CN203003876U

CN203003876U - Parallel mechanism provided with prr kinematic pair open-loop subchain and rprpr kinematic pair closed-loop subchain

Info

Publication number: CN203003876U
Application number: CN 201220731192
Authority: CN
Inventors: 蔡敢为; 于腾; 潘宇晨; 丁侃; 吕姗姗; 胥刚; 高德中; 王小纯
Original assignee: Guangxi University
Current assignee: Guangxi University
Priority date: 2012-12-27
Filing date: 2012-12-27
Publication date: 2013-06-19
Anticipated expiration: 2022-12-27

Abstract

The parallel mechanism including the open-loop sub-chain of the prr motion pair and the closed-loop sub-chain of the rprpr motion pair includes the open-loop sub-chain, the closed-loop sub-chain of the five-bar mechanism and the sub-chain of the actuator. The open-loop sub-chain can control the movement of the first Hooke hinge, the closed-loop sub-chain of the five-bar mechanism can control the movement of the second Hooke hinge, and the movement of the first Hooke hinge and the second Hooke hinge can realize the spatial movement of the moving platform. The utility model controls the movement of two Hooke hinges in space through an open-loop sub-chain and a closed-loop sub-chain, so as to realize the movement of the moving platform in space. It has the advantages of compact structure and simple control. Good performance.

Description

The parallel institution that contains prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain

Technical field

The utility model relates to the robot field, particularly a kind of parallel institution 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 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, 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 parallel institution that contains the closed loop subchain, 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: contain the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain, comprise open loop subchain, five-rod closed loop subchain and executing agency's subchain.

Described open loop subchain is formed by connecting by first connecting rod, the first slide block and the first column, the first column is connected with frame by the first revolute pair, the first slide block is connected on the first column by the first moving sets, and first connecting rod one end is connected with the first slide block by the second revolute pair

described five-rod closed loop subchain is by second connecting rod, the first craspedodrome bar, the second craspedodrome bar, third connecting rod and the second column are formed by connecting, the second column is connected with frame by the 3rd revolute pair, second connecting rod one end is connected on the second column by the 4th revolute pair, the second connecting rod other end is connected with the first craspedodrome bar by the second moving sets, the first craspedodrome bar other end is connected with the second craspedodrome bar by the 5th revolute pair, the second craspedodrome bar other end is connected with third connecting rod by three moving sets, the third connecting rod other end is connected with the second column by the 6th revolute pair

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 first connecting rod by the 7th revolute pair, the first Hooke's hinge is connected with moving platform by the 8th revolute pair, the second Hooke's hinge is connected with the first craspedodrome bar by the 5th revolute pair, the second Hooke's hinge is connected with moving platform by the 9th revolute pair, and the first Hooke's hinge, the second Hooke's hinge can realize that in the motion of separately space moving platform is in the motion in space.

Outstanding advantages of the present utility model is:

1, pass through the motion of closed loop subchain and open loop subchain controlling organization;

2, syndeton 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 contains the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain described in the utility model.

Fig. 2 is the second structural representation that contains the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain described in the utility model.

Fig. 3 is the 3rd structural representation that contains the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain described in the utility model.

Fig. 4 is the 4th structural representation that contains the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain described in the utility model.

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 and Fig. 4, contain the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain, comprise open loop subchain, five-rod closed loop subchain and executing agency's subchain.

Described open loop subchain is formed by connecting by first connecting rod 7, the first slide block 5 and the first column 3, the first column 3 is connected with frame 1 by the first revolute pair 2, the first slide block 5 is connected on the first column 3 by the first moving sets 4, and first connecting rod 7 one ends are connected with the first slide block 5 by the second revolute pair 6

described five-rod closed loop subchain is by second connecting rod 14, the first craspedodrome bar 16, the second craspedodrome bar 18, third connecting rod 20 and the second column 12 are formed by connecting, the second column 12 is connected with frame 1 by the 3rd revolute pair 11, second connecting rod 14 1 ends are connected on the second column 12 by the 4th revolute pair 13, second connecting rod 14 other ends are connected with the first craspedodrome bar 16 by the second moving sets 15, first craspedodrome bar 16 other ends are connected with the second craspedodrome bar 18 by the 5th revolute pair 17, second craspedodrome bar 18 other ends are connected with third connecting rod 20 by three moving sets 19, third connecting rod 20 other ends are connected with the second column 12 by the 6th revolute pair 21,

Described executing agency subchain by the first Hooke's hinge 9, the second Hooke's hinge 22, and moving platform 24 be formed by connecting, the first Hooke's hinge is connected with first connecting rod 7 by the 7th revolute pair 8, the first Hooke's hinge 9 is connected with moving platform 24 by the 8th revolute pair 10, the second Hooke's hinge 22 is connected with the first craspedodrome bar 18 by the 5th revolute pair 17, the second Hooke's hinge 22 is connected with moving platform 24 by the 9th revolute pair 23, and the first Hooke's hinge 9, the second Hooke's hinge 22 can be realized the motion in the space of moving platform in the motion of separately space.

Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the first Hooke's hinge 9, the second Hooke's hinge 22 can be realized the motion in the space of moving platform 24 in the motion of separately space.

Claims

1. contain the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain, comprise open loop subchain, five-rod closed loop subchain and executing agency's subchain, its structure and connected mode are:

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 first connecting rod by the 7th revolute pair, the first Hooke's hinge is connected with moving platform by the 8th revolute pair, the second Hooke's hinge is connected with the first craspedodrome bar by the 5th revolute pair, and the second Hooke's hinge is connected with moving platform by the 9th revolute pair.