile 2；
Transformation position shape in mechanism 3R1T motor pattern Yu 2R2T motor pattern, under the shape of mechanism position shown in Fig. 1, fixed platform
9 around ball secondary S22, after the shaft axis rotation that the revolute pair R15 in the universal hinge at moving platform B1 point is connected along the first branch,
The shape of mechanism position shown in Fig. 3 is obtained, mechanism has 3R1T motor pattern at this time, and moving platform 10 can do 3 freedom degrees around ball secondary S22
Rotation, can move along Y-axis one degree of freedom；In the case where mechanism is in mechanism position shape shown in Fig. 1,5 in 4 branches are controlled
A prismatic pair, so that mechanism reaches the mechanism position shape of different motion mode in Fig. 2, Fig. 3.
It is secondary as driving that driving motor is set on the prismatic pair P13 in the first branch, two movements in the second branch
It is secondary as driving that driving motor is set on secondary P21, P23；Mobile driving secondary P23 in second branch is that the mobile driving of auxiliary is secondary,
Only work under the position shape of the mechanism kinematic mode conversion；The prismatic pair in prismatic pair P32 and the 4th branch in third branch
Mobile driving motor is set on P42.
When moving platform 10 moves finite displacement along Z axis forward direction, mechanism is located at mechanism position shape shown in Fig. 2, and mechanism has at this time
2R2T motor pattern, moving platform can be moved along Y, Z axis, can control the first branch along rotating in parallel with X-axis, the shaft of Y-axis
Prismatic pair P12, third branch prismatic pair P32 and the 4th branch in prismatic pair P42, control the second branch in connect fixed platform
Prismatic pair P21, the control of mechanism under 2R2T motor pattern may be implemented.
When mechanism is under mechanism position shape shown in Fig. 3, the prismatic pair P12 in the first branch, the shifting in third branch are controlled
Prismatic pair P42 in dynamic secondary P32 and the 4th branch, the prismatic pair P21 for controlling connection fixed platform in the second branch may be implemented
The control of mechanism under 3R1T motor pattern.
Claims (4)
1. there are two types of the four-freedom parallel mechanisms of motor pattern for a kind of tool, which is characterized in that including rectangle moving platform
B1B2B3B4 (10) and rectangle fixed platform A1A2A3A4 (9), the fixed platform A1A2A3A4 (9) pass through the first branch, the respectively
Two branches, third branch and the 4th branch are connect with the moving platform B1B2B3B4 (10), first branch, the second branch,
The junction of third branch and the 4th branch and the moving platform B1B2B3B4 (10) is denoted as B1, B2, B3 and B4 respectively, and described the
One branch include at the A1 of the fixed platform A1A2A3A4 install universal hinge, it is described it is universal be hinged revolute pair R11 and turn
Dynamic secondary R12, the universal hinge are sequentially connected first connecting rod (1), prismatic pair P13, second connecting rod (2), and the second connecting rod (2) is logical
Cross at the universal B1 point for being hinged and connected to the moving platform, in the universal hinge connect there are two axis intersection revolute pair R15 and
Driving motor is provided on revolute pair R14, the prismatic pair P13.
2. there are two types of the four-freedom parallel mechanisms of motor pattern for a kind of tool as described in claim 1, which is characterized in that described
Second branch includes the prismatic pair P21 connecting with the A2 point of the fixed platform A1A2A3A4, and the prismatic pair P21 connection third connects
Bar (3), the third connecting rod (3) are connect by flexural pivot S22 with fourth link (4), and the fourth link (4) passes through prismatic pair
P23 is connected at the B2 point of the moving platform B1B2B3B4 (10), the prismatic pair P21 and be provided on prismatic pair P23
Driving motor.
3. there are two types of the four-freedom parallel mechanisms of motor pattern for a kind of tool as described in claim 1, which is characterized in that described
Third branch includes the ball secondary S31 being connected at the A3 point of the fixed platform A1A2A3A4 (9), the ball secondary S31 connection the 5th
Connecting rod (5), the 5th connecting rod (5) pass through ball pair by prismatic pair P32 connection six-bar linkage (6), the six-bar linkage (6)
S33 is connected at the B3 point of the moving platform B1B2B3B4 (10), is provided with driving motor on the prismatic pair P32.
4. there are two types of the four-freedom parallel mechanisms of motor pattern for a kind of tool as described in claim 1, which is characterized in that described
4th branch includes the ball secondary S43 being connected at the A4 point of the fixed platform A1A2A3A4 (9), the ball secondary S43 connection the 7th
Connecting rod (7), the seven-link assembly (7) pass through ball pair by the 8th connecting rod (8) of prismatic pair P42 connection, the 8th connecting rod (8)
S44 is connected at the B4 point of the moving platform B1B2B3B4 (10), is provided with driving motor on the prismatic pair P42.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821121707.8U CN208744817U (en) | 2018-07-16 | 2018-07-16 | There are two types of the four-freedom parallel mechanisms of motor pattern for a kind of tool |
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|---|---|---|---|
| CN201821121707.8U CN208744817U (en) | 2018-07-16 | 2018-07-16 | There are two types of the four-freedom parallel mechanisms of motor pattern for a kind of tool |
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| CN208744817U true CN208744817U (en) | 2019-04-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664857A (en) * | 2021-10-15 | 2021-11-19 | 辽宁工程技术大学 | Three-rotation one-translation four-freedom-degree parallel robot |
-
2018
- 2018-07-16 CN CN201821121707.8U patent/CN208744817U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664857A (en) * | 2021-10-15 | 2021-11-19 | 辽宁工程技术大学 | Three-rotation one-translation four-freedom-degree parallel robot |
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