CN103433917B - Output-parallel mechanism is rotated in a kind of two inputs three - Google Patents
Output-parallel mechanism is rotated in a kind of two inputs three Download PDFInfo
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- CN103433917B CN103433917B CN201310394921.6A CN201310394921A CN103433917B CN 103433917 B CN103433917 B CN 103433917B CN 201310394921 A CN201310394921 A CN 201310394921A CN 103433917 B CN103433917 B CN 103433917B
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Abstract
Output-parallel mechanism is rotated in a kind of two inputs three, comprises take-off lever (1), linear cylinder one (P
1), linear cylinder two (P
2), operator (P) and frame (0), one end ball pair one (S of take-off lever (1)
1) be connected with frame (0), the other end and operator (P) are fixed; Linear cylinder one (P
1) piston rod one (2) with ball pair two (S
2) be connected to take-off lever (1), linear cylinder two (P
2) piston rod two (3) with ball pair three (S
3) be connected to linear cylinder one (P
1) piston rod one (2); And linear cylinder one (P
1) cylinder body one (4), linear cylinder two (P
2) cylinder body two (5) use ball pair four (S respectively
4), ball pair five (S
5) connection frame (0), the ball pair one (S wherein on take-off lever (1)
1), ball pair two (S
2) can not overlap.When two linear cylinders drive, take-off lever (1) can produce around ball pair one (S
1) Three dimensional rotation motion.
Description
Technical field
The present invention relates to a kind of two inputs three and rotate parallel moving mechanism, specifically, is the space swing mechanism for various turntable, mixer, vibratory sieve, movement entertainment equipment or spatial attitude directive property equipment etc. provide a class novel.
Background technology
Industrial many occasion Structure of need input simply less but can produce the space mechanism of more than spatial three-dimensional movement, example: various turntable, mixer, 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; But great majority are the sphere parallel mechanism that two-freedom two rotates, example: Omni-Wrist III mechanism, sphere 5R mechanism, 3-RSR & 1-SS mechanism.The invention provides a kind of two input queued switches but the mechanism of three rotation output-parallels motions can be produced, rotating the new architecture of output mechanism to provide few input multidimensional.
Summary of the invention
Output-parallel mechanism is rotated in two inputs three that the object of the invention is to provide a class novel, and its first technical scheme is: output-parallel mechanism is rotated in a kind of two inputs three, comprises take-off lever (1), linear cylinder one (P
1), linear cylinder two (P
2) operator (P) and frame (0), it is characterized in that one end ball pair one (S of take-off lever (1)
1) be connected with frame (0), the other end and operator (P) are fixed; Linear cylinder one (P
1) piston rod one (2) with ball pair two (S
2) be connected to take-off lever (1), linear cylinder two (P
2) piston rod two (3) with ball pair three (S
3) be connected to linear cylinder one (P
1) piston rod one (2); And linear cylinder one (P
1) cylinder body one (4), linear cylinder two (P
2) cylinder body two (5) use ball pair four (S respectively
4), ball pair five (S
5) connection frame (0), the ball pair one (S wherein on take-off lever (1)
1), ball pair two (S
2) can not overlap, linear cylinder one (P
1), linear cylinder two (P
2) be driving element.
The second technical scheme is: output-parallel mechanism is rotated in a kind of two inputs three, comprise take-off lever (1), connecting rod one (2), connecting rod two (3), fork one (4), fork two (5), operator (P) and frame (0), it is characterized in that one end ball pair one (S of take-off lever (1)
1) be connected with frame (0), the other end and operator (P) are fixed; Ball pair two (S is used at the two ends of connecting rod one (2) respectively
2), ball pair three (S
3) connect one end of take-off lever (1), fork one (4), and ball pair four (S is used at the two ends of connecting rod two (3) respectively
4), ball pair five (S
5) be connected to one end of connecting rod one (2) and fork two (5); And the other end of fork one (4), fork two (5) uses revolute pair one (R respectively
1), revolute pair two (R
2) be connected with frame (0); Ball pair one (S wherein on take-off lever (1)
1), ball pair two (S
2) can not overlap, the revolute pair one (R in frame (0)
1), revolute pair two (R
2) axis arranges arbitrarily, for driving pair.
This Liang Zhong mechanism has following characteristics: (1) mechanism take-off lever 1 produces around ball pair one (S
1) Three dimensional rotation motion, wherein only have two motions to be independently, another rotates as the motion of derivative dependent; (2) only drive original paper with two, structure is simple, and ball pair can adopt by the spherical plain bearing rod end of special manufacturer production, can meet required precision; (3) this mechanism's degree of coupling is zero, and forward kinematics solution is simple and resolve.The present invention is various turntable, mixer, vibratory sieve, movement entertainment equipment or spatial attitude directive property equipment etc. provide the novel space swing mechanism of a class.
Accompanying drawing explanation
Accompanying drawing 1,2 is respectively the structural representation of two kinds of embodiments 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 the first embodiment of the present invention, and its technical scheme is: output-parallel mechanism is rotated in a kind of two inputs three, comprises take-off lever 1, linear cylinder one P
1, linear cylinder two P
2, operator P and frame 0, one end secondary S of ball of take-off lever 1
1be connected with frame 0, the other end and operator P fix; Linear cylinder one P
1piston rod 1 with secondary two S of ball
2be connected to take-off lever 1, linear cylinder two P
2piston rod 23 with the secondary Three S's of ball
3connect linear cylinder one P
1piston rod 1; And linear cylinder one P
1cylinder body 1, linear cylinder two P
2cylinder body 25 use secondary four S of ball respectively
4, secondary five S of ball
5connection frame 0.
Accompanying drawing 2 is the structural representation of the second embodiment of the present invention, its technical scheme is: output-parallel mechanism is rotated in a kind of two inputs three, comprising take-off lever 1, connecting rod 1, connecting rod 23, fork 1, fork 25, operator P and frame 0, is the secondary S of one end ball of take-off lever 1
1be connected with frame 0, the other end and operator P fix; Secondary two S of ball are used at the two ends of connecting rod 1 respectively
2, the secondary Three S's of ball
3connect one end of take-off lever 1, fork 1, and secondary four S of ball are used at the two ends of connecting rod 23 respectively
4, secondary five S of ball
5be connected to one end of connecting rod 1 and fork 25; Further, the other end of fork 1, fork 25 uses revolute pair one R respectively
1, revolute pair two R
2be connected with frame 0; Wherein, the secondary S of the ball on take-off lever 1
1, secondary two S of ball
2can not overlap, two revolute pair R in frame 0
1, R
2axis arrange arbitrarily, and the moving sets of available single-degree-of-freedom replace.
As linear cylinder one P in accompanying drawing 1
1, linear cylinder two P
2or two revolute pair R in accompanying drawing 2
1, R
2during for driving pair, and on take-off lever 1 when consolidation vibratory sieve screen frame, mixer or attitude directive property operator, just can become multi-dimensional vibration sieve, Multidimensionblender or turntable etc., thus three needed for realizing rotates hyperspace motion, wherein two motions are independently, and the 3rd is dependent motion; Above-mentioned Liang Zhong mechanism also all can fix one of them respectively and drive secondary, and now, this machine just becomes three rotating output devices of single input, but wherein only a rotation is independently, all the other two is dependent motion, and this mechanism structure is simple, easy to manufacture, easy to operate, less energy consumption.
Claims (2)
1. an output-parallel mechanism is rotated in two inputs three, comprises take-off lever (1), linear cylinder one (P
1), linear cylinder two (P
2), operator (P) and frame (0), it is characterized in that one end ball pair one (S of take-off lever (1)
1) be connected with frame (0), the other end and operator (P) are fixed; Linear cylinder one (P
1) piston rod one (2) with ball pair two (S
2) be connected to take-off lever (1), linear cylinder two (P
2) piston rod two (3) with ball pair three (S
3) be connected to linear cylinder one (P
1) piston rod one (2); And linear cylinder one (P
1) cylinder body one (4), linear cylinder two (P
2) cylinder body two (5) use ball pair four (S respectively
4), ball pair five (S
5) connection frame (0), the ball pair one (S wherein on take-off lever (1)
1), ball pair two (S
2) can not overlap.
2. an output-parallel mechanism is rotated in two inputs three, comprises take-off lever (1), connecting rod one (2), connecting rod two (3), fork one (4), fork two (5), operator (P) and frame (0), it is characterized in that one end ball pair one (S of take-off lever (1)
1) be connected with frame (0), the other end and operator (P) are fixed; Ball pair two (S is used at the two ends of connecting rod one (2) respectively
2), ball pair three (S
3) connect one end of take-off lever (1), fork one (4), and ball pair four (S is used at the two ends of connecting rod two (3) respectively
4), ball pair five (S
5) be connected to one end of connecting rod one (2) and fork two (5); And the other end of fork one (4), fork two (5) uses revolute pair one (R respectively
1), revolute pair two (R
2) be connected with frame (0); Ball pair one (S wherein on take-off lever (1)
1), ball pair two (S
2) can not overlap, the revolute pair one (R in frame (0)
1), revolute pair two (R
2) axis arranges arbitrarily.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310394921.6A CN103433917B (en) | 2013-09-03 | 2013-09-03 | Output-parallel mechanism is rotated in a kind of two inputs three |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310394921.6A CN103433917B (en) | 2013-09-03 | 2013-09-03 | Output-parallel mechanism is rotated in a kind of two inputs three |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103433917A CN103433917A (en) | 2013-12-11 |
| CN103433917B true CN103433917B (en) | 2015-07-29 |
Family
ID=49687679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310394921.6A Active CN103433917B (en) | 2013-09-03 | 2013-09-03 | Output-parallel mechanism is rotated in a kind of two inputs three |
Country Status (1)
| Country | Link |
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| CN (1) | CN103433917B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102581842A (en) * | 2012-03-09 | 2012-07-18 | 常州大学 | Complete analytic space parallel manipulator with three degrees of freedom |
| CN102825597A (en) * | 2012-09-19 | 2012-12-19 | 常州大学 | Three-rotation parallel-connection motion device with positive solution of position analysis |
| CN102962839A (en) * | 2012-12-12 | 2013-03-13 | 常州大学 | Vibrating screen mechanism with three-dimensional independent output motion |
| CN102990646A (en) * | 2012-12-12 | 2013-03-27 | 常州大学 | Three-dimensional motion device for analyzing positive solution of position and partially decoupling control |
-
2013
- 2013-09-03 CN CN201310394921.6A patent/CN103433917B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102581842A (en) * | 2012-03-09 | 2012-07-18 | 常州大学 | Complete analytic space parallel manipulator with three degrees of freedom |
| CN102825597A (en) * | 2012-09-19 | 2012-12-19 | 常州大学 | Three-rotation parallel-connection motion device with positive solution of position analysis |
| CN102962839A (en) * | 2012-12-12 | 2013-03-13 | 常州大学 | Vibrating screen mechanism with three-dimensional independent output motion |
| CN102990646A (en) * | 2012-12-12 | 2013-03-27 | 常州大学 | Three-dimensional motion device for analyzing positive solution of position and partially decoupling control |
Non-Patent Citations (1)
| Title |
|---|
| 杨廷力.并联机构拓扑结构特征及其分类.《机器人机构拓扑结构学》.机械工业出版社,2004,第164页表9-2. * |
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|---|---|
| CN103433917A (en) | 2013-12-11 |
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Effective date of registration: 20201126 Address after: 402760 No. 92 Donglin Avenue, Biquan Street, Bishan District, Chongqing (No. 52 Factory Building) Patentee after: Chongqing high tech Industry Research Institute 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 Patentee before: CHANGZHOU University |
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Effective date of registration: 20210610 Address after: 402760 No.269, Jinjian Road, Biquan street, Bishan District, Chongqing Patentee after: Derun auto parts (Chongqing) Co.,Ltd. Address before: 402760 No.92 Donglin Avenue, Biquan street, Bishan District, Chongqing Patentee before: Chongqing high tech Industry Research Institute Co.,Ltd. |