CN102785241A - Single degree-of-freedom three-dimensional motion device - Google Patents
Single degree-of-freedom three-dimensional motion device Download PDFInfo
- Publication number
- CN102785241A CN102785241A CN2012103075922A CN201210307592A CN102785241A CN 102785241 A CN102785241 A CN 102785241A CN 2012103075922 A CN2012103075922 A CN 2012103075922A CN 201210307592 A CN201210307592 A CN 201210307592A CN 102785241 A CN102785241 A CN 102785241A
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- China
- Prior art keywords
- revolute pair
- freedom
- moving platform
- silent flatform
- side chain
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- 230000003068 static Effects 0.000 abstract 5
- 238000005498 polishing Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Abstract
The invention relates to a single degree-of-freedom three-dimensional motion device. The single degree-of-freedom three-dimensional motion device comprises an upper movable platform (3), a lower static platform (0) and three branching chains connecting the upper movable platform (3) and the lower static platform (0); after one end of the first component (1) on a first branching chain and the lower static platform (0) are connected by a first revolute pair (R11), the other end of the first component (1) is connected with one end of a second component (2) by a revolute pair (R12); the other end of the second component (2) is connected with the upper movable platform (3) by a first spherical hinge (S13); the axis of the revolute pair (R12) and the axis of the first revolute pair (R11) are parallel; after one end of a fourth component (4) on a second branching chain and the lower static platform (0) are connected by a second spherical hinge (S21), the other end of the fourth component (4) is connected with the upper movable platform (3) by a third spherical hinge (S22); a third branching chain only consists of a fourth spherical hinge (S31); the three spherical hinges on the upper movable platform (3) are not placed on the same straight line; and the axis of the first revolute pair (R11) on the lower static platform (0) can be optionally arranged. When the revolute pair (R11) is a driving pair, the upper movable platform (3) can generate a three-dimensional swing motion.
Description
Technical field
The present invention relates to a kind of single-degree-of-freedom three-dimensional motion mechanism, specifically, is that the mixer, mixer, motion oscillations sieve, movement entertainment equipment etc. for the requisite space three-dimensional motion provides one type of novel three-dimensional revolving gear.
Background technology
Many occasions need single-degree-of-freedoms simple in structure but can produce the space mechanism of space three-dimensional motion, example: mixer, polishing machine, mixer, vibratory sieve in the industry.The single-degree-of-freedom three dimensions mechanism that patent documentation [invention application number 200710131525.9] is introduced can be used for three-dimensional mixer; A kind of single-degree-of-freedom parallel moving mechanism that patent documentation [ZL200710046412.9] is introduced; Can produce the three dimensions screening motion that a translation two is rotated; The assurance materials overturning is abundant; Sieve aperture is difficult for being blocked by " sieve grain ", thereby can improve screening efficiency, alternative traditional circular shale shaker and linear vibrating screen at present.The present invention provides another kind of single-degree-of-freedom to drive but can produce the parallel institution of space three-dimensional swing.
Summary of the invention
The object of the invention provides a kind of novel single-degree-of-freedom three-dimensional space motion device; Its technical scheme is: a kind of single-degree-of-freedom three-dimensional motion device; Gone up three side chains of moving platform (3) and following silent flatform (0) by last moving platform (3), following silent flatform (0) and connection and form, an end of the member one (1) on article one side chain and following silent flatform (0) are with revolute pair one (R
11) after the connection, its other end is again with revolute pair two (R
12) end of connecting elements two (2), the other end of member two (2) is again with ball pivot one (S
13) be connected with last moving platform (3); One end of the member four (4) on the second side chain and following silent flatform (0) are with ball pivot two (S
21) after the connection, the other end of member four (4) is again with ball pivot three (S
22) be connected revolute pair two (R with last moving platform (3)
12) axis and revolute pair one (R
11) parallel axes; Article three, side chain is only by ball pivot four (S
31) form, it directly will go up moving platform (3) and following silent flatform (0) links together; And the position of three ball pivots on the last moving platform (3) can not be point-blank, the revolute pair one (R on the following silent flatform (0)
11) axis can arrange arbitrarily.
Further, the revolute pair one (R on article one side chain
11) moving sets of available single-degree-of-freedom substitutes, and one of two ball pivots on the second side chain can be replaced by a universal joint.
This mechanism has following characteristics: (1) mechanism output movement platform is the three-dimensional swing of three rotations in space, and it is independently that a motion is wherein only arranged, and all the other two rotations are the independent motion of deriving; (2) there was the constraint loop in mechanism, its good rigidly; (3) only use a CD-ROM drive motor, simple in structure, the ball pair can adopt the spherical plain bearing rod end of being produced by specialized factory, is enough to satisfy required precision, and therefore, machining and assembling amount thereof are less and easily simple; (4) forward kinematics solution is simple.
The present invention is that parallel kinematic equipment such as parallel kinematic vibratory sieve, mixer, polishing machine etc. provide new architecture.
Description of drawings
Accompanying drawing 1 is the structural representation of a kind of embodiment of the present invention.
The specific embodiment
Through accompanying drawing and instance technology of the present invention is given to explain further below.
Accompanying drawing 1 is the structural representation of a kind of embodiment of the present invention; Its technical scheme is: a kind of single-degree-of-freedom three-dimensional motion device; By last moving platform 3, silent flatform 0 and connect three side chains going up moving platform 3 and following silent flatform 0 and form down, an end of the member 1 on article one side chain and following silent flatform 0 are with revolute pair one R
11After the connection, its other end is again with revolute pair two R
12One end of connecting elements 22, the other end of member 22 are again with ball pivot one S
13Be connected with last moving platform 3; One end of the member 44 on the second side chain and following silent flatform 0 are with ball pivot two S
21After the connection, the other end of member 44 is again with the ball pivot Three S's
22Be connected revolute pair two R with last moving platform 3
12Axis and revolute pair one R
11Parallel axes; Article three, side chain is only by ball pivot four S
31Form, it directly will be gone up moving platform 3 and link together with following silent flatform 0; And the position of three ball pivots on the last moving platform 3 can not be point-blank, revolute pair one R on the following silent flatform 0
11Axis can arrange arbitrarily.
Further, revolute pair one R on article one side chain
11The moving sets of available single-degree-of-freedom substitutes, and one of two ball pivots on the second side chain can be replaced by a universal joint.
When last moving platform 3 fixed vibratory sieve screen frames, mixer, polishing machine framework, just can become three-dimensional vibratory sieve, three-dimensional mixer, polishing machine etc., thereby realize required three-dimensional space motion.This mechanism structure is simple, and is easy to manufacture, easy to operate.
Claims (2)
1. single-degree-of-freedom three-dimensional motion device; By last moving platform (3), following silent flatform (0) and connect three side chains going up moving platform (3) and following silent flatform (0) and form, the end and the following silent flatform (0) that it is characterized in that the member one (1) on article one side chain are with revolute pair one (R
11) after the connection, its other end is again with revolute pair two (R
12) end of connecting elements two (2), the other end of member two (2) is again with ball pivot one (S
13) be connected revolute pair two (R with last moving platform (3)
12) axis and revolute pair one (R
11) parallel axes; One end of the member four (4) on the second side chain and following silent flatform (0) are with ball pivot two (S
21) after the connection, the other end of member four (4) is again with ball pivot three (S
22) be connected with last moving platform (3); Article three, side chain is only by ball pivot four (S
31) form, it directly will go up moving platform (3) and following silent flatform (0) links together; And the position of three ball pivots on the last moving platform (3) is not point-blank, the revolute pair one (R on the following silent flatform (0)
11) axis can arrange arbitrarily.
2. by the described single-degree-of-freedom three-dimensional motion device of claim 1, it is characterized in that the revolute pair one (R on article one side chain
11) moving sets of available single-degree-of-freedom substitutes, and one of two ball pivots on the second side chain can be replaced by a universal joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210307592.2A CN102785241B (en) | 2012-08-23 | 2012-08-23 | Single degree-of-freedom three-dimensional motion device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210307592.2A CN102785241B (en) | 2012-08-23 | 2012-08-23 | Single degree-of-freedom three-dimensional motion device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102785241A true CN102785241A (en) | 2012-11-21 |
| CN102785241B CN102785241B (en) | 2015-03-11 |
Family
ID=47150923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210307592.2A Active CN102785241B (en) | 2012-08-23 | 2012-08-23 | Single degree-of-freedom three-dimensional motion device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102785241B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102962839A (en) * | 2012-12-12 | 2013-03-13 | 常州大学 | Vibrating screen mechanism with three-dimensional independent output motion |
| CN103386682A (en) * | 2013-08-06 | 2013-11-13 | 常州大学 | Two-input one-translation three-rotation output parallel-connection movement mechanism |
| CN103465044A (en) * | 2013-09-13 | 2013-12-25 | 常州大学 | Single-input three-translational three-rotational output parallel mechanism |
| CN103465254A (en) * | 2013-09-13 | 2013-12-25 | 常州大学 | Single-input three-translational three-rotational output parallel movement device |
| CN104290009A (en) * | 2014-09-30 | 2015-01-21 | 黑龙江北鸥卫浴用品有限公司 | Sanitary product polisher |
| CN108782193A (en) * | 2018-05-24 | 2018-11-13 | 江会民 | The green plant watering device of eminence in a kind of room |
| CN112701477A (en) * | 2020-12-14 | 2021-04-23 | 兰州空间技术物理研究所 | High-precision, heavy-load and low-power-consumption stable pointing mechanism |
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| JP3691240B2 (en) * | 1998-03-12 | 2005-09-07 | 三菱電機株式会社 | Parallel robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102962839A (en) * | 2012-12-12 | 2013-03-13 | 常州大学 | Vibrating screen mechanism with three-dimensional independent output motion |
| CN103386682A (en) * | 2013-08-06 | 2013-11-13 | 常州大学 | Two-input one-translation three-rotation output parallel-connection movement mechanism |
| CN103386682B (en) * | 2013-08-06 | 2015-08-12 | 常州大学 | Output-parallel motion is rotated in a kind of two input one translations three |
| CN103465044A (en) * | 2013-09-13 | 2013-12-25 | 常州大学 | Single-input three-translational three-rotational output parallel mechanism |
| CN103465254A (en) * | 2013-09-13 | 2013-12-25 | 常州大学 | Single-input three-translational three-rotational output parallel movement device |
| CN103465254B (en) * | 2013-09-13 | 2015-09-09 | 常州大学 | Output-parallel telecontrol equipment is rotated in a kind of single input three translation three |
| CN104290009A (en) * | 2014-09-30 | 2015-01-21 | 黑龙江北鸥卫浴用品有限公司 | Sanitary product polisher |
| CN108782193A (en) * | 2018-05-24 | 2018-11-13 | 江会民 | The green plant watering device of eminence in a kind of room |
| CN112701477A (en) * | 2020-12-14 | 2021-04-23 | 兰州空间技术物理研究所 | High-precision, heavy-load and low-power-consumption stable pointing mechanism |
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|---|---|
| CN102785241B (en) | 2015-03-11 |
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Effective date of registration: 20201126 Address after: Unit 2414-2416, main building, no.371, Wushan Road, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Address before: Gehu Lake Road Wujin District 213164 Jiangsu city of Changzhou province No. 1 Changzhou University Patentee before: CHANGZHOU University Effective date of registration: 20201126 Address after: 215000 No. 8 Jinfeng Road, hi tech Zone, Suzhou, Jiangsu, Suzhou Patentee after: Suzhou science and Technology City Biomedical Technology Development Co., Ltd Address before: Unit 2414-2416, main building, no.371, Wushan Road, Tianhe District, Guangzhou City, Guangdong Province Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. |