CN103317501A - Single-input four-dimensional-motion-output parallel mechanism - Google Patents
Single-input four-dimensional-motion-output parallel mechanism Download PDFInfo
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- CN103317501A CN103317501A CN2013102764744A CN201310276474A CN103317501A CN 103317501 A CN103317501 A CN 103317501A CN 2013102764744 A CN2013102764744 A CN 2013102764744A CN 201310276474 A CN201310276474 A CN 201310276474A CN 103317501 A CN103317501 A CN 103317501A
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Abstract
A single-input four-dimensional-motion-output parallel mechanism is composed of a fixed platform (0), a moving platform (5), a simple branched chain and a mixed branched chain. The fixed platform (0) and the moving platform (5) are connected by the simple branched chain and the mixed branched chain, the simple branched chain is structurally characterized in that two ends of a component VI (6) are connected with the moving platform (5) and the fixed platform (0) through a ball pair (S1) and a rotating pair VII (7) respectively, an output component IV (4) of the mixed branched chain is connected with the moving platform (5) through a rotating pair V (R5) and a rotating pair III (R3) which are coaxial and connected with one ends of a component II (2) and a component III (3) simultaneously through the rotating III (3) with the axis perpendicular to that of the rotating pair V (R5) and by means of a composite hinge, the other end of the component III (3) is connected with the fixed platform (0) through a rotating pair IV (4), the other end of the component II (2) is connected with a component I (1) through a rotating pair II (R2), the component I (1) is connected with the fixed platform (0) through a rotating pair I (R1), the axes of the rotating pair I (R1), the rotating pair II (R2), the rotating pair III (R3) and the rotating pair IV (4) are mutually parallel, and the rotating pair VII (7) can be arranged freely. When the component I (1) serves as a driving member, the moving platform (5) rotates around the Y axis and the X axis and moves around the Z axis and the X axis.
Description
Technical field
The present invention relates to a kind of single input four-dimensional movement output mechanism, specifically, is that the mixer, mixer, motion oscillations sieve, movement entertainment equipment etc. for the requisite space multi-dimensional movement provide a class novel multi-dimensional movement mechanism.
Background technology
The industrial simple single-degree-of-freedom of many occasion Structure of need but can produce space three-dimensional motion or three-dimensional above space mechanism, example: mixer, polishing machine, mixer, vibratory sieve.The single-degree-of-freedom three dimensions mechanism that patent documentation [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 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 at present traditional circular shale shaker and linear vibrating screen.The invention provides that new a kind of single-degree-of-freedom drives but the parallel institution that can produce the space four-dimensional movement.
Summary of the invention
The object of the invention provides a kind of novel single-degree-of-freedom four-dimensional movement output region telecontrol equipment, its technical scheme is: a kind of single four-dimensional movement output-parallel mechanism that inputs, by silent flatform (0), moving platform (5) and a simple side chain and a mixing side chain composition of connecting the two, the structure that it is characterized in that simple side chain is that the secondary (S of ball is used respectively at the two ends of member six (6)
1), revolute pair seven (R
7) connect moving platform (5), silent flatform (0); Mix the output link four (4) of side chain with the revolute pair five (R of coaxial line
5) and revolute pair six (R
6) connect moving platform (5) after, with the revolute pair axis perpendicular to revolute pair five (R
5) revolute pair three (R
3), and with the form of composite hinge, an end of coupling member two (2), member three (3) simultaneously, and the other end of member three (3) is with revolute pair four (R
4) connecting silent flatform (0), the other end of member two (2) is with revolute pair two (R
2) coupling member one (1), and member one (1) is with revolute pair one (R
1) connect silent flatform (0), wherein, revolute pair one (R
1), revolute pair two (R
2), revolute pair three (R
3), revolute pair four (R
4) axis be parallel to each other revolute pair seven (R
7) can arrange arbitrarily, when member one (1) was driving link, moving platform (5) produced the rotation around Y-axis, X-axis, and along the movement of Z axis, X-axis.
This mechanism has following characteristics: (1) mechanism output movement platform is two rotations in space and the four-dimensional movement of two movements, and it is independently that a motion is wherein only arranged, and the motion of its excess-three is derivative dependent motion; (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 provides new architecture for parallel kinematic equipment such as parallel kinematic vibratory sieve, mixer, polishing machine etc.
Description of drawings
Accompanying drawing 1 is the structural scheme of mechanism of a kind of embodiment of the present invention.
The specific embodiment
Below by accompanying drawing and example technology of the present invention is given to illustrate further.
Accompanying drawing 1 is the structural scheme of mechanism of a kind of embodiment of the present invention, its technical scheme is: a kind of single four-dimensional movement output-parallel mechanism that inputs, by silent flatform 0, moving platform 5 and a simple side chain and a mixing side chain composition of connecting the two, the structure of simple side chain is that secondary S of ball is used respectively at the two ends of member 66
1, revolute pair seven R
7Connect moving platform 5, silent flatform 0; Mix the output link 44 of side chain with revolute pair five R of coaxial line
5With revolute pair six R
6After connecting moving platform 5, with the revolute pair axis perpendicular to revolute pair five R
5Revolute pair three R
3, and with the form while coupling member 22 of composite hinge, an end of member 33, and the other end of member 33 is with revolute pair four R
4Connect silent flatform 0, the other end of member 22 is with revolute pair two R
2Coupling member 1, and member 1 is with revolute pair one R
1Connect silent flatform 0, wherein, revolute pair one R
1, revolute pair two R
2, revolute pair three R
3, revolute pair four R
4Axis be parallel to each other revolute pair seven R
7Can arrange arbitrarily.When member 1 was driving link, moving platform 5 produced the rotation around Y-axis, X-axis, and along the movement of Z axis, X-axis.
When moving platform 5 fixed vibratory sieve screen frames, mixer, polishing machine framework, just can become the vibratory sieve, mixer, polishing machine of hyperspace motion etc., this mechanism structure is simple, and is easy to manufacture, easy to operate.
Claims (1)
1. a list is inputted four-dimensional movement output-parallel mechanism, by silent flatform (0), moving platform (5) and a simple side chain and a mixing side chain composition of connecting the two, the structure that it is characterized in that simple side chain is that the secondary (S of ball is used respectively at the two ends of member six (6)
1), revolute pair seven (R
7) connect moving platform (5), silent flatform (0); Mix the output link four (4) of side chain with the revolute pair five (R of coaxial line
5) and revolute pair six (R
6) connect moving platform (5) after, with the revolute pair axis perpendicular to revolute pair five (R
5) revolute pair three (R
3), and with the form while coupling member two (2) of composite hinge, an end of member three (3), and the other end of member three (3) is with revolute pair four (R
4) connecting silent flatform (0), the other end of member two (2) is with revolute pair two (R
2) coupling member one (1), and member one (1) is with revolute pair one (R
1) connect silent flatform (0), wherein, revolute pair one (R
1), revolute pair two (R
2), revolute pair three (R
3), revolute pair four (R
4) axis be parallel to each other revolute pair seven (R
7) can arrange arbitrarily.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310276474.4A CN103317501B (en) | 2013-07-01 | 2013-07-01 | Single-input four-dimensional-motion-output parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310276474.4A CN103317501B (en) | 2013-07-01 | 2013-07-01 | Single-input four-dimensional-motion-output parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103317501A true CN103317501A (en) | 2013-09-25 |
| CN103317501B CN103317501B (en) | 2015-04-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310276474.4A Active CN103317501B (en) | 2013-07-01 | 2013-07-01 | Single-input four-dimensional-motion-output parallel mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619384A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Single-input three-translation and one-rotation parallel robot manipulator |
Citations (5)
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|---|---|---|---|---|
| WO2004004986A2 (en) * | 2002-07-09 | 2004-01-15 | Amir Khajepour | Light weight parallel manipulators using active/passive cables |
| CN101049698A (en) * | 2007-05-14 | 2007-10-10 | 江苏工业学院 | Spatial mechanism in three degrees of freedom in use for parallel-connected moving devices |
| CN101121265A (en) * | 2007-09-13 | 2008-02-13 | 江苏工业学院 | Single free degree space mechanism for three-dimensional motion |
| CN101143445A (en) * | 2007-09-26 | 2008-03-19 | 江苏工业学院 | Single freedom three-dimension spatial motion mechanism |
| CN103028544A (en) * | 2012-12-12 | 2013-04-10 | 常州大学 | Variable input three-dimensional vibrating screen mechanism with analyzing forward position kinematic |
-
2013
- 2013-07-01 CN CN201310276474.4A patent/CN103317501B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004004986A2 (en) * | 2002-07-09 | 2004-01-15 | Amir Khajepour | Light weight parallel manipulators using active/passive cables |
| CN101049698A (en) * | 2007-05-14 | 2007-10-10 | 江苏工业学院 | Spatial mechanism in three degrees of freedom in use for parallel-connected moving devices |
| CN101121265A (en) * | 2007-09-13 | 2008-02-13 | 江苏工业学院 | Single free degree space mechanism for three-dimensional motion |
| CN101143445A (en) * | 2007-09-26 | 2008-03-19 | 江苏工业学院 | Single freedom three-dimension spatial motion mechanism |
| CN103028544A (en) * | 2012-12-12 | 2013-04-10 | 常州大学 | Variable input three-dimensional vibrating screen mechanism with analyzing forward position kinematic |
Non-Patent Citations (1)
| Title |
|---|
| 黄秀琴: "一种新型四自由度并联机构的运动学分析", 《机械设计》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619384A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Single-input three-translation and one-rotation parallel robot manipulator |
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|---|---|
| CN103317501B (en) | 2015-04-01 |
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Effective date of registration: 20201123 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: 20201123 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 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. |