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All-revolute-pair plane-symmetry two-movement and two-rotation parallel mechanism

A technology of rotating pair and plane symmetry, which is applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., which can solve the problems of reduced service life and wear of parallel mechanisms, and achieve long service life, simple control and good wear resistance.

Inactive Publication Date: 2021-12-17
CHONGQING VOCATIONAL INST OF ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The scheme has one-dimensional spherical rotation degree of freedom (Rs) and one-dimensional movement degree of freedom (P), one-dimensional rotation degree of freedom (R); enriches the configuration of the existing mechanism 2R1T (two rotations and one movement), the mechanism It can realize special two-dimensional rotation and one-dimensional movement in space, but the parallel structure contains multiple ball pairs and moving pairs. In the actual application process, the robot always repeats the same action, and long-term continuous operation is easy to cause wear to the parallel mechanism. , thereby reducing its service life

Method used

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  • All-revolute-pair plane-symmetry two-movement and two-rotation parallel mechanism

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Embodiment 2

[0052] The difference between this embodiment and embodiment 1 is that, as attached Figure 2-3 As shown, it also includes a lubricating mechanism arranged on a fixed platform. The lubricating mechanism includes a cylinder 5 and a lubricating oil cylinder 6. The cylinder 5 is provided with an oil inlet pipe 7 and an oil outlet pipe 8. The oil inlet pipe 7 is provided with an oil inlet check valve. An oil outlet check valve is arranged in the oil pipe 8, the oil inlet pipe 7 communicates with the lubricating oil cylinder 6, and the port of the oil outlet pipe 8 is provided with an oil outlet hole 9.

[0053] There are two lubricating mechanisms, which are respectively connected with the rotating pair R 15 and R 25 Corresponding settings, and the lubricating mechanism will not hinder the movement of the moving platform and branch chain. The revolving pair includes component A1 and component B1 that rotate relatively around the common axis. The rotation of component B1 is set i...

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Abstract

The invention belongs to the field of parallel mechanisms, and particularly relates to an all-revolute-pair plane-symmetry two-movement and two-rotation parallel mechanism. The all-revolute-pair plane-symmetry two-movement and two-rotation parallel mechanism comprises a movable platform, a fixed platform and four branch chains, wherein the four branch chains comprise the first branch chain, the second branch chain, the third branch chain and the fourth branch chain, the movable platform is connected to the fixed platform through the first branch chain, the second branch chain, the third branch chain and the fourth branch chain, a parallel structure is a plane symmetry structure, the movable platform and the fixed platform are both rectangular, the first branch chain and the second branch chain are the same in structure, and the first branch chain comprises a rotating pair R11, a hooke joint U1, a 4R parallelogram generalized moving pair Pa14 and a rotating pair R15 which are connected in sequence. The mechanism is a full-rotating-pair parallel mechanism, the whole mechanism does not contain moving pairs and spherical hinges, and therefore abrasion resistance is better, and the service life is long.

Description

technical field [0001] The proposal belongs to the field of parallel mechanisms, and specifically relates to a symmetrical two-movement and two-rotation parallel mechanism with full-rotation pairs. Background technique [0002] The parallel robot mechanism is composed of a moving platform, a fixed platform and several branch chains connecting the two platforms (number of branch chains ≥ 2). Compared with the series mechanism, the parallel mechanism has the advantages of strong bearing capacity, high precision, high rigidity, fast speed response and small self-weight-to-load ratio. Parallel robot mechanisms are widely used in industrial robots, parallel machine tools, medical robots, micro-manipulation robots, flight simulators and other fields. [0003] The patent with the application number CN201910372150.8 discloses a RPR parallel mechanism with a spherical rotating kinematic pair, including a moving platform and a fixed platform. The moving platform passes through the fi...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0048
Inventor 车林仙蒋海义林雪冬宋泽良
Owner CHONGQING VOCATIONAL INST OF ENG
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