CN103386682B - Output-parallel motion is rotated in a kind of two input one translations three - Google Patents
Output-parallel motion is rotated in a kind of two input one translations three Download PDFInfo
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- CN103386682B CN103386682B CN201310338091.5A CN201310338091A CN103386682B CN 103386682 B CN103386682 B CN 103386682B CN 201310338091 A CN201310338091 A CN 201310338091A CN 103386682 B CN103386682 B CN 103386682B
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- moving platform
- silent flatform
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- revolute pair
- ball pivot
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Abstract
Output-parallel motion is rotated in a kind of two input one translations three, comprise three side chains compositions of the upper moving platform (3) of 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) after connection, its other end is with ball pivot one (S
12) moving platform (3) in connection; One end of component three (4) on Article 2 side chain is with ball pivot four (S
23) be connected with upper moving platform (3), its other end is with revolute pair two (R
22) one end of connecting elements four (5), and the other end of component four (5) is with revolute pair three (R
21) connect lower silent flatform (0); The two ends of the component two (2) on Article 3 side chain are respectively with ball pivot two (S
31), ball pivot three (S
32) be connected with lower silent flatform (0), upper moving platform (3); Instantly, when two revolute pairs on silent flatform (0) drive, upper moving platform can produce the multi-dimensional movement that a translation three is rotated.
Description
Technical field
The present invention relates to a kind of two input one translations three and rotate parallel moving mechanism, specifically, is the space swing mechanism that the mixer, mixer, polishing machine, motion oscillations sieve, movement entertainment equipment etc. moved for requisite space provides a class novel.
Background technology
The simple lower-mobility of industrial many occasion Structure of need but the space mechanism of more than 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 a kind of two input queued switches but the mechanism that parallel kinematic is rotated in a translation three can be produced, to provide the new architecture of few input multi-dimensional movement output mechanism.
Summary of the invention
The object of the invention is to provide a kind of novel few input one translation three and rotates output region motion, its technical scheme is: output-parallel motion is rotated in a kind of two input one translations three, comprise three side chains compositions of the upper moving platform (3) of 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) after connection, its other end is with ball pivot one (S
12) moving platform (3) in connection; One end of component three (4) on Article 2 side chain is with ball pivot four (S
23) be connected with upper moving platform (3), its other end is with revolute pair two (R
22) one end of connecting elements four (5), and the other end of component four (5) is with revolute pair three (R
21) connect lower silent flatform (0); The two ends of the component two (2) on Article 3 side chain are respectively with ball pivot two (S
31), ball pivot three (S
32) be connected with lower silent flatform (0), upper moving platform (3); Further, not point-blank, two revolute pairs on lower silent flatform (0) and a ball pair can not coincide with a bit in the position of three ball pivots on upper moving platform (3).Meanwhile, 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 instantly on silent flatform drive, mechanism exports the spatial movement that motion platform produces translation three rotation, wherein only have two motions to be independently, all the other one is rotated as derivative dependent motion; (2) there is Planar Mechanisms loop in mechanism, its good rigidly; (3) only use two CD-ROM drive motors, structure is simple, and ball pair can adopt by the spherical plain bearing rod end of special manufacturer production, can meet required precision, and therefore, machining and assembling amount thereof are less and simply easy; (4) this mechanism's degree of coupling is zero, and forward kinematics solution is simple and resolve.
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 an embodiment of the present invention.
Detailed description of the invention
Give to illustrate further to technology of the present invention below by drawings and Examples.
Accompanying drawing 1 is the structural representation of a kind of embodiment of the present invention, its technical scheme is: output-parallel motion is rotated in a kind of two input one translations three, comprise three side chains compositions of moving platform 3, lower silent flatform 0 and the upper moving platform 3 of connection and lower silent flatform 0, one end of the component 1 on Article 1 side chain and lower silent flatform 0 are with revolute pair one R
11after connection, its other end is with ball pivot one S
12moving platform 3 in connection; One end of component 34 on Article 2 side chain is with ball pivot four S
23be connected 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 component 45 is with revolute pair three R
21connect lower silent flatform 0; The two ends of the component 22 on Article 3 side chain are respectively with ball pivot two S
31, ball pivot Three S's
32be connected 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, 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 secondary for driving, and when upper moving platform 3 consolidation vibratory sieve screen frame, mixer, polishing machine framework, just can become the mixer, polishing machine etc. of the vibratory sieve of multidimensional, multidimensional, thus hyperspace motion is rotated in the translation three needed for realizing; Also can fix one of them drives secondary, and now, this machine just becomes translation three rotating output device of single input, but wherein, only a motion is independently, and all the other are dependent motion, and less energy consumption, this mechanism structure is simple, easy to manufacture, easy to operate.
Claims (2)
1. output-parallel motion is rotated in input one translation three, three side chains comprising moving platform (3), lower silent flatform (0) and connect upper moving platform (3) and lower silent flatform (0) form, and 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) after connection, its other end is with ball pivot one (S
12) moving platform (3) in connection; One end of component three (4) on Article 2 side chain is with ball pivot four (S
23) be connected with upper moving platform (3), its other end is with revolute pair two (R
22) one end of connecting elements four (5), and the other end of component four (5) is with revolute pair three (R
21) connect lower silent flatform (0); The two ends of the component two (2) on Article 3 side chain are respectively with ball pivot two (S
31), ball pivot three (S
32) be connected with lower silent flatform (0), upper moving platform (3); Further, not point-blank, two revolute pairs on lower silent flatform (0) and a ball pair can not coincide with a bit in the position of three ball pivots on upper moving platform (3).
2. rotate output-parallel motion by two input one translations three according to 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 CN103386682A (en) | 2013-11-13 |
| CN103386682B true CN103386682B (en) | 2015-08-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104290009B (en) * | 2014-09-30 | 2018-03-02 | 黑龙江北鸥卫浴用品有限公司 | Sanitaryware sanding machine |
| 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 |
| CN104874542B (en) * | 2015-05-26 | 2017-06-27 | 江苏大学 | A kind of fly maggot is separated with 3R parallel connection vibratory sieves |
| CN109533401B (en) * | 2018-12-07 | 2020-11-17 | 银河航天(北京)通信技术有限公司 | Ball hinge and spacecraft pointing mechanism |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100334902B1 (en) * | 1999-12-06 | 2002-05-04 | 윤덕용 | 6 Degree-of-freedom Parallel Mechanism for Micro-positioning Task |
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2013
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| CN103386682A (en) | 2013-11-13 |
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