CN103659793A - Three-horizontal-moving parallel mechanism with single branch chains containing closed rings - Google Patents
Three-horizontal-moving parallel mechanism with single branch chains containing closed rings Download PDFInfo
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- CN103659793A CN103659793A CN201210324176.3A CN201210324176A CN103659793A CN 103659793 A CN103659793 A CN 103659793A CN 201210324176 A CN201210324176 A CN 201210324176A CN 103659793 A CN103659793 A CN 103659793A
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Abstract
The invention discloses a single-branch-chain-closed-ring-containing moving chain and provides a three-horizontal-moving parallel mechanism which uses horizontal moving as driving, and tail end output of the parallel mechanism is three horizontal moving. The mechanism comprises a fixed platform (1), three moving branch chains and a movable platform (9). The three moving branch chains are the same in structure. A single moving branch chain comprises a horizontal-moving driving joint (2) and a closed ring moving chain (4), wherein each closed ring moving chain is formed by hooke hinges (3) and (4) and rotating pairs (6), (7) and (8) in a series-connecting mode, and the rotating axes of the rotating pairs (6) and (8) are parallel and are perpendicular to the axis of the rotating pair (7). The head and the tail of each moving branch chain are connected with the fixed platform (1) and the movable platform (9). According to the mechanism, three horizontal moving is used as input, and the tail end achieves three-horizontal-moving output. The mechanism has the advantages of being simple in structure, good in rigidness, flexible in moving and the like, and the mechanism can be used in fields such as machine tool body designing and robot body designing.
Description
Technical field
The present invention is under the jurisdiction of industrial robot/machine tool field, relates to a kind of three-translational freedom degree parallel connection mechanism.
Background technology
Parallel institution refers between pedestal and end that, by two or more movement branched chain parallel joins, mechanism has two or more frees degree.Parallel institution has the features such as stiffness/weight ratio is large, dynamic property good, compact conformation with respect to serial mechanism, be used to the fields such as lathe, robot mechanism design and motion simulator design.
The mechanism that parallel institution end is less than six degree of freedom is referred to as lower-mobility parallel institution, in the required free degree, is less than six degree of freedom application scenario, and that lower-mobility mechanism has is simple in structure, manufacture and design and the advantage such as lower of controlling cost.Be mainly used in the field such as automatic production line, processing and manufacturing, automation assembling of medicine, food and electron trade.
Summary of the invention
The present invention existed a kind of single side chain of providing of constraint containing the three-translational parallel connection mechanism of the driven in translation of closed loop in order to overcome existing three-translational parallel connection mechanism.
The technical solution adopted in the present invention: mechanism is comprised of fixed platform (1), three movement branched chain, moving platforms (9).Article three, movement branched chain structure is identical, wall scroll movement branched chain comprises driven in translation joint (2), (wherein closed loop moving chain is by Hooke's hinge (3), (4) for closed loop moving chain (4), revolute pair (6), (7), (8) are in series with this, revolute pair (6), (8) rotation are parallel, and vertical with revolute pair (7) axis).Movement branched chain head and the tail are connected to form with fixed platform (1), moving platform (9).
The technical characterstic that the present invention has: three movement branched chain structures are identical, manufactures and designs simply, and mechanism structure is symmetrical; Main driving adopts driven in translation; The introducing of passive closed loop moving chain has overcome lower-mobility parallel institution and had had the defect of constraint and improved the integral rigidity of mechanism.
Accompanying drawing explanation
Fig. 1 is the invention process sample 1 schematic diagram of mechanism.
Fig. 2 is the invention process sample 2 3D of mechanism models.
In Fig. 1: 1. fixed platform, 2. main linear joint, 3. Hooke's hinge, 4. Hooke's hinge, 5. closed loop moving chain, 6. revolute pair, 7. revolute pair, 8. revolute pair, 9. motion platform.
In Fig. 2: 1. fixed platform, 2. Hooke's hinge, 3. Hooke's hinge, 4. revolute pair, 5. revolute pair, 6. revolute pair, 7. motion platform, 8. motor, 9. leading screw, 10. supporting plate.
The specific embodiment
In conjunction with embodiment and accompanying drawing, further narrate the present invention.
Embodiment 1: Fig. 1 is that list side chain of the present invention is containing the structure diagram of the driven in translation three-translational parallel connection mechanism embodiment of closed loop.Three identical movement branched chain of structure that this schematic diagram of mechanism comprises fixed platform, motion platform and links both combine.It is characterized in that: three same movement side chains comprise driven in translation joint (2) and passive closed loop moving chain (5), and closed loop moving chain is connected and formed successively by U-U-R-R-R kinematic pair, and wherein revolute pair (7) is connected with motion platform.The direction that each kinematic pair moves or rotates is described as follows: the linear joint direction of motion is in same plane and become 120 degree uniform, closed loop moving chain Hooke's hinge (3), (4) first gyroaxis directions and linear joint direction of motion spatial vertical, the second gyroaxis is parallel with revolute pair (6), (8) gyroaxis respectively, and revolute pair (7) and revolute pair (6), (8) gyroaxis is vertical and intersect.Three linear joint translation inputs, moving platform is three translation outputs under cartesian coordinate system.
Embodiment 2: Fig. 2 is that list side chain of the present invention is containing the 3D of the mechanism figure of the driven in translation three-translational parallel connection mechanism embodiment of closed loop.Three identical movement branched chain of structure that this schematic diagram of mechanism comprises fixed platform, motion platform and links both combine.It is characterized in that: three same movement side chains comprise driven in translation joint and passive closed loop moving chain, closed loop moving chain is connected and is formed successively by U-U-R-R-R kinematic pair, Hooke's hinge (2), (3) are connected with supporting plate (10) and connecting rod respectively, and revolute pair (4) is connected with motion platform.The direction that each kinematic pair moves or rotates is described as follows: the linear joint direction of motion is in same plane and become 120 degree uniform, closed loop moving chain Hooke's hinge (2), (3) first gyroaxis directions and linear joint direction of motion spatial vertical, the second gyroaxis is parallel with revolute pair (5), (6) gyroaxis respectively, and revolute pair (4) and revolute pair (5), (6) gyroaxis is vertical and intersect.Three linear joint translation inputs, can drive leading screw (10) to drive supporting plate motion to form by motor (8), and moving platform is realized three translation outputs under cartesian coordinate system.
Claims (5)
1. three-translational parallel connection mechanism of the present invention, three identical movement branched chain of structure that comprise fixed platform, motion platform and link both combine.It is characterized in that: three same movement side chains comprise driven in translation joint (2) and passive closed loop moving chain (5), by U-U-R-R-R kinematic pair, are connected successively and are formed a closed loop moving chain, and wherein revolute pair (7) is connected with motion platform.The direction that each kinematic pair moves or rotates is described as follows: the linear joint direction of motion is in same plane and become 120 degree uniform, closed loop moving chain Hooke's hinge (3), (4) first gyroaxis directions and linear joint direction of motion spatial vertical, the second gyroaxis is parallel with revolute pair (6), (8) gyroaxis respectively, and revolute pair (7) and revolute pair (6), (8) gyroaxis is vertical and intersect.
2. single side chain according to claim 1, containing the driven in translation three-translational parallel connection mechanism of closed loop, is characterized in that: mechanism's fixed platform and motion platform are connected by three identical movement branched chain containing closed loop of structure.
3. single side chain according to claim 2, containing the driven in translation three-translational parallel connection mechanism of closed loop, is characterized in that: the linear joint that movement branched chain comprises driving and passive closed loop moving chain.
4. single side chain according to claim 3, containing the driven in translation three-translational parallel connection mechanism of closed loop, is characterized in that: the linear joint direction of motion is in same plane and become 120 degree uniform.
5. single side chain according to claim 3 is containing the driven in translation three-translational parallel connection mechanism of closed loop, it is characterized in that: closed loop moving chain Hooke's hinge (3), (4) first gyroaxis directions and linear joint direction of motion spatial vertical, the second gyroaxis is parallel with revolute pair (6), (8) gyroaxis respectively, and revolute pair (7) and revolute pair (6), (8) gyroaxis is vertical and intersect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210324176.3A CN103659793B (en) | 2012-09-04 | 2012-09-04 | The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210324176.3A CN103659793B (en) | 2012-09-04 | 2012-09-04 | The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain |
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| CN103659793A true CN103659793A (en) | 2014-03-26 |
| CN103659793B CN103659793B (en) | 2016-11-09 |
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Cited By (6)
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| CN104162885A (en) * | 2014-07-30 | 2014-11-26 | 常州大学 | Three-translation accurate grabbing robot mechanism |
| CN104589313A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Three-transverse motion mechanical hand by utilizing holosymmetric belt to realize transmission |
| CN104589327A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Holosymmetric belt-driven electric cylinder three-dimensional translational motion mechanical hand |
| CN106994642A (en) * | 2016-01-22 | 2017-08-01 | 香港理工大学 | Series-parallel connection burnishing machine |
| WO2018178747A1 (en) * | 2017-03-31 | 2018-10-04 | Xtuas Oü | A spherical solar tracker |
| CN110625406A (en) * | 2019-10-21 | 2019-12-31 | 浙江交通职业技术学院 | Redundant drive AC type high-speed machining series-parallel five-axis machine tool |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2579361A (en) * | 2018-11-28 | 2020-06-24 | Duffin Associates Ltd | Apparatus for solar tracking |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104162885A (en) * | 2014-07-30 | 2014-11-26 | 常州大学 | Three-translation accurate grabbing robot mechanism |
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| CN104589327A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Holosymmetric belt-driven electric cylinder three-dimensional translational motion mechanical hand |
| CN106994642A (en) * | 2016-01-22 | 2017-08-01 | 香港理工大学 | Series-parallel connection burnishing machine |
| WO2018178747A1 (en) * | 2017-03-31 | 2018-10-04 | Xtuas Oü | A spherical solar tracker |
| CN110625406A (en) * | 2019-10-21 | 2019-12-31 | 浙江交通职业技术学院 | Redundant drive AC type high-speed machining series-parallel five-axis machine tool |
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| CN103659793B (en) | 2016-11-09 |
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