CN103386682A - Two-input one-translation three-rotation output parallel-connection movement mechanism - Google Patents
Two-input one-translation three-rotation output parallel-connection movement mechanism Download PDFInfo
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- CN103386682A CN103386682A CN2013103380915A CN201310338091A CN103386682A CN 103386682 A CN103386682 A CN 103386682A CN 2013103380915 A CN2013103380915 A CN 2013103380915A CN 201310338091 A CN201310338091 A CN 201310338091A CN 103386682 A CN103386682 A CN 103386682A
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- moving platform
- silent flatform
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- revolute pair
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Abstract
The invention discloses a two-input one-translation three-rotation output parallel-connection movement mechanism, comprising an upper movable platform (3), lower static platforms (0) and three branched chains which are used for connecting the upper movable platform (3) and the lower static platforms (0), wherein one end of a first component (1) of the first branched chain is connected with a first rotating pair (R11) of one lower static platform (0), while the other end is connected to the upper movable platform (3) through a first spherical hinge (S12); one end of a third component (4) of the second branched chain is connected to the upper movable platform (3) through a fourth spherical hinge (S23), while the other end is connected to one end of a fourth component (5) through a second rotating pair (R22); the other end of the fourth component (5) is connected to one lower static platform (0) through a third rotating pair (R21); two ends of a second component (2) of the third branched chain are respectively connected with one lower static platform (0) and the upper movable platform (3) through a second spherical hinge (S31) and a third spherical hinge (S32); when the two rotating pairs on the lower static platforms (0) drive, one-translation three-rotation multi-dimensional movement can be generated by the upper movable platform.
Description
Technical field
The present invention relates to a kind of two input one translations three and rotate parallel moving mechanisms, specifically, is that the mixer, mixer, polishing machine, motion oscillations sieve, movement entertainment equipment etc. for the requisite space motion provide a class novel space swing mechanism.
Background technology
The simple lower-mobility of industrial many occasion Structure of need but can produce the above space mechanism of space three-dimensional motion, 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 traditional circular shale shaker and linear vibrating screen at present.The invention provides a kind of two input drivings but can produce a translation three and rotate the mechanism of parallel kinematics, so that the new architecture of few input multi-dimensional movement output mechanism to be provided.
Summary of the invention
The object of the invention is to provide a kind of novel few input one translation three and rotates the output region motion, its technical scheme is: the output-parallel motion is rotated in a kind of two input one translations three, three side chains that comprise the upper moving platform (3) of moving platform (3), lower silent flatform (0) and connection and lower silent flatform (0) form, and an end of the member one (1) on article one side chain and lower silent flatform (0) are with revolute pair one (R
11) after connection, its other end is with ball pivot one (S
12) moving platform (3) in connection; One end of the member three (4) on the second side chain is with ball pivot four (S
23) with upper moving platform (3), connect, its other end is with revolute pair two (R
22) end of connecting elements four (5), and the other end of member four (5) is with revolute pair three (R
21) the lower silent flatform (0) of connection; Article three, the two ends of the member two (2) on side chain are respectively with ball pivot two (S
31), ball pivot three (S
32) with lower silent flatform (0), upper moving platform (3), connect; Further, not point-blank, two revolute pairs and a ball pair on lower silent flatform (0) can not coincide with a bit in the position of three ball pivots on upper moving platform (3).Simultaneously, the revolute pair one (R on first and second side chain
11), revolute pair two (R
21) can replace with the moving sets of single-degree-of-freedom.
This mechanism has following characteristics: when (1) two revolute pairs on silent flatform drove instantly, mechanism's output movement platform produced the spatial movement that a translation three is rotated, and it is independently that two motions are wherein only arranged, and all the other rotations are derivative dependent motion; (2) there was the constraint loop in mechanism, its good rigidly; (3) only use two CD-ROM drive motors, simple in structure, the ball pair can adopt the spherical plain bearing rod end by special manufacturer production, can meet required precision, therefore, machining and assembling amount thereof less and simple easily; (4) this mechanism's degree of coupling is zero, and forward kinematics solution is simple and resolve.
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 representation of an embodiment of the present invention.
The specific embodiment
Below by drawings and Examples, technology of the present invention is given to illustrate further.
Accompanying drawing 1 is the structural representation of a kind of embodiment of the present invention, its technical scheme is: the output-parallel motion is rotated in a kind of two input one translations three, three side chains that comprise moving platform 3, lower silent flatform 0 and the upper moving platform 3 of connection and lower silent flatform 0 form, and an end of the member 1 on article one side chain and lower silent flatform 0 are with revolute pair one R
11After connection, its other end is with ball pivot one S
12In connection, moving platform 3; One end of the member 34 on the second side chain is with ball pivot four S
23Connect with upper moving platform 3, its other end is with revolute pair two R
22One end of connecting elements 45, and the other end of member 45 is with revolute pair three R
21Connect lower silent flatform 0; Article three, the two ends of the member 22 on side chain are respectively with ball pivot two S
31, the ball pivot Three S's
32Connect with lower silent flatform 0, upper moving platform 3; Further, three ball pivots on upper moving platform 3, i.e. ball pivot one S
12, ball pivot four S
23, the ball pivot Three S's
33Position not point-blank, revolute pair one R on lower silent flatform 0
11, revolute pair two R
21With ball pivot two S
31Can not coincide with a bit.
Revolute pair one R
11, revolute pair two R
21Can replace with the moving sets of single-degree-of-freedom, when they are the driving pair, and when the fixed vibratory sieve screen frame of upper moving platform 3, mixer, polishing machine framework, just can become the mixer, polishing machine of vibratory sieve, the multidimensional of multidimensional etc., thereby realize that a required translation three rotates the hyperspace motion; Also can fix one of them and drive pair, at this moment, this machine just becomes translation three rotating output devices of single input, but wherein, only a motion is independently, and all the other are the dependent motion, less energy consumption, and this mechanism structure is simple, and is easy to manufacture, easy to operate.
Claims (2)
1. the output-parallel motion is rotated in input one translation three, comprise moving platform (3), lower silent flatform (0) and connect three side chains compositions of upper moving platform (3) and lower silent flatform (0), it is characterized in that an end of the member one (1) on article one side chain and lower silent flatform (0) are with revolute pair one (R
11) after connection, its other end is with ball pivot one (S
12) moving platform (3) in connection; One end of the member three (4) on the second side chain is with ball pivot four (S
23) with upper moving platform (3), connect, its other end is with revolute pair two (R
22) end of connecting elements four (5), and the other end of member four (5) is with revolute pair three (R
21) the lower silent flatform (0) of connection; Article three, the two ends of the member two (2) on side chain are respectively with ball pivot two (S
31), ball pivot three (S
32) with lower silent flatform (0), upper moving platform (3), connect; Further, not point-blank, two revolute pairs and a ball pair on lower silent flatform (0) can not coincide with a bit in the position of three ball pivots on upper moving platform (3).
2. rotate the output-parallel motion by two input one translations three claimed in claim 1, it is characterized in that the revolute pair one (R on first and second side chain
11), revolute pair two (R
21) can replace with the moving sets of single-degree-of-freedom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310338091.5A CN103386682B (en) | 2013-08-06 | 2013-08-06 | Output-parallel motion is rotated in a kind of two input one translations three |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310338091.5A CN103386682B (en) | 2013-08-06 | 2013-08-06 | Output-parallel motion is rotated in a kind of two input one translations three |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103386682A true CN103386682A (en) | 2013-11-13 |
| CN103386682B CN103386682B (en) | 2015-08-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310338091.5A Expired - Fee Related CN103386682B (en) | 2013-08-06 | 2013-08-06 | Output-parallel motion is rotated in a kind of two input one translations three |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104290009A (en) * | 2014-09-30 | 2015-01-21 | 黑龙江北鸥卫浴用品有限公司 | Sanitary product polisher |
| CN104722482A (en) * | 2015-04-07 | 2015-06-24 | 安徽理工大学 | Two-horizontal-movement one-rotation three-freedom-degree series-parallel vibrating screen |
| CN104874542A (en) * | 2015-05-26 | 2015-09-02 | 江苏大学 | 3R parallel vibrating screen for fly maggot separating |
| CN109533401A (en) * | 2018-12-07 | 2019-03-29 | 银河航天(北京)通信技术有限公司 | A kind of spherical hinge and spacecraft directing mechanism |
| CN113319815A (en) * | 2021-02-06 | 2021-08-31 | 常州大学 | Two-branch-chain large-corner zero-coupling-degree translation and rotation platform containing characteristic chains |
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| JP2001208157A (en) * | 1999-12-06 | 2001-08-03 | Korea Advanced Inst Of Sci Technol | Parallel mechanism with six kinds of degree of freedom for precision work |
| CN1528560A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | One-translation-three-rotation parallel mechanism for imaginary axis machine tool and measuring machine |
| CN101143445A (en) * | 2007-09-26 | 2008-03-19 | 江苏工业学院 | Single freedom three-dimension spatial motion mechanism |
| CN102785241A (en) * | 2012-08-23 | 2012-11-21 | 常州大学 | Single degree-of-freedom three-dimensional motion device |
| CN102806557A (en) * | 2012-08-23 | 2012-12-05 | 常州大学 | Single-degree-of-freedom three-dimensional movement mechanism |
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2013
- 2013-08-06 CN CN201310338091.5A patent/CN103386682B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001208157A (en) * | 1999-12-06 | 2001-08-03 | Korea Advanced Inst Of Sci Technol | Parallel mechanism with six kinds of degree of freedom for precision work |
| CN1528560A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | One-translation-three-rotation parallel mechanism for imaginary axis machine tool and measuring machine |
| CN101143445A (en) * | 2007-09-26 | 2008-03-19 | 江苏工业学院 | Single freedom three-dimension spatial motion mechanism |
| CN102785241A (en) * | 2012-08-23 | 2012-11-21 | 常州大学 | Single degree-of-freedom three-dimensional motion device |
| CN102806557A (en) * | 2012-08-23 | 2012-12-05 | 常州大学 | Single-degree-of-freedom three-dimensional movement mechanism |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104290009A (en) * | 2014-09-30 | 2015-01-21 | 黑龙江北鸥卫浴用品有限公司 | Sanitary product polisher |
| CN104722482A (en) * | 2015-04-07 | 2015-06-24 | 安徽理工大学 | Two-horizontal-movement one-rotation three-freedom-degree series-parallel vibrating screen |
| CN104722482B (en) * | 2015-04-07 | 2016-06-15 | 安徽理工大学 | Two translation one rotation three degree of freedom series-parallel connection vibratory screening apparatuss |
| CN104874542A (en) * | 2015-05-26 | 2015-09-02 | 江苏大学 | 3R parallel vibrating screen for fly maggot separating |
| CN109533401A (en) * | 2018-12-07 | 2019-03-29 | 银河航天(北京)通信技术有限公司 | A kind of spherical hinge and spacecraft directing mechanism |
| CN113319815A (en) * | 2021-02-06 | 2021-08-31 | 常州大学 | Two-branch-chain large-corner zero-coupling-degree translation and rotation platform containing characteristic chains |
| CN113319815B (en) * | 2021-02-06 | 2022-07-05 | 常州大学 | Two-branch-chain large-corner zero-coupling-degree translation and rotation platform containing characteristic chains |
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| Publication number | Publication date |
|---|---|
| CN103386682B (en) | 2015-08-12 |
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