CN104390113A - Spatial sliding cable double-parallel cradle head with rough and fine position and attitude regulation function - Google Patents
Spatial sliding cable double-parallel cradle head with rough and fine position and attitude regulation function Download PDFInfo
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- CN104390113A CN104390113A CN201410646966.2A CN201410646966A CN104390113A CN 104390113 A CN104390113 A CN 104390113A CN 201410646966 A CN201410646966 A CN 201410646966A CN 104390113 A CN104390113 A CN 104390113A
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Abstract
The invention relates to a spatial sliding cable double-parallel cradle head with a rough and fine position and attitude regulation function, and belongs to a spatial sliding cable double-parallel cradle head. Motors with pulley blocks are fixedly arranged on a triangular fixed platform, wherein upright posts are fixedly arranged in the three corners of the fixed platform respectively; the pulley blocks are fixedly arranged on the two sides of the top ends of the upright posts respectively; six sliding cables are wound to the pulley blocks at the top ends of the upright posts from an output shaft of the motor respectively, and are connected with hooks on the upper surface of the upper plane of the cradle head; the upper and lower planes of the cradle head are connected through electric cylinders; the electric cylinders are connected with the upper plane through spherical hinges, and are fixedly connected with the lower plane of the cradle head through cylinder seats. The spatial sliding cable double-parallel cradle head has the advantages that the spatial sliding cable double-parallel cradle head is novel in structure; the position and the attitude are roughly and finely regulated, so that the movement requirements of a mechanism are met, the system working space is enlarged, and the system positioning accuracy and reliability are effectively improved.
Description
Technical field
The invention belongs to a kind of space slip rope two-in-parallel The Cloud Terrace.
Background technique
Compared with conventional serial mechanism, paralleling mechanism has that rigidity is high, position and attitude is adjustable, system bears the advantages such as load is large, but along with the further investigation to paralleling mechanism, it also has self deficiency and weakness, if system determination geometrical center is compared with the problem such as difficult, kinematic accuracy is low, working space is little, reliability is not enough.Research most now around the design of mechanism configuration, working space solve and Kinematic Model problem is carried out.In Configuration Design, most document is all individual layer paralleling mechanism.Harbin Engineering University devises a kind of parallel connection variable freely and becomes born of the same parents platform, application number 201410087943.2, and it is variable that the mechanism of design realizes degrees of freedom.A kind of Attitude-adjustable moon soft lander of BJ University of Aeronautics & Astronautics's design, publication number CN103350758A, adopts paralleling mechanism, realizes pose adjustment by sensor and damping device.In addition, University On The Mountain Of Swallows, University Of Tianjin etc. also all design multiple parallel connection or serial parallel mechanism, are applicable to different operating environment and field.And in these researchs, the paralleling mechanism of application flexibility slip rope is less, and the two-in-parallel mechanism matched with slip rope is then few.
Summary of the invention
The invention provides a kind of space slip rope two-in-parallel The Cloud Terrace with the whole function of the thick accurate adjustment of pose, object be coarse regulation is carried out to system pose and accurate adjustment whole, expand system working space, improve system works kinematic accuracy and reliability.
The technological scheme that the present invention takes is: the motor of band sheave block is fixed on triangle silent flatform, column is separately fixed on three angles of silent flatform, sheave block is separately fixed at both sides, column top, 6 slip ropes are linked up with from motor output shaft around to column top sheave block and with the upper surface of plane The Cloud Terrace respectively and are connected, on The Cloud Terrace, plane and lower plane adopt electric cylinder to be connected, this electric cylinder and upper plane adopt spherical hinge to be connected, and this electric cylinder is fixedly connected with The Cloud Terrace lower plane by cylinder seat.
The central axis of each sheave block of the present invention and the axis being parallel of each corresponding motor output shaft.
The present invention adopts parallel flexible slip rope chain as the component connecting The Cloud Terrace, and slip rope is controlled by motor, is connected by sheave block, can realize being synchronized with the movement and asynchronous movement.This mechanism, compared with rigid bar in the past, decreases the number that rigid bar kinematic pair connects, and to avoid in institution staff process due to the unusual pose that kinematic pair angle limits produces preferably, expands system working space simultaneously.
The Cloud Terrace of the present invention is paralleling mechanism, adopts electric cylinder to be connected with spherical hinge, the end of The Cloud Terrace can be made to perform platform do small movements by the self-movement controlling electric cylinder.So just make, when The Cloud Terrace reaches roughing standard pose, to continue through paralleling mechanism and regulate, make pose reach exact position.This process preferably resolves the problem that paralleling mechanism is difficult to accurately determine geometrical center.
Slip rope is connected to column upper end sheave block from bottom silent flatform by the motor that the present invention applies band sheave block, is connected afterwards with the hook of The Cloud Terrace upper end.The upper and lower plane of The Cloud Terrace is connected by electric cylinder, and one end adopts spherical hinge, and one end is fixed in plane.Worked by motor direct-drive slip rope, pull The Cloud Terrace to move, when synchronous working, the movement in x, y, z three directions, The Cloud Terrace implementation space, when asynchronous working, the rotation in x, y, z three directions, The Cloud Terrace implementation space, namely achieves the coarse regulation of position and attitude.By controlling the small movements of electric cylinder, realize the microbit appearance motion of The Cloud Terrace output stage, the accurate adjustment namely achieving position and attitude is whole, thus reaches mechanism kinematic requirement, expands system working space, effectively raises system accuracy and reliability.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is slip rope paralleling mechanism schematic diagram of the present invention;
Fig. 3 is electric cylinder of the present invention cradle head structure schematic diagram in parallel;
Fig. 4 is sheave block electric machine structure schematic diagram of the present invention;
Fig. 5 is spherical hinge structural representation of the present invention.
Embodiment
Motor 2 with sheave block is fixed on triangle silent flatform 1, column 3 is separately fixed on three angles of silent flatform 1, sheave block 4 is separately fixed at both sides, column 3 top, 6 slip ropes 5 are linked up with 9 from motor 2 output shaft around to column 3 top sheave block and with the upper surface of plane The Cloud Terrace 6 respectively and are connected, on The Cloud Terrace, plane 6 and lower plane 7 adopt electric cylinder 8 to be connected, this electric cylinder 8 adopts spherical hinge 10 to be connected with upper plane 6, and this electric cylinder is fixedly connected with The Cloud Terrace lower plane 7 by cylinder seat 11.
The central axis of each sheave block and the axis being parallel of each corresponding motor output shaft.
Working principle, the adjustment of position and attitude is carried out by motor, due to slip rope in stability lower than rigid connecting rod, therefore this time adjustment process is coarse regulation process, but this process expands working space compared with the paralleling mechanism of rigid connecting rod, preferably resolve the problem of pose singular position, be compared to the paralleling mechanism of other position or the single adjustment of attitude, improve systematic difference scope; The Cloud Terrace is controlled by three electric cylinders, by controlling the motion of electric cylinder, realize the space phugoid motion of The Cloud Terrace, the spatial attitude of adjustment The Cloud Terrace lower plane, this process carries out the whole process of accurate adjustment to The Cloud Terrace pose under the prerequisite of coarse regulation, this process preferably resolves the problem that paralleling mechanism is difficult to determine accurate pose, has good using value.
Claims (2)
1. one kind has the space slip rope two-in-parallel The Cloud Terrace of the whole function of the thick accurate adjustment of pose, it is characterized in that: the motor of band sheave block is fixed on triangle silent flatform, column is separately fixed on three angles of silent flatform, sheave block is separately fixed at both sides, column top, 6 slip ropes are linked up with from motor output shaft around to column top sheave block and with the upper surface of plane The Cloud Terrace respectively and are connected, on The Cloud Terrace, plane and lower plane adopt electric cylinder to be connected, this electric cylinder and upper plane adopt spherical hinge to be connected, and this electric cylinder is fixedly connected with The Cloud Terrace lower plane by cylinder seat.
2. a kind of space slip rope two-in-parallel The Cloud Terrace with the whole function of the thick accurate adjustment of pose according to claim 1, is characterized in that: the central axis of described each sheave block and the axis being parallel of each corresponding motor output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410646966.2A CN104390113B (en) | 2014-11-16 | 2014-11-16 | A kind of space slip rope two-in-parallel The Cloud Terrace with pose coarse-fine adjustment function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410646966.2A CN104390113B (en) | 2014-11-16 | 2014-11-16 | A kind of space slip rope two-in-parallel The Cloud Terrace with pose coarse-fine adjustment function |
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| Publication Number | Publication Date |
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| CN104390113A true CN104390113A (en) | 2015-03-04 |
| CN104390113B CN104390113B (en) | 2016-08-17 |
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| CN201410646966.2A Active CN104390113B (en) | 2014-11-16 | 2014-11-16 | A kind of space slip rope two-in-parallel The Cloud Terrace with pose coarse-fine adjustment function |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105041006A (en) * | 2015-07-14 | 2015-11-11 | 新字多媒体技术开发（上海）有限公司 | Viewing rotating platform, viewing system and spherical screen viewing theater |
| CN105804374A (en) * | 2016-05-22 | 2016-07-27 | 安庆海纳信息技术有限公司 | Interior decoration fixing equipment for negative pressure type building |
| CN105839900A (en) * | 2016-05-22 | 2016-08-10 | 安庆海纳信息技术有限公司 | Height adjustable type outdoor building movable supporting equipment |
| CN105952118A (en) * | 2016-05-22 | 2016-09-21 | 安庆海纳信息技术有限公司 | Intelligent whitewashing robot used for indoor building wall decoration |
| CN105952119A (en) * | 2016-05-22 | 2016-09-21 | 安庆海纳信息技术有限公司 | Special-purpose rigidity support equipment used for whitewashing building wall surfaces |
| CN105971254A (en) * | 2016-05-22 | 2016-09-28 | 安庆海纳信息技术有限公司 | Supporting equipment for building wall whitewashing |
| CN105971253A (en) * | 2016-05-22 | 2016-09-28 | 安庆海纳信息技术有限公司 | Self-stabilization lifting type building wall whitewashing robot |
| CN106013742A (en) * | 2016-05-22 | 2016-10-12 | 安庆海纳信息技术有限公司 | Automatic building wall plastering device based on six-freedom-degree parallel mechanism |
| CN106049833A (en) * | 2016-05-22 | 2016-10-26 | 安庆海纳信息技术有限公司 | Intelligent lifting manipulator for building whitewashing |
| CN106049838A (en) * | 2016-05-22 | 2016-10-26 | 安庆海纳信息技术有限公司 | Building wall whitewashing robot based on negative pressure principle |
| CN109397262A (en) * | 2018-11-02 | 2019-03-01 | 湖南大学 | A kind of space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105041006A (en) * | 2015-07-14 | 2015-11-11 | 新字多媒体技术开发（上海）有限公司 | Viewing rotating platform, viewing system and spherical screen viewing theater |
| CN105804374A (en) * | 2016-05-22 | 2016-07-27 | 安庆海纳信息技术有限公司 | Interior decoration fixing equipment for negative pressure type building |
| CN105839900A (en) * | 2016-05-22 | 2016-08-10 | 安庆海纳信息技术有限公司 | Height adjustable type outdoor building movable supporting equipment |
| CN105952118A (en) * | 2016-05-22 | 2016-09-21 | 安庆海纳信息技术有限公司 | Intelligent whitewashing robot used for indoor building wall decoration |
| CN105952119A (en) * | 2016-05-22 | 2016-09-21 | 安庆海纳信息技术有限公司 | Special-purpose rigidity support equipment used for whitewashing building wall surfaces |
| CN105971254A (en) * | 2016-05-22 | 2016-09-28 | 安庆海纳信息技术有限公司 | Supporting equipment for building wall whitewashing |
| CN105971253A (en) * | 2016-05-22 | 2016-09-28 | 安庆海纳信息技术有限公司 | Self-stabilization lifting type building wall whitewashing robot |
| CN106013742A (en) * | 2016-05-22 | 2016-10-12 | 安庆海纳信息技术有限公司 | Automatic building wall plastering device based on six-freedom-degree parallel mechanism |
| CN106049833A (en) * | 2016-05-22 | 2016-10-26 | 安庆海纳信息技术有限公司 | Intelligent lifting manipulator for building whitewashing |
| CN106049838A (en) * | 2016-05-22 | 2016-10-26 | 安庆海纳信息技术有限公司 | Building wall whitewashing robot based on negative pressure principle |
| CN105952118B (en) * | 2016-05-22 | 2017-12-15 | 河南天地装饰工程有限公司 | A kind of intelligent painting machine people for interior architecture wall decoration |
| CN105971253B (en) * | 2016-05-22 | 2018-04-10 | 石家庄常宏建筑装饰工程有限公司 | It is a kind of to build white washed wall robot from steady lift |
| CN106049838B (en) * | 2016-05-22 | 2018-05-15 | 哈工大机器人集团（广州）知识产权投资控股有限公司 | A kind of building wall rendering robot based on principle of negative pressure |
| CN105804374B (en) * | 2016-05-22 | 2018-06-26 | 温州磐石环境艺术工程有限公司 | A kind of suction type indoor decoration fixed equipment |
| CN105839900B (en) * | 2016-05-22 | 2018-08-17 | 中建二局第一建筑工程有限公司 | A kind of adjustable height outdoor architecture movement support equipment |
| CN105952119B (en) * | 2016-05-22 | 2018-09-21 | 倪淑君 | A kind of building wall painting Special rigid support equipment |
| CN109397262A (en) * | 2018-11-02 | 2019-03-01 | 湖南大学 | A kind of space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot |
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