CN208992698U - A kind of parallel institution rotating Three Degree Of Freedom - Google Patents
A kind of parallel institution rotating Three Degree Of Freedom Download PDFInfo
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- CN208992698U CN208992698U CN201821373632.2U CN201821373632U CN208992698U CN 208992698 U CN208992698 U CN 208992698U CN 201821373632 U CN201821373632 U CN 201821373632U CN 208992698 U CN208992698 U CN 208992698U
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- revolute pair
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Abstract
A kind of parallel institution rotating Three Degree Of Freedom disclosed by the utility model, moving platform and fixed platform including being in cube-corner platform shape, moving platform passes through three branches respectively and connect with fixed platform, the structure snd size of three branches are identical, every branch includes the parallelogram four-bar mechanism being connected with fixed platform, flat quadrangle four-bar mechanism is also connected with revolute pair R15, revolute pair R16 and revolute pair R17 in turn, and revolute pair R17 is connect with moving platform.A kind of parallel institution rotating Three Degree Of Freedom disclosed by the utility model, has rotation three degree of freedom, the center of rotation of moving platform is the intersection point for being connected to moving platform upper shaft.The load-bearing rigidity of moving platform is big, can be based on equipment such as the design movement simulation of this mechanism, athletic rehabilitations.
Description
Technical field
The utility model belongs to robotic technology field, is related to a kind of parallel institution for rotating Three Degree Of Freedom.
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 freedom degree is more,
The cost for then manufacturing and controlling is also relatively high, and is difficult to control, and manufacturing and installation process is complicated.Thus, parallel institution is certainly
Will be so that mechanism structure be more simple by the reduction spent, manufacture and control cost are relatively low, therefore are wanted meeting expected work
In the case where asking, Limited-DOF Parallel Robot has its unique advantage.
Utility model content
It is certain using virtual rotation center the purpose of the utility model is to provide a kind of parallel institution for rotating Three Degree Of Freedom
It solves the problems, such as the mounting arrangements of existing parallel institution in degree, there is the spy that load-bearing rigidity is big, accuracy is high and dexterity is strong
Point.
The utility model the technical scheme adopted is that it is a kind of rotate Three Degree Of Freedom parallel institution, including be in cube
The moving platform and fixed platform of angle platform shape, moving platform pass through three branches respectively and connect with fixed platform, the structure of three branches and
Size is identical, and every branch includes the parallelogram four-bar mechanism being connected with fixed platform, four bar machine of parallelogram
Structure is also connected with revolute pair R15, revolute pair R16 and revolute pair R17 in turn, and revolute pair R17 is connect with moving platform.
Other features of the utility model also reside in,
Moving platform includes B1, B2 and B3, and B1, B2 and B3 are located at three three axis for being mutually perpendicular to and intersecting at a point
On line, which is the vertex Jiao Tai, and for moving platform around the angle platform vertex movements, fixed platform includes A1, A2 and A3, and A1, A2 and A3 divide
It Wei Yu not be on three three axis for being mutually perpendicular to and intersecting at a point.
The shaft axis of three revolute pair R17 is mutually perpendicular to two-by-two, and intersects at the vertex Jiao Tai of moving platform.
Parallelogram four-bar mechanism includes being fixed on the revolute pair R11 and revolute pair R12 being parallel to each other on fixed platform, is turned
Dynamic secondary R11 is connected by connecting rod with revolute pair R14, and revolute pair R12 passes through connecting rod and is connected with revolute pair R13, revolute pair R13 and turn
Dynamic secondary R14 is connected by connecting rod, and shaft axis and the revolute pair R14 shaft axis of revolute pair R13 is parallel to each other.
It is also connected with revolute pair R15 on one end of the connecting rod of revolute pair R13 and revolute pair R14, revolute pair R15 and passes through company
Bar is connected with revolute pair R16, and revolute pair R16 is connected by connecting rod with revolute pair R17.
Revolute pair R15 and revolute pair R14 are coplanar, the shaft axis and parallelogram four-bar mechanism of revolute pair R16
Rotation direction axis it is vertical, and revolute pair R16 shaft axis crosses the vertex Jiao Tai of moving platform.
The shaft axis of revolute pair R11 in three branches is mutually perpendicular to.
The utility model has the beneficial effects that a kind of parallel institution for rotating Three Degree Of Freedom, uses virtual rotation center one
The mounting arrangements for solving the problems, such as existing parallel institution in degree are determined, with load-bearing rigidity is big, accuracy is high and dexterity is strong
Feature.With three degree of freedom, the center of rotation of moving platform is the intersection point for being connected to moving platform upper shaft, has three branches,
The load-bearing rigidity of moving platform is big, can be based on equipment such as the design movement simulation of this mechanism, athletic rehabilitations.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the parallel institution of rotation Three Degree Of Freedom of the utility model.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
The parallel institution of a kind of rotation Three Degree Of Freedom of the utility model, as shown in Figure 1, including is in cube-corner platform shape
Moving platform and fixed platform, moving platform passes through three branches respectively and connect with fixed platform, and the structure snd size of three branches are complete
Identical, every branch includes the parallelogram four-bar mechanism being connected with fixed platform, and parallelogram four-bar mechanism is also successively
It is connected with revolute pair R15, revolute pair R16 and revolute pair R17, revolute pair R17 is connect with moving platform.
Moving platform includes B1, B2 and B3, and B1, B2 and B3 are located at three three axis for being mutually perpendicular to and intersecting at a point
On line, which is the vertex Jiao Tai, and for moving platform around the angle platform vertex movements, fixed platform includes A1, A2 and A3, and A1, A2 and A3 divide
It Wei Yu not be on three three axis for being mutually perpendicular to and intersecting at a point.
The shaft axis of revolute pair R17 in three branches is mutually perpendicular to two-by-two, and intersects at the vertex Jiao Tai of moving platform.
Parallelogram four-bar mechanism includes being fixed on the revolute pair R11 and revolute pair R12 being parallel to each other on fixed platform, is turned
Dynamic secondary R11 is connected by connecting rod with revolute pair R14, and revolute pair R12 passes through connecting rod and is connected with revolute pair R13, revolute pair R13 and turn
Dynamic secondary R14 is connected by connecting rod, and shaft axis and the revolute pair R14 shaft axis of revolute pair R13 is parallel to each other.
It is also connected with revolute pair R15 on one end of the connecting rod of revolute pair R13 and revolute pair R14, revolute pair R15 and passes through company
Bar is connected with revolute pair R16, and revolute pair R16 is connected by connecting rod with revolute pair R17.
Revolute pair R15 and revolute pair R14, revolute pair R13 are coplanar, the axis and parallelogram four of revolute pair R16
The axis of the rotation direction of linkage is vertical, and revolute pair R16 shaft axis crosses the vertex Jiao Tai of moving platform.
Revolute pair R15, revolute pair R16 and the shaft axis of revolute pair R17 are mutually perpendicular to two-by-two.
Revolute pair R11 in three branches is connected with driving motor, and the shaft axis of three revolute pair R11 mutually hangs down
Directly.
A kind of parallel institution of rotation Three Degree Of Freedom of the utility model, under the shape of mechanism position shown in Fig. 1, A1 and B2 are along Y
Axis axis, A2 and B3 are along Z axis axis, A3 and B1 along X-axis axis, the intersection point of three, the place A1, A2 and A3 axis and the vertex Jiao Tai
It is overlapped.Revolute pair R16 shaft axis crosses the shaft axis of revolute pair R11 and R12, and revolute pair R17 and revolute pair R16 intersects at dynamic
The coordinate origin O of platform B1B2B3, revolute pair R17 and revolute pair R16, the shaft axis of revolute pair R15 is vertical two-by-two, turns
The shaft axis of dynamic secondary R17 intersects with revolute pair R15 pivot center, and the coordinate system of moving platform and the coordinate system of fixed platform are completely heavy
It closes.
A kind of course of work of the parallel institution of rotation Three Degree Of Freedom of the utility model starts driving motor, band turn
Dynamic secondary R11 is rotated, and revolute pair R15, R16, R17 rotation in three branches, the posture of final moving platform 1 change；It is dynamic flat
The load-bearing rigidity of platform 1 is big, and 3 attitude parameters for using 3 revolute pair R11 to make moving platform 1 all change, and can be based on
The equipment such as the design movement simulation of this mechanism, athletic rehabilitation.Under the shape of mechanism position shown in Fig. 1, the revolute pair R11 in branch 1 is rotated,
R15 is driven to do the rotation along Z axis around O point, similar with the movement of branch 1, the revolute pair R11 rotation in branch 2, branch 3 drives
R15 does the movement along X-axis, Y-axis around O point.
Claims (7)
1. a kind of parallel institution for rotating Three Degree Of Freedom, which is characterized in that including the moving platform in cube-corner platform shape and determine
Platform, the moving platform pass through three branches respectively and connect with fixed platform, and the structure snd size of three branches are identical,
Every branch includes the parallelogram four-bar mechanism being connected with the fixed platform, the parallelogram four-bar mechanism
Also it is connected with revolute pair R15 in turn, revolute pair R16 and revolute pair R17, the revolute pair R17 are connect with the moving platform.
2. a kind of parallel institution for rotating Three Degree Of Freedom as described in claim 1, which is characterized in that the moving platform includes
B1, B2 and B3, B1, B2 and B3 are located on three axis that three are mutually perpendicular to and intersect at a point, which is angle Tai Ding
Point, the moving platform include A1, A2 and A3 around the angle platform vertex movements, the fixed platform, and A1, A2 and A3 are located at three
It is mutually perpendicular to and on three axis intersecting at a point.
3. a kind of parallel institution for rotating Three Degree Of Freedom as claimed in claim 2, which is characterized in that three revolute pairs
The shaft axis of R17 is mutually perpendicular to two-by-two, and intersects at the vertex Jiao Tai of the moving platform.
4. a kind of parallel institution for rotating Three Degree Of Freedom as described in claim 1, which is characterized in that the parallelogram four
Linkage includes being fixed on the revolute pair R11 being parallel to each other on fixed platform and revolute pair R12, the revolute pair R11 pass through connecting rod
It is connected with revolute pair R14, the revolute pair R12 is connected by connecting rod with revolute pair R13, the revolute pair R13 and the rotation
Secondary R14 is connected by connecting rod, and the shaft axis of the revolute pair R13 is parallel to each other with the revolute pair R14 shaft axis.
5. a kind of parallel institution for rotating Three Degree Of Freedom as claimed in claim 4, which is characterized in that the revolute pair R13 with
Be also connected with revolute pair R15 on one end of the connecting rod of revolute pair R14, the revolute pair R15 with pass through connecting rod and revolute pair R16 phase
Even, the revolute pair R16 is connected by connecting rod with revolute pair R17.
6. a kind of parallel institution for rotating Three Degree Of Freedom as claimed in claim 5, which is characterized in that the revolute pair R15 with
The revolute pair R14 is coplanar, the rotation side of the shaft axis of the revolute pair R16 and the parallelogram four-bar mechanism
To axis it is vertical, and the vertex Jiao Tai of the excessively described moving platform of revolute pair R16 shaft axis.
7. a kind of parallel institution for rotating Three Degree Of Freedom as described in claim 1, which is characterized in that described in three branches
The shaft axis of revolute pair R11 is mutually perpendicular to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821373632.2U CN208992698U (en) | 2018-08-24 | 2018-08-24 | A kind of parallel institution rotating Three Degree Of Freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821373632.2U CN208992698U (en) | 2018-08-24 | 2018-08-24 | A kind of parallel institution rotating Three Degree Of Freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208992698U true CN208992698U (en) | 2019-06-18 |
Family
ID=66799538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821373632.2U Expired - Fee Related CN208992698U (en) | 2018-08-24 | 2018-08-24 | A kind of parallel institution rotating Three Degree Of Freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208992698U (en) |
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2018
- 2018-08-24 CN CN201821373632.2U patent/CN208992698U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190618 Termination date: 20200824 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |