CN202556404U - Three degree-of-freedom parallel mechanism containing RRR closed-loop branch chain - Google Patents

Abstract

Translated fromChinese

一种含RRR闭环子链的三自由度并联机构，包括RRR闭环子链和执行机构子链。所述RRR闭环子链可控制第一转台在RRR闭环子链所在平面内运动，第一转台和主动滑块的运动可实现动平台的空间三自由度运动。本实用新型通过一个闭环子链和一个主动滑块来控制一个转台在平面的运动，从而实现动平台的空间三自由度运动，具有结构紧凑控制简单的优点，且所有主动件都连接在机架上，杆件能做成轻杆，机构运动惯量小，动力学性能好。

A three-degree-of-freedom parallel mechanism with an RRR closed-loop sub-chain, including an RRR closed-loop sub-chain and an actuator sub-chain. The RRR closed-loop sub-chain can control the movement of the first turntable in the plane where the RRR closed-loop sub-chain is located, and the movement of the first turntable and the active slider can realize the three-degree-of-freedom movement of the movable platform. The utility model controls the movement of a turntable on the plane through a closed-loop sub-chain and an active slider, thereby realizing the space three-degree-of-freedom movement of the moving platform, and has the advantages of compact structure and simple control, and all active parts are connected to the frame In addition, the rod can be made into a light rod, the mechanism has a small moment of inertia and good dynamic performance.

Description

A kind of 3-freedom parallel mechanism that contains RRR closed loop subchain

Technical field

The utility model relates to the parallel institution field, particularly a kind of 3-freedom parallel mechanism that contains RRR closed loop subchain.

Background technology

Parallel institution and traditional serial mechanism are compared, and have following characteristics: no accumulated error, and precision is higher; Drive unit can place on the fixed platform or near the position of fixed platform, motion parts is in light weight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is big; The parallel institution of symmetry has isotropism preferably fully.Because parallel institution itself is with regard to more complicated; If closed loop is contained again in branch, its mechanism will be complicated more, so in general; Parallel institution symmetry, 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 remarkable more, like famous delta mechanism.In addition; Existing parallel institution; Its side chain receives the restriction of connected mode, generally has only a linear actuator to be connected in the driving that is cemented on the frame, like this mode of multiple freedom parallel mechanism for realizing that it moves and just needs many side chains or take a plurality of linear actuators of series connection on the side chain; Yet the parallel institution complex structure of many side chains control difficulty, a plurality of linear actuators of series connection can influence the exercise performance of parallel institution on the side chain.

Summary of the invention

The purpose of the utility model is to provide a kind of 3-freedom parallel mechanism of the RRR of containing closed loop subchain, solves a plurality of drivings of side chain of traditional parallel institution and can not be connected the shortcoming on the frame simultaneously.

The utility model achieves the above object through following technical scheme: a kind of 3-freedom parallel mechanism of the RRR of containing closed loop subchain comprises RRR closed loop subchain and executing agency's subchain.

Said RRR closed loop subchain is formed by connecting first linear actuator, second linear actuator and frame; First linear actuator, one end is connected on the frame through first revolute pair; The first linear actuator other end is connected with first turntable through second revolute pair; Second linear actuator, one end is connected with first turntable through second revolute pair, and the second linear actuator other end is connected with frame through the 3rd revolute pair.

Said executing agency subchain is formed by connecting active sliding block, first turntable, second turntable, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and moving platform; First turntable is connected with first connecting rod through the 4th revolute pair; First turntable is connected with second connecting rod through the 5th revolute pair; The first connecting rod other end is connected with third connecting rod with moving platform through the 6th revolute pair, and the second connecting rod other end is connected with moving platform through the 7th revolute pair, and the 4th connecting rod is connected with moving platform through the 8th revolute pair; The third connecting rod other end is connected with second turntable through the 9th revolute pair; The 4th connecting rod other end is connected with second turntable through the tenth revolute pair, and second turntable is connected with active sliding block through the 11 revolute pair, and active sliding block is connected on the frame through moving sets.

The rotation of said first revolute pair, second revolute pair, the 3rd revolute pair, the 11 revolute pair is parallel to each other, and first connecting rod is isometric parallel with second connecting rod, and third connecting rod is isometric parallel with the 4th connecting rod.

The outstanding advantage of the utility model is:

1, through the motion of closed loop subchain controlling organization, mechanism's side chain can have a plurality of drivers to be connected on the frame;

2, all linear actuators all are connected on the frame, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;

3, through the end effector of various different purposes is installed on moving platform, this mechanism may be used in the work such as extracting, carrying, piling.

Description of drawings

Fig. 1 is said a kind of first structural representation that contains the 3-freedom parallel mechanism of RRR closed loop subchain of the utility model.

Fig. 2 is said a kind of second structural representation that contains the 3-freedom parallel mechanism of RRR closed loop subchain of the utility model.

Fig. 3 is the said a kind of first work sketch map that contains the 3-freedom parallel mechanism of RRR closed loop subchain of the utility model.

Fig. 4 is the said a kind of second work sketch map that contains the 3-freedom parallel mechanism of RRR closed loop subchain of the utility model.

The specific embodiment

Below in conjunction with accompanying drawing and embodiment the technical scheme of the utility model is described further.

Map 1 and Fig. 2, a kind of two-degree-of-freedom parallel mechanism that contains the closed loop subchain comprises RRR closed loop subchain and executing agency's subchain.

Said RRR closed loop subchain is formed by connecting first linear actuator 3, second linear actuator 8 and frame 1; First linear actuator, 3 one ends are connected on the frame 1 through first revolute pair 2; First linear actuator, 3 other ends are connected with first turntable 5 through second revolute pair 4; Second linear actuator, 8 one ends are connected with first turntable 5 through second revolute pair 4, and second linear actuator, 8 other ends are connected with frame 1 through the 3rd revolute pair 9.

Said executing agency subchain is formed by connecting first turntable 5,second turntable 18, first connectingrod 10, second connecting rod 11, third connectingrod 16, the 4th connectingrod 17 and moving platform 12; First turntable 5 is connected with first connectingrod 10 through the 4th revolute pair 6; First turntable 5 is connected with second connecting rod 11 through the 5th revolute pair 7; First connectingrod 10 other ends are connected with third connectingrod 16 with moving platform 12 through the 6th revolute pair 14; Second connecting rod 11 other ends are connected with moving platform 12 through the 7threvolute pair 13; The 4th connectingrod 17 is connected with moving platform 12 through the 8threvolute pair 15, and third connectingrod 16 other ends are connected withsecond turntable 18 through the 9threvolute pair 19, and the 4th connectingrod 17 other ends are connected withsecond turntable 18 through the tenthrevolute pair 20;Second turntable 18 is connected with active sliding block 22 through the 11revolute pair 21, and active sliding block 22 is connected on the frame 1 through movingsets 23.

The rotation of said first revolute pair 2, second revolute pair 4, the 3rd revolute pair 9, the 11revolute pair 21 is parallel to each other, and first connectingrod 10 is isometric parallel with second connecting rod 11, and third connectingrod 16 is isometric parallel with the 4th connectingrod 17.

Map 2, Fig. 3 and Fig. 4, the motion of first turntable 5 in the plane, place can realize the space three-freedom motion of movingplatform 15.

Claims (1)

1. a 3-freedom parallel mechanism that contains RRR closed loop subchain comprises RRR closed loop subchain, executing agency's subchain and active sliding block, it is characterized in that its structure and connected mode are:

Said RRR closed loop subchain is formed by connecting first linear actuator, second linear actuator and frame; First linear actuator, one end is connected on the frame through first revolute pair; The first linear actuator other end is connected with first turntable through second revolute pair; Second linear actuator, one end is connected with first turntable through second revolute pair, and the second linear actuator other end is connected with frame through the 3rd revolute pair

Said executing agency subchain is formed by connecting active sliding block, first turntable, second turntable, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and moving platform; First turntable is connected with first connecting rod through the 4th revolute pair; First turntable is connected with second connecting rod through the 5th revolute pair, and the first connecting rod other end is connected with third connecting rod with moving platform through the 6th revolute pair, and the second connecting rod other end is connected with moving platform through the 7th revolute pair; The 4th connecting rod is connected with moving platform through the 8th revolute pair; The third connecting rod other end is connected with second turntable through the 9th revolute pair, and the 4th connecting rod other end is connected with second turntable through the tenth revolute pair, and second turntable is connected with active sliding block through the 11 revolute pair; Active sliding block is connected on the frame through moving sets

The rotation of said first revolute pair, second revolute pair, the 3rd revolute pair, the 11 revolute pair is parallel to each other, and first connecting rod is isometric parallel with second connecting rod, and third connecting rod is isometric parallel with the 4th connecting rod.

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