CN102501248A - Inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism - Google Patents
Inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism Download PDFInfo
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- CN102501248A CN102501248A CN2011103817504A CN201110381750A CN102501248A CN 102501248 A CN102501248 A CN 102501248A CN 2011103817504 A CN2011103817504 A CN 2011103817504A CN 201110381750 A CN201110381750 A CN 201110381750A CN 102501248 A CN102501248 A CN 102501248A
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Abstract
The invention relates to an inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism. An upper platform of the inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism is divided into an inner ring and an outer ring; a ball socket bearing is sheathed outside a centre shaft; the inner ring is sheathed outside the ball socket bearing; the outer ring is sheathed outside the inner ring; and the inner ring and the outer ring are connected by adopting a thin-wall bearing to form dynamic connection. The inner ring and a swivelling ring on a lower platform are connected by four (spherical-prismatic-spherical) SPS branched chains arranged in the manner of one halving circular ring at every 90 degrees and a (revolute pair-revolute pair-sliding pair) RRS branched chain for keeping an upper swivelling ring and a lower swivelling ring to synchronously rotate. The outer ring and the swivelling ring on the lower platform are connected by four SPS branched chains arranged in the manner of one halving circular ring at every 90 degrees and an RRS branched chain for constraining the rotary motion of the outer ring. The inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism has a small size, low energy consumption and high stability when rotating at high speed.
Description
Technical field
The present invention relates to the robot field, particularly a kind of hybrid mechanism.
Background technology
Existing hybrid mechanism all is to connect to the stationary formula.Be the forming of hybrid mechanism of wherein typically forming the connection of stationary formula by two mechanisms: a mechanism generally is the parallel institution of lower-mobility; Another mechanism is a serial or parallel connection mechanism, and two mechanisms adopt affixed mode to connect.Form by parallel institution and serial mechanism according to hybrid mechanism, or parallel institution and parallel institution composition, hybrid mechanism is divided into series and parallel and two kinds of parallel connection parallel connections.
Adopt traditional stationary formula to connect the hybrid mechanism of design, have problems such as volume is big, power consumption height, structural stability difference.
Summary of the invention
The objective of the invention is to propose the constraint hybrid mechanism excessively that a kind of volume is little, power consumption is low, the inner and outer ring nested dynamic formula of good stability connects.The present invention adopts the nested connected mode of inner and outer ring.
The present invention is mainly by two upper mounting plates, a lower platform and connect eight SPS branches of going up lower platform, and two RRS branches, and axis is formed.Wherein, two upper mounting plates are respectively interior ring and outer shroud from inside to outside, and ball socket bearing is enclosed within outside the axis, and inner ring sleeve is outside at ball socket bearing, and ring was outside in outer shroud was enclosed within, and adopt thin-wall bearing to connect between the inner and outer ring.Interior ring is rotatable, and outer shroud is non-rotatable.Lower platform is provided with rotating ring, and this rotating ring is parallel to upper mounting plate up and down.
Ring is gone up by a RRS branch and four identical SPS branches and is connected with rotating ring on the lower platform in the upper mounting plate.Each SPS branch all is a double link, all connects through moving sets between its two ends, and the two ends of this double link connect the rotating ring on the ring and lower platform in the upper mounting plate respectively through the ball pair.Above-mentioned four SPS branches are arranged on the circumference by per 90 ° of five equilibriums.Connect by revolute pair between two connecting rods of RRS branch, this branch upper end is by ring in the secondary connection of the ball upper mounting plate, and the lower end connects the rotating ring of lower platform by revolute pair.This branch is positioned at ring goes up in the middle of any two SPS branches, is used to keep the synchronous rotation between two rotating rings up and down.
Link to each other with lower platform with four SPS branches by a RRS branch on the upper mounting plate outer shroud.Each SPS branch all is single connecting rod, all connects through moving sets between its two ends, and the two ends of this branch connect upper mounting plate outer shroud and lower platform respectively through the ball pair.Above-mentioned four SPS branches are arranged on the circumference by per 90 ° of five equilibriums.Connect through revolute pair between two connecting rods of RRS branch, this branch upper end is through the secondary upper mounting plate outer shroud that connects of ball, and the lower end connects on the boss of lower platform through revolute pair.This branch is positioned in the middle of any two the SPS branches on the outer shroud, is used to retrain not rotatablely moving of rotating ring, and making not, rotating ring can not rotate.
The present invention compared with prior art has following advantage: can make volume-diminished arrive the half the of original equivalent mechanism, reduce power consumption, can upper mounting plate be connected on the fixed platform of ground and be rotated the stability height when mechanism rotates at a high speed.
Description of drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is the profile of Fig. 1 A-A.
The specific embodiment
The constraint hybrid mechanism excessively that inner and outer ring nested dynamic formula illustrated in figures 1 and 2 connects; Its ball socket bearing 2 is socketed on the axis 1, and ring 4 is enclosed within the ball socket bearing outside in the upper mounting plate, and ring was outside in upper mounting plate outer shroud 3 was enclosed within; Interior ring is connected through thin-wall bearing 11 with outer shroud; Lower platform 7 has boss, and it all is double link that this boss is provided with 10, four identical SPS branches 5 of rotating ring; All connect through moving sets between its two ends, the two ends of this double link connect the rotating ring on the ring and lower platform in the upper mounting plate respectively through the ball pair.Above-mentioned four SPS branches are arranged on the circumference by per 90 ° of five equilibriums.Connect by revolute pair between two connecting rods of RRS branch 8, ring in the secondary connection of ball is passed through in this branch upper end, and the lower end is by the rotating ring of revolute pair connection lower platform, and this branch is positioned in the middle of last two the SPS branches of ring.
Other four identical SPS branches 6 are single connecting rods, all connect through moving sets between its two ends, and the two ends of this connecting rod connect upper mounting plate outer shroud and lower platform respectively through the ball pair.Above-mentioned four SPS branches are arranged on the circumference by per 90 ° of five equilibriums.Connect through revolute pair between two connecting rods of RRS branch 9, this branch upper end is through the secondary outer shroud that connects of ball, and the lower end connects on the boss of lower platform through revolute pair.This branch is positioned in the middle of two SPS branches on the outer shroud.
Claims (1)
1. an inner and outer ring nested dynamic connected the constraint hybrid mechanism, and its branch of going up lower platform by lower platform of two upper mounting plates and connection forms, and it is characterized in that: two upper mounting plates are respectively interior ring and outer shroud from inside to outside; Ball socket bearing is enclosed within outside the axis; Inner ring sleeve is outside at ball socket bearing, and ring was outside in outer shroud was enclosed within, and adopts thin-wall bearing to connect between the inner and outer ring; Interior ring is rotatable; Outer shroud is non-rotatable, and lower platform is provided with rotating ring, and this rotating ring is parallel to upper mounting plate up and down; Ring is gone up by a RRS branch and four identical SPS branches and is connected with rotating ring on the lower platform in the upper mounting plate; Each SPS branch all is a double link; All connect through moving sets between its two ends, the two ends of this double link connect the rotating ring on the ring and lower platform in the upper mounting plate respectively through the ball pair, and above-mentioned four SPS branches are arranged on the circumference by per 90 ° of five equilibriums; Connect through revolute pair between two connecting rods of RRS branch; Ring in this branch upper end connects through the ball pair, lower end are through the rotating ring of revolute pair connection lower platform, and this branch is positioned at ring and goes up in the middle of any two SPS branches; Link to each other with lower platform with four SPS branches by a RRS branch on the upper mounting plate outer shroud; Each SPS branch all is single connecting rod; All connect through moving sets between its two ends, the two ends of this connecting rod connect upper mounting plate outer shroud and lower platform respectively through the ball pair, and above-mentioned four SPS branches are arranged on the circumference by per 90 ° of five equilibriums; Connect through revolute pair between two connecting rods of RRS branch; This branch upper end is through the secondary outer shroud that connects of ball, and the branch lower end connects on the boss of lower platform through revolute pair, and this branch is positioned in the middle of any two the SPS branches on the outer shroud.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110381750.4A CN102501248B (en) | 2011-11-28 | 2011-11-28 | Inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110381750.4A CN102501248B (en) | 2011-11-28 | 2011-11-28 | Inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102501248A true CN102501248A (en) | 2012-06-20 |
| CN102501248B CN102501248B (en) | 2014-04-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110381750.4A Expired - Fee Related CN102501248B (en) | 2011-11-28 | 2011-11-28 | Inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN102501248B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103600840A (en) * | 2013-11-12 | 2014-02-26 | 燕山大学 | Coaxial helicopter rotor mechanism |
| CN103723271A (en) * | 2013-12-11 | 2014-04-16 | 燕山大学 | Inner ring and outer ring nested coaxial mechanism |
| CN105856183A (en) * | 2016-05-16 | 2016-08-17 | 安庆米锐智能科技有限公司 | Lifting platform for maintenance of power equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1668786A1 (en) * | 1989-04-25 | 1991-08-07 | Институт Машиноведения Им.А.А.Благонравова | Spatial mechanism with four freedom degrees |
| CN1861328A (en) * | 2005-10-10 | 2006-11-15 | 燕山大学 | Adjustable 3,4,5-SPS type parallel mechanism experiment bench |
| EP1330335B1 (en) * | 2000-10-27 | 2009-02-18 | Makex Limited | Improvements in parallel link machine design |
-
2011
- 2011-11-28 CN CN201110381750.4A patent/CN102501248B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1668786A1 (en) * | 1989-04-25 | 1991-08-07 | Институт Машиноведения Им.А.А.Благонравова | Spatial mechanism with four freedom degrees |
| EP1330335B1 (en) * | 2000-10-27 | 2009-02-18 | Makex Limited | Improvements in parallel link machine design |
| CN1861328A (en) * | 2005-10-10 | 2006-11-15 | 燕山大学 | Adjustable 3,4,5-SPS type parallel mechanism experiment bench |
Non-Patent Citations (2)
| Title |
|---|
| SAPUTRA V.B.: "Development and Trajectory Planning of a Hybrid Serial-Parallel Manipulator", 《ASIAN INTERNATIONAL JOURNAL OF SCIENCE AND TECHNOLOGY IN PRODUCTION AND MANUFACTURING ENGINEERING》 * |
| 杨育林等: "自动倾斜器不旋转环操作机构等效并联机构尺寸优化分析", 《机械工程学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103600840A (en) * | 2013-11-12 | 2014-02-26 | 燕山大学 | Coaxial helicopter rotor mechanism |
| CN103600840B (en) * | 2013-11-12 | 2016-03-30 | 燕山大学 | A kind of Coaxial helicopter rotor mechanism |
| CN103723271A (en) * | 2013-12-11 | 2014-04-16 | 燕山大学 | Inner ring and outer ring nested coaxial mechanism |
| CN103723271B (en) * | 2013-12-11 | 2015-11-18 | 燕山大学 | A kind of nested coaxial mechanism of inner and outer ring |
| CN105856183A (en) * | 2016-05-16 | 2016-08-17 | 安庆米锐智能科技有限公司 | Lifting platform for maintenance of power equipment |
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| Publication number | Publication date |
|---|---|
| CN102501248B (en) | 2014-04-16 |
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Granted publication date: 20140416 Termination date: 20171128 |
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