CN105345770A - Hooke-deviated six-degree-of-freedom platform - Google Patents
Hooke-deviated six-degree-of-freedom platform Download PDFInfo
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- CN105345770A CN105345770A CN201510853657.7A CN201510853657A CN105345770A CN 105345770 A CN105345770 A CN 105345770A CN 201510853657 A CN201510853657 A CN 201510853657A CN 105345770 A CN105345770 A CN 105345770A
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- rectangular recess
- hooke
- hinge
- mounting plate
- upper mounting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
- B25H1/16—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top in height
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
- B25H1/18—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top in inclination
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a Hooke-deviated six-degree-of-freedom platform, relates to a deviated platform, and solves the problem of general increment of a platform working space by a structural size increasing mode in a traditional solution due to smaller platform working space of a parallel mechanism in the prior art. The Hooke-deviated six-degree-of-freedom platform comprises an upper platform, a lower platform and six movement chains, wherein the upper platform and the lower platform are both annular platforms; the six movement chains are respectively a first movement chain, a second movement chain, a third movement chain, a fourth movement chain, a fifth movement chain and a sixth movement chain; and an upper platform first rectangular groove, an upper platform second rectangular groove, an upper platform third rectangular groove, an upper platform fourth rectangular groove, an upper platform fifth rectangular groove and an upper platform sixth rectangular groove are machined in the lower end surface of the upper platform in sequence in the radial direction. The Hooke-deviated six-degree-of-freedom platform is applied to the operation field of parallel mechanisms and robots.
Description
Technical field
The present invention relates to a kind of biased platform, be specifically related to the six degree of freedom platform that a kind of Hooke's hinge is biased.
Background technology
Parallel institution refers to and is connected with two or more branches between motion platform with fixed platform, has two or more frees degree, and is distributed in the mechanism on different branch roads with driver.Compared with serial mechanism, parallel institution has that bearing capacity is strong, compact conformation, without accumulated error and the excellent characteristics such as inverse arithmetic is simple and easy, impel it to be widely applied in fields such as Aero-Space, bioengineering, parallel machine, force snesor in parallel and industrial production.But owing to have employed arrangement in parallel, the working space of parallel institution is often smaller, in traditional solution, the mode increasing physical dimension is usually adopted to improve the working space of platform.
Summary of the invention
Content of the present invention is that the working platform space in order to solve parallel institution in prior art is often smaller, in traditional solution, the mode of usual employing increase physical dimension improves the problem of the working space of platform and then the six degree of freedom platform providing a kind of Hooke's hinge biased.
The present invention is the technical scheme adopted that solves the problem:
The six degree of freedom platform that Hooke's hinge is biased, it comprises upper mounting plate, lower platform and six movement branched chain, upper mounting plate and lower platform are ring-shaped platform, upper mounting plate is processed with multiple tapped through hole, lower platform is processed with multiple tapped through hole, six movement branched chain are respectively the first movement branched chain, second movement branched chain, 3rd movement branched chain, 4th movement branched chain, 5th movement branched chain and the 6th movement branched chain, the lower surface of upper mounting plate is radially processed with upper mounting plate first rectangular recess successively, upper mounting plate second rectangular recess, upper mounting plate the 3rd rectangular recess, upper mounting plate the 4th rectangular recess, upper mounting plate the 5th rectangular recess and upper mounting plate the 6th rectangular recess, wherein upper mounting plate first rectangular recess and upper mounting plate second rectangular recess are one group of upper mounting plate groove, upper mounting plate the 3rd rectangular recess and upper mounting plate the 4th rectangular recess are one group of upper mounting plate groove, upper mounting plate the 5th rectangular recess and upper mounting plate the 6th rectangular recess are one group of upper mounting plate groove, three groups of upper mounting plate grooves are uniform to be arranged on upper mounting plate, lower platform upper surface is radially processed with lower platform first rectangular recess successively, lower platform second rectangular recess, lower platform the 3rd rectangular recess, lower platform the 4th rectangular recess, lower platform the 5th rectangular recess and lower platform the 6th rectangular recess, wherein lower platform first rectangular recess and lower platform second rectangular recess are one group of lower platform groove, lower platform the 3rd rectangular recess and lower platform the 4th rectangular recess are one group of lower platform groove, lower platform the 5th rectangular recess and lower platform the 6th rectangular recess are one group of lower platform groove, three groups of lower platform grooves are uniform to be arranged on lower platform, overlook from upper mounting plate and lower platform: three groups of upper mounting plate grooves upper mounting plate and lower platform three groups of lower platform grooves are crisscross arranged, one end of first movement branched chain is fixedly connected with upper mounting plate the 6th rectangular recess, the other end of the first movement branched chain is fixedly connected with lower platform first rectangular recess, one end of second movement branched chain is fixedly connected with upper mounting plate first rectangular recess, the other end of the second movement branched chain is fixedly connected with lower platform second rectangular recess, one end of 3rd movement branched chain is fixedly connected with upper mounting plate second rectangular recess, the other end of the 3rd movement branched chain is fixedly connected with lower platform the 3rd rectangular recess, one end of 4th movement branched chain is fixedly connected with upper mounting plate the 3rd rectangular recess, the other end of the 4th movement branched chain is fixedly connected with lower platform the 4th rectangular recess, one end of 5th movement branched chain is fixedly connected with upper mounting plate the 4th rectangular recess, the other end of the 5th movement branched chain is fixedly connected with lower platform the 5th rectangular recess, one end of 6th movement branched chain is fixedly connected with upper mounting plate the 5th rectangular recess, the other end of the 6th movement branched chain is fixedly connected with lower platform the 6th rectangular recess.
The invention has the beneficial effects as follows:
1, six movement branched chain 3 in mechanism adopt identical structure scheme, each movement branched chain 3 is comprised the first Hooke's hinge 4, cylindrical pair 5 and the second Hooke's hinge 6 and is driven by the drive motors of cylindrical pair 5, each movement branched chain 3 has 6 frees degree, cylindrical pair 5 in movement branched chain 3 can allow the motion of two frees degree, an axial direction along drive motors rotating shaft moves the radial rotating with drive motors rotating shaft, and then the motion to upper mounting plate 1 six-freedom degree of the present invention.2, the present invention is by adopting eccentrically arranged type Hooke's hinge, is that the working space of system significantly improves under the prerequisite of not changing mechanism overall dimensions.And then make six degree of freedom platform realize the motion of high speed, high accuracy and high response speed in the larger context.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention, Fig. 2 is overall structure top view of the present invention, Fig. 3 is the structural representation of movement branched chain 3, Fig. 4 is the structural representation of the first Hooke's hinge 4, Fig. 5 is the structural representation of the second Hooke's hinge 6, Fig. 6 is that the first Hooke's hinge 4 in six movement branched chain 3 overlooks distribution map with the hinge that the second Hooke's hinge 6 is fixedly connected with lower platform 2 with upper mounting plate 1 respectively
In figure, A1 is the hinge that upper first Hooke's hinge 4 of the second movement branched chain 3-2 is fixedly connected with upper mounting plate 1, in figure, A2 is the hinge that upper first Hooke's hinge 4 of the 3rd movement branched chain 3-3 is fixedly connected with upper mounting plate 1, in figure, A3 is the hinge that upper first Hooke's hinge 4 of the 4th movement branched chain 3-4 is fixedly connected with upper mounting plate 1, in figure, A4 is the hinge that upper first Hooke's hinge 4 of the 5th movement branched chain 3-5 is fixedly connected with upper mounting plate 1, in figure, A5 is the hinge that upper first Hooke's hinge 4 of the 6th movement branched chain 3-6 is fixedly connected with upper mounting plate 1, in figure, A6 is the hinge that upper first Hooke's hinge 4 of the first movement branched chain 3-1 is fixedly connected with upper mounting plate 1, in figure, B1 is the hinge that upper second Hooke's hinge 6 of the first movement branched chain 3-1 is fixedly connected with lower platform 2, in figure, B2 is the hinge that upper second Hooke's hinge 6 of the second movement branched chain 3-2 is fixedly connected with lower platform 2, in figure, B3 is the hinge that upper second Hooke's hinge 6 of the 3rd movement branched chain 3-3 is fixedly connected with lower platform 2, in figure, B4 is the hinge that upper second Hooke's hinge 6 of the 4th movement branched chain 3-4 is fixedly connected with lower platform 2, in figure, B5 is the hinge that upper second Hooke's hinge 6 of the 5th movement branched chain 3-5 is fixedly connected with lower platform 2, in figure, B6 is the hinge that upper second Hooke's hinge 6 of the 6th movement branched chain 3-6 is fixedly connected with lower platform 2.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Fig. 6 illustrates present embodiment, the six degree of freedom platform that a kind of Hooke's hinge described in present embodiment is biased, it comprises bearing outer ring 1, bearing inner race 2, bearing fixed mount 4 and multiple mobile 3, bearing outer ring 1, bearing inner race 2 and bearing fixed mount 4 are taper body, uniformly on the sidewall of bearing fixed mount 4 be processed with multiple mobiles installing hole, and correspondence is provided with a mobile 3 in each mobile installing hole, bearing fixed mount 4 is sleeved on bearing inner race 2, bearing outer ring 1 is sleeved on bearing fixed mount 4, and multiple mobile 3 is arranged between bearing outer ring 1 and bearing inner race 2.
Detailed description of the invention two: composition graphs 1-Fig. 4 illustrates present embodiment, the six degree of freedom platform that a kind of Hooke's hinge described in present embodiment is biased, described each movement branched chain 3 comprises the first Hooke's hinge 4, cylindrical pair 5 and the second Hooke's hinge 6, first Hooke's hinge 4 is connected by cylindrical pair 5 with the second Hooke's hinge 6, and other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1-Fig. 4 illustrates present embodiment, the six degree of freedom platform that a kind of Hooke's hinge described in present embodiment is biased, described first Hooke's hinge 4 comprises the first Hooke's hinge briquetting 7, first Hooke's hinge core body 8, first Hooke's hinge pressing plate 9 and the first Hooke's hinge bracing frame 10, first Hooke's hinge briquetting 7 and the first Hooke's hinge pressing plate 9 are fixedly mounted on the two ends of the first Hooke's hinge core body 8, first Hooke's hinge core body 8 is rotationally connected by bearing pin and the first Hooke's hinge bracing frame 10, six the first Hooke's hinge briquettings 7 and six the first Hooke's hinge pressing plates 9 are arranged on upper mounting plate first rectangular recess 21 all successively, upper mounting plate second rectangular recess 22, upper mounting plate the 3rd rectangular recess 23, upper mounting plate the 4th rectangular recess 24, in upper mounting plate the 5th rectangular recess 25 and upper mounting plate the 6th rectangular recess 26, other is identical with detailed description of the invention one.
Detailed description of the invention four: composition graphs 1-Fig. 4 illustrates present embodiment, the six degree of freedom platform that a kind of Hooke's hinge described in present embodiment is biased, described second Hooke's hinge 6 comprises the second Hooke's hinge briquetting 11, second Hooke's hinge core body 12, second Hooke's hinge pressing plate 13 and the second Hooke's hinge bracing frame 14, second Hooke's hinge briquetting 11 and the second Hooke's hinge pressing plate 13 are fixedly mounted on the two ends of the second Hooke's hinge core body 12, second Hooke's hinge core body 12 is rotationally connected by bearing pin and the second Hooke's hinge bracing frame 14, six the second Hooke's hinge briquettings 11 and the second Hooke's hinge pressing plate 13 are arranged on lower platform first rectangular recess 31 all successively, lower platform second rectangular recess 32, lower platform the 3rd rectangular recess 33, lower platform the 4th rectangular recess 34, in lower platform the 5th rectangular recess 35 and lower platform the 6th rectangular recess 36, other is identical with detailed description of the invention one.
Detailed description of the invention five: composition graphs 1-Fig. 4 illustrates present embodiment, the six degree of freedom platform that a kind of Hooke's hinge described in present embodiment is biased, described cylindrical pair 5 is cylinder, drive motors is embedded with in cylinder, the output revolving shaft of drive motors is fixedly connected with the first Hooke's hinge bracing frame 10 through cylindrical one end, and the cylindrical other end is fixedly connected with the second Hooke's hinge bracing frame 14.The first Hooke's hinge bracing frame 10 telescopic moving along drive motors rotating shaft axial direction can be carried out by drive motors, first Hooke's hinge bracing frame 10 passive mode is along drive motors rotating shaft radial rotating, drive upper mounting plate 1 to move by each movement branched chain 3, other is identical with detailed description of the invention one.
Detailed description of the invention six: present embodiment is described according to Fig. 6, the six degree of freedom platform that a kind of Hooke's hinge described in present embodiment is biased, overlook from upper mounting plate 1 and lower platform 2: described A1 point is a to the half angular values from the center of circle O of upper mounting plate 1 and A2 point angulation, the value of a 10 °, described B1 point is b to the half angular values from the center of circle O of upper mounting plate 1 and B2 point angulation, the value of b is 10 °, described A1 point is c to the angular values from the center of circle O of upper mounting plate 1 and B2 point angulation, the value of c is 40 °, makes the space layout of platform symmetrical.Other is identical with detailed description of the invention one.
Operation principle
When the present invention works, the tapped through hole of lower platform 2 of the present invention is fixedly connected with extraneous mechanism, be fixedly connected with executing agency by the tapped through hole of upper mounting plate 1, the telescopic moving of the first Hooke's hinge 4 rotary motion and the first Hooke's hinge 4 in each movement branched chain 3 is adjusted respectively by the drive motors of each cylindrical pair 5, and then reach the adjustment of the six-freedom degree to upper mounting plate 1, and then complete object of the present invention.
Claims (5)
1. the six degree of freedom platform that Hooke's hinge is biased, is characterized in that: it comprises upper mounting plate (1), lower platform (2) and six movement branched chain (3), upper mounting plate (1) and lower platform (2) are ring-shaped platform, (1) is processed with multiple tapped through hole to upper mounting plate, (2) are processed with multiple tapped through hole to lower platform, six movement branched chain (3) are respectively the first movement branched chain (3-1), second movement branched chain (3-2), 3rd movement branched chain (3-3), 4th movement branched chain (3-4), 5th movement branched chain (3-5) and the 6th movement branched chain (3-6), the lower surface of upper mounting plate (1) is radially processed with upper mounting plate first rectangular recess (21) successively, upper mounting plate second rectangular recess (22), upper mounting plate the 3rd rectangular recess (23), upper mounting plate the 4th rectangular recess (24), upper mounting plate the 5th rectangular recess (25) and upper mounting plate the 6th rectangular recess (26), wherein upper mounting plate first rectangular recess (21) and upper mounting plate second rectangular recess (22) are one group of upper mounting plate groove, upper mounting plate the 3rd rectangular recess (23) and upper mounting plate the 4th rectangular recess (24) are one group of upper mounting plate groove, upper mounting plate the 5th rectangular recess (25) and upper mounting plate the 6th rectangular recess (26) are one group of upper mounting plate groove, three groups of upper mounting plate grooves are uniform to be arranged on upper mounting plate (1), lower platform (2) upper surface is radially processed with lower platform first rectangular recess (31) successively, lower platform second rectangular recess (32), lower platform the 3rd rectangular recess (33), lower platform the 4th rectangular recess (34), lower platform the 5th rectangular recess (35) and lower platform the 6th rectangular recess (36), wherein lower platform first rectangular recess (31) and lower platform second rectangular recess (32) are one group of lower platform groove, lower platform the 3rd rectangular recess (33) and lower platform the 4th rectangular recess (34) are one group of lower platform groove, lower platform the 5th rectangular recess (35) and lower platform the 6th rectangular recess (36) are one group of lower platform groove, three groups of lower platform grooves are uniform to be arranged on lower platform (2), overlook from upper mounting plate (1) and lower platform (2): three groups of upper mounting plate grooves upper mounting plate (1) and lower platform (2) three groups of lower platform grooves are crisscross arranged, one end of first movement branched chain (3-1) is fixedly connected with upper mounting plate the 6th rectangular recess (26), the other end of the first movement branched chain (3-1) is fixedly connected with lower platform first rectangular recess (31), one end of second movement branched chain (3-2) is fixedly connected with upper mounting plate first rectangular recess (21), the other end of the second movement branched chain (3-2) is fixedly connected with lower platform second rectangular recess (32), one end of 3rd movement branched chain (3-3) is fixedly connected with upper mounting plate second rectangular recess (22), the other end of the 3rd movement branched chain (3-3) is fixedly connected with lower platform the 3rd rectangular recess (33), one end of 4th movement branched chain (3-4) is fixedly connected with upper mounting plate the 3rd rectangular recess (23), the other end of the 4th movement branched chain (3-4) is fixedly connected with lower platform the 4th rectangular recess (34), one end of 5th movement branched chain (3-5) is fixedly connected with upper mounting plate the 4th rectangular recess (24), the other end of the 5th movement branched chain (3-5) is fixedly connected with lower platform the 5th rectangular recess (35), one end of 6th movement branched chain (3-6) is fixedly connected with upper mounting plate the 5th rectangular recess (25), the other end of the 6th movement branched chain (3-6) is fixedly connected with lower platform the 6th rectangular recess (36).
2. the six degree of freedom platform that a kind of Hooke's hinge is biased according to claim 1, it is characterized in that: described each movement branched chain (3) comprises the first Hooke's hinge (4), cylindrical pair (5) and the second Hooke's hinge (6), and the first Hooke's hinge (4) is connected by cylindrical pair (5) with the second Hooke's hinge (6).
3. the six degree of freedom platform that a kind of Hooke's hinge is biased according to claim 1, it is characterized in that: described first Hooke's hinge (4) comprises the first Hooke's hinge briquetting (7), first Hooke's hinge core body (8), first Hooke's hinge pressing plate (9) and the first Hooke's hinge bracing frame (10), first Hooke's hinge briquetting (7) and the first Hooke's hinge pressing plate (9) are fixedly mounted on the two ends of the first Hooke's hinge core body (8), first Hooke's hinge core body (8) is rotationally connected by bearing pin and the first Hooke's hinge bracing frame (10), six the first Hooke's hinge briquettings (7) and six the first Hooke's hinge pressing plates (9) are arranged on upper mounting plate first rectangular recess (21) all successively, upper mounting plate second rectangular recess (22), upper mounting plate the 3rd rectangular recess (23), upper mounting plate the 4th rectangular recess (24), on upper mounting plate the 5th rectangular recess (25) and upper mounting plate the 6th rectangular recess (26).
4. the six degree of freedom platform that a kind of Hooke's hinge is biased according to claim 1, it is characterized in that: described second Hooke's hinge (6) comprises the second Hooke's hinge briquetting (11), second Hooke's hinge core body (12), second Hooke's hinge pressing plate (13) and the second Hooke's hinge bracing frame (14), second Hooke's hinge briquetting (11) and the second Hooke's hinge pressing plate (13) are fixedly mounted on the two ends of the second Hooke's hinge core body (12), second Hooke's hinge core body (12) is rotationally connected by bearing pin and the second Hooke's hinge bracing frame (14), six the second Hooke's hinge briquettings (11) and the second Hooke's hinge pressing plate (13) are arranged on lower platform first rectangular recess (31) all successively, lower platform second rectangular recess (32), lower platform the 3rd rectangular recess (33), lower platform the 4th rectangular recess (34), on lower platform the 5th rectangular recess (35) and lower platform the 6th rectangular recess (36).
5. the six degree of freedom platform that a kind of Hooke's hinge is biased according to claim 1,2,3 or 4, it is characterized in that: described cylindrical pair (5) is cylinder, drive motors is embedded with in cylinder, the output revolving shaft of drive motors is fixedly connected with the first Hooke's hinge bracing frame (10) through cylindrical one end, and the cylindrical other end is fixedly connected with the second Hooke's hinge bracing frame (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510853657.7A CN105345770A (en) | 2015-11-27 | 2015-11-27 | Hooke-deviated six-degree-of-freedom platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510853657.7A CN105345770A (en) | 2015-11-27 | 2015-11-27 | Hooke-deviated six-degree-of-freedom platform |
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| CN105345770A true CN105345770A (en) | 2016-02-24 |
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| CN201510853657.7A Pending CN105345770A (en) | 2015-11-27 | 2015-11-27 | Hooke-deviated six-degree-of-freedom platform |
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Cited By (6)
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| CN105889723A (en) * | 2016-05-17 | 2016-08-24 | 金华芒果信息技术有限公司 | Stable supporting equipment for computer |
| CN106361485A (en) * | 2016-10-27 | 2017-02-01 | 福建中医药大学 | Three-dimensional neck drafting device |
| CN109630101A (en) * | 2018-11-27 | 2019-04-16 | 中国地质大学（武汉） | A kind of six-dimension acceleration sensor based on micro- power parallel institution |
| CN111168653A (en) * | 2020-01-21 | 2020-05-19 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Parallel pose adjusting device |
| CN112775938A (en) * | 2021-01-27 | 2021-05-11 | 上海应用技术大学 | Small-sized six-degree-of-freedom parallel robot |
| CN112998864A (en) * | 2021-04-20 | 2021-06-22 | 哈尔滨工业大学 | Parallel robot system for lower limb fracture reduction operation |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105889723A (en) * | 2016-05-17 | 2016-08-24 | 金华芒果信息技术有限公司 | Stable supporting equipment for computer |
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| CN109630101A (en) * | 2018-11-27 | 2019-04-16 | 中国地质大学（武汉） | A kind of six-dimension acceleration sensor based on micro- power parallel institution |
| CN109630101B (en) * | 2018-11-27 | 2021-07-20 | 中国地质大学（武汉） | Six-dimensional acceleration sensor based on micro-force parallel mechanism |
| CN111168653A (en) * | 2020-01-21 | 2020-05-19 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Parallel pose adjusting device |
| CN112775938A (en) * | 2021-01-27 | 2021-05-11 | 上海应用技术大学 | Small-sized six-degree-of-freedom parallel robot |
| CN112998864A (en) * | 2021-04-20 | 2021-06-22 | 哈尔滨工业大学 | Parallel robot system for lower limb fracture reduction operation |
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