CN210025275U - Three-degree-of-freedom parallel mechanism with 3T and 2T1H motion modes - Google Patents
Three-degree-of-freedom parallel mechanism with 3T and 2T1H motion modes Download PDFInfo
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- CN210025275U CN210025275U CN201920429413.XU CN201920429413U CN210025275U CN 210025275 U CN210025275 U CN 210025275U CN 201920429413 U CN201920429413 U CN 201920429413U CN 210025275 U CN210025275 U CN 210025275U
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Abstract
The utility model discloses a three degree of freedom parallel mechanism with 3T and 2T1H motion pattern, including moving the platform and deciding the platform, move the platform and be connected with deciding the platform through first branch chain, second branch chain, third branch chain and fourth branch chain respectively. The utility model discloses a three degree of freedom parallel mechanism with 3T and 2T1H motion pattern has solved current parallel mechanism single structure, can not satisfy the problem of work demand under the complicated situation.
Description
Technical Field
The utility model belongs to the technical field of the robot, concretely relates to three degree of freedom parallel mechanism with 3T and 2T1H motion pattern.
Background
The parallel robot mechanism is in a space multi-degree-of-freedom multi-ring closed chain form. Since the eighties of the last century, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small accumulated error, good dynamic characteristic, compact structure and the like, and is widely applied to the industrial fields of virtual axis machine tools, micro-motion operation tables, motion simulators, multi-dimensional force sensors and the like. The parallel mechanism has 2, 3, 4, 5 or 6 degrees of freedom, at present, the parallel mechanism with 6 degrees of freedom is researched more comprehensively and deeply, but the reduction of the degrees of freedom of the parallel mechanism enables the mechanism structure to be simpler, and the manufacturing and control cost to be relatively lower, so that the parallel robot with less degrees of freedom has unique advantages under the condition of meeting the expected working requirement.
The parallel mechanism with multiple motion modes has the characteristic of motion bifurcation under the singular configuration of the mechanism, and can realize multiple motion modes through fewer driving pairs and branched chains, thereby being suitable for different work requirements. And the movement mode of the mechanism is changed without reassembling the mechanism, and the movement mode is high in changing speed and simple and convenient in process. At present, three-degree-of-freedom parallel mechanisms with three movements (3T) and two movements and one spiral motion (2T1H) are rare. The novel parallel mechanism can adapt to various different motion modes, adapts to work under various circumstances, and has certain application prospect in the fields of motion simulation, machine assembly, sorting and grabbing, drilling operation and the like.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a three degree of freedom parallel mechanism with 3T and 2T1H motion pattern has solved current parallel mechanism single structure, can not satisfy the problem of work demand under the complicated situation.
The utility model discloses the technical scheme who adopts is, has three degree of freedom parallel mechanism of 3T and 2T1H motion pattern, including moving the platform and deciding the platform, move the platform and be connected with deciding the platform through first branch chain, second branch chain, third branch chain and fourth branch chain respectively.
The first branch chain comprises a ball pair S connected with the fixed platform11Ball pair S11Is sequentially connected with a first connecting rod and a sliding pair P12A second connecting rod, a ball pair S13Ball pair S13Is connected with the movable platform.
The second branched chain comprises a ball pair S connected with the fixed platform21Ball pair S21A third connecting rod and a sliding pair P are connected in sequence22The fourth connecting rod and the ball pair S23Ball pair S23Is connected with the movable platform.
The third branched chain comprises a ball pair S connected with the fixed platform31Ball pair S31A fifth connecting rod and a sliding pair P are connected in sequence32The sixth connecting rod and the ball pair S33Ball pair S33Is connected with the movable platform.
The fourth branched chain comprises a sliding pair P connected with the fixed platform41Of moving pair P41Is sequentially connected with a seventh connecting rod and a spiral pair H42Eighth connecting rod, sliding pair P43Ninth connecting rod and screw pair H44Screw pair H44Is connected with the fixed platform; the eighth connecting rod is also sequentially connected with a sliding pair P45A tenth connecting rod and a sliding pair P46Of moving pair P46Is connected with the movable platform.
The utility model is also characterized in that,
sliding pair P12Is connected with a hydraulic driving motor.
Sliding pair P22Is connected with a hydraulic driving motor.
Sliding pair P32Is connected with a hydraulic driving motor.
Sliding pair P41Is connected with a hydraulic driving motor.
The beneficial effects of the utility model are that, solved current parallel mechanism single structure, can not satisfy the problem of work demand under the complicated situation. The utility model discloses a parallel mechanism is through the setting of four branched chains, and structurally the symmetry of designing as far as possible, makes it have good motion performance. Under certain conditions, the parallel mechanism realizes different motion modes by controlling the mobile pair in the first, second and third branched chains and the mobile pair in the fourth branched chain, namely, the parallel mechanism comprises three mobile chains (3T) and two mobile chains (2T1H), and can be applied to the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools, drilling operation and the like.
Drawings
Fig. 1 is an initial configuration diagram of a three-degree-of-freedom parallel mechanism with 3T and 2T1H motion modes according to the present invention;
fig. 2 is a schematic diagram of the three-degree-of-freedom parallel mechanism 3T motion mode configuration with 3T and 2T1H motion modes of the present invention;
fig. 3 is a schematic diagram of the motion pattern of the three-degree-of-freedom parallel mechanism 2T1H with motion patterns of 3T and 2T1H according to the present invention.
In the figure, 1, a first connecting rod, 2, a second connecting rod, 3, a third connecting rod, 4, a fourth connecting rod, 5, a fifth connecting rod, 6, a sixth connecting rod, 7, a seventh connecting rod, 8, an eighth connecting rod, 9, a ninth connecting rod, 10, a tenth connecting rod, 11, a movable platform and 12, a fixed platform.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The utility model relates to a three degree of freedom parallel mechanism with 3T and 2T1H motion pattern, as shown in fig. 1, including moving platform 11 and deciding platform 12, move platform 11 and be connected with deciding platform 12 through first branch chain, second branch chain, third branch chain and fourth branch chain respectively. A is defined as the joint of the movable platform 11 and the first branch chain1The joint of the movable platform 11 and the second branched chain is defined as A2Defining the joint of the movable platform and the third branched chain as A3And the joint of the movable platform 11 and the fourth branched chain is defined as O. Defining the joint of the fixed platform 12 and the first branch chain as B1Defining the joint of the platform 12 and the second branch chain as B2Defining the joint of the platform 12 and the third branch chain as B3Defining the joint of the platform 12 and the fourth branch chain as B4、B5. The fixed platform 12 is B1、B2、B3、B4、B5The plane of the device.
The first chain comprises a ball pair S connected with the fixed platform 1211Ball pair S11A first connecting rod 1 and a sliding pair P are connected in sequence12A second connecting rod 2 and a ball pair S13Ball pair S13Is connected with the movable platform 11.
Sliding pair P12Is connected with a hydraulic driving motor.
The second branch chain comprises a ball pair S connected with the fixed platform 1221Ball pair S21A third connecting rod 3 and a sliding pair P are connected in sequence22A fourth connecting rod 4 and a ball pair S23Ball pair S23Is connected with the movable platform 11.
Sliding pair P22Is connected with a hydraulic driving motor.
The third branch chain comprises a ball pair S connected with the fixed platform 1231Ball pair S31A fifth connecting rod 5 and a sliding pair P are connected in sequence32A sixth connecting rod 6 and a ball pair S33Ball pair S33Is connected with the movable platform 11.
Sliding pair P32Is connected with a hydraulic driving motor.
The fourth branch chain comprises a sliding pair P connected with the fixed platform 1241Of moving pair P41Is sequentially connected with a seventh connecting rod 7 and a spiral pair H42Eighth connecting rod 8 and sliding pair P43A ninth connecting rod 9 and a screw pair H44Screw pair H44Is connected with the fixed platform 12; the eighth connecting rod 8 is also sequentially connected with a sliding pair P45A tenth connecting rod 10 and a sliding pair P46Of moving pair P46Is connected with the movable platform 11.
Sliding pair P41Is connected with a hydraulic driving motor.
The parallel mechanism of the utility model is connected with the ball pair S of the fixed platform 12 under the configuration shown in figure 111Ball pair S21Ball pair S31The three connecting points form an equilateral triangle and are connected with the ball pair S of the movable platform 1113Ball pair S23Ball pair S33Form an equilateral triangle. The equilateral triangle of the movable platform 11 is smaller than the triangle of the fixed platform 12, and in the initial configuration of the mechanism, three sides of the two triangles are correspondingly parallel. The parallel mechanism has 3T1R instantaneous degrees of freedom and 3 sliding pairs P12And a sliding pair P22And a sliding pair P32The moving direction of (2) is a general direction; sliding pair P41And a sliding pair P43Parallel to the moving direction of the screw pair H42And screw pair H43Are collinear with the screw axis, moving pair P45Moving direction and P41Is perpendicular to the moving direction of the sliding pair P45Moving direction of (1) and (H)42Is vertical to the axis direction of the shaft. Sliding pair P46Moving direction of (1) and (H)42Is not perpendicular or parallel to the axis of the moving pair P46The moving direction and the moving pair P45Is vertical. Screw pair H42And screw pair H44The spiral axes are overlapped, the thread pitches are the same, and the spiral directions are the same. Sliding pair P41Moving direction of and screw pair H42Is vertical.
The parallel mechanism of the utility model is under the mechanism configuration shown in figure 1The parallel mechanism has 3T1R instantaneous degree of freedom, and the sliding pair P12And a sliding pair P22And a sliding pair P32And a sliding pair P41All connected with a hydraulic drive motor for controlling a sliding pair P12And a sliding pair P22And a sliding pair P32And a sliding pair P41Causing the mechanism to move to the configuration of the mechanism shown in figure 2.
In this configuration, the helical pair H in the fourth branch42Axis and screw pair H44Not collinear, in this configuration, the mechanism has a 3T motion pattern. Controlling the sliding pair P12And a sliding pair P22And a sliding pair P32And the control of the mechanism in the 3T motion mode is realized.
The parallel mechanism of the utility model has a 3T1R motion mode under the mechanism configuration shown in figure 1, and controls the sliding pair P12And a sliding pair P22And a sliding pair P32And a sliding pair P41Causing the mechanism to move to the configuration of the mechanism shown in figure 3.
In this configuration, the helical pair H in the fourth branch42Axis and screw pair H44Collinear, moving pair P41And a sliding pair P43In this configuration, the mechanism has a 2T1H motion pattern. Controlling the sliding pair P12And a sliding pair P22And a sliding pair P32The control of the mechanism in the 2T1H motion mode is realized.
The utility model discloses a parallel mechanism even has hydraulic drive motor's 4 pairs of removal respectively through the control under certain condition through the setting of four branched chains and can make this parallel mechanism realize different motion pattern, including three removal (3T), two removal screw motions (2T1H), can adapt to fields such as motion emulation, machine assembly, letter sorting snatch, parallel machine tool, drilling operation promptly.
Claims (5)
1. The three-degree-of-freedom parallel mechanism with 3T and 2T1H motion modes is characterized by comprising a movable platform (11) and a fixed platform (12), wherein the movable platform (11) is connected with the fixed platform (12) through a first branched chain, a second branched chain, a third branched chain and a fourth branched chain respectively;
the first branched chain comprises a ball pair S connected with the fixed platform (12)11Said ball pair S11A first connecting rod (1) and a sliding pair P are connected in sequence12A second connecting rod (2) and a ball pair S13Said ball pair S13Is connected with the movable platform (11);
the second branched chain comprises a ball pair S connected with the fixed platform (12)21Said ball pair S21A third connecting rod (3) and a sliding pair P are connected in sequence22A fourth connecting rod (4) and a ball pair S23Said ball pair S23Is connected with the movable platform (11);
the third branched chain comprises a ball pair S connected with the fixed platform (12)31Said ball pair S31A fifth connecting rod (5) and a sliding pair P are connected in sequence32A sixth connecting rod (6) and a ball pair S33Said ball pair S33Is connected with the movable platform (11);
the fourth branched chain comprises a sliding pair P connected with a fixed platform (12)41Said sliding pair P41Is sequentially connected with a seventh connecting rod (7) and a screw pair H42An eighth connecting rod (8) and a sliding pair P43A ninth connecting rod (9) and a screw pair H44Said screw pair H44Is connected with the fixed platform (12); the eighth connecting rod (8) is also sequentially connected with a sliding pair P45A tenth connecting rod (10) and a sliding pair P46Said sliding pair P46Is connected with the movable platform (11).
2. The three-degree-of-freedom parallel mechanism with 3T and 2T1H motion modes as claimed in claim 1, wherein the kinematic pair P is12Is connected with a hydraulic driving motor.
3. The three-degree-of-freedom parallel mechanism with 3T and 2T1H motion modes as claimed in claim 1, wherein the kinematic pair P is22Is connected with a hydraulic driving motor.
4. Three-degree-of-freedom parallel connection with 3T and 2T1H motion modes according to claim 1Mechanism, characterized in that said sliding pair P32Is connected with a hydraulic driving motor.
5. The three-degree-of-freedom parallel mechanism with 3T and 2T1H motion modes as claimed in claim 1, wherein the kinematic pair P is41Is connected with a hydraulic driving motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920429413.XU CN210025275U (en) | 2019-04-01 | 2019-04-01 | Three-degree-of-freedom parallel mechanism with 3T and 2T1H motion modes |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920429413.XU CN210025275U (en) | 2019-04-01 | 2019-04-01 | Three-degree-of-freedom parallel mechanism with 3T and 2T1H motion modes |
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| Publication Number | Publication Date |
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| CN210025275U true CN210025275U (en) | 2020-02-07 |
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| CN201920429413.XU Active CN210025275U (en) | 2019-04-01 | 2019-04-01 | Three-degree-of-freedom parallel mechanism with 3T and 2T1H motion modes |
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Effective date of registration: 20210727 Address after: 710000 2-2602, building 7, aodawen landscape garden community, Jianyuan Road, caotan street, Xi'an Economic and Technological Development Zone, Xi'an City, Shaanxi Province Patentee after: Xi'an depsecco measuring equipment Co.,Ltd. Address before: 710048 No. 19 Jinhua South Road, Shaanxi, Xi'an Patentee before: XI'AN POLYTECHNIC University |
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