CN102785241B - Single degree-of-freedom three-dimensional motion device - Google Patents
Single degree-of-freedom three-dimensional motion device Download PDFInfo
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- CN102785241B CN102785241B CN201210307592.2A CN201210307592A CN102785241B CN 102785241 B CN102785241 B CN 102785241B CN 201210307592 A CN201210307592 A CN 201210307592A CN 102785241 B CN102785241 B CN 102785241B
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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-frethree-dimensional three-dimensional movement mechanism, specifically, is the three-dimensional revolving gear for the mixer, mixer, motion oscillations sieve, movement entertainment equipment etc. of requisite space three-dimensional motion provides a class novel.
Background technology
The simple single-degree-of-freedom of industrial many occasion Structure of need but the space mechanism of spatial three-dimensional movement can be produced, example: mixer, polishing machine, mixer, vibratory sieve.The single-degree-of-freedom three dimensions mechanism that patent document [patent 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 document [ZL200710046412.9] is introduced, the three dimensions screening motion that a translation two is rotated can be produced, guarantee materials overturning is abundant, sieve aperture is not easily blocked by " sieve grain ", thus can screening efficiency be improved, alternative circular shale shaker traditional at present and linear vibrating screen.The invention provides another kind of single-degree-of-freedom to drive but the parallel institution that can produce space three-dimensional swing.
Summary of the invention
The object of the invention is to provide 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, be made up of three side chains of the upper moving platform (3) of upper moving platform (3), lower silent flatform (0) and connection and lower silent flatform (0), one end of the component one (1) on Article 1 side chain and lower silent flatform (0) are with revolute pair one (R
11) connect, its other end is with revolute pair two (R
12) one end of connecting elements two (2), the other end of component two (2) is with ball pivot one (S
13) be connected with upper moving platform (3); One end of component three (4) on Article 2 side chain and lower silent flatform (0) are with ball pivot two (S
21) connect, the other end of component three (4) is with ball pivot three (S
22) be connected with upper moving platform (3), revolute pair two (R
12) axis and revolute pair one (R
11) axis being parallel; Article 3 side chain is only made up of a ball pivot four (S31), and upper moving platform (3) and lower silent flatform (0) directly link together by it; And the position of three ball pivots on upper moving platform (3) can not point-blank, the revolute pair one (R on lower silent flatform (0)
11) axis can arrange arbitrarily.
Further, the revolute pair one (R on Article 1 side chain
11) moving sets of available single-degree-of-freedom substitutes, and one of two ball pivots on Article 2 side chain can be replaced by a universal joint.
This mechanism has following characteristics: (1) mechanism exports three three-dimensional oscillatings rotated that motion platform is space, wherein only has a motion to be independently, and all the other two are rotated as derivative dependent motion; (2) there is Planar Mechanisms loop in mechanism, its good rigidly; (3) only use a CD-ROM drive motor, structure is simple, and ball pair can adopt the spherical plain bearing rod end produced by specialized factory, is enough to meet required precision, and therefore, machining and assembling amount thereof are less and simply easy; (4) forward kinematics solution is simple.
The present invention is that the parallel kinematic equipment etc. such as parallel kinematic vibratory sieve, mixer, polishing machine provide new architecture.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of a kind of embodiment of the present invention.
Detailed description of the invention
Give to illustrate further to technology of the present invention below by accompanying drawing and example.
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, be made up of three side chains of moving platform 3 and lower silent flatform 0 in upper moving platform 3, lower silent flatform 0 and connection, one end of the component 1 on Article 1 side chain and lower silent flatform 0 are with revolute pair one R
11connect, its other end is with revolute pair two R
12one end of connecting elements 22, the other end of component 22 is with ball pivot one S
13be connected with upper moving platform 3; One end of component 34 on Article 2 side chain and lower silent flatform 0 are with ball pivot two S
21connect, the other end of component 34 is with ball pivot Three S's
22be connected with upper moving platform 3, revolute pair two R
12axis and revolute pair one R
11axis being parallel; Article 3 side chain is only by ball pivot four S
31form, upper moving platform 3 and lower silent flatform 0 directly link together by it; And the position of three ball pivots on upper moving platform 3 can not point-blank, revolute pair one R on lower silent flatform 0
11axis can arrange arbitrarily.
Further, revolute pair one R on Article 1 side chain
11the moving sets of available single-degree-of-freedom substitutes, and one of two ball pivots on Article 2 side chain can be replaced by a universal joint.
When upper moving platform 3 consolidation vibratory sieve screen frame, mixer, polishing machine framework, three-dimensional vibratory sieve, three-dimensional mixer, polishing machine etc. just can be become, thus the three-dimensional space motion needed for realizing.This mechanism structure is simple, easy to manufacture, easy to operate.
Claims (2)
1. a Single degree-of-freedom three-dimensional motion, be made up of upper moving platform (3), lower silent flatform (0) and three side chains connecting upper moving platform (3) and lower silent flatform (0), it is characterized in that the one end of the component one (1) on Article 1 side chain and lower silent flatform (0) are with revolute pair one (R
11) connect, its other end is with revolute pair two (R
12) one end of connecting elements two (2), the other end of component two (2) is with ball pivot one (S
13) be connected with upper moving platform (3), revolute pair two (R
12) axis and revolute pair one (R
11) axis being parallel; One end of component three (4) on Article 2 side chain and lower silent flatform (0) are with ball pivot two (S
21) connect, the other end of component three (4) is with ball pivot three (S
22) be connected with upper moving platform (3); Article 3 side chain is only by a ball pivot four (S
31) form, upper moving platform (3) and lower silent flatform (0) directly link together by it; And the position of three ball pivots on upper moving platform (3) is not point-blank, the revolute pair one (R on lower silent flatform (0)
11) axis can arrange arbitrarily.
2., by Single degree-of-freedom three-dimensional motion according to claim 1, it is characterized in that the revolute pair one (R on Article 1 side chain
11) moving sets of available single-degree-of-freedom substitutes, and one of two ball pivots on Article 2 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 |
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| CN102785241A CN102785241A (en) | 2012-11-21 |
| CN102785241B true CN102785241B (en) | 2015-03-11 |
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| 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 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102962839B (en) * | 2012-12-12 | 2015-08-12 | 常州大学 | A kind of have the three-dimensional independent vibratory sieve mechanism exporting motion |
| 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 |
| CN103465044B (en) * | 2013-09-13 | 2016-03-09 | 常州大学 | Output-parallel mechanism is rotated in a kind of single input three translation three |
| 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 |
| CN104290009B (en) * | 2014-09-30 | 2018-03-02 | 黑龙江北鸥卫浴用品有限公司 | Sanitaryware sanding machine |
| CN108782193B (en) * | 2018-05-24 | 2021-05-28 | 江会民 | High green plant watering device in room |
| CN112701477B (en) * | 2020-12-14 | 2023-04-07 | 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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| CN101143445A (en) * | 2007-09-26 | 2008-03-19 | 江苏工业学院 | Single freedom three-dimension spatial motion mechanism |
| CN101486185A (en) * | 2009-02-10 | 2009-07-22 | 江苏工业学院 | Two-freedom degree two-rotation parallel mechanism |
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| EP0112099A1 (en) * | 1982-12-16 | 1984-06-27 | Cyber Robotics Limited | Robotic limb |
| JP3691240B2 (en) * | 1998-03-12 | 2005-09-07 | 三菱電機株式会社 | Parallel robot |
| CN1528567A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | Zero-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot |
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| CN102785241A (en) | 2012-11-21 |
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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. 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 |
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Address after: 215000 No.8, Jinfeng Road, science and Technology City, Suzhou high tech Zone, Suzhou City, Jiangsu Province Patentee after: Suzhou Medical Device Industry Development Co.,Ltd. Address before: 215000 No.8, Jinfeng Road, science and Technology City, Suzhou high tech Zone, Suzhou City, Jiangsu Province Patentee before: Suzhou science and Technology City Biomedical Technology Development Co.,Ltd. Address after: 215000 No.8, Jinfeng Road, science and Technology City, Suzhou high tech Zone, Suzhou City, Jiangsu Province Patentee after: Suzhou Medical Device Industry Development Group Co.,Ltd. Address before: 215000 No.8, Jinfeng Road, science and Technology City, Suzhou high tech Zone, Suzhou City, Jiangsu Province Patentee before: Suzhou Medical Device Industry Development Co.,Ltd. |
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