CN208930245U - A kind of space three-freedom connection-in-parallel mechanism of harmonic motion quality - Google Patents
A kind of space three-freedom connection-in-parallel mechanism of harmonic motion quality Download PDFInfo
- Publication number
- CN208930245U CN208930245U CN201821758856.5U CN201821758856U CN208930245U CN 208930245 U CN208930245 U CN 208930245U CN 201821758856 U CN201821758856 U CN 201821758856U CN 208930245 U CN208930245 U CN 208930245U
- Authority
- CN
- China
- Prior art keywords
- branch
- pair
- sliding block
- connecting rod
- rack
- 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.)
- Active
Links
Landscapes
- Transmission Devices (AREA)
Abstract
The utility model relates to a kind of space three-freedom connection-in-parallel mechanisms of harmonic motion quality, including rack, motion platform, the first branch, the second branch, third branch and the 4th branch, motion platform links together through the first branch, the second branch, third branch, the 4th branch and rack, from rack to motion platform, prismatic pair, revolute pair and ball pair is distributed in the first branch in succession；Prismatic pair, Hooke's hinge and revolute pair is distributed in second branch in succession；Prismatic pair, revolute pair and ball pair is distributed in third branch in succession；Prismatic pair, Hooke's hinge and revolute pair is distributed in 4th branch in succession, this parallel institution structure is simple, design is reasonable, have the characteristics that the degree of modularity is high, bearing capacity is strong, moving-mass is low, it can be used as the movement that standalone module realizes two rotation-translation, also the series-parallel machine tool that diversified forms can be realized by concatenating various forms of end effectors suffers from broad application prospect in high speed, accurate and high rigidity manufacture field.
Description
Technical field
The utility model relates to a kind of space three-freedom connection-in-parallel mechanisms of harmonic motion quality.
Background technique
Minority carrier generation lifetime relies on especially with the 3-freedom parallel mechanism of two rotation-translation (2R1T)
Its structure is simple, is compact, easy to realize the advantages that control and manufacturing cost are relatively low, already becomes the one of robot field
Big research hotspot.There are good positioning accuracy, the rigidity of structure, processing performance and kinetics in view of 2R1T parallel institution
Can, a large amount of series parallel robot in five degrees of freedom, which uses this kind of mechanism concatenation, has two-freedom rotary head or two-freedom x-y
The design scheme of movement moving platform, wherein most representative have: the Exechon mechanism that is proposed in patent WO2006054935,
The TriVariant mechanism etc. proposed in the Tricept mechanism that is proposed in patent US4732525, patent CN1524662A.
In these 2R1T parallel institutions, mechanism rigidity and automaticity are low, and mechanism is complex, and moving link number compared with
More, maintenance cost is high, complicated for operation, cumbersome.
Summary of the invention
In view of the deficiencies in the prior art, the technical problem to be solved by the utility model is to provide a kind of harmonic motion quality
Space three-freedom connection-in-parallel mechanism.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is: a kind of space three of harmonic motion quality from
By degree parallel institution, including rack, motion platform, the first branch, the second branch, third branch and the 4th branch, movement is flat
Platform links together through the first branch, the second branch, third branch, the 4th branch and rack, and the first branch is PRS type movement branch
Chain, the second branch are PUR type movement branched chain, and third branch is PRS type movement branched chain, and the 4th branch is PUR type movement branched chain；From
For rack to motion platform, prismatic pair, revolute pair and ball pair is distributed in the first branch in succession；Movement is distributed in second branch in succession
Secondary, Hooke's hinge and revolute pair；Prismatic pair, revolute pair and ball pair is distributed in third branch in succession；Shifting is distributed in 4th branch in succession
Dynamic secondary, Hooke's hinge and revolute pair.
Further, the rack includes bottom plate, and there are two vertical bars for fixed installation on bottom plate, and two vertical bars are through front and back sides
It is connected through two cross bars, two cross bars are connected by a vertical pole, and vertical pole downside is provided with longitudinal rail, vertical bar medial surface
Be vertically arranged with vertical guide, the first branch, third branch prismatic pair be separately connected the vertical guide on the inside of the vertical bar of two sides,
Second branch, the 4th branch prismatic pair be separately connected the longitudinal rail of vertical pole downside.
Further, first branch includes the first sliding block, first connecting rod, the first ball pair, and the first sliding block and first connect
Bar one end hingedly forms the first revolute pair, and the first ball pair is connected with the first connecting rod other end, and the first sliding block is matched with vertical guide
Conjunction forms first movement pair, active movement pair of the first movement pair as mechanism, and the first ball pair is connected with motion platform, composition
PRS type movement branched chain makes to connect by the first revolute pair when first movement sliding block moves in vertical guide with matching
The first connecting rod connect is moved with respect to rack.
Further, second branch includes sequentially connected second sliding block, the first Hooke's hinge, second connecting rod, second
Revolute pair, the second sliding block, second connecting rod are hinged with two connecting pins of the first Hooke's hinge respectively, and the second sliding block and longitudinal rail cooperate
The second prismatic pair, active movement pair of second prismatic pair as mechanism are formed, the second revolute pair is connected with motion platform, composition
PUR type movement branched chain makes to be hinged by the first Hooke when the second sliding block moves on longitudinal rail with matching
Second connecting rod is moved with respect to rack.
Further, the third branch includes third sliding block, third connecting rod, the second ball pair, and third sliding block and third connect
Bar one end hingedly forms third revolute pair, and the second ball pair is connected with the third connecting rod other end, and third sliding block is matched with vertical guide
Conjunction forms third prismatic pair, active movement pair of the third prismatic pair as mechanism, and the second ball pair is connected with motion platform, composition
PRS type movement branched chain makes to connect by third revolute pair when the mobile sliding block of third moves in vertical guide with matching
The third connecting rod connect is moved with respect to rack.
Further, the 4th branch includes sequentially connected Four-slider, the second Hooke's hinge, fourth link, the 4th
Revolute pair, Four-slider, fourth link are hinged with two connecting pins of the second Hooke's hinge respectively, and Four-slider and longitudinal rail cooperate
The 4th prismatic pair, active movement pair of the 4th prismatic pair as mechanism are formed, the 4th revolute pair is connected with motion platform, composition
PUR type movement branched chain makes to be hinged by the second Hooke when Four-slider moves on longitudinal rail with matching
Fourth link is moved with respect to rack.
Compared with prior art, the utility model has the following beneficial effects: structure is simple, design rationally, realizes movement
Platform can realize the movement output of 2R1T Three Degree Of Freedom with respect to rack；With four movement branched chains, the mode of redundant constaint is advantageous
In the raising of mechanism overall stiffness；Have the characteristics that the degree of modularity is high, bearing capacity is strong, moving-mass is low, can be used as solely
Formwork erection block realizes the movement of two rotation-translation, also can realize the mixed of diversified forms by concatenating various forms of end effectors
Online bed suffers from broad application prospect in high speed, accurate and high rigidity manufacture field.
The utility model is described in more detail with reference to the accompanying drawings and detailed description.
Detailed description of the invention
Fig. 1 is the organigram one of the utility model embodiment；
Fig. 2 is the organigram two of the utility model embodiment；
Fig. 3 is the organigram of the first branch in the utility model embodiment；
Fig. 4 is the organigram of the second branch in the utility model embodiment；
Fig. 5 is the organigram of third branch in the utility model embodiment；
Fig. 6 is the organigram of the 4th branch in the utility model embodiment.
In figure:
The first branch of 1-；The first sliding block of 101-；102- first connecting rod；The second branch of 2-；The second sliding block of 201-；202- second
Connecting rod；3- third branch；301- third sliding block；302- third connecting rod；The 4th branch of 4-；401- Four-slider；402- the 4th connects
Bar；5- motion platform；6- rack；601- bottom plate；602- vertical bar；7- vertical guide；8- longitudinal rail；9- vertical pole；P1- first is moved
Dynamic pair；The second prismatic pair of P2-；P3- third prismatic pair；The 4th prismatic pair of P4-；The first revolute pair of R1-；The second revolute pair of R2-；
R3- third revolute pair；The 4th revolute pair of R4-；S1- the first ball pair；S2- the second ball pair；The first Hooke's hinge of U1-；The second tiger of U2-
Gram hinge.
Specific embodiment
In order to make the above-mentioned features and advantages of the utility model more obvious and understandable, special embodiment below, and cooperate attached drawing,
It is described in detail below.
As shown in figures 1 to 6, a kind of space three-freedom connection-in-parallel mechanism of harmonic motion quality, including rack, motion platform,
One branch, the second branch, third branch and the 4th branch, motion platform is through the first branch, the second branch, third branch,
Four branches link together with rack, the first branch, the second branch, third branch, the 4th branch, are separately connected a motion platform left side
Side, front side, right side, rear side, the first branch are PRS type movement branched chain, and the second branch is PUR type movement branched chain, and third branch is
PRS type movement branched chain, the 4th branch are PUR type movement branched chain；From rack to motion platform, movement is distributed in the first branch in succession
Secondary, revolute pair and ball pair；Prismatic pair, Hooke's hinge and revolute pair is distributed in second branch in succession；Shifting is distributed in third branch in succession
Dynamic secondary, revolute pair and ball pair；Prismatic pair, Hooke's hinge and revolute pair is distributed in 4th branch in succession.
In the present embodiment, the rack includes bottom plate, and there are two vertical bars for fixed installation on bottom plate, and two vertical bars are through front and back
The cross bar of side two is connected, and two cross bars are connected by a vertical pole, and vertical pole downside is provided with longitudinal rail, in vertical bar
Side vertical is provided with vertical guide, the first branch, third branch prismatic pair be separately connected it is vertical on the inside of the vertical bar of two sides
Guide rail, the second branch, the 4th branch prismatic pair be separately connected the longitudinal rail of vertical pole downside.
In the present embodiment, first branch includes the first sliding block, first connecting rod, the first ball pair, the first sliding block and the
One connecting rod one end hingedly forms the first revolute pair, and the first ball pair is connected with the first connecting rod other end, the first sliding block with vertically lead
Rail cooperatively forms first movement pair, active movement pair of the first movement pair as mechanism, and the first ball pair is connected with motion platform,
PRS type movement branched chain is formed, when first movement sliding block moves in vertical guide with matching, is made through the first rotation
The first connecting rod of pair connection is moved with respect to rack.
In the present embodiment, second branch include sequentially connected second sliding block, the first Hooke's hinge, second connecting rod,
Second revolute pair, the second sliding block, second connecting rod are hinged with two connecting pins of the first Hooke's hinge respectively, the second sliding block and longitudinal rail
The second prismatic pair, active movement pair of second prismatic pair as mechanism are cooperatively formed, the second revolute pair is connected with motion platform,
PUR type movement branched chain is formed, when the second sliding block moves on longitudinal rail with matching, makes to be hinged by the first Hooke
The second connecting rod connect is moved with respect to rack.
In the present embodiment, the third branch includes third sliding block, third connecting rod, the second ball pair, third sliding block and
Three-link one end hingedly forms third revolute pair, and the second ball pair is connected with the third connecting rod other end, third sliding block with vertically lead
Rail cooperatively forms third prismatic pair, active movement pair of the third prismatic pair as mechanism, and the second ball pair is connected with motion platform,
PRS type movement branched chain is formed, when the mobile sliding block of third moves in vertical guide with matching, makes to rotate by third
The third connecting rod of pair connection is moved with respect to rack.
In the present embodiment, the 4th branch include sequentially connected Four-slider, the second Hooke's hinge, fourth link,
4th revolute pair, Four-slider, fourth link are hinged with two connecting pins of the second Hooke's hinge respectively, Four-slider and longitudinal rail
The 4th prismatic pair, active movement pair of the 4th prismatic pair as mechanism are cooperatively formed, the 4th revolute pair is connected with motion platform,
PUR type movement branched chain is formed, when Four-slider moves on longitudinal rail with matching, makes to be hinged by the second Hooke
The fourth link connect is moved with respect to rack.
According to parallel institution movement mechanism, according to parallel institution movement mechanism, in the first branch, the second branch, third branch
(i.e. in first movement pair, the second prismatic pair, third prismatic pair, the 4th under each prismatic pair collective effect on chain, the 4th branch
Under the collective effect of prismatic pair) uniquely determine one pose of motion platform, thus realize motion platform relative to rack two rotation with
The movement of one translation.
The utility model is not limited to above-mentioned preferred forms, anyone can obtain under the enlightenment of the utility model
Other various forms of a kind of space three-freedom connection-in-parallel mechanisms of harmonic motion quality out.It is all according to present utility model application patent model
Done equivalent changes and modifications are enclosed, the covering scope of the utility model should be all belonged to.
Claims (6)
1. a kind of space three-freedom connection-in-parallel mechanism of harmonic motion quality, it is characterised in that: including rack, motion platform, first
Branch, the second branch, third branch and the 4th branch, motion platform is through the first branch, the second branch, third branch, the 4th
Branch links together with rack, and the first branch is PRS type movement branched chain, and the second branch is PUR type movement branched chain, third branch
For PRS type movement branched chain, the 4th branch is PUR type movement branched chain；From rack to motion platform, shifting is distributed in the first branch in succession
Dynamic secondary, revolute pair and ball pair；Prismatic pair, Hooke's hinge and revolute pair is distributed in second branch in succession；Third branch is distributed in succession
Prismatic pair, revolute pair and ball pair；Prismatic pair, Hooke's hinge and revolute pair is distributed in 4th branch in succession.
2. a kind of space three-freedom connection-in-parallel mechanism of harmonic motion quality according to claim 1, it is characterised in that: described
Rack includes bottom plate, is fixedly mounted on bottom plate there are two vertical bar, and two vertical bars are connected through front and back sides through two cross bars, and two
It is connected in the middle part of cross bar by a vertical pole, vertical pole downside is provided with longitudinal rail, and vertical bar medial surface, which is vertically arranged with, vertically leads
Rail, the first branch, third branch prismatic pair be separately connected the vertical guide on the inside of the vertical bar of two sides, the second branch, the 4th
The prismatic pair of chain is separately connected the longitudinal rail of vertical pole downside.
3. a kind of space three-freedom connection-in-parallel mechanism of harmonic motion quality according to claim 2, it is characterised in that: described
First branch includes the first sliding block, first connecting rod, the first ball pair, and the first sliding block and first connecting rod one end hingedly form the first rotation
Pair, the first ball pair are connected with the first connecting rod other end, and the first sliding block and vertical guide cooperatively form first movement pair, and first moves
The dynamic secondary active movement pair as mechanism, the first ball pair are connected with motion platform, form PRS type movement branched chain, when the first shifting
Movable slider sends out the first connecting rod connected by the first revolute pair with respect to rack when moving in vertical guide with matching
Raw movement.
4. a kind of space three-freedom connection-in-parallel mechanism of harmonic motion quality according to claim 2, it is characterised in that: described
Second branch includes sequentially connected second sliding block, the first Hooke's hinge, second connecting rod, the second revolute pair, and the second sliding block, second connect
Bar is hinged with two connecting pins of the first Hooke's hinge respectively, and the second sliding block and longitudinal rail cooperatively form the second prismatic pair, and second moves
The dynamic secondary active movement pair as mechanism, the second revolute pair are connected with motion platform, PUR type movement branched chain are formed, when second
Sliding block occurs that the second connecting rod being hinged by the first Hooke with respect to rack when moving on longitudinal rail with matching
Movement.
5. a kind of space three-freedom connection-in-parallel mechanism of harmonic motion quality according to claim 2, it is characterised in that: described
Third branch includes third sliding block, third connecting rod, the second ball pair, and third sliding block and third connecting rod one end hingedly form third rotation
Pair, the second ball pair are connected with the third connecting rod other end, and third sliding block and vertical guide cooperatively form third prismatic pair, and third is moved
The dynamic secondary active movement pair as mechanism, the second ball pair are connected with motion platform, form PRS type movement branched chain, when third is moved
Movable slider sends out the third connecting rod connected by third revolute pair with respect to rack when moving in vertical guide with matching
Raw movement.
6. a kind of space three-freedom connection-in-parallel mechanism of harmonic motion quality according to claim 2, it is characterised in that: described
4th branch includes sequentially connected Four-slider, the second Hooke's hinge, fourth link, the 4th revolute pair, and Four-slider, the 4th connect
Bar is hinged with two connecting pins of the second Hooke's hinge respectively, and Four-slider and longitudinal rail cooperatively form the 4th prismatic pair, and the 4th moves
The dynamic secondary active movement pair as mechanism, the 4th revolute pair are connected with motion platform, PUR type movement branched chain are formed, when the 4th
Sliding block occurs that the fourth link being hinged by the second Hooke with respect to rack when moving on longitudinal rail with matching
Movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821758856.5U CN208930245U (en) | 2018-10-29 | 2018-10-29 | A kind of space three-freedom connection-in-parallel mechanism of harmonic motion quality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821758856.5U CN208930245U (en) | 2018-10-29 | 2018-10-29 | A kind of space three-freedom connection-in-parallel mechanism of harmonic motion quality |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208930245U true CN208930245U (en) | 2019-06-04 |
Family
ID=66726301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821758856.5U Active CN208930245U (en) | 2018-10-29 | 2018-10-29 | A kind of space three-freedom connection-in-parallel mechanism of harmonic motion quality |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208930245U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109108950A (en) * | 2018-10-29 | 2019-01-01 | 福州大学 | A kind of space three-freedom connection-in-parallel mechanism and application method of harmonic motion quality |
-
2018
- 2018-10-29 CN CN201821758856.5U patent/CN208930245U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109108950A (en) * | 2018-10-29 | 2019-01-01 | 福州大学 | A kind of space three-freedom connection-in-parallel mechanism and application method of harmonic motion quality |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101161428B (en) | Plane parallel mechanism with constrained branched chain and its extended mechanical hand | |
| CN102615514B (en) | Two-degree-of-plane-freedom redundant drive parallel mechanism and machine tool with same | |
| CN104972455B (en) | There is the series-parallel robot of redundant drive based on plane parallel mechanism | |
| CN105364913B (en) | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism | |
| CN100579719C (en) | Multi-axes synchronous hybrid device | |
| CN207915458U (en) | A kind of novel four axis swing arm manipulator | |
| CN103273329B (en) | Five-axis numerical control machine tool | |
| CN106346446B (en) | A kind of double acting platform parallel robot mechanism of the big working space of four-degree-of-freedom | |
| CN102528525A (en) | Elevated gantry-type series-parallel configuration machine tool with six degrees of freedom | |
| CN201761089U (en) | Transmission device for multistation pressing machine | |
| CN108608383B (en) | Low-space six-freedom-degree series-parallel attitude adjusting device | |
| CN205201513U (en) | Five degree of freedom series -parallel connection robots based on 2R1T parallel mechanism | |
| CN112518721B (en) | Four-degree-of-freedom complete decoupling compound drive parallel mechanism | |
| CN105643600A (en) | Three-translation and one-rotation parallel robot mechanism of low-coupling-degree three-kinematic-pair movable platform | |
| CN103753355A (en) | Multi-axis linkage device capable of realizing five-surface machining | |
| CN208930245U (en) | A kind of space three-freedom connection-in-parallel mechanism of harmonic motion quality | |
| CN109108950A (en) | A kind of space three-freedom connection-in-parallel mechanism and application method of harmonic motion quality | |
| CN107336219A (en) | A kind of parallel institution that there are two movements three to rotate five degree of freedom | |
| CN101347903A (en) | Series-multiple connection type flat lower-mobility virtual axis machine tool | |
| CN107825417A (en) | A kind of five axle series-parallel robots being made up of four-freedom hybrid mechanism | |
| CN101493307B (en) | Parallel type five-coordinate measuring machine mechanism | |
| CN103753235A (en) | Multi-axis linkage based on modules in parallel | |
| CN210997491U (en) | Redundant drive AB type high-speed machining series-parallel five-axis machine tool | |
| CN112621716B (en) | Parallel mechanism containing multiple sliding rails and composite branched chains | |
| CN105563461A (en) | (2T1R) & (1T1R) five-degree-of-freedom decoupling hybrid mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |