CN105666466B - A kind of single input three translates rotating parallel device people's platform - Google Patents
A kind of single input three translates rotating parallel device people's platform Download PDFInfo
- Publication number
- CN105666466B CN105666466B CN201610140199.7A CN201610140199A CN105666466B CN 105666466 B CN105666466 B CN 105666466B CN 201610140199 A CN201610140199 A CN 201610140199A CN 105666466 B CN105666466 B CN 105666466B
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- CN
- China
- Prior art keywords
- pair
- revolute pair
- ball
- short side
- parallelogram
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
A kind of single input three translates rotating parallel device people's platform, include moving platform (1), silent flatform (0), and connection moving platform (1), 1 spatial complex side chain of silent flatform (0) and 1 swing rod (7), on the main chain of spatial complex side chain, one end of drive rod one (2) and silent flatform (0) are with (the R of revolute pair one11) connect, the other end of drive rod (2) is fixedly connected with one end short side bar one of the secondary parallelogram one of ball, other end short side bar two (4) and moving platform (1) (R of revolute pair two of ball pair parallelogram one12) connection；One end short side bar three (5) and silent flatform (0) of the secondary parallelogram two of ball on secondary chain are fixed, direction and the (R of revolute pair one11) not parallel, and one end short side bar two (4) (R of revolute pair three of other end short side bar four (6) and the secondary parallelogram one of ball22) connection, and with the (R of revolute pair two12) axis overlap；Further, the two ends of swing rod (7) are connected to silent flatform (0), moving platform (1) by revolute pair, ball pair respectively.This kind of platform is single input, but produces the rotation output of three translation one.
Description
Technical field
It is that robot manipulator etc. provides one newly the present invention relates to a kind of parallel robot mechanism for inputting multi output less
The single input three of type translates rotating parallel device people's platform.
Background technology
Industrial many occasion Structure of need are simple, single-degree-of-freedom but can produce the space mechanism of spatial complex motion,
For mixer, polishing machine, mixer, vibratory sieve etc..Applicant has invented the parallel institution of serial single-degree-of-freedom, they
Can produce space two rotate, three rotate, one translation two rotate, one translation three rotate, two translation two rotate, three translation two turns
The compound movements such as the dynamic, rotation of three translation three, these parallel institutions are used as multi-dimensional vibration sieve etc., it is ensured that material upset is abundant,
Sieve aperture is difficult to be blocked by " sieve grain ", so as to improve screening efficiency, alternative traditional at present circular shale shaker and linear vibrating screen；
Mixer, mixer sheet also are used as, can be well mixed material, mixing efficiency is high.No matter it is used to sieve or mix,
Can be energy-saving.But not yet there is simple in construction, practical single-degree-of-freedom three-translation and one-rotation parallel mechanism at present.
The present invention provides a kind of new single-degree-of-freedom driving but can produce the parallel institution that the translation of space three one is rotated, to meet
The need for various energy-saving production equipments.
The content of the invention
The invention aims to overcome the deficiencies in the prior art, and a kind of new translation of single input three one is provided and rotated simultaneously
Join robot platform, this kind of platform has the good, structure of rigidity simpler, easy to process；Degree of coupling k low (k=1), kinematics are just
The advantages of solution and Dynamic solving are easier.
A kind of single input three that the present invention is provided translates rotating parallel device people's platform, includes moving platform (1), silent flatform
(0), and connection moving platform (1), 1 spatial complex side chain of silent flatform (0) and 1 swing rod (7), it is characterized in that：Answer in space
Miscellaneous side chain is included on 1 main chain and 1 secondary chain, main chain, and one end of drive rod one (2) and silent flatform (0) are with (the R of revolute pair one11)
Connection, the other end of drive rod (2) and one end short side bar for the secondary parallelogram one of ball being made up of four balls pairs and four bars
One is fixedly connected, other end short side bar two (4) and moving platform (1) (R of revolute pair two of ball pair parallelogram one12) connection；
Further, distance is equal in place of any two points of its short side bar between two long side rods of the secondary parallelogram of two balls, palpus
With a connecting rod (3) band revolute pair three (Ra), (R of revolute pair fourb) connection, the two revolute pairs are positioned at this 2 points parts；On secondary chain
One end short side bar three (5) for the secondary parallelogram two of ball being made up of four balls pairs and four bars is fixedly connected with silent flatform (0),
But its direction and the (R of revolute pair one11) axis it is not parallel, other end short side bar four (6) and the ball pair of ball pair parallelogram two
One end short side bar two (4) of parallelogram one (R of revolute pair three22) connection, and (the R of revolute pair three22) and (R of revolute pair two12)
Axis overlap；Further, the two ends of swing rod (7) pass through (R of revolute pair four respectively31), ball pair (S32) be connected to silent flatform (0),
Moving platform (1), the and (R of revolute pair four31) and ball pair (S32) can exchange.
Further, (the R of revolute pair one on silent flatform (0)11) be drive pair when, moving platform (1) can produce three translations one
The spatial movement of rotation, and drive pair can also substitute with prismatic pair.
Brief description of the drawings
Accompanying drawing 1 translates the example structure schematic diagram of rotating parallel device people's platform for the single input three of the present invention.
Embodiment
The technology of the present invention is given below by accompanying drawing and example and further illustrated.
Parallel institution shown in accompanying drawing 1 can be one of embodiments of the invention, and its technical scheme is such：A kind of list is defeated
Enter the rotating parallel device people's platform of three translation one, comprising moving platform 1, silent flatform 0, and connection moving platform 1,1 of silent flatform 0
Spatial complex side chain and 1 swing rod 7, spatial complex side chain are included on 1 main chain and 1 secondary chain, main chain, and the one of drive rod 1
End is with silent flatform 0 with the R of revolute pair one11Connection, the other end of drive rod 2 is parallel with the ball pair being made up of four balls pairs and four bars
One end short side bar one of quadrangle one is fixedly connected, and the other end short side bar 24 of ball pair parallelogram one is used with moving platform 1 to be turned
Move secondary two R12Connection；Further, distance is equal to appointing for its short side bar between two long side rods of the secondary parallelogram of two balls
Anticipate 2 points part, must with a connecting rod 3 with the R of revolute pair threea, the R of revolute pair fourbConnection, the two revolute pairs are located at this 2 points parts；
One end short side bar 35 of the secondary parallelogram two of the ball being made up of four balls pairs and four bars on secondary chain is fixed with silent flatform 0
Connection, but its direction and the R of revolute pair one11Axis it is not parallel, other end short side bar 46 and the ball pair of ball pair parallelogram two
One end short side bar 24 of parallelogram one R of revolute pair three22Connection, and the R of revolute pair three22With the R of revolute pair two12Axis weight
Close；Further, the two ends of swing rod 7 pass through the R of revolute pair four respectively31, ball secondary S32It is connected to silent flatform 0, moving platform 1, and revolute pair
Four R31With ball secondary S32It can exchange.
Meanwhile, as the R of revolute pair one coupled with silent flatform 011For driving when, so that it may make moving platform 1 realize three translations and around
The R of revolute pair two on moving platform 112The rotation output of axis, but it is self-movement wherein to only have 1, and other are derivation movement output.
Claims (2)
1. a kind of single input three translates rotating parallel device people's platform, dynamic comprising moving platform (1), silent flatform (0), and connection
Platform (1), 1 spatial complex side chain of silent flatform (0) and 1 swing rod (7), it is characterized in that：Spatial complex side chain includes 1 master
On chain and 1 secondary chain, main chain, one end of drive rod one (2) and silent flatform (0) are with (the R of revolute pair one11) connection, drive rod one (2)
The other end be fixedly connected with by one end short side bar one of four balls are secondary and four bars are constituted ball pair parallelogram one, ball pair
The other end short side bar two (4) of parallelogram one and moving platform (1) (R of revolute pair two12) connection；Further, in two balls
Distance is equal in place of any two points of its short side bar between two long side rods of secondary parallelogram, must be turned with a connecting rod (3) band
Three (R of dynamic paira), (R of revolute pair fourb) connection, the two revolute pairs are positioned at this 2 points parts；It is secondary and four by four balls on secondary chain
One end short side bar three (5) of the secondary parallelogram two of ball of individual bar composition is fixedly connected with silent flatform (0), but its direction is with rotating
One (R of pair11) axis it is not parallel, the secondary parallelogram one of other end short side bar four (6) and ball of ball pair parallelogram two
One end short side bar two (4) (R of revolute pair three22) connection, and (the R of revolute pair three22) and (R of revolute pair two12) axis overlap；Enter
One step, the two ends of swing rod (7) pass through (R of revolute pair four respectively31), ball pair (S32) silent flatform (0), moving platform (1) are connected to, and
(the R of revolute pair four31) and ball pair (S32) can exchange.
2. the single input three as described in claim 1 translates rotating parallel device people's platform, it is characterised in that：With silent flatform
(0) (the R of revolute pair one of connection11) it is drive pair, it can be substituted with prismatic pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610140199.7A CN105666466B (en) | 2016-03-12 | 2016-03-12 | A kind of single input three translates rotating parallel device people's platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610140199.7A CN105666466B (en) | 2016-03-12 | 2016-03-12 | A kind of single input three translates rotating parallel device people's platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105666466A CN105666466A (en) | 2016-06-15 |
| CN105666466B true CN105666466B (en) | 2017-10-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610140199.7A Expired - Fee Related CN105666466B (en) | 2016-03-12 | 2016-03-12 | A kind of single input three translates rotating parallel device people's platform |
Country Status (1)
| Country | Link |
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| CN (1) | CN105666466B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901026B (en) * | 2017-11-07 | 2021-01-08 | 燕山大学 | Two-rotation one-movement three-freedom-degree parallel mechanism based on less-input array output |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3806273B2 (en) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 4-DOF parallel robot |
| CN102922513B (en) * | 2012-11-02 | 2015-05-20 | 清华大学 | Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA) |
| CN105127979A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot mechanism |
| CN105127983A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation and one-rotation parallel mechanism manipulator |
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2016
- 2016-03-12 CN CN201610140199.7A patent/CN105666466B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN105666466A (en) | 2016-06-15 |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171020 |