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Three-rotation-spherical-parallel-connection mechanism

A three-rotation, spherical technology, used in manipulators, program-controlled manipulators, metal processing mechanical parts, etc., can solve the problems of unguaranteed shape and reduced stiffness, and achieve good stiffness, small moment of inertia, and fast motion response.

Active Publication Date: 2014-03-19
ZHEJIANG SCI-TECH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The above-mentioned mechanisms have their own characteristics, but for the application in a spherical working environment, the stiffness of some mechanisms is reduced due to too many kinematic pairs, and the shape of other mechanisms cannot be guaranteed; The three-rotation spherical parallel mechanism that responds quickly and meets the requirements of the working environment is the focus of the design of the present invention

Method used

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  • Three-rotation-spherical-parallel-connection mechanism

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Embodiment Construction

[0014] Further description will be given below in conjunction with the embodiments shown in the accompanying drawings.

[0015] Such as figure 1 As shown, a three-rotation spherical parallel mechanism includes a frame 1 , a moving platform 4 and three branches connecting the frame 1 and the moving platform 4 .

[0016] Each of the three branches is sequentially composed of a rotating pair 1R, an arc-shaped connecting rod 12, a moving pair 1P, a guide rod 13, a spherical hinge 1S, and a circular moving platform 4 (the three branches have the same structure).

[0017] The radius of the arc-shaped connecting rod 12 in each branch is equal to the radius of the circular frame 1, the axis of the rotating pair 1R and the axis of the moving pair 1P form an angle of 45°, and the axis of the moving pair 1P passes through the spherical center of the spherical joint 1S and points to the circle The center O of the bracket (the arc lengths or distances between the centers of the two ball j...

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Abstract

The invention relates to a three-rotation-spherical-parallel-connection mechanism. According to the technical scheme, the three-rotation-spherical-parallel-connection mechanism comprises a rounded machine frame, a rounded moving platform and three branches; the machine frame and the moving platform are connected through the three branches. The three-rotation-spherical-parallel-connection mechanism is characterized in that the three branches comprise revolute pairs, arc-shaped connecting rods, moving pairs, guiding rods and spherical hinges. The three-rotation-spherical-parallel-connection mechanism has the advantages of being high in stiffness, rapid in motion response, small in rotational inertia, simple in structure and convenient to install.

Description

technical field [0001] The invention relates to an actuator of a machine tool and an industrial robot, especially a CNC machine tool actuator with a three-rotation parallel structure or a robot actuator with a three-rotation parallel structure in a spherical working environment. Background technique [0002] The parallel mechanism is a closed-loop motion system composed of multiple parallel branch chains, that is, one end of multiple parallel branch chains is connected to an end effector (moving platform) at the same time. Since the successful application of Steward mechanism in tire testing and flight simulators, parallel mechanism has been the research object of many scholars. Compared with the traditional serial mechanism, the parallel mechanism (PM) has greater stiffness, load and higher precision. In a certain sense, the parallel mechanism has the advantages of CNC machine tools (high rigidity, high precision, high speed) and industrial robots (low cost, flexibility, a...

Claims

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Application Information

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IPC IPC(8): B23Q1/48B25J9/00
CPCB23Q1/48B25J9/0054Y02P70/10
Inventor 吴伟峰李秦川陈巧红武传宇
Owner ZHEJIANG SCI-TECH UNIV
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