CN103465251A - Five-degree-of-freedom three-translational two-rotational aerial work output rod manipulator - Google Patents
Five-degree-of-freedom three-translational two-rotational aerial work output rod manipulator Download PDFInfo
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- CN103465251A CN103465251A CN2013103952596A CN201310395259A CN103465251A CN 103465251 A CN103465251 A CN 103465251A CN 2013103952596 A CN2013103952596 A CN 2013103952596A CN 201310395259 A CN201310395259 A CN 201310395259A CN 103465251 A CN103465251 A CN 103465251A
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Abstract
A five-degree-of-freedom three-translational two-rotational aerial work output rod manipulator comprises an output rod (1), five linear cylinders, a rack (0) and a manipulator body (P). The five-degree-of-freedom three-translational two-rotational aerial work output rod manipulator is characterized in that the output rod (1) is in a straight rod form, piston rods of the linear cylinders are connected with the output rod (1) through a single ball pair I (S31), a single ball pair II (S32), a single ball pair III (S33), a single ball pair IV (S34) and a single ball pair V (S35) respectively, but the single ball pair I (S31), the single ball pair II (S32), the single ball pair III (S33), the single ball pair IV (S34) and the single ball pair V (S35) do not mutually coincide on the output rod (1), cylinder bodies of the linear cylinders are connected with the rack (0) through a single ball pair VI (S11), a single ball pair VII (S12), a single ball pair VIII (S13), a single ball pair IX (S14) and a single ball pair X (S15) respectively, and the manipulator body (P) is fixed at one end of the output rod (1). When the linear cylinders are driven, the output rod can point upwards to perform aerial work and generate three-translational two-rotational output motion.
Description
Technical field
The present invention relates to class five degree of freedom three translations two and rotate work high above the ground take-off lever operator, specifically, is that the equipment for realizing work high above the ground requisite space position and attitude provides a class novel space directivity new architecture.
Background technology
Industry, in military affairs many occasion Structure of need simply, can realize the equipment of requisite space position and attitude, existing many bibliographical informations three translation two one-rotation parallel mechanisms of five degree of freedom, for example: Guo Sheng, Fang Yuefa have introduced five-freedom parallel device people method for designing [robot, 2004 (3): 49-53]; Li Qinchuan has studied symmetrical Limited-DOF Parallel Robot type comprehensive theory and new architecture comprehensive [University On The Mountain Of Swallows's thesis for the doctorate, 2003]; Chen Hongliang, Luo Yufeng etc. have introduced a kind of novel 3T2R parallel robot [machine design and manufacture, 2007 (12): 147-148]; Tang Weixing, Ma Lvzhong, Shi Qiduan have also studied the type comprehensive [China Mechanical Engineering, 2007 (20): 69-72.] of 3T-2R five-freedom parallel structure; But they are plane polygon or stage body by the moving platform of parallel institution of research, are not suitable for the occasion of work high above the ground, example: high-altitude fire fighting, the disaster relief, rescue the people scene, simultaneously, branched structure and complicated integral structure thereof.Therefore, need invention simple in structure and can be adapted to the five degree of freedom operator of work high above the ground.
Summary of the invention
The present invention is the above-mentioned shortcoming that overcomes prior art, the five degree of freedom three translation two rotation in-parallel operating hands that provide a class can be adapted to work high above the ground, its moving platform is rod shaped structure, and simple in structure, its technical scheme is: work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translations two, comprise take-off lever (1), five linear cylinders, frame (0) and operators (P), it is characterized in that take-off lever (1) is for the shaft-like form of straight line, the piston rod of five linear cylinders is used respectively single ball pair one (S
31), single ball pair two (S
32), single ball pair three (S
33), single ball pair four (S
34), single ball pair five (S
35) with take-off lever (1), be connected, but the single ball pair one (S on take-off lever (1)
31), single ball pair two (S
32), single ball pair three (S
33), single ball pair four (S
34), single ball pair five (S
35) do not overlap mutually; The cylinder body of five linear cylinders is used respectively single ball pair six (S
11), single ball pair seven (S
12), single ball pair eight (S
13), single ball pair nine (S
14), single ball pair ten (S
15) with frame (0), be connected, operator (P) is fixed on an end of take-off lever (1).
Work high above the ground take-off lever operator is rotated in described five degree of freedom three translations two, it is characterized in that the single ball pair one (S on take-off lever (1)
31), single ball pair two (S
32), single ball pair three (S
33) three overlaps and form the secondary (S of three heavy ball
123), and single ball pair four (S
34), single ball pair five (S
35) both overlap and form the secondary (S of two heavy ball
45),
1but the secondary (S of three heavy ball
123) and the secondary (S of two heavy ball
45) can not overlap again.
Work high above the ground take-off lever operator is rotated in described five degree of freedom three translations two, it is characterized in that the single ball pair one (S on take-off lever (1)
31), single ball pair two (S
32) both overlap and form two heavy ball pair one (S
12), single ball pair three (S
33), single ball pair four (S
34) both overlap and form two heavy ball pair two (S
34), but two heavy ball pair one (S
12) and two heavy ball pair two (S
34) can not overlap again single ball pair five (S
35) individualism still.
When five linear cylinders drive, take-off lever (1) just produces the output movement that three translations two are rotated, and because take-off lever (1) is shaft-like, can need design by physical length, can point to work high above the ground.
The accompanying drawing explanation
Accompanying drawing 1,2,3 is respectively the structural representation of three kinds of embodiment of the present invention.
The specific embodiment
Below by drawings and Examples, technology of the present invention is given to illustrate further.
The structural representation that accompanying drawing 1 is the first embodiment of the present invention, its technical scheme is: work high above the ground take-off lever operators are rotated in three translations two of a kind of five degree of freedom, comprise take-off lever 1, five linear cylinder P
1, P
2, P
3, P
4, P
5, frame 0 and operator P, take-off lever 1 is the shaft-like form of straight line, five linear cylinder P
1, P
2, P
3, P
4, P
5piston rod use respectively the secondary S of single ball
31, secondary two S of single ball
32, the secondary Three S's of single ball
33, secondary four S of single ball
34, secondary five S of single ball
35with take-off lever 1, be connected, but these five single ball pairs on take-off lever 1 do not overlap mutually; The cylinder body of five linear cylinders is used respectively secondary six S of single ball
11, secondary seven S of single ball
12, secondary eight S of single ball
13, secondary nine S of single ball
14, secondary ten S of single ball
15with frame 0, be connected, operator P is fixed on an end of take-off lever 1.
The structural representation that accompanying drawing 2 is the second embodiment of the present invention, its technical scheme is: a kind of five degree of freedom three translations two are rotated work high above the ground take-off lever operator, the secondary S of the single ball on its take-off lever 1
31, secondary two S of single ball
32, the secondary Three S's of single ball
33the three overlaps and forms three secondary S of heavy ball
123, and secondary four S of single ball
34, secondary five S of single ball
35both overlap and form two secondary S of heavy ball
45, but three secondary S of heavy ball
123with two secondary S of heavy ball
45can not overlap again.
The structural representation that accompanying drawing 3 is the third embodiment of the present invention, its technical scheme is: work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translations two, is the secondary S of single ball on take-off lever 1
31, secondary two S of single ball
32both overlap and form the secondary S of two heavy ball
12, the secondary Three S's of single ball
33, secondary four S of single ball
34both overlap and form secondary two S of two heavy ball
34, but the secondary S of two heavy ball
12with secondary two S of two heavy ball
34can not overlap again secondary five S of single ball
35individualism still.
Five linear cylinders in above-mentioned three embodiment (electronic, hydraulic pressure, air pressure etc.) are while driving, the take-off lever 1 of rectilinear form just produces the output movement that three translations two are rotated, its operator (example: spray gun, high pressure nozzle etc.) can reach the capable operation of going forward side by side of high empty position by specific attitude, this mechanism structure can be pointed to work high above the ground, simple, easy to manufacture, easy to operate.
Claims (3)
1. work high above the ground take-off lever operator is rotated in five degree of freedom three translations two, comprise take-off lever (1), five linear cylinders, frame (0) and operators (P), it is characterized in that take-off lever (1) is for the shaft-like form of straight line, the piston rod of five linear cylinders is used respectively single ball pair one (S
31), single ball pair two (S
32), single ball pair three (S
33), single ball pair four (S
34), single ball pair five (S
35) with take-off lever (1), be connected, but the single ball pair one (S on take-off lever (1)
31), single ball pair two (S
32), single ball pair three (S
33), single ball pair four (S
34), single ball pair five (S
35) do not overlap mutually; The cylinder body of five linear cylinders is used respectively single ball pair six (S
11), single ball pair seven (S
12), single ball pair eight (S
13), single ball pair nine (S
14), single ball pair ten (S
15) with frame (0), be connected, operator (P) is fixed on an end of take-off lever (1).
2. rotate work high above the ground take-off lever operator by five degree of freedom three translations two claimed in claim 1, it is characterized in that the single ball pair one (S on take-off lever (1)
31), single ball pair two (S
32), single ball pair three (S
33) three overlaps and form the secondary (S of three heavy ball
123), and single ball pair four (S
34), single ball pair five (S
35) both overlap and form the secondary (S of two heavy ball
45), but the secondary (S of three heavy ball
123) and the secondary (S of two heavy ball
45) can not overlap again.
3. rotate work high above the ground take-off lever operator by five degree of freedom three translations two claimed in claim 1, it is characterized in that the single ball pair one (S on take-off lever (1)
31), single ball pair two (S
32) both overlap and form two heavy ball pair one (S
12), single ball pair three (S
33), single ball pair four (S
34) both overlap and form two heavy ball pair two (S
34), but two heavy ball pair one (S
12) and two heavy ball pair two (S
34) can not overlap again single ball pair five (S
35) individualism still.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310395259.6A CN103465251B (en) | 2013-09-03 | 2013-09-03 | Work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310395259.6A CN103465251B (en) | 2013-09-03 | 2013-09-03 | Work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103465251A true CN103465251A (en) | 2013-12-25 |
| CN103465251B CN103465251B (en) | 2016-03-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310395259.6A Active CN103465251B (en) | 2013-09-03 | 2013-09-03 | Work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103465251B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104275691A (en) * | 2014-09-16 | 2015-01-14 | 燕山大学 | Asymmetric parallel mechanism with 3R (Three-Translation) 2T (Two-Rotation) 5-DoF (Degree of Freedom) |
| CN104858860A (en) * | 2015-06-01 | 2015-08-26 | 山东理工大学 | Two-transitional-motion one-rotation parallel mechanism |
| CN111972125A (en) * | 2020-08-14 | 2020-11-24 | 南京农业大学 | Five-degree-of-freedom parallel device for orchard high-altitude operation |
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| EP1340478A2 (en) * | 2002-02-28 | 2003-09-03 | Honda Giken Kogyo Kabushiki Kaisha | Parallel linkage and artificial joint device using the same |
| CN2578058Y (en) * | 2002-11-13 | 2003-10-08 | 安徽工业大学 | Three freedom parallel structure robot posture inspector |
| US20050001368A1 (en) * | 2001-11-02 | 2005-01-06 | Metrom Mechatronische Maschinen Gmbh | Device for the displacement and/or positioning of an object in five axes |
| CN101693366A (en) * | 2009-06-11 | 2010-04-14 | 哈尔滨工业大学深圳研究生院 | 5-DOF (degree of freedom) parallel robot mechanism |
| CN101850519A (en) * | 2010-05-28 | 2010-10-06 | 浙江大学 | Space five-freedom parallel machine tool |
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2013
- 2013-09-03 CN CN201310395259.6A patent/CN103465251B/en active Active
Patent Citations (5)
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| US20050001368A1 (en) * | 2001-11-02 | 2005-01-06 | Metrom Mechatronische Maschinen Gmbh | Device for the displacement and/or positioning of an object in five axes |
| EP1340478A2 (en) * | 2002-02-28 | 2003-09-03 | Honda Giken Kogyo Kabushiki Kaisha | Parallel linkage and artificial joint device using the same |
| CN2578058Y (en) * | 2002-11-13 | 2003-10-08 | 安徽工业大学 | Three freedom parallel structure robot posture inspector |
| CN101693366A (en) * | 2009-06-11 | 2010-04-14 | 哈尔滨工业大学深圳研究生院 | 5-DOF (degree of freedom) parallel robot mechanism |
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|---|
| BORRAS, J. ET AL: "A Reconfigurable 5-DoF 5-SPU Parallel Platform", 《ASME/IFTOMM INTERNATIONAL CONFERENCE ON RECONFIGURABLE MECHANISMS AND ROBOTS》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104275691A (en) * | 2014-09-16 | 2015-01-14 | 燕山大学 | Asymmetric parallel mechanism with 3R (Three-Translation) 2T (Two-Rotation) 5-DoF (Degree of Freedom) |
| CN104275691B (en) * | 2014-09-16 | 2016-08-24 | 燕山大学 | There is the asymmetric parallel institution of three two turns of five degree of freedom of shifting |
| CN104858860A (en) * | 2015-06-01 | 2015-08-26 | 山东理工大学 | Two-transitional-motion one-rotation parallel mechanism |
| CN111972125A (en) * | 2020-08-14 | 2020-11-24 | 南京农业大学 | Five-degree-of-freedom parallel device for orchard high-altitude operation |
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| Publication number | Publication date |
|---|---|
| CN103465251B (en) | 2016-03-09 |
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Effective date of registration: 20211215 Address after: Room 407-2-6, building C, Tian'an Digital City, 588 Changwu South Road, Wujin high tech Industrial Development Zone, Changzhou City, Jiangsu Province 213100 Patentee after: CHANGZHOU XIAOGUO INFORMATION SERVICES 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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