CN203003877U - Kinematic pair combined rprrr-prrrp double closed-loop sub-chain parallel mechanism - Google Patents
Kinematic pair combined rprrr-prrrp double closed-loop sub-chain parallel mechanism Download PDFInfo
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- CN203003877U CN203003877U CN 201220731213 CN201220731213U CN203003877U CN 203003877 U CN203003877 U CN 203003877U CN 201220731213 CN201220731213 CN 201220731213 CN 201220731213 U CN201220731213 U CN 201220731213U CN 203003877 U CN203003877 U CN 203003877U
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- connecting rod
- revolute pair
- hooke
- column
- closed loop
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Abstract
The utility model relates to a kinematic pair combined rprrr-prrrp double closed-loop sub-chain parallel mechanism which comprises a first five-rod mechanism closed-loop sub-chain, a second five-rod mechanism closed-loop sub-chain and an executing mechanism sub-chain. The first five-rod mechanism closed-loop sub-chain can control a first Hooke joint to move. The second five-rod mechanism closed-loop sub-chain can control a second Hooke joint to move. Movement of the first Hooke joint and the second Hooke joint enables spatial movement of a moving platform to be achieved. Due to the fact that the movement of the two Hooke joints in space is controlled through the two closed-loop sub-chains, multi-free-degree movement of the moving platform in the space can be achieved and therefore the kinematic pair combined rprrr-prrrp double closed-loop sub-chain parallel mechanism has the advantages of being compact in structure, flexible and free, simple in control, small in mechanism movement inertia and good in dynamic performance.
Description
Technical field
The utility model relates to the robot field, particularly a kind of space multiple freedom parallel mechanism that contains the 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 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, and 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 purpose of this utility model is to provide a kind of kinematic pair to be combined as the two closed loop subchain parallel institutions of rprrr-prrrp, and the parallel institution complex structure that solves many side chains is controlled the shortcoming of difficulty.
The utility model achieves the above object by the following technical programs: a kind of kinematic pair is combined as the two closed loop subchain parallel institutions of rprrr-prrrp, comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
described the first five-rod closed loop subchain is by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column is connected with frame by the first revolute pair, first connecting rod one end is connected on the first column by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the first moving sets, the second connecting rod other end is connected with third connecting rod by the 3rd revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 4th revolute pair, the 4th connecting rod other end is connected with the first column by the 5th revolute pair, the motion of the first five-rod closed loop subchain can be controlled the first Hooke's hinge in spatial movement.
described the second five-rod closed loop subchain is by the first slide block, the 5th connecting rod, the 6th connecting rod, the second slide block and the second column are formed by connecting, the second column is connected with frame by the 6th revolute pair, the first slide block one end is connected on the second column by the second moving sets, the first slide block other end is connected with the 5th connecting rod by the 7th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by the 8th revolute pair, the 6th connecting rod other end is connected with the second slide block by the 9th revolute pair, the second slide block other end is connected with the second column by three moving sets, the motion of the second five-rod closed loop subchain can be controlled the second Hooke's hinge in spatial movement.
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with second connecting rod by the 3rd revolute pair, the first Hooke's hinge is connected with moving platform by the tenth revolute pair, the second Hooke's hinge is connected with the 5th connecting rod by the 8th revolute pair, the second Hooke's hinge is connected with moving platform by the 11 revolute pair, and the first Hooke's hinge, the second Hooke's hinge can be realized the space multifreedom motion of moving platform in the motion of separately space.
Outstanding advantages of the present utility model is:
1, by the motion of closed loop subchain controlling organization, mechanism's side chain is connected on frame by rotatable column;
2, rod connection structure is simple, 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, carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is the first structural representation that a kind of kinematic pair described in the utility model is combined as the two closed loop subchain parallel institutions of rprrr-prrrp.
Fig. 2 is the second structural representation that a kind of kinematic pair described in the utility model is combined as the two closed loop subchain parallel institutions of rprrr-prrrp.
Fig. 3 is the 3rd structural representation that a kind of kinematic pair described in the utility model is combined as the two closed loop subchain parallel institutions of rprrr-prrrp.
Fig. 4 is the first work schematic diagram of a kind of kinematic pair described in the utility model two closed loop subchain parallel institutions of being combined as rprrr-prrrp.
Fig. 5 is the second work schematic diagram of a kind of kinematic pair described in the utility model two closed loop subchain parallel institutions of being combined as rprrr-prrrp.
The specific embodiment
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of kinematic pair are combined as the two closed loop subchain parallel institutions of rprrr-prrrp, comprise the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
described the first five-rod closed loop subchain is by first connecting rod (4), second connecting rod (7), third connecting rod (8), the 4th connecting rod (10) and the first column (3) are formed by connecting, the first column (3) is connected with frame (1) by the first revolute pair (2), first connecting rod (4) one ends are connected on the first column (3) by the second revolute pair (5), first connecting rod (4) other end is connected with second connecting rod (7) by the first moving sets (6), second connecting rod (7) other end is connected with third connecting rod (8) by the 3rd revolute pair (27), third connecting rod (8) other end is connected with the 4th connecting rod (10) by the 4th revolute pair (9), the 4th connecting rod (10) other end is connected with the first column (3) by the 5th revolute pair (11), the motion of the first five-rod closed loop subchain (rprrr) can be controlled the first Hooke's hinge (24) in spatial movement.
described the second five-rod closed loop subchain is by the first slide block (15), the 5th connecting rod (13), the 6th connecting rod (22), the second slide block (18) and the second column (19) are formed by connecting, the second column (19) is connected with frame (1) by the 6th revolute pair (20), the first slide block (15) one ends are connected on the second column (19) by the second moving sets (16), the first slide block (15) other end is connected with the 5th connecting rod (13) by the 7th revolute pair (14), the 5th connecting rod (13) other end is connected with the 6th connecting rod (22) by the 8th revolute pair (26), the 6th connecting rod (22) other end is connected with the second slide block (18) by the 9th revolute pair (21), the second slide block (18) other end is connected with the second column (19) by three moving sets (17), the motion of the second five-rod closed loop subchain (prrrp) can be controlled the second Hooke's hinge (23) in spatial movement.
described executing agency subchain is by the first Hooke's hinge (24), the second Hooke's hinge (23), and moving platform (12) is formed by connecting, the first Hooke's hinge (24) is connected with second connecting rod (7) by the 3rd revolute pair (27), the first Hooke's hinge (24) is connected with moving platform (12) by the tenth revolute pair (28), the second Hooke's hinge (23) is connected with the 5th connecting rod (13) by the 8th revolute pair (26), the second Hooke's hinge (23) is connected with moving platform (12) by the 11 revolute pair (25).
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5 by the motion of the first five-rod closed loop subchain (rprrr) itself and the rotation of the first column integral body, thereby drive the first Hooke's hinge (24) in spatial movement; By the motion of the second five-rod closed loop subchain (prrrp) itself and the rotation of the second column integral body, thereby drive the second Hooke's hinge (23) in spatial movement; The first Hooke's hinge (24), the second Hooke's hinge (23) can be realized the space multifreedom motion of moving platform (12) in the motion of separately space.
Claims (1)
1. a kinematic pair is combined as the two closed loop subchain parallel institutions of rprrr-prrrp, comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain, it is characterized in that:
described the first five-rod closed loop subchain is by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column is connected with frame by the first revolute pair, first connecting rod one end is connected on the first column by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the first moving sets, the second connecting rod other end is connected with third connecting rod by the 3rd revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 4th revolute pair, the 4th connecting rod other end is connected with the first column by the 5th revolute pair
described the second five-rod closed loop subchain is by the first slide block, the 5th connecting rod, the 6th connecting rod, the second slide block and the second column are formed by connecting, the second column is connected with frame by the 6th revolute pair, the first slide block one end is connected on the second column by the second moving sets, the first slide block other end is connected with the 5th connecting rod by the 7th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by the 8th revolute pair, the 6th connecting rod other end is connected with the second slide block by the 9th revolute pair, the second slide block other end is connected with the second column by three moving sets
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with second connecting rod by the 3rd revolute pair, the first Hooke's hinge is connected with moving platform by the tenth revolute pair, the second Hooke's hinge is connected with the 5th connecting rod by the 8th revolute pair, and the second Hooke's hinge is connected with moving platform by the 11 revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220731213 CN203003877U (en) | 2012-12-27 | 2012-12-27 | Kinematic pair combined rprrr-prrrp double closed-loop sub-chain parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220731213 CN203003877U (en) | 2012-12-27 | 2012-12-27 | Kinematic pair combined rprrr-prrrp double closed-loop sub-chain parallel mechanism |
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| CN203003877U true CN203003877U (en) | 2013-06-19 |
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| CN 201220731213 Expired - Fee Related CN203003877U (en) | 2012-12-27 | 2012-12-27 | Kinematic pair combined rprrr-prrrp double closed-loop sub-chain parallel mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103056871A (en) * | 2012-12-27 | 2013-04-24 | 广西大学 | Double closed loop subchain parallel connection mechanism with kinematic pair combination as rprrr-prrrp |
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- 2012-12-27 CN CN 201220731213 patent/CN203003877U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103056871A (en) * | 2012-12-27 | 2013-04-24 | 广西大学 | Double closed loop subchain parallel connection mechanism with kinematic pair combination as rprrr-prrrp |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130619 Termination date: 20151227 |
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| EXPY | Termination of patent right or utility model |