CN203003886U - Parallel mechanism provided with prrr kinematic pair open-loop subchain and prrrr kinematic pair closed-loop subchain - Google Patents
Parallel mechanism provided with prrr kinematic pair open-loop subchain and prrrr kinematic pair closed-loop subchain Download PDFInfo
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- CN203003886U CN203003886U CN 201220733334 CN201220733334U CN203003886U CN 203003886 U CN203003886 U CN 203003886U CN 201220733334 CN201220733334 CN 201220733334 CN 201220733334 U CN201220733334 U CN 201220733334U CN 203003886 U CN203003886 U CN 203003886U
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- connecting rod
- loop subchain
- kinematic pair
- subchain
- revolute pair
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Abstract
A parallel mechanism provided with a prrr kinematic pair open-loop subchain and a prrrr kinematic pair closed-loop subchain conmprises a four-bar mechanism closed-loop subchain and an actuator subchain. The four-bar mechanism closed-loop subchain can control a third connecting bar to move in a plane where the four-bar mechanism closed-loop subchain is located, and spatial movement of a dynamic platform can be achieved through movement of a first connecting bar and the movement of the third connecting bar. According to the parallel mechanism provided with the prrr kinematic pair open-loop subchain and the prrrr kinematic pair closed-loop subchain, spatial movement of the closed-loop subchain, the first connecting bar and the third connecting bar is controlled and achieved through the closed-loop subchain, and therefore the spatial movement of the dynamic platform is achieved; the parallel mechanism provided with the prrr kinematic pair open-loop subchain and the prrrr kinematic pair closed-loop subchain has the advantages of being compact in structure and easy to control; and all the connecting bars are connected on a rack, bar pieces can made to be light bars, and therefore mechanism movement inertia is small, and dynamics performance is good.
Description
Technical field
The present invention relates to the robot field, particularly contain the parallel institution of prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: without accumulated error, precision is higher; Drive unit can be placed on fixed platform or near the position of fixed platform, motion parts is lightweight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is large.Due to parallel institution itself with regard to more complicated, if closed loop is contained again in branch, its mechanism will be more complicated, so in general, the parallel institution that symmetrical, branch does not contain closed loop just can have most typical character, appropriate but if closed loop is used, the performance of parallel institution will be more remarkable, as famous delta mechanism.In addition, existing parallel institution, its side chain is subjected to the restriction of connected mode, generally only have a driving lever to be connected in the driving that is cemented on frame, like this multiple freedom parallel mechanism is to realize that its motion just needs many side chains or the mode of a plurality of driving levers of taking to connect on side chain, yet the parallel institution complex structure of many side chains is controlled difficulty, and on side chain, a plurality of driving levers of series connection can affect the exercise performance of parallel institution.
Summary of the invention
The object of the present invention is to provide the parallel institution that contains prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain, solve a plurality of drivings of side chain of traditional parallel institution and can not be connected to simultaneously shortcoming on frame.
The present invention achieves the above object by the following technical programs: contain the parallel institution of prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain, comprise executing agency's subchain and a four-bar mechanism closed loop subchain, its structure and connected mode are:
described executing agency subchain is by first connecting rod 11, second connecting rod 15, the first slide block 13, the first Hooke's hinge 7, moving platform 4 and frame 1 are formed by connecting, first connecting rod 11 1 ends are connected on frame 1 by the first revolute pair 2, first connecting rod 11 other ends are connected with the first slide block 13 by the first moving sets 12, first slide block 13 other ends are connected with second connecting rod 15 1 ends by the second revolute pair 14, second connecting rod 15 other ends are connected with the lower topmast 9 of the first Hooke's hinge by the 3rd revolute pair 10, the upper topmast 8 of the first Hooke's hinge 7 is connected with moving platform 4 one ends by the 4th revolute pair 5,
described four-bar mechanism closed loop subchain is by third connecting rod 20, the 4th connecting rod 16, the 5th connecting rod 25, the 6th connecting rod 23, the second slide block 18, the first bearing 22, the second Hooke's hinge 26 and frame 1 are formed by connecting, third connecting rod 20 1 ends rotate 3 pairs by the 5th and are connected on frame 1, third connecting rod 20 other ends are connected with the first slide block 18 by the first moving sets 19, first slide block 18 other ends are connected with the 4th connecting rod 16 by the 6th revolute pair 17, the 4th connecting rod 16 other ends rotate 6 pairs with the 5th connecting rod 25 1 ends by the 7th and are connected with the lower topmast 29 of the second Hooke's hinge 26, the upper topmast 27 of the second Hooke's hinge 26 is connected with moving platform 4 other ends by the 8th revolute pair 6, the 5th connecting rod 25 other ends are connected with the 6th connecting rod 23 by the 9th revolute pair 24, the 6th connecting rod 23 other ends by the tenth rotate 22 secondary be fixed on third connecting rod 20 on the first bearing 21 be connected,
Described the first moving sets, the second moving sets, the first revolute pair, the 5th revolute pair rotation are parallel to each other, and the 4th revolute pair, the 8th revolute pair rotation are parallel to each other.
Outstanding advantages of the present invention is:
1, by the motion of a closed loop subchain controlling organization, mechanism's side chain can have a plurality of connecting rods to be connected on frame;
2, all connecting rods all are connected on frame, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, by the end effector of various different purposes is installed on moving platform, this mechanism may be used in the work such as crawl, upset, carrying, piling.
Description of drawings
Fig. 1 is the first structural representation that contains the parallel institution of prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain of the present invention.
Fig. 2 is the second structural representation that contains the parallel institution of prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain of the present invention.
Fig. 3 is the bearing schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain of the present invention.
Fig. 4 is the moving platform schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain of the present invention.
Fig. 5 is the first Hooke's hinge schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain of the present invention.
Fig. 6 is the second Hooke's hinge schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, contain the parallel institution of prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain, comprise executing agency's subchain and a four-bar mechanism closed loop subchain, its structure and connected mode are:
described executing agency subchain is by first connecting rod 11, second connecting rod 15, the first slide block 13, the first Hooke's hinge 7, moving platform 4 and frame 1 are formed by connecting, first connecting rod 11 1 ends are connected on frame 1 by the first revolute pair 2, first connecting rod 11 other ends are connected with the first slide block 13 by the first moving sets 12, first slide block 13 other ends are connected with second connecting rod 15 1 ends by the second revolute pair 14, second connecting rod 15 other ends are connected with the lower topmast 9 of the first Hooke's hinge by the 3rd revolute pair 10, the upper topmast 8 of the first Hooke's hinge 7 is connected with moving platform 4 one ends by the 4th revolute pair 5,
described four-bar mechanism closed loop subchain is by third connecting rod 20, the 4th connecting rod 16, the 5th connecting rod 25, the 6th connecting rod 23, the second slide block 18, the first bearing 22, the second Hooke's hinge 26 and frame 1 are formed by connecting, third connecting rod 20 1 ends rotate 3 pairs by the 5th and are connected on frame 1, third connecting rod 20 other ends are connected with the first slide block 18 by the first moving sets 19, first slide block 18 other ends are connected with the 4th connecting rod 16 by the 6th revolute pair 17, the 4th connecting rod 16 other ends rotate 6 pairs with the 5th connecting rod 25 1 ends by the 7th and are connected with the lower topmast 29 of the second Hooke's hinge 26, the upper topmast 27 of the second Hooke's hinge 26 is connected with moving platform 4 other ends by the 8th revolute pair 6, the 5th connecting rod 25 other ends are connected with the 6th connecting rod 23 by the 9th revolute pair 24, the 6th connecting rod 23 other ends by the tenth rotate 22 secondary be fixed on third connecting rod 20 on the first bearing 21 be connected,
Described the first moving sets, the second moving sets, the first revolute pair, the 5th revolute pair rotation are parallel to each other, and the 4th revolute pair, the 8th revolute pair rotation are parallel to each other.
Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, first connecting rod and third connecting rod motion planar can realize the spatial movement of moving platform 4.
Claims (1)
1. the parallel institution that contains prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain comprises executing agency's subchain and a four-bar mechanism closed loop subchain, and its structure and connected mode are:
described executing agency subchain is by first connecting rod, second connecting rod, the first slide block, the first Hooke's hinge, moving platform and frame are formed by connecting, first connecting rod one end is connected on frame by the first revolute pair, the first connecting rod other end is connected with the first slide block by the first moving sets, the first slide block other end is connected with second connecting rod one end by the second revolute pair, the second connecting rod other end is connected with the lower topmast of the first Hooke's hinge by the 3rd revolute pair, the upper topmast of the first Hooke's hinge is connected with moving platform one end by the 4th revolute pair
described four-bar mechanism closed loop subchain is by third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, the second slide block, the first bearing, the second Hooke's hinge and frame are formed by connecting, third connecting rod one end is connected on frame by the 5th revolute pair, the third connecting rod other end is connected with the first slide block by the first moving sets, the first slide block other end is connected with the 4th connecting rod by the 6th revolute pair, the 4th connecting rod other end is connected with the lower topmast of the second Hooke's hinge by the 7th revolute pair with the 5th connecting rod one end, the upper topmast of the second Hooke's hinge is connected with the moving platform other end by the 8th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by the 9th revolute pair, the 6th connecting rod other end is connected with the first bearing on being fixed on third connecting rod by the tenth revolute pair,
Described the first moving sets, the second moving sets, the first revolute pair, the 5th revolute pair rotation are parallel to each other, and the 4th revolute pair, the 8th revolute pair rotation are parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220733334 CN203003886U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism provided with prrr kinematic pair open-loop subchain and prrrr kinematic pair closed-loop subchain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220733334 CN203003886U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism provided with prrr kinematic pair open-loop subchain and prrrr kinematic pair closed-loop subchain |
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| Publication Number | Publication Date |
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| CN203003886U true CN203003886U (en) | 2013-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220733334 Withdrawn - After Issue CN203003886U (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism provided with prrr kinematic pair open-loop subchain and prrrr kinematic pair closed-loop subchain |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990658A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain |
| CN106607869A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Servo motor-driven variable-degree of freedom connecting rod mechanism for simple gas cutting blanking machine |
-
2012
- 2012-12-27 CN CN 201220733334 patent/CN203003886U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990658A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain |
| CN102990658B (en) * | 2012-12-27 | 2015-04-01 | 广西大学 | Parallel mechanism containing prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain |
| CN106607869A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Servo motor-driven variable-degree of freedom connecting rod mechanism for simple gas cutting blanking machine |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
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Granted publication date: 20130619 Effective date of abandoning: 20150401 |
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| RGAV | Abandon patent right to avoid regrant |