CN106641634A - Compact pan-tilt mechanism - Google Patents
Compact pan-tilt mechanism Download PDFInfo
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- CN106641634A CN106641634A CN201611073205.8A CN201611073205A CN106641634A CN 106641634 A CN106641634 A CN 106641634A CN 201611073205 A CN201611073205 A CN 201611073205A CN 106641634 A CN106641634 A CN 106641634A
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- moving platform
- universal
- side chain
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- 230000007246 mechanism Effects 0.000 title claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims description 34
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 28
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000004044 response Effects 0.000 abstract description 4
- 230000010354 integration Effects 0.000 abstract 1
- 230000008859 change Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a compact pan-tilt mechanism which comprises a base and a moving platform. The compact pan-tilt mechanism further comprises a first drive branched chain, a second drive branched chain and a third branched chain. The first drive branched chain is used for driving the moving platform to swing in the first direction, one end of the first drive branched chain and the base are connected to a first joint, and the other end of the first drive branched chain and the moving platform are connected to a first moving joint. The second drive branched chain is used for driving the moving platform to swing in the second direction, one end of the second drive branched chain and the base are connected to a second joint, and the other end of the second drive branched chain and the moving platform are connected to a second moving joint. The third branched chain is used for keeping the moving platform moving in space, one end of the third branched chain and the base are fixedly connected to a third joint, and the other end of the third branched chain is connected with the middle of the moving platform through a third rotating joint. The moving platform is provided with a torque power source so as to drive a rotating table on the moving platform to rotate. According to the compact pan-tilt mechanism, the platform loading capacity and the dynamic response performance are remarkably improved, and meanwhile the compact size and high integration are achieved.
Description
Technical field
The present invention relates to cradle head mechanism, further relates to a kind of compact of series parallel type rotation Three Degree Of Freedom servo-stabilization tracking and puts down
Platform, can be applicable to the fields such as robot, Precision Machining, special equipment and the popular electronic consumer goods.
Background technology
Traditional rotation Three Degree Of Freedom servo platform is a kind of highly important intelligent automation equipment, is widely used in hand
Hold the fields such as head, wrist joint of robot, MISSILE LAUNCHING, space flight and aviation, machine tooling.This kind of mechanism can realize three rotations
The free degree, can be realized positioning, be stablized, stabilization, the function such as tracking by control algolithm.
These traditional rotation Three Degree Of Freedom servo platforms are typically in series by three rotary parts.Such as Publication No.
The patent document of CN104633407 discloses a kind of Three Degree Of Freedom rotation platform, including：The Z for driving rotation platform to turn about the Z axis
Axle drive module and Z-axis transmission module；Y-axis drive module and Y-axis transmission module that driving rotation platform is rotated around Y-axis；Drive
X-axis drive module and X-axis transmission module that rotation platform is turned about the X axis；And carry each drive module and transmission module
Pedestal.But these pure in-line Three Degree Of Freedom rotation platforms are limited by the kind of drive and structure, necessarily with inertia it is big,
Load capacity is low and the shortcomings of bad dynamic performance.
Also there is the rotation Three Degree Of Freedom servo platform that some are realized with parallel institution.Such as Publication No. CN205343112U
Patent document discloses a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing variable angular branch.But it can only realize three certainly
By the rotation of degree limited angle, it is impossible to which meeting needs the application of one degree of freedom unlimited rotary, and this kind of parallel institution
Load all needs driving to undertake, and reduces load capacity and dynamic property.
In actual application, such as, in application scenarios such as pan-shot, rotation processing, all it is often to need that there are two
The rotary freedom of the rotary freedom of limited angle and a unlimited angle.And at some to volume weight, response speed
Have in the application of strict demand with kinematic accuracy, such as the application scenario such as unmanned machine head, joint of robot, to rotation three freely
Degree servo platform generation performance urgently to be resolved hurrily and structure problem.
The content of the invention
The present invention is put down by providing a kind of high response, volume compact and three highly integrated free tripod head mechanisms or degree servo
Platform, to solve above-mentioned technical problem.
The technical solution used in the present invention is a kind of compact cradle head mechanism, including pedestal and moving platform also include：For
Drive the moving platform and first drive side chain with what first direction swung, its one end is connected to first node with the pedestal, separately
One end is connected to the first dynamic node with the moving platform；The second driving swung with second direction for driving the moving platform
Chain, its one end is connected to Section Point with the pedestal, and the other end is connected to the second dynamic node with the moving platform；And be used for
The 3rd side chain for keeping the moving platform to move in space, one end and the pedestal of the 3rd side chain are fixedly connected on Section three
Point, the other end is connected by the 3rd rotation node with the middle part of the moving platform, wherein the moving platform is provided with torque power source
To drive the turntable on the moving platform to rotate.
Used as the further improvement of such scheme, described first drives side chain to include the first movement submember, the first rotation
Submember and the first universal connection submember；Described second drives side chain to include the second movement submember, the second universal auxiliary connection
Component and the 3rd universal connection submember.
As a preferred embodiment：In the described first driving side chain, one end of the first movement submember exists
The first node is fixed with the pedestal, and the other end is connected with the described first rotation submember, the first rotation submember
Described first universal connection submember, and the first universal connection submember are connected to described first by first connecting rod
Dynamic node is connected with the moving platform of stating；In the described second driving side chain, one end of the second movement submember is described
Section Point is fixed with the pedestal, and other end connection submember connection universal with described second, the second universal link is secondary
Component is connected to the described 3rd universal connection submember, and the 3rd universal connection submember described by second connecting rod
Second dynamic node is connected with the moving platform of stating.
As another preferred embodiment：Described first drive side chain in, it is described first rotation submember with it is described
Pedestal connects, and one end of the first movement submember is connected with the described first rotation submember, the other end and the described 10000th
Connect with the moving platform of stating in the described first dynamic node to connection submember connection, and the first universal connection submember
Connect；In the described second driving side chain, the second universal connection submember is connected with the pedestal, the second moving sets structure
The connection submember connection universal with described second of one end of part, other end connection submember connection universal with the described 3rd, and
The 3rd universal connection submember is connected in the described second dynamic node with the moving platform of stating.
As the further improvement of such scheme：3rd side chain (H) also includes that being arranged on the described 3rd rotates node
(U) the 4th of position the universal connection submember；The free end of the 4th universal connection submember is directly fixed to described dynamic flat
The base portion of platform (P)；The fixing end of the 4th universal connection submember is kept rotating and keeps propping up by second holding member
Support, the stator of torque power source (t) fixes with the base portion of the moving platform (P), the mover of torque power source (t) with
The mode of transmission drives the turntable (Q) or directly drives the turntable (Q).
Preferably, described first it is universal connection submember, second it is universal connection submember, the 3rd it is universal connection submember and
4th universal connection submember is respectively comprising oscillating bearing, ball pivot or Hooks coupling universal coupling etc..
Further, the first node, the Section Point and the 3rd node constitute the angle of a not 180 degrees.
Further, described series-parallel connection Three Degree Of Freedom cradle head mechanism, also includes：First actuation source, for by the first transmission
Mechanism drives described first to drive the linear movement inside side chain by way of direct drive；Second actuation source, is used for
Described second is driven to drive the linear movement inside side chain the second transmission mechanism or by way of direct drive.
First actuation source and the second actuation source include respectively electric rotating machine, linear electric motors, cylinder, hydraulic cylinder or actuating
Device etc.；First transmission mechanism and the second transmission mechanism are respectively comprising screw nut driving mechanism, gear drive or same
Step tape handler etc..
Preferably, described series-parallel connection Three Degree Of Freedom cradle head mechanism also includes：First sensor, drives for feeding back described first
Movement position in dynamic side chain；Second sensor, for feed back it is described second drive side chain in movement position；Or the 3rd sensing
Device, for feeding back the rotary motion position of the turntable.
Beneficial effects of the present invention are：Realize the free tripod head mechanism of series-parallel connection three with the unlimited rotary free degree or degree is watched
Platform is taken, range of application is extended and is improve manipulation flexibility；Platform loads ability and dynamic response performance are significantly improved, together
When meet volume compact and highly integrated requirement again；The structure of the present invention is also suitable for light-weight design and high-precision motion control
System, has a extensive future.
Description of the drawings
Fig. 1 show the schematic diagram of the first configuration of the invention；
Fig. 2 show the schematic diagram of the second configuration of the invention；
Fig. 3 show the first configuration of the invention stereogram in one embodiment；
Fig. 4 show first configuration of Fig. 3 front view vertically, there is shown with the partial sectional view of moving platform；
Fig. 5 show the stereogram of first configuration in a movement position of Fig. 3；
Fig. 6 show the second configuration of the invention stereogram in one embodiment；
Fig. 7 show the stereogram of second configuration in a movement position of Fig. 6；
Fig. 8 a and 8b are respectively shown in mover and stator for the torque power source for the present invention in one embodiment.
Specific embodiment
When combining accompanying drawing and considering with reference to detail specifications, further advantage of the present invention can become apparent.
The mechanism principle figure of first configuration of series-parallel connection Three Degree Of Freedom cradle head mechanism of the invention that Fig. 1 show.As schemed
Shown, the cradle head mechanism of this configuration mainly includes pedestal (B-platform), moving platform (P-platform) and is connected to pedestal
The first driving side chain A1B1C1, the second driving side chain A2B2C2 and the 3rd side chain H and moving platform between.Wherein, first drive
One end of side chain A1B1C1 is connected to first node A1 with pedestal B, and the other end is connected to the first dynamic node B1 with moving platform P；The
One end of two driving side chain A2B2C2 is connected to Section Point A2 with pedestal B, and the other end is connected to the second dynamic node with moving platform P
B2；One end of 3rd side chain H is fixedly connected on the 3rd node O with pedestal B；Moving platform P is provided with torque power source t with by the 3rd
Rotate the turntable Q rotations that node U is ordered about on moving platform P.Preferably, the axle that the geometric center position of turntable Q extends is put down through dynamic
Platform, is then attached to the 3rd rotation node U.First node A1, Section Point A2 and the 3rd node O composition angle aa, the angle
Can be the random angle beyond 180 degree, preferably 90 degree.Preferably, the first dynamic node B1, the second dynamic node B2 and moving platform P
Geometric center composition angle bb is substantially equal to angle aa.First node A1, Section Point A2 and the 3rd node O can be shapings
Rigid joint on pedestal B, or the node of pedestal B is fixedly attached to by structural member.It will be appreciated that, in other enforcements
In example, angle aa and bb can change or unequal, and the 3rd node O can not be located at the middle part of pedestal B, or the 3rd rotates
Node U does not connect turntable Q at the middle part of moving platform P.
In the present embodiment, first side chain A1B1C1 is driven to include the first movement submember, the first rotation submember and the
One universal connection submember.One end of first movement submember is fixed in first node A1 with pedestal B, and the other end and first rotates
Submember connects, and the first rotation submember is connected to the first universal connection submember, and the first universal company by first connecting rod
Connect submember to be connected with moving platform P is stated in the first dynamic node B1.Second drive side chain A2B2C2 include the second movement submember, the
Two universal connection submembers and the 3rd universal connection submember.One end of second movement submember is in Section Point A2 and pedestal B
Fix, the other end and the second universal connection submember connect, and it is universal that universal connection submember is connected to the 3rd by second connecting rod
Connect submember, and the 3rd universal connection submember is connected in the second dynamic node B2 with moving platform P is stated.
The mechanism principle figure of second configuration of series-parallel connection Three Degree Of Freedom cradle head mechanism of the invention that Fig. 2 show.Second
Configuration and the moving sets that the difference of above-mentioned first configuration is in the driving side chain A2B2C2 of the first driving side chain A1B1C1 and second
Component, rotation submember are different with the layout type between universal connection submember.As shown in Fig. 2 drive first propping up
In chain A1B1C1, the first rotation submember is connected with pedestal B, and one end of the first movement submember connects with the first rotation submember
Connect, the other end and the first universal connection submember connect, and the first universal connection submember is in the first dynamic node B1 and states
Platform P connects；In the second driving side chain A2B2C2, the second universal connection submember is connected with pedestal B, the second movement submember
One end connection submember connection universal with second, other end connection submember universal with the 3rd connects, and the 3rd universal company
Connect submember to be connected with moving platform P is stated in the second dynamic node B2.
It is understood that rotation submember in the above-described embodiments can include rotation articulated structure, pivot structure or
Any known single rotational structure/joint；Mobile submember can include guide rail structure, guide barrel construction, rotation-Linear transmission
Structure, straight line-linear transmission structure or boot activity part carry out any known structure of single linear movement；Universal connection
Submember can include oscillating bearing, ball pivot, Hooks coupling universal coupling or any known omnidirectional (universal) rotational structure/
Joint.
Fig. 3-5 show the specific embodiment of first configuration of series-parallel connection Three Degree Of Freedom cradle head mechanism of the invention.
Referring now to Fig. 3 and 4.Moving platform P and connecting rod B1C1 is connected at the first dynamic node B1 by ball-joint, first connecting rod
B1C1 and the first slide block sb1 are connected at pivot part C1.Moving platform P and second connecting rod B2C2 is connected to second and moves by ball-joint
At node B2, second connecting rod B2C2 is connected with the second slide block sb2 by ball-joint C2.Slide block sb1, sb2 are transported by screw mandrel d2 guiding
Dynamic (being illustrated as moving up and down), screw mandrel d1, d2 are attached with respectively screw mandrel guide rail and are installed between moving platform P and pedestal B.Silk
Bar d1, d2 are connected by way of gear gr1, gr2 transmission with motor M1, M2 for being fixedly installed on pedestal B.It will be appreciated that,
In other embodiments, screw mandrel d1, d2 can be connected by way of toothed belt transmission with motor M1, M2.
Referring now to Fig. 4.Step groove or other suitable constructions are formed in moving platform P, to receive the first holding member
Hd1 so that turntable Q can be under the constraint of the first holding member hd1, the rotation in moving platform P.First holding member hd1 can
With including bearing (such as, pressure ball bearing, deep groove ball bearing, linear bearing etc.), spring arch clasp, back-up ring, axle support member, axis,
Or block etc..The torque power source t being arranged in moving platform P can adopt commercially available direct driving motor M3 (such as Danaher companies
Rimless rotation direct driving motor series), its stator frame is fixed with the base portion of the moving platform P, and described in mover frame directly drives
Turntable Q.In order that more compact structure, torque power source t can also protect the mover and stator of non-standard de-sign, so as to more adapt to
The size of moving platform P and turntable Q.Reference picture 8a and 8b, it is respectively shown in being the mover t1 for torque power source t of the invention
With stator t2.In one embodiment, mover is made with permanent-magnet material, is magnetized mode using spaced radial inside and outside quadrupole：Inner side
Be N poles around axially 0 degree position, 90 degree is S poles, and 180 degree is N poles, and 270 degree is S poles, and outside is then conversely, the front magnet ring
11 outside is S poles around axially 0 degree of position, and 90 degree is N poles, and 180 degree is S poles, and 270 degree is N poles.Stator t2 using three-phase without
Teeth groove winding.In other embodiments, mover t1 and stator t2 can also using other either synchronously or asynchronously the excitation of form and around
Group structure.
Fig. 6 and 7 show the specific embodiment of second configuration of series-parallel connection Three Degree Of Freedom cradle head mechanism of the invention.
With reference to Fig. 6, in this embodiment, the arrangement of the 3rd side chain H is roughly the same with the mode of above-mentioned first configuration,
And difference is：Moving platform P and expansion link B1A1 are connected at the first dynamic node B1 by ball-joint, expansion link B1A1 and base
Seat B is connected at first node A1 by revolute, and expansion link B1A1 is driven to change length and order about by linear actuators AT1
Moving platform P rotates.Moving platform P and expansion link B2A2 are connected at the second dynamic node B2 by ball-joint, expansion link B2A2 and cunning
Block sb2 is connected at Section Point A2 by ball-joint, and expansion link B2A2 is driven to change length and drive by linear actuators AT2
Rotate moving platform P.
In the above-described embodiments, some of cradle head mechanism of the invention can be found in attached with the position of three-degree-of-freedom motion
Fig. 5 and 7.
In certain embodiments, position can be respectively provided with the first driving side chain, the second driving side chain and the 3rd side chain
Sensor is put, for feedback slide block sb1, sb2 and the movement position of turntable Q, can be sensed with arranging in motor M1, M2 and M3
Device or encoder, so as to realize the motion control of closed loop or semiclosed loop.
In the above-described embodiments, first and second driving side chains linear drive mode be not limited to motor-screw mandrel mode,
Linear-motion actuator, can also be direct driving motor (such as, AC synchronous linear electric motors, direct current voice coil motor) mode, hydraulic/pneumatic
Mode etc..
The above, simply presently preferred embodiments of the present invention, the invention is not limited in above-mentioned embodiment, as long as
It reaches the technique effect of the present invention with identical means, should all belong to protection scope of the present invention.In the protection model of the present invention
Its technical scheme and/or embodiment can have a variety of modifications and variations in enclosing.
Claims (10)
1. a kind of compact cradle head mechanism, including pedestal (B) and moving platform (P), it is characterised in that also include：
The first driving side chain (A1B1C1) swung with first direction for driving the moving platform (P), its one end and the base
Seat (B) is connected to first node (A1), and the other end is connected to the first dynamic node (B1) with the moving platform (P)；
The second driving side chain (A2B2C2) swung with second direction for driving the moving platform (P), its one end and the base
Seat (B) is connected to Section Point (A2), and the other end is connected to the second dynamic node (B2) with the moving platform (P)；And
For the 3rd side chain (H) for maintaining the moving platform (P) to overturn in space, one end of the 3rd side chain (H) and the base
Seat (B) is fixedly connected on the 3rd node (O), and the other end in the middle part of the 3rd rotation node (U) and the moving platform (P) by connecting
Connect,
Wherein described moving platform (P) is provided with torque power source (t) to drive the turntable (Q) on the moving platform (P) to rotate.
2. series-parallel connection Three Degree Of Freedom cradle head mechanism according to claim 1, it is characterised in that：
Described first drives side chain (A1B1C1) to include the first movement submember, the first rotation submember and the first universal auxiliary connection
Component；
Described second drives side chain (A2B2C2) to include the second movement submember, the second universal connection submember and the 3rd universal company
Connect submember.
3. series-parallel connection Three Degree Of Freedom cradle head mechanism according to claim 2, it is characterised in that：
In the described first driving side chain (A1B1C1),
One end of the first movement submember is fixed in the first node (A1) and the pedestal (B), the other end with it is described
First rotation submember connection,
The first rotation submember is connected to the described first universal connection submember by first connecting rod, and
The first universal connection submember is connected in the described first dynamic node (B1) with the moving platform (P) of stating；
In the described second driving side chain (A2B2C2),
One end of the second movement submember is fixed in the Section Point (A2) and the pedestal (B), the other end with it is described
Second universal connection submember connection,
The second universal connection submember is connected to the described 3rd universal connection submember by second connecting rod, and
The 3rd universal connection submember is connected in the described second dynamic node (B2) with the moving platform (P) of stating.
4. series-parallel connection Three Degree Of Freedom cradle head mechanism according to claim 2, it is characterised in that：
In the described first driving side chain (A1B1C1),
The first rotation submember is connected with the pedestal (B),
One end of the first movement submember and the described first rotation submember are connected, the other end and the described first universal connection
Submember connects, and
The first universal connection submember is connected in the described first dynamic node (B1) with the moving platform (P) of stating；
In the described second driving side chain (A2B2C2),
The second universal connection submember is connected with the pedestal (B),
One end connection submember connection universal with described second of the second movement submember, the other end is universal with the described 3rd
Connection submember connection, and
The 3rd universal connection submember is connected in the described second dynamic node (B2) with the moving platform (P) of stating.
5. series-parallel connection Three Degree Of Freedom cradle head mechanism according to any one of claim 1 to 4, it is characterised in that：
3rd side chain (H) also includes being arranged on the described 3rd the 4th universal connection submember for rotating node (U) position；
The free end of the 4th universal connection submember is directly fixed to the base portion of the moving platform (P)；
The fixing end of the 4th universal connection submember is kept rotating and keeps supporting by second holding member,
The stator of torque power source (t) is fixed with the base portion of the moving platform (P), the mover of torque power source (t)
The turntable (Q) is driven in the way of being driven or directly drive the turntable (Q).
6. series-parallel connection Three Degree Of Freedom cradle head mechanism according to claim 5, it is characterised in that
The first universal connection submember, the second universal connection submember, the 3rd universal connection submember and the 4th universal company
Connect submember and include oscillating bearing, ball pivot or Hooks coupling universal coupling respectively.
7. series-parallel connection Three Degree Of Freedom cradle head mechanism according to claim 1, it is characterised in that：
The first node (A1), the Section Point (A2) and the 3rd node (O) constitute the angle of a not 180 degrees
(aa)。
8. series-parallel connection Three Degree Of Freedom cradle head mechanism according to claim 1, it is characterised in that also include：
First actuation source, for driving described first to drive side chain the first transmission mechanism or by way of direct drive
(A1B1C1) internal linear movement；
Second actuation source, for driving described second to drive side chain the second transmission mechanism or by way of direct drive
(A2B2C2) internal linear movement.
9. series-parallel connection Three Degree Of Freedom cradle head mechanism according to claim 8, it is characterised in that：
First actuation source and the second actuation source include respectively electric rotating machine, linear electric motors, cylinder, hydraulic cylinder or actuator；
First transmission mechanism and the second transmission mechanism include respectively screw nut driving mechanism, gear drive or synchronization
Tape handler.
10. series-parallel connection Three Degree Of Freedom cradle head mechanism according to claim 1, it is characterised in that also include：
First sensor (SE1), for feeding back described first movement position in side chain (A1B1C1) is driven；
Second sensor (SE2), for feeding back described second movement position in side chain (A2B2C2) is driven；Or
3rd sensor (SE3), for feeding back the rotary motion position of the turntable (Q).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611073205.8A CN106641634B (en) | 2016-11-29 | 2016-11-29 | Compact cradle head mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611073205.8A CN106641634B (en) | 2016-11-29 | 2016-11-29 | Compact cradle head mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN106641634A true CN106641634A (en) | 2017-05-10 |
| CN106641634B CN106641634B (en) | 2019-05-03 |
Family
ID=58814881
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611073205.8A Active CN106641634B (en) | 2016-11-29 | 2016-11-29 | Compact cradle head mechanism |
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| Country | Link |
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| CN (1) | CN106641634B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873946A (en) * | 2018-06-04 | 2018-11-23 | 浙江大华技术股份有限公司 | A kind of positioning mechanism of holder, localization method, positioning system and video camera |
| EP3424731B1 (en) * | 2017-07-03 | 2022-12-28 | Bundesdruckerei GmbH | Device and method for positioning a document body and device and method for producing a document body |
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| CN106641634B (en) | 2019-05-03 |
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