CN103252764B - Space articulation platform - Google Patents
Space articulation platform Download PDFInfo
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- CN103252764B CN103252764B CN201310184514.2A CN201310184514A CN103252764B CN 103252764 B CN103252764 B CN 103252764B CN 201310184514 A CN201310184514 A CN 201310184514A CN 103252764 B CN103252764 B CN 103252764B
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- platform
- retractable rod
- guide rail
- universal joint
- ball pivot
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Abstract
The invention discloses a kind of space articulation platform, comprise platform, support, the first retractable rod and the second retractable rod, the first end of the first retractable rod is fixed on support, second end of the first retractable rod contacts with platform, the first end of the second retractable rod is fixed on support, second end of the second retractable rod contacts with platform, space articulation platform also comprises detent mechanism, have tie point between detent mechanism and platform, detent mechanism makes described tie point can only move along straight line.By arranging detent mechanism, make platform can only rotary motion relative to support, or can only move in one direction, thus solution Platform center point can produce the displacement departing from one-movement-freedom-degree direction, cause this docking platform some occasion inapplicable, precision does not reach the technical problem of the requirement in use, and finally make precision meet instructions for use, platform meets use occasion.
Description
Technical field
The present invention relates to Spatial Parallel multiple-degree-of-freedom mechanism, particularly relate to one and there is multivariant space articulation platform.
Background technology
Docking platform majority common is at present six degree of freedom, five degree of freedom, they are not suitable for the four-degree-of-freedom occasion with little space requirement, the space platform major part of the four-degree-of-freedom of current existence can not realize three rotations, two can only be realized and rotate two movements or three movements rotational freedom, although what have can realize three rotations and a Z axis one-movement-freedom-degree, but in time realizing rotating around X-axis or Y-axis, to cause on platform certain a bit namely Platform center point on X or Y direction, produce skew slightly, precision can not meet instructions for use, namely due to the restriction in space, this mechanism can not produce skew slightly in X-axis or Y direction, and existing technical scheme is for when this mechanism rotates around X-axis or Y-axis, can at X, Y-direction produces certain side-play amount, thus cause this docking platform inapplicable, precision does not reach the requirement in use.
Therefore exist following not enough in existing technical scheme:
For the docking platform mechanism that can only realize an one-movement-freedom-degree, Platform center point can produce the displacement departing from one-movement-freedom-degree direction, and cause this docking platform some occasion inapplicable, precision does not reach the requirement in use.
Summary of the invention
The object of the embodiment of the present invention is to provide a kind of space articulation platform, solve the docking platform mechanism for only having an one-movement-freedom-degree, Platform center point can produce the displacement departing from one-movement-freedom-degree direction, causes the technical problem that can not use in some occasion.
To achieve these goals, provide a kind of space articulation platform, comprise platform, support, first retractable rod and the second retractable rod, the first end of described first retractable rod is fixing on the bracket, second end of described first retractable rod contacts with described platform, the first end of described second retractable rod is fixing on the bracket, second end of described second retractable rod contacts with described platform, wherein, described space articulation platform also comprises detent mechanism, between described detent mechanism and described platform, there is tie point, described detent mechanism makes described tie point can only move along straight line.
Further, described detent mechanism comprises the first ball pivot or the first universal joint; Described detent mechanism also comprises backstay, and the first end of described backstay is fixedly connected with described support, and the second end of described backstay is connected at described tie point by described first ball pivot or described first universal joint with described platform.
Further, the second end of described first retractable rod is connected with described platform by the second ball pivot or the second universal joint with described platform; Described platform is provided with the first chute, described second ball pivot or described second universal joint slide in described first chute; Or described second ball pivot or described second universal joint are connected with the first guide rail, described guide rail are provided with the first slide block, described first slide block is fixedly connected with described platform or one-body molded.
Further, the second end of described second retractable rod is connected with described platform by the 3rd ball pivot or the 3rd universal joint with described platform; Described platform is provided with the second chute, described 3rd ball pivot or described 3rd universal joint slide in described second chute; Or, described 3rd ball pivot or described 3rd universal joint are provided with the second guide rail, described second guide rail is provided with the second slide block, slide in described second slide block the 3rd chute on the platform; Or, described 3rd ball pivot or described 3rd universal joint are provided with the second guide rail, described second guide rail is provided with the second slide block, described platform is provided with the 3rd guide rail be connected with described second skid, described second slide block is simultaneously at described second guide rail and described 3rd slide on rails, described 3rd guide rail and described platform one-body molded, or described 3rd guide rail is fixedly connected with described platform.
Further, described backstay is non-telescoping bar, or described backstay is the expansion link needing External Force Acting to position in sliding chamber;
Described first retractable rod and described second retractable rod and described backstay are not on the same line.
Further, also comprise the 3rd retractable rod, the first end of described 3rd retractable rod is fixing on the bracket, and the second end of described 3rd retractable rod contacts with described platform; Described first retractable rod and described second retractable rod and described 3rd retractable rod are triangularly arranged on the bracket.
Further, the second end of described 3rd retractable rod and described platform are slidably connected by the 4th ball pivot or the 4th universal joint and described platform; Described 4th ball pivot or described 4th universal joint are provided with the 4th guide rail, described 4th guide rail is provided with the 3rd slide block, described platform is provided with the 5th guide rail be connected with described 3rd skid, described 3rd slide block is simultaneously at described 4th guide rail and described 5th slide on rails, described 5th guide rail and described platform one-body molded, or described 5th guide rail is fixedly connected with described platform; Or described platform is provided with the 4th chute, described 4th ball pivot or described 4th universal joint slide in described 4th chute; Or, described 4th ball pivot or described 4th universal joint are provided with the 4th guide rail, described second guide rail are provided with the 3rd slide block, slide in described 3rd slide block the 5th chute on the platform.
Further, described backstay is the expansion link that can be free to slide in sliding chamber.
Further, also comprise the 3rd retractable rod, the first end of described 3rd retractable rod is fixing on the bracket; Second end of described first retractable rod contacts with described platform point cantact or face; Second end of described second retractable rod contacts with described platform point cantact or face; Second end of described 3rd retractable rod contacts with described platform point cantact or face; Described backstay is in sliding chamber, need External Force Acting to position expansion link or non-telescoping bar; Described backstay is arranged on the leg-of-mutton inside that described first retractable rod and described second retractable rod and described 3rd retractable rod are formed on the bracket.
Further, also comprise base, described support can be rotated on described base.
At least there is following technique effect in the embodiment of the present invention:
By arranging detent mechanism, make platform can only rotary motion relative to support, or can only move in one direction, thus solution Platform center point can produce the displacement departing from one-movement-freedom-degree direction, cause this docking platform some occasion inapplicable, precision does not reach the technical problem of the requirement in use, and finally make precision meet instructions for use, platform meets use occasion.
Accompanying drawing explanation
Fig. 1 is the overall structure 3-D view of embodiment one provided by the invention;
Fig. 2 is the partial structurtes 3-D view of embodiment one provided by the invention;
Fig. 3 is the overall structure 3-D view of embodiment two provided by the invention;
Fig. 4 is the partial structurtes 3-D view of embodiment two provided by the invention.
Reference numeral: 1-platform, 2-backstay, 3-the 3rd guide rail, 31-second guide rail, 32-second slide block, 4-first guide rail, 41-first slide block, 5-first retractable rod, 6-arc-shaped guide rail, 7-detent mechanism, 8-support, 9-base, 10-second retractable rod, 11-the 3rd retractable rod.
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with accompanying drawing, specific embodiment is described in detail.
According to the invention provides a kind of embodiment, i.e. embodiment one, as depicted in figs. 1 and 2, a kind of space articulation platform, comprises platform 1; Support 8; First retractable rod 5 and the second retractable rod 10, is all arranged between support 8 and platform 1; The first end of the first retractable rod 5 is fixed on support 8, and the second end contacts with platform 1; The first end of the second retractable rod 10 is fixed on support 8, second end contacts with platform 1, space articulation platform also comprises detent mechanism 7, connection bracket 8 and platform 1, between detent mechanism 7 and platform 1, there is tie point, detent mechanism 7 makes tie point can only move along straight line, such as, moves along the Z axis in Fig. 1.Preferably, detent mechanism 7 comprises the first ball pivot or the first universal joint, and backstay 2, and the first end of backstay 2 is fixedly connected with support 8, second end is connected by the first ball pivot or the first universal joint at tie point place with platform 1, and backstay 2 can be expansion link or non-telescoping bar.Space articulation platform also comprises base 9, and support 8 can be rotated on base 9, carries out relative rotary motion by arranging the multistage arc arc-shaped guide rail 6 that is formed by connecting on base 9; As required, the first driving mechanism can also be comprised, for driving base 9 and/or support 8 along the translation of backstay axis direction simultaneously, namely the Z-direction in Fig. 1, carry out stretching motion, realize when backstay not flexible or can not automatic telescopic, realize a rectilinear motion; The slide that retractable rod comprises push rod and slides for it, for manual telescopic bar assembly or automatic telescopic link assembly, for many group automatic telescopic link assemblies, also comprise drive unit, this drive unit can be that a total mechanism or each group retractable rod all arrange a driving mechanism; Slide can be one-body molded with support 8, or slide is fixedly connected with support 8, and namely the first end of the first retractable rod 5 is fixedly connected with support 8, and the first end of the second retractable rod 10 is fixedly connected with support 8.
By arranging detent mechanism 7, make platform 1 can only rotary motion relative to support 8, or can only move in one direction and rotary motion, when namely moving in backstay 2 telescopic direction, thus solution space articulation Platform center point can produce the displacement departing from one-movement-freedom-degree direction, cause this docking platform some occasion inapplicable, precision does not reach the technical problem of the requirement in use, finally make precision meet instructions for use, space articulation platform meets use occasion.
Preferably, platform 1 can be circular or square, and the link position of backstay 2 and platform 1 is at circular or square Platform center, and namely tie point is in center position that is circular or square platform.
When backstay 2 is the expansion link needing External Force Acting to position in sliding chamber, when namely backstay 2 needs external force control stretching motion or stop, or when backstay 2 is non-telescoping bar; Second end of the first retractable rod 5 is connected with platform 1 by the second ball pivot or the second universal joint with platform 1, and platform 1 is provided with the first chute by the design of precalculated path curve, and the second ball pivot or the second universal joint slide in the first chute; Or second ball pivot or described second universal joint are connected with the first guide rail 4, first guide rail 4 is provided with the first slide block 41, first slide block 41 is bolted to connection with platform 1, or the first slide block 41 is as a whole with platform 1.
Second end of the second retractable rod 10 is connected with platform 1 by the 3rd ball pivot or the 3rd universal joint with platform 1, and platform 1 is provided with the second chute by the design of precalculated path curve, and the 3rd ball pivot or the 3rd universal joint slide in the second chute; Or the 3rd ball pivot or the 3rd universal joint is connected with the second guide rail 31, second guide rail 31 is provided with in the second slide block 32, second slide block 32 the 3rd chute on the platform 1 and slides, the 3rd chute pre-sets as required; Or the 3rd ball pivot or the 3rd universal joint are provided with the second guide rail 31, second guide rail 31 is provided with the second slide block 32, for crosshead shoe, the 3rd guide rail 3 is fixedly connected with or arranges with platform 1 on the platform 1, and crosshead shoe slides simultaneously on the second guide rail 31 and the 3rd guide rail 3.
Preferably, backstay 2 is the expansion link needing External Force Acting to position in sliding chamber, backstay 2 for having the expansion link of driving mechanism, such as electric expansion bar or hydraulic-driven expansion link; First retractable rod 5 and the second retractable rod 10 are electric expansion bar assembly or hydraulic-driven retractable rod.First retractable rod 5 and the second retractable rod 10 and backstay 2 are not on the same line.
During motion, when backstay 2 is non-telescoping bar, platform 1 can rotate around Z axis under the driving of external force, under the effect that the first retractable rod 5 is different with the stroke of the second retractable rod 10, can rotate around X or Y-axis, therefore three rotary motions can be realized, when needing to move along the axial direction of backstay 2, when namely moving along Z-direction, first driving mechanism, base 9 and support 8 can be driven to move, realize the four-degree-of-freedom running under little space, and then complete the mating operation of space articulation platform.When backstay 2 is the expansion link needing External Force Acting to position in sliding chamber, during as used electric expansion bar as backstay 2, when ensureing that electric expansion bar does not carry out stretching motion, three rotary motions can be realized, when needing to move along Z axis, three bars can be made to move simultaneously.Due to the existence of backstay 2, for the docking platform mechanism only having at most an one-movement-freedom-degree, solve platform tie point and can produce the displacement departing from one-movement-freedom-degree direction, cause this docking platform some occasion inapplicable, precision does not reach the technical problem of the requirement in use, finally make precision meet instructions for use, platform meets use occasion.
According to the present invention, provide another embodiment, i.e. embodiment two, as shown in Figure 3 and Figure 4, space articulation platform also comprises the 3rd retractable rod 11, and first end is fixed on support 8, and the second end contacts with platform 1; First retractable rod 5 and the second retractable rod 10 and the 3rd retractable rod 11 are triangularly arranged on support 8, and three is arranged in parallel, and be arranged in parallel with backstay 2; First retractable rod 5, second retractable rod 10 and the 3rd retractable rod 11 are electric expansion bar assembly or hydraulic-driven retractable rod.
The connected mode of the first retractable rod 5 and platform 1 is as embodiment one, the connected mode of the second retractable rod 10 and platform 1 is as embodiment one, the connected mode of the 3rd retractable rod 11 and platform 1 is as the connected mode of the second retractable rod 10 with platform 1, do not repeating at this, backstay 2 is preferably the expansion link that can be free to slide in sliding chamber, such as linear bearing.
During motion, three electric expansion bar component synchronization rise or decline implementation platform 1 along the movement of Z axis, when the stroke of three electric expansion bar assemblies is asynchronous just can implementation platform 1 around the rotation of X, Y-axis, then by the rotation of Electric Machine Control support 8, just can implementation platform 1 around the rotation of Z axis.The scheme of this embodiment can realize making platform reach preposition fast and accurately, and easily programmes, and is applicable to numerical control operating etc.
According to the present invention, provide another embodiment, i.e. embodiment three, space articulation platform also comprises the 3rd retractable rod 11, and first end is fixed on support 8, and the second end contacts with platform 1; And backstay 2 is non-telescoping bar; Such as, or during the expansion link needing External Force Acting to position in sliding chamber, namely backstay 2 is for having the expansion link of driving mechanism, electric expansion bar or hydraulic-driven expansion link.Backstay 2 be arranged on that the first retractable rod 5 and the second retractable rod 10 and the 3rd retractable rod 11 formed on support 8 leg-of-mutton inner time, the second end of the first retractable rod 5 all contacts with described platform point cantact or face with the second end of the second end of the second retractable rod 10 and the 3rd retractable rod 11.
During motion, need four bars to act on simultaneously, the motion of the platform 1 of three rotation-translations can be realized.This kind of organization plan can reduce the first retractable rod 5, second retractable rod 10 and the connecting elements between the 3rd retractable rod 11 and platform 1, and structure is more simplified.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. a space articulation platform, comprise platform, support, the first retractable rod and the second retractable rod, the first end of described first retractable rod is fixing on the bracket, second end of described first retractable rod contacts with described platform, the first end of described second retractable rod is fixing on the bracket, second end of described second retractable rod contacts with described platform, it is characterized in that:
Described space articulation platform also comprises detent mechanism, has tie point between described detent mechanism and described platform, and described detent mechanism makes described tie point can only move along straight line.
2. space articulation platform according to claim 1, is characterized in that, described detent mechanism comprises the first ball pivot or the first universal joint;
Described detent mechanism also comprises backstay, and the first end of described backstay is fixedly connected with described support, and the second end of described backstay is connected at described tie point by described first ball pivot or described first universal joint with described platform.
3. space articulation platform according to claim 2, is characterized in that, the second end of described first retractable rod is connected with described platform by the second ball pivot or the second universal joint with described platform;
Described platform is provided with the first chute, described second ball pivot or described second universal joint slide in described first chute;
Or described second ball pivot or described second universal joint are connected with the first guide rail, described guide rail are provided with the first slide block, described first slide block is fixedly connected with described platform or one-body molded.
4. space articulation platform according to claim 2, is characterized in that, the second end of described second retractable rod is connected with described platform by the 3rd ball pivot or the 3rd universal joint with described platform;
Described platform is provided with the second chute, described 3rd ball pivot or described 3rd universal joint slide in described second chute;
Or, described 3rd ball pivot or described 3rd universal joint are provided with the second guide rail, described second guide rail is provided with the second slide block, slide in described second slide block the 3rd chute on the platform;
Or, described 3rd ball pivot or described 3rd universal joint are provided with the second guide rail, described second guide rail is provided with the second slide block, described platform is provided with the 3rd guide rail be connected with described second skid, described second slide block is simultaneously at described second guide rail and described 3rd slide on rails, described 3rd guide rail and described platform one-body molded, or described 3rd guide rail is fixedly connected with described platform.
5. the space articulation platform according to Claims 2 or 3 or 4, is characterized in that, described backstay is non-telescoping bar, or described backstay is the expansion link needing External Force Acting to position in sliding chamber;
Described first retractable rod and described second retractable rod and described backstay are not on the same line.
6. the space articulation platform according to Claims 2 or 3 or 4, is characterized in that, also comprises the 3rd retractable rod, and the first end of described 3rd retractable rod is fixing on the bracket, and the second end of described 3rd retractable rod contacts with described platform;
Described first retractable rod and described second retractable rod and described 3rd retractable rod are triangularly arranged on the bracket.
7. space articulation platform according to claim 6, is characterized in that, the second end of described 3rd retractable rod and described platform are slidably connected by the 4th ball pivot or the 4th universal joint and described platform;
Described 4th ball pivot or described 4th universal joint are provided with the 4th guide rail, described 4th guide rail is provided with the 3rd slide block, described platform is provided with the 5th guide rail be connected with described 3rd skid, described 3rd slide block is simultaneously at described 4th guide rail and described 5th slide on rails, described 5th guide rail and described platform one-body molded, or described 5th guide rail is fixedly connected with described platform;
Or described platform is provided with the 4th chute, described 4th ball pivot or described 4th universal joint slide in described 4th chute;
Or, described 4th ball pivot or described 4th universal joint are provided with the 4th guide rail, described 4th guide rail is provided with the 3rd slide block, slide in described 3rd slide block the 5th chute on the platform.
8. space articulation platform according to claim 7, is characterized in that, described backstay is the expansion link that can be free to slide in sliding chamber.
9. space articulation platform according to claim 2, is characterized in that,
Also comprise the 3rd retractable rod, the first end of described 3rd retractable rod is fixing on the bracket;
Second end of described first retractable rod contacts with described platform point cantact or face;
Second end of described second retractable rod contacts with described platform point cantact or face;
Second end of described 3rd retractable rod contacts with described platform point cantact or face;
Described backstay is in sliding chamber, need External Force Acting to position expansion link or non-telescoping bar;
Described backstay is arranged on the leg-of-mutton inside that described first retractable rod and described second retractable rod and described 3rd retractable rod are formed on the bracket.
10. the space articulation platform according to any one of claim 1-4 and 9, is characterized in that, also comprise base, and described support can be rotated on described base.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310184514.2A CN103252764B (en) | 2013-05-16 | 2013-05-16 | Space articulation platform |
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| CN201310184514.2A CN103252764B (en) | 2013-05-16 | 2013-05-16 | Space articulation platform |
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| CN103252764A CN103252764A (en) | 2013-08-21 |
| CN103252764B true CN103252764B (en) | 2015-09-02 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647820B (en) * | 2016-12-14 | 2020-04-10 | 西安可视可觉网络科技有限公司 | Motion platform capable of realizing autorotation and free swinging based on hoisting bearing |
| CN107877465A (en) * | 2017-10-20 | 2018-04-06 | 北京航天时代光电科技有限公司 | A kind of rotary table |
| CN109015017A (en) * | 2018-08-20 | 2018-12-18 | 河南科技大学 | A kind of numerically-controlled machine tool electric-controlled type shaped piece universal location device |
| CN110568697A (en) * | 2019-10-21 | 2019-12-13 | 深圳市永诺摄影器材股份有限公司 | Method and device for axis-shift photography |
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