CN102501248B - 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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- CN102501248B CN102501248B CN201110381750.4A CN201110381750A CN102501248B CN 102501248 B CN102501248 B CN 102501248B CN 201110381750 A CN201110381750 A CN 201110381750A CN 102501248 B CN102501248 B CN 102501248B
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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 robot field, particularly a kind of hybrid mechanism.
Background technology
Existing hybrid mechanism is all for the fixed connection of static state.Be the forming of hybrid mechanism that wherein typically forms static fixed connection by Liang Ge mechanism: a mechanism is generally the parallel institution of lower-mobility; Another mechanism is serial or parallel connection mechanism, and Liang Ge mechanism adopts affixed mode to connect.According to hybrid mechanism, by parallel institution and serial mechanism, formed, or parallel institution and parallel institution composition, hybrid mechanism is divided into series and parallel and two kinds in parallel of parallel connection.
Adopt the hybrid mechanism of the fixed connection of traditional static state design, have that volume is large, high, the problem such as structural stability is poor consumes energy.
Summary of the invention
The object of the invention is to propose the constraint hybrid mechanism excessively that a kind of volume is little, the inner and outer ring nested dynamic formula low, good stability that consumes energy 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 upper lower platform, Liang Ge RRS branch, and axis composition.Wherein, two upper mounting plates are respectively interior ring and outer shroud from inside to outside, and ball socket bearing is enclosed within outside axis, and inner ring sleeve is in ball socket bearing outside, and exterior ring cap is outside at interior ring, adopt thin-wall bearing to connect between 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.
In upper mounting plate, ring is upper is connected with the rotating ring on lower platform by a SPS branch identical with four of RRS branch.Each SPS branch is double link, between its two ends, all by moving sets, connects, and the two ends of this double link connect respectively the rotating ring on ring and lower platform in upper mounting plate by ball pair.Above-mentioned four SPS branches are arranged on circumference by every 90 ° of deciles.Between two connecting rods of RRS branch, by revolute pair, connect, this branch upper end was encircled by secondary connection in upper mounting plate of ball, and lower end connects the rotating ring of lower platform by revolute pair.This branch is positioned on ring in the middle of any Liang Ge SPS branch, for keeping the synchronous rotation between upper and lower two rotating rings.
On upper mounting plate outer shroud, by a RRS branch, be connected with lower platform with four SPS branches.Each SPS branch is monotroded bar, between its two ends, all by moving sets, connects, and the two ends of this branch connect respectively upper mounting plate outer shroud and lower platform by ball pair.Above-mentioned four SPS branches are arranged on circumference by every 90 ° of deciles.Between two connecting rods of RRS branch, by revolute pair, connect, this branch upper end is by the secondary upper mounting plate outer shroud that connects of ball, and lower end connects on the boss of lower platform by revolute pair.This branch is positioned in the middle of any Liang Ge SPS branch on outer shroud, for retraining not rotatablely moving of rotating ring, not rotating ring can not be rotated.
The present invention compared with prior art tool has the following advantages: can make volume-diminished arrive the half of original equivalent mechanism, reduce power consumption, upper mounting plate can be connected in the fixed platform of ground and be rotated, stability during mechanism High Rotation Speed is high.
Accompanying drawing explanation
Fig. 1 is 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 Fig. 1 is connected with the inner and outer ring nested dynamic formula shown in Fig. 2, its ball socket bearing 2 is socketed on axis 1, in upper mounting plate, ring 4 is enclosed within ball socket bearing outside, it is outside that upper mounting plate outer shroud 3 is enclosed within interior ring, interior ring is connected by thin-wall bearing 11 with outer shroud, lower platform 7 is with boss, this boss is provided with rotating ring 10, four identical SPS branches 5 are all double link, between its two ends, all by moving sets, connect, the two ends of this double link connect respectively in upper mounting plate the rotating ring on ring and lower platform by ball pair.Above-mentioned four SPS branches are arranged on circumference by every 90 ° of deciles.Between two connecting rods of RRS branch 8, by revolute pair, connect, ring in this branch upper end connects by ball is secondary, lower end connects the rotating ring of lower platform by revolute pair, and this branch is positioned in the middle of Huan Shangliangge SPS branch.
Other four identical SPS branches 6 are monotroded bars, between its two ends, all by moving sets, connect, and the two ends of this connecting rod connect respectively upper mounting plate outer shroud and lower platform by ball pair.Above-mentioned four SPS branches are arranged on circumference by every 90 ° of deciles.Between two connecting rods of RRS branch 9, by revolute pair, connect, this branch upper end is by the secondary outer shroud that connects of ball, and lower end connects on the boss of lower platform by revolute pair.This branch is positioned in the middle of the Liang Ge SPS branch on outer shroud.
Claims (1)
1. an inner and outer ring nested dynamic connected constraint hybrid mechanism, its branch by lower platform of two upper mounting plates and the upper lower platform of connection forms, 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 axis, inner ring sleeve is in ball socket bearing outside, exterior ring cap is outside at interior ring, between inner and outer ring, adopt thin-wall bearing to connect, interior ring is rotatable, outer shroud is non-rotatable, lower platform is provided with rotating ring, and the upper and lower plane parallel of this rotating ring is in upper mounting plate, in upper mounting plate, ring is upper is connected with the rotating ring on lower platform by a SPS branch identical with four of RRS branch, each SPS branch is double link, between its two ends, all by moving sets, connect, the two ends of this double link connect respectively in upper mounting plate the rotating ring on ring and lower platform by ball pair, above-mentioned four SPS branches are arranged on circumference by every 90 ° of deciles, between two connecting rods of RRS branch, by revolute pair, connect, ring in this branch upper end connects by ball is secondary, lower end connects the rotating ring of lower platform by revolute pair, this branch is positioned on ring in the middle of any Liang Ge SPS branch, on upper mounting plate outer shroud, by a RRS branch, be connected with lower platform with four SPS branches, each SPS branch is monotroded bar, between its two ends, all by moving sets, connect, the two ends of this connecting rod connect respectively upper mounting plate outer shroud and lower platform by ball pair, above-mentioned four SPS branches are arranged on circumference by every 90 ° of deciles, between two connecting rods of RRS branch, by revolute pair, connect, this branch upper end is by the secondary outer shroud that connects of ball, branch lower end connects by revolute pair on the boss of lower platform, and this branch is positioned in the middle of any Liang Ge SPS branch on 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 CN102501248A (en) | 2012-06-20 |
| CN102501248B true 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 |
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| Country | Link |
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| CN (1) | CN102501248B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103600840B (en) * | 2013-11-12 | 2016-03-30 | 燕山大学 | A kind of Coaxial helicopter rotor mechanism |
| CN103723271B (en) * | 2013-12-11 | 2015-11-18 | 燕山大学 | A kind of nested coaxial mechanism of inner and outer ring |
| CN105856183B (en) * | 2016-05-16 | 2017-12-08 | 国网河北省电力公司衡水供电分公司 | A kind of hoistable platform for electric equipment maintenance |
Family Cites Families (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 |
| GB0026357D0 (en) * | 2000-10-27 | 2000-12-13 | Makex Ltd | 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 |
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2011
- 2011-11-28 CN CN201110381750.4A patent/CN102501248B/en not_active Expired - Fee Related
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| CN102501248A (en) | 2012-06-20 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140416 Termination date: 20171128 |