CN107363814B - Single-input multi-degree-of-freedom parallel metamorphic platform - Google Patents
Single-input multi-degree-of-freedom parallel metamorphic platform Download PDFInfo
- Publication number
- CN107363814B CN107363814B CN201710717489.8A CN201710717489A CN107363814B CN 107363814 B CN107363814 B CN 107363814B CN 201710717489 A CN201710717489 A CN 201710717489A CN 107363814 B CN107363814 B CN 107363814B
- Authority
- CN
- China
- Prior art keywords
- gear
- sliding block
- movable
- shaft
- platform
- 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.)
- Active
Links
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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
-
- 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
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
- F16H1/206—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members characterised by the driving or driven member being composed of two or more gear wheels
-
- 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
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
- F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H1/227—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts comprising two or more gearwheels in mesh with the same internally toothed wheel
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Structure Of Transmissions (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a single-input multi-degree-of-freedom parallel metamorphic platform, which comprises a parallel metamorphic platform body and a single-input transmission system, wherein the parallel metamorphic platform body comprises a static platform connected with the single-input transmission system, a first sliding block, a second sliding block, a third sliding block, three moving branched chains and a movable platform, wherein the first sliding block, the second sliding block and the third sliding block are arranged on the static platform along the circumferential direction and are movable, the first sliding block, the second sliding block and the third sliding block are respectively connected with the movable platform through one moving branched chain, and the single-input transmission system is connected with the first sliding block, the second sliding block and the third sliding block and is used for respectively controlling the first sliding block, the second sliding block and the third sliding block to rotate around the axis of the static platform. The single-input multi-degree-of-freedom parallel metamorphic platform adopts the single-input transmission system, effectively utilizes gear arrangement to input the transmission system in a grading way, so that different input conditions are carried out, the production cost is reduced, and the parallel metamorphic platform is easy to operate and control.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a single-input multi-degree-of-freedom parallel metamorphic platform.
Background
In the prior art, the parallel mechanism has good rigidity and higher precision, but the action made by a specific mechanism mode is single, and different space postures cannot be realized. The design of the parallel metamorphic platform mostly adopts multiple input systems, the design cost is increased due to the design of the multiple input systems, the mechanism strength is reduced, the parallel metamorphic platform has extremely small required error, the working error of the multiple input systems is larger, the parallel metamorphic platform is easy to operate and control, and the efficiency is low.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a single-input multi-degree-of-freedom parallel metamorphic platform, which aims to reduce the cost and enable the parallel metamorphic platform to be easy to operate and control.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the single-input multi-degree-of-freedom parallel metamorphic platform comprises a parallel metamorphic platform body and a single-input transmission system, wherein the parallel metamorphic platform body comprises a static platform connected with the single-input transmission system, a first sliding block, a second sliding block, a third sliding block, three motion branched chains and a movable platform, wherein the first sliding block, the second sliding block and the third sliding block are arranged on the static platform along the circumferential direction and are movable, the first sliding block, the second sliding block and the third sliding block are connected with the movable platform through one motion branched chain respectively, and the single-input transmission system is connected with the first sliding block, the second sliding block and the third sliding block and is used for respectively controlling the first sliding block, the second sliding block and the third sliding block to rotate around the axis of the static platform.
The static platform is in a circular ring shape, and the first sliding block, the second sliding block and the third sliding block are in sliding connection with the static platform.
The motion branched chain comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are sequentially connected, wherein the second connecting rod is in rotary connection with the first connecting rod and the third connecting rod, the third connecting rod is sleeved on the fourth connecting rod, relative rotation and movement can occur between the second connecting rod and the third connecting rod, the fourth connecting rod is in rotary connection with the movable platform, and the first connecting rod of each motion branched chain is in rotary connection with the first sliding block, the second sliding block and the third sliding block respectively.
The single-input transmission system comprises a spline shaft, a sliding gear sleeved on the spline shaft and synchronously rotating on the spline shaft, a gear transmission mechanism connected with the first sliding block, the second sliding block and the third sliding block, and a gear control mechanism for controlling the sliding gear to move back and forth among a first preset position, a second preset position and a third preset position.
When the gear control mechanism enables the sliding gear to move to a first preset position, the sliding gear is meshed with the gear transmission mechanism and transmits power to the first sliding block, the second sliding block and the third sliding block through the gear transmission mechanism so as to drive the first sliding block, the second sliding block and the third sliding block to rotate around the axis of the static platform; when the gear control mechanism enables the sliding gear to move to a second preset position, the sliding gear is meshed with the gear transmission mechanism and transmits power to the first sliding block through the gear transmission mechanism so as to drive the first sliding block to rotate around the axis of the static platform; when the gear control mechanism enables the sliding gear to move to a third preset position, the sliding gear is meshed with the gear transmission mechanism and transmits power to the second sliding block and the third sliding block through the gear transmission mechanism so as to drive the second sliding block and the third sliding block to rotate around the axis of the static platform.
The gear transmission mechanism comprises a first moving shaft connected with the first sliding block, a second moving shaft connected with the second sliding block, a third moving shaft connected with the third sliding block, a first internal gear and three first moving gears which are positioned in the first internal gear and meshed with the first internal gear, wherein one first moving gear is sleeved on each of the first moving shaft, the second moving shaft and the third moving shaft, and when the gear control mechanism enables the sliding gears to move to a first preset position, the sliding gears are meshed with the three first moving gears.
The gear transmission mechanism further comprises a second internal gear and a second movable gear which is positioned in the second internal gear and meshed with the second internal gear, the second movable gear is sleeved on the first movement shaft and positioned above the first movable gear, and when the gear control mechanism enables the sliding gear to move to a second preset position, the sliding gear is meshed with the second movable gear.
The gear transmission mechanism further comprises a third internal gear and two third movable gears which are positioned in the third internal gear and meshed with the third internal gear, the two third movable gears are respectively sleeved on the second movable shaft and the third movable shaft and positioned above the first movable gear, and when the gear control mechanism enables the sliding gear to move to a third preset position, the sliding gear is meshed with the two third movable gears.
The gear control mechanism comprises a shifting fork connected with the sliding gear, a swinging rod rotationally connected with the shifting fork, a control turntable rotationally connected with the swinging rod and rotatably arranged, a turntable shaft connected with the control turntable and a handle connected with the turntable shaft, and the axis of the turntable shaft is perpendicular to the axis of the spline shaft.
The single-input transmission system further comprises a main box body and a motor which is arranged in the main box body and used for providing power for rotating the spline shaft, and the spline shaft, the sliding gear and the gear control mechanism are arranged in the main box body.
The single-input multi-degree-of-freedom parallel metamorphic platform adopts the single-input transmission system, effectively utilizes gear arrangement to input the transmission system in a grading way, so that different input conditions are carried out, the production cost is reduced, and the parallel metamorphic platform is easy to operate and control. Meanwhile, the design of the metamorphic mechanism branched chain and the parallel mechanism is completed under the condition of ensuring assembly by utilizing the singularity characteristic of the closed chain and assisting in designing the common fixed-degree-of-freedom parallel branched chain. Through the motion characteristics of the preset parallel metamorphic mechanism, a plurality of possible motion forms of the parallel branched chain with multiple degrees of freedom are determined, and the rationality of the configuration design is judged through simulation.
Drawings
The present specification includes the following drawings, the contents of which are respectively:
FIG. 1 is an assembled schematic diagram of a parallel metamorphic platform body and a single input drive system;
FIG. 2 is a schematic structural view of a parallel metamorphic platform body;
FIG. 3 is a schematic structural view of a gear control mechanism;
FIG. 4 is a schematic structural view of the spindle assembly;
fig. 5 is a schematic structural view of the case supporting part;
1. a static platform; 2. a first slider; 3. a first link; 4. a second link; 5. a third link; 6. a fourth link; 7. a movable platform; 8. a connecting piece; 9. a first axis of motion; 10. a second movable gear; 11. a first movable gear; 12. a third gear; 13. a second axis of motion; 14. a spline shaft; 15. a first internal gear; 16. a second internal gear; 17. a third internal gear; 18. a slipping gear; 19. a third axis of motion; 20. a shifting fork; 21. swing rod; 22. a perforated pin; 23. a main case; 24. a control turntable; 25. a turntable shaft; 26. a handle; 27. a bearing end cap; 28. deep groove ball bearings; 29. a thrust ball bearing; 30. a side plate; 31. a motor; 32. a fixing frame; 33. a coupling; 34. a second slider; 35. an upper cover plate; 36. a third slider; 37. a fork groove.
Detailed Description
The following detailed description of the embodiments of the invention, given by way of example only, is presented in the accompanying drawings to aid in a more complete, accurate and thorough understanding of the concepts and aspects of the invention, and to aid in its practice, by those skilled in the art.
As shown in fig. 1 and 2, the invention provides a single-input multi-degree-of-freedom parallel metamorphic platform all the time, which comprises a parallel metamorphic platform body and a single-input transmission system. The parallel metamorphic platform body comprises a static platform 1 connected with a single-input transmission system, a first sliding block 2, a second sliding block 34, a third sliding block 36, three moving branched chains and a moving platform 7, wherein the first sliding block 2, the second sliding block 34 and the third sliding block 36 are arranged on the static platform 1 in the circumferential direction and are movable, the first sliding block 2, the second sliding block 34 and the third sliding block 36 are respectively connected with the moving platform 7 through one moving branched chain, the moving platform 7 is used for installing working parts, and the single-input transmission system is connected with the first sliding block 2, the second sliding block 34 and the third sliding block 36 and is used for respectively controlling the first sliding block 2, the second sliding block 34 and the third sliding block 36 to rotate around the axis of the static platform 1.
Specifically, as shown in fig. 1 and 2, the stationary platform 1 is a circular member, and the first slider 2, the second slider 34, and the third slider 36 are slidably connected to the stationary platform 1. The static platform 1 is fixedly arranged, the axis of the static platform 1 is positioned in a vertical plane, and the first sliding block 2, the second sliding block 34 and the third sliding block 36 are sequentially arranged on the static platform 1 along the circumferential direction. When the first sliding block 2, the second sliding block 34 and the third sliding block 36 rotate on the static platform 1 around the axis of the static platform 1, the moving platform 7 can be driven to move through the moving branched chain, and the moving platform 7 is located above the static platform 1. The motion branched chain comprises a first connecting rod 3, a second connecting rod 4, a third connecting rod 5 and a fourth connecting rod 6 which are sequentially connected, the second connecting rod 4 is rotationally connected with the first connecting rod 3 and the third connecting rod 5, the third connecting rod 5 is sleeved on the fourth connecting rod 6, relative rotation and movement can occur between the third connecting rod 5 and the fourth connecting rod 6, the fourth connecting rod 6 is rotationally connected with a movable platform 7, and the first connecting rod 3 of each motion branched chain is rotationally connected with a first sliding block 2, a second sliding block 34 and a third sliding block 36 respectively.
As shown in fig. 1 and 2, the end of the first link 3 is rotatably connected to one end of the second link 4, and the other end of the second link 4 is rotatably connected to one end of the third link 5, that is, the second link 4 is hinged to the first link 3 and the third link 5. The first connecting rod 3 of each moving branched chain is respectively in rotary connection with the first sliding block 2, the second sliding block 34 and the third sliding block 36, and the axis of the rotary connection part of the first connecting rod 3 and the first sliding block 2, the second sliding block 34 and the third sliding block 36 is vertical to the axis of the static platform 1. The other end of the third connecting rod 5 is sleeved on the fourth connecting rod 6, the end part of the fourth connecting rod 6 is connected with the movable platform 7 through a ball hinge, the fourth connecting rod 6 is a cylinder, the end part of the third connecting rod 5 is provided with a circular through hole for the fourth connecting rod 6 to pass through, the third connecting rod 5 is connected with the fourth connecting rod 6 through a cylindrical surface pair, and relative rotation and movement can occur between the third connecting rods 5. The fourth connecting rod 6 of each motion branched chain is connected with the movable platform 7 through a ball hinge respectively, three ball hinges are distributed on the movable platform 7 at three points, and the three ball hinges are respectively positioned at one vertex of the equilateral triangle. The movable platform 7 is of an equilateral triangle structure, and three ball hinges are respectively arranged at one sharp point of the movable platform 7.
The movable platform 7 is a multi-degree-of-freedom platform movable and rotatable in a first direction, a second direction, and a third direction, the third direction being a vertical direction, the first direction being an axial direction of the turntable shaft 25, the second direction being mutually orthogonal to the first direction and the second direction. The stationary platform 1 guides the movement of the first slider 2, the second slider 34, and the third slider 36, and the simultaneous movement of the first slider 2, the second slider 34, and the third slider 36 provides a driving force for rotating the movable platform 7. When the three connecting rods of the first connecting rod 3, the second connecting rod 4 and the third connecting rod 5 of the moving branched chain are in a free state, the moving platform 7 has a certain space movement posture and a certain position posture, namely a first movement posture. When the metamorphic movement is carried out, the first connecting rod 3 and the second connecting rod 4 of the movement branched chain are collinear (at the moment, the included angle between the first connecting rod 3 and the second connecting rod 4 is 180 degrees), the other connecting rods of the movement branched chain are in a free state, and the movable platform 7 has a space position posture and a movement state which are different from those of the first movement posture and is called a second movement posture. When the first connecting rod 3 and the second connecting rod 4 of the movement branched chain are overlapped (at this time, the included angle between the first connecting rod 3 and the second connecting rod 4 is 0 degrees), the other connecting rods of the movement branched chain are in a free state, and the movement platform 7 has a space position posture and a movement state which are different from the first movement posture and the second movement posture and are called a third movement posture. By the topological combination of the three connecting rods of the motion branched chain in different forms, a metamorphic motion mechanism is formed, and the motion change of the movable platform 7 is diversified.
As shown in fig. 1 to 5, the single input transmission system includes a main casing 23, a spline shaft 14, a sliding gear 18 sleeved on the spline shaft 14 and synchronously rotating with the spline shaft 14, a gear transmission mechanism connected with the first slider 2, the second slider 34 and the third slider 36, and a gear control mechanism for controlling the sliding gear 18 to move back and forth between a first preset position, a second preset position and a third preset position. The top of main box 23 has upper cover plate 35, and upper cover plate 35 is the rectangle flat board that the level set up, and quiet platform 1 is installed on upper cover plate 35 and quiet platform 1 and upper cover plate 35 fixed connection, quiet platform 1 and towards upper cover plate 35's top protrusion, quiet platform 1's axis is mutually perpendicular with upper cover plate 35, and the parallel metamorphic platform body is located upper cover plate 35's top. The main box 23 is a rectangular box structure with hollow inside, the gear transmission mechanism, the sliding gear 18 and the spline shaft 14 are arranged in the hollow cavity of the main box 23, the spline shaft 14 and the static platform 1 are coaxially arranged, and the spline shaft 14 is rotatably arranged on the main box 23. The spline shaft 14 is provided with an external spline, the sliding gear 18 is provided with an internal spline, the sliding gear 18 is sleeved on the spline shaft 14, the sliding gear 18 is matched with the spline shaft 14, the sliding gear 18 can move up and down on the spline shaft 14, and the sliding gear 18 can be driven to synchronously rotate when the spline shaft 14 rotates. When the gear control mechanism moves the slide gear 18 to the first preset position, the slide gear 18 is engaged with the gear transmission mechanism and transmits power to the first slider 2, the second slider 34, and the third slider 36 through the gear transmission mechanism to drive the first slider 2, the second slider 34, and the third slider 36 to rotate about the axis of the stationary platform 1, and the first slider 2, the second slider 34, and the third slider 36 move synchronously. When the gear control mechanism moves the sliding gear 18 to the second preset position, the sliding gear 18 is meshed with the gear transmission mechanism and transmits power to the first slide block 2 through the gear transmission mechanism to drive the first slide block 2 to rotate around the axis of the static platform 1, and the second slide block 34 and the third slide block 36 remain motionless. When the gear control mechanism moves the slide gear 18 to the third preset position, the slide gear 18 is engaged with the gear transmission mechanism and transmits power to the second slider 34 and the third slider 36 through the gear transmission mechanism to drive the second slider 34 and the third slider 36 to rotate around the axis of the stationary platform 1, and the second slider 34 and the third slider 36 move synchronously, and the first slider 2 remains stationary. The first preset position is located below the second preset position, and the second preset position is located below the third preset position.
As shown in fig. 1, preferably, the gear transmission mechanism includes a first moving shaft 9 connected to the first slider 2, a second moving shaft 13 connected to the second slider 34, a third moving shaft 19 connected to the third slider 36, a first internal gear 15, and three first moving gears 11 positioned inside the first internal gear 15 and meshed with the first internal gear 15, and one first moving gear 11 is respectively sleeved on the first moving shaft 9, the second moving shaft 13, and the third moving shaft 19, and when the gear control mechanism moves the sliding gear 18 to the first preset position, the sliding gear 18 is meshed with the three first moving gears 11. The first moving shaft 9, the second moving shaft 13 and the third moving shaft 19 are cylindrical, and the axes of the first moving shaft 9, the second moving shaft 13 and the third moving shaft 19 are parallel to the axis of the spline shaft 14. The first internal gear 15 is fixedly arranged in the hollow cavity of the main box 23, the first movable gear 11 is a cylindrical gear, the first internal gear 15 is provided with an internal gear ring meshed with the first movable gear 11, the first internal gear 15 and the spline shaft 14 are coaxially arranged, and the spline shaft 14 passes through the first internal gear 15. The three first movable gears 11 are respectively sleeved on the first moving shaft 9, the second moving shaft 13 and the third moving shaft 19 in a hollow mode and keep a meshed state with the inner gear ring of the first inner gear 15, the first movable gears 11 sleeved on the first moving shaft 9 can rotate relative to the first moving shaft 9 and can rotate relative to the first moving shaft 9 only, the first movable gears 11 sleeved on the second moving shaft 13 can rotate relative to the second moving shaft 13 and can rotate relative to the second moving shaft 13 only, and the first movable gears 11 sleeved on the third moving shaft 19 can rotate relative to the third moving shaft 19 and can rotate relative to the third moving shaft 19 only. When the sliding gear 18 moves to the first preset position, the sliding gear 18 is meshed with the three first movable gears 11, the three first movable gears 11 are distributed around the sliding gear 18, and when the spline shaft 14 drives the sliding gear 18 to rotate, the three first movable gears 11 drive the first movable shaft 9, the second movable shaft 13 and the third movable shaft 19 to rotate around the axis of the sliding gear 18 under the condition that the three first movable gears 11 are meshed with the first internal gear 15, and the first movable shaft 9, the second movable shaft 13 and the third movable shaft 19 simultaneously drive the first sliding block 2, the second sliding block 34 and the third sliding block 36 to rotate around the axis of the static platform 1 on the static platform 1 respectively, so that the movable platform 7 executes corresponding actions.
As shown in fig. 1, the first moving shaft 9 is fixedly connected with the first slider 2 through a connecting piece 8, the first slider 2 is located below the first moving shaft 9, and the connecting piece 8 connects the first slider 2 and the first moving shaft 9 into a whole. The second moving shaft 13 is fixedly connected with the second sliding block 34 through the connecting piece 8, the second sliding block 34 is positioned below the second moving shaft 13, and the connecting piece 8 connects the second sliding block 34 and the second moving shaft 13 into a whole. The third moving shaft 19 is fixedly connected with the third sliding block 36 through the connecting piece 8, the third sliding block 36 is positioned below the third moving shaft 19, and the connecting piece 8 connects the third sliding block 36 and the third moving shaft 19 into a whole.
As shown in fig. 1, preferably, the gear transmission mechanism further comprises a second internal gear 16 and a second movable gear 10 which is positioned inside the second internal gear 16 and is meshed with the second internal gear 16, the second movable gear 10 is sleeved on the first moving shaft 9 and is positioned above the first movable gear 11, and when the gear control mechanism moves the sliding gear 18 to a second preset position, the sliding gear 18 is meshed with the second movable gear 10. The second internal gear 16 is fixedly arranged in the hollow cavity of the main box 23, the second internal gear 16 is positioned above the first internal gear 15, the second movable gear 10 is a cylindrical gear, the second internal gear 16 is provided with an annular gear meshed with the second movable gear 10, the second internal gear 16 and the spline shaft 14 are coaxially arranged, and the spline shaft 14 passes through the second internal gear 16. The second movable gear 10 is sleeved on the first moving shaft 9 in an empty mode and keeps a meshed state with the inner gear ring of the second inner gear 16, the second movable gear 10 sleeved on the first moving shaft 9 can rotate relative to the first moving shaft 9 and can only rotate relative to the first moving shaft 9, and the vertical distance between the second movable gear 10 and the first movable gear 11 is unchanged. When the sliding gear 18 moves to the second preset position, the sliding gear 18 is meshed with the second movable gear 10, and when the spline shaft 14 drives the sliding gear 18 to rotate, under the condition that the second movable gear 10 is meshed with the second internal gear 16, the second movable gear 10 drives the first movable shaft 9 to rotate around the axis of the sliding gear 18, the first movable shaft 9 simultaneously drives the first sliding block 2 to rotate around the axis of the static platform 1 on the static platform 1, and the second movable shaft 13, the third movable shaft 19, the second sliding block 34 and the third sliding block 36 keep motionless, so that the movable platform 7 performs corresponding actions.
As shown in fig. 1, preferably, the gear transmission mechanism further includes a third internal gear 17 and two third movable gears 12 located inside the third internal gear 17 and meshed with the third internal gear 17, the two third movable gears 12 are respectively sleeved on the second moving shaft 13 and the third moving shaft 19 and located above the first movable gear 11, and when the gear control mechanism moves the sliding gear 18 to a third preset position, the sliding gear 18 meshes with the two third movable gears 12. The third internal gear 17 is fixedly arranged in the hollow cavity of the main box 23, the third internal gear 17 is positioned above the second internal gear 16, the third movable gear 12 is a cylindrical gear, the third internal gear 17 is provided with an annular gear meshed with the third movable gear 12, the third internal gear 17 and the spline shaft 14 are coaxially arranged, and the spline shaft 14 passes through the third internal gear 17. The two third movable gears 12 are respectively sleeved on the second moving shaft 13 and the third moving shaft 19 in a hollow mode, the two third movable gears 12 are kept in a meshed state with the inner gear ring of the third inner gear 17, the third movable gear 12 sleeved on the second moving shaft 13 can rotate relative to the second moving shaft 13 and can only rotate relative to the second moving shaft 13, the third movable gear 12 sleeved on the third moving shaft 19 can rotate relative to the third moving shaft 19 and can only rotate relative to the third moving shaft 19, and the vertical distance between the third movable gear 12 and the first movable gear 11 is unchanged. When the sliding gear 18 moves to the third preset position, the sliding gear 18 is meshed with the two third movable gears 12, and when the spline shaft 14 drives the sliding gear 18 to rotate, under the condition that the third movable gears 12 are meshed with the third internal gear 17, the two third movable gears 12 respectively drive the second movable shaft 13 and the third movable shaft 19 to rotate around the axis of the sliding gear 18, and the second movable shaft 13 and the third movable shaft 19 respectively drive the second sliding block 34 and the third sliding block 36 to rotate around the axis of the static platform 1 on the static platform 1 at the same time, and the first movable shaft 9 and the first sliding block 2 are kept motionless, so that the movable platform 7 executes corresponding actions.
The gear transmission mechanism with the structure is matched with the sliding gear 18, and the movement states of the first slide block 2, the second slide block 34 and the third slide block 36 of the parallel metamorphic platform body are controlled through the position change of the sliding gear 18 on the spline shaft 14, so that single input is applied to the parallel metamorphic platform, and the parallel metamorphic platform obtains different movement postures. For the parallel metamorphic mechanism moving platform, more input is needed, and in order to reduce cost, the designed transmission system effectively utilizes the arrangement of gears to input the transmission system in a grading way, so that different input conditions are carried out, the production cost is reduced, and the control is realized by adopting a sliding gear method.
As shown in fig. 1 and 3, the gear control mechanism includes a shift fork 20, a swing link 21 rotatably connected to the shift fork 20, a control dial 24 rotatably connected to the swing link 21, a dial shaft 25 connected to the control dial 24, and a handle 26 connected to the dial shaft 25, the axis of the dial shaft 25 being perpendicular to the axis of the spline shaft 14. The turntable shaft 25 is rotatably arranged on the main box body 23, the turntable shaft 25 is a cylinder, the control turntable 24 is a disc-shaped member, the control turntable 24 is fixedly connected with one end of the turntable shaft 25 and the control turntable 24 and the turntable shaft 25 are coaxially arranged, the handle 26 is fixedly connected with the other end of the turntable shaft 25 and the handle 26 is positioned outside the main box body 23, and an operator can conveniently pull the handle 26 to rotate the turntable shaft 25. The control turntable 24 and the swing rod 21 are positioned in the hollow cavity of the main box 23, one end of the swing rod 21 is rotationally connected with the control turntable 24, the other end of the swing rod 21 is rotationally connected with the shifting fork 20, the swing rod 21 is positioned between the spline shaft 14 and the control turntable 24, the axis of the rotational connection point of the swing rod 21 and the control turntable 24 is parallel to the axis of the control turntable 24, the swing rod 21 is eccentrically arranged on the control turntable 24, and the axis of the rotational connection point of the swing rod 21 and the shifting fork 20 is also parallel to the axis of the control turntable 24. The fork 20 is inserted into a fork groove 37 provided on the sliding gear 18, and the fork groove 37 is an annular groove provided on the sliding gear 18. The shifting fork 20 is in a semicircular fork-shaped structure, the inner contour line of the shifting fork 20 is semicircular, the radius of the shifting fork is equal to that of the shifting fork groove 37, and the inner contour line of the shifting fork 20 falls into the shifting fork groove 37, so that the shifting fork 20 can drive the sliding gear 18 to linearly move on the spline shaft 14 along the axial direction of the spline shaft 14. When the turntable shaft 25 drives the control turntable 24 to rotate, the control turntable 24 drives the shifting fork 20 to move the sliding gear 18 through the swing rod 21. When the parallel metamorphic platform body works, the shifting fork 20 is controlled to displace along the third direction through the rotating handle 26, so that the shifting fork 20 drives the sliding gear 18 to linearly move on the spline shaft 14 along the axial direction of the spline shaft 14, the sliding gear 18 is positioned at the first preset position, the second preset position or the third preset position, and power is further provided for the parallel metamorphic platform body.
The gear control mechanism adopting the structure is a swinging type control mechanism, and is simple to operate, convenient, effective and quick.
As shown in fig. 4, the single input transmission system further includes a motor 31 provided in the hollow cavity of the main casing 23 for supplying power for rotating the spline shaft 14. The spline shaft 14 is connected with the main box 23 through deep groove ball bearings 28, thrust ball bearings 29, bearing end caps 27 and other parts, and the spline shaft 14 is kept stationary in position in the vertical direction. The motor 31 is fixedly arranged on the fixing frame 32, the fixing frame 32 is fixedly connected with the main box body 23, the motor 31 is positioned below the spline shaft 14, and the motor 31 is connected with the lower end of the spline shaft 14 through the coupler 33. After the motor 31 runs, the spline shaft 14 is driven to rotate through the coupler 33, and the spline shaft 14 drives the sliding gear 18 to synchronously rotate.
The invention is described above by way of example with reference to the accompanying drawings. It will be clear that the invention is not limited to the embodiments described above. As long as various insubstantial improvements are made using the method concepts and technical solutions of the present invention; or the invention is not improved, and the conception and the technical scheme are directly applied to other occasions and are all within the protection scope of the invention.
Claims (2)
1. The single-input multi-degree-of-freedom parallel metamorphic platform is characterized in that: the parallel metamorphic platform comprises a parallel metamorphic platform body and a single-input transmission system, wherein the parallel metamorphic platform body comprises a static platform connected with the single-input transmission system, a first sliding block, a second sliding block, a third sliding block, three moving branched chains and a movable platform, wherein the first sliding block, the second sliding block and the third sliding block are arranged on the static platform along the circumferential direction and are movable, the first sliding block, the second sliding block and the third sliding block are respectively connected with the movable platform through one moving branched chain, and the single-input transmission system is connected with the first sliding block, the second sliding block and the third sliding block and is used for respectively controlling the first sliding block, the second sliding block and the third sliding block to rotate around the axis of the static platform;
the static platform is a ring-shaped member, and the first sliding block, the second sliding block and the third sliding block are in sliding connection with the static platform; the static platform is fixedly arranged, the axis of the static platform is positioned in a vertical plane, and the first sliding block, the second sliding block and the third sliding block are sequentially arranged on the static platform along the circumferential direction; when the first sliding block, the second sliding block and the third sliding block rotate on the static platform around the axis of the static platform, the moving platform is driven to move through the moving branched chain, and the moving platform is positioned above the static platform;
the motion branched chain comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are sequentially connected, the second connecting rod is in rotary connection with the first connecting rod and the third connecting rod, the third connecting rod is sleeved on the fourth connecting rod, relative rotation and movement can occur between the first connecting rod and the third connecting rod, the fourth connecting rod is in rotary connection with the movable platform, and the first connecting rod of each motion branched chain is respectively in rotary connection with the first sliding block, the second sliding block and the third sliding block;
the end part of the first connecting rod is rotationally connected with one end of the second connecting rod, and the other end of the second connecting rod is rotationally connected with one end of the third connecting rod, namely the second connecting rod is hinged with the first connecting rod and the third connecting rod; the first connecting rod of each moving branched chain is respectively in rotary connection with the first sliding block, the second sliding block and the third sliding block, and the axis of the rotary connection part of the first connecting rod and the first sliding block, the axis of the rotary connection part of the second sliding block and the axis of the static platform are vertical to each other; the other end of the third connecting rod is sleeved on the fourth connecting rod, the end part of the fourth connecting rod is connected with the movable platform through a ball hinge, the third connecting rod is connected with the fourth connecting rod through a cylindrical surface pair, and the third connecting rod can rotate and move relatively; the fourth connecting rod of each motion branched chain is connected with the movable platform through a ball hinge respectively, three ball hinges are distributed on the movable platform at three points, and the three ball hinges are respectively positioned at one vertex of the equilateral triangle; the movable platform is of an equilateral triangle structure, and the three ball hinges are respectively arranged at one sharp point of the movable platform;
the movable platform is a multi-degree-of-freedom platform capable of moving and rotating along a first direction, a second direction and a third direction, the third direction is a vertical direction, the first direction is the axis direction of the turntable shaft, and the second direction is mutually orthogonal with the first direction and the second direction; the static platform plays a role in guiding the movement of the first sliding block, the second sliding block and the third sliding block, and the first sliding block, the second sliding block and the third sliding block move simultaneously to provide driving force for enabling the movable platform to rotate; when the first connecting rod, the second connecting rod and the third connecting rod of the motion branched chain are in a free state, the movable platform has a certain space motion gesture and a certain position gesture, namely a first motion gesture; when metamorphic movement is carried out, the first connecting rod and the second connecting rod of the movement branched chain are collinear, the other connecting rods of the movement branched chain are in a free state, and the movable platform has a space position posture and a movement state which are different from those of the first movement posture and is called a second movement posture; when the first connecting rod and the second connecting rod of the motion branched chain are overlapped, the other connecting rods of the motion branched chain are in a free state, and the motion platform has a spatial position posture and a motion state which are different from the first motion posture and the second motion posture and is called a third motion posture;
the single-input transmission system comprises a main box body, a spline shaft, a sliding gear sleeved on the spline shaft and synchronously rotating on the spline shaft, and a gear transmission mechanism connected with the first sliding block, the second sliding block and the third sliding block, and a gear control mechanism for controlling the sliding gear to move back and forth among a first preset position, a second preset position and a third preset position;
the spline shaft is provided with an external spline, the sliding gear is provided with an internal spline, the sliding gear is sleeved on the spline shaft and matched with the spline shaft, and the sliding gear can move up and down on the spline shaft and can drive the sliding gear to synchronously rotate when the spline shaft rotates;
when the gear control mechanism enables the sliding gear to move to a first preset position, the sliding gear is meshed with the gear transmission mechanism and transmits power to the first sliding block, the second sliding block and the third sliding block through the gear transmission mechanism so as to drive the first sliding block, the second sliding block and the third sliding block to rotate around the axis of the static platform, and the first sliding block, the second sliding block and the third sliding block synchronously move;
when the gear control mechanism enables the sliding gear to move to a second preset position, the sliding gear is meshed with the gear transmission mechanism and transmits power to the first sliding block through the gear transmission mechanism so as to drive the first sliding block to rotate around the axis of the static platform, and the second sliding block and the third sliding block are kept motionless;
when the gear control mechanism enables the sliding gear to move to a third preset position, the sliding gear is meshed with the gear transmission mechanism and transmits power to the second sliding block and the third sliding block through the gear transmission mechanism so as to drive the second sliding block and the third sliding block to rotate around the axis of the static platform, the second sliding block and the third sliding block synchronously move, and the first sliding block is kept motionless; the first preset position is positioned below the second preset position, and the second preset position is positioned below the third preset position;
the gear transmission mechanism comprises a first moving shaft connected with the first sliding block, a second moving shaft connected with the second sliding block, a third moving shaft connected with the third sliding block, a first internal gear and three first moving gears which are positioned in the first internal gear and meshed with the first internal gear, wherein the first moving shaft, the second moving shaft and the third moving shaft are respectively sleeved with one first moving gear, and when the gear control mechanism enables the sliding gear to move to a first preset position, the sliding gear is meshed with the three first moving gears; the first internal gear is fixedly arranged in the hollow cavity of the main box body, the first movable gear is a cylindrical gear, the first internal gear is provided with an annular gear meshed with the first movable gear, the first internal gear and the spline shaft are coaxially arranged, and the spline shaft passes through the first internal gear; the three first movable gears are respectively sleeved on the first moving shaft, the second moving shaft and the third moving shaft in a hollow mode and keep a meshed state with the inner gear ring of the first inner gear, the first movable gears sleeved on the first moving shaft can rotate relative to the first moving shaft and can rotate relative to the first moving shaft only, the first movable gears sleeved on the second moving shaft can rotate relative to the second moving shaft and can rotate relative to the second moving shaft only, and the first movable gears sleeved on the third moving shaft can rotate relative to the third moving shaft and can rotate relative to the third moving shaft only; when the sliding gear moves to a first preset position, the sliding gear is meshed with three first movable gears, the three first movable gears are distributed around the sliding gear, and when the spline shaft drives the sliding gear to rotate, the three first movable gears drive the first moving shaft, the second moving shaft and the third moving shaft to rotate around the axis of the sliding gear under the condition that the three first movable gears are meshed with the first internal gear, and the first moving shaft, the second moving shaft and the third moving shaft respectively drive the first sliding block, the second sliding block and the third sliding block to rotate around the axis of the static platform on the static platform at the same time, so that the movable platform executes corresponding actions;
the first moving shaft is fixedly connected with the first sliding block through a connecting piece, the first sliding block is positioned below the first moving shaft, and the connecting piece is used for connecting the first sliding block and the first moving shaft into a whole; the second moving shaft is fixedly connected with the second sliding block through a connecting piece, the second sliding block is positioned below the second moving shaft, and the connecting piece is used for connecting the second sliding block and the second moving shaft into a whole; the third moving shaft is fixedly connected with the third sliding block through a connecting piece, the third sliding block is positioned below the third moving shaft, and the connecting piece is used for connecting the third sliding block and the third moving shaft into a whole;
the gear transmission mechanism further comprises a second internal gear and a second movable gear which is positioned in the second internal gear and meshed with the second internal gear, the second movable gear is sleeved on the first movement shaft and positioned above the first movable gear, and when the gear control mechanism moves the sliding gear to a second preset position, the sliding gear is meshed with the second movable gear; the second internal gear is fixedly arranged in the hollow cavity of the main box body, the second internal gear is positioned above the first internal gear, the second movable gear is a cylindrical gear, the second internal gear is provided with an annular gear meshed with the second movable gear, the second internal gear and the spline shaft are coaxially arranged, and the spline shaft passes through the second internal gear; the second movable gear is sleeved on the first moving shaft in a hollow mode and keeps a meshed state with the inner gear ring of the second inner gear, the second movable gear sleeved on the first moving shaft can rotate relative to the first moving shaft and can only rotate relative to the first moving shaft, and the vertical distance between the second movable gear and the first movable gear is unchanged; when the sliding gear moves to a second preset position, the sliding gear is meshed with a second movable gear, and when the spline shaft drives the sliding gear to rotate, the second movable gear drives a first movable shaft to rotate around the axis of the sliding gear under the condition that the second movable gear is meshed with a second internal gear, the first movable shaft simultaneously drives a first sliding block to rotate around the axis of the static platform on the static platform, and the second movable shaft, a third movable shaft, the second sliding block and the third sliding block keep motionless, so that the movable platform executes corresponding actions;
the gear transmission mechanism further comprises a third internal gear and two third movable gears which are positioned in the third internal gear and meshed with the third internal gear, the two third movable gears are respectively sleeved on the second moving shaft and the third moving shaft and positioned above the first movable gear, and when the gear control mechanism moves the sliding gear to a third preset position, the sliding gear is meshed with the two third movable gears; the third internal gear is fixedly arranged in the hollow cavity of the main box body, the third internal gear is positioned above the second internal gear, the third movable gear is a cylindrical gear, the third internal gear is provided with an annular gear meshed with the third movable gear, the third internal gear and the spline shaft are coaxially arranged, and the spline shaft passes through the third internal gear; the two third movable gears are respectively sleeved on the second moving shaft and the third moving shaft in a hollow mode, the two third movable gears and the inner gear ring of the third inner gear keep a meshed state, the third movable gear sleeved on the second moving shaft can rotate relative to the second moving shaft and can rotate relative to the second moving shaft only, the third movable gear sleeved on the third moving shaft can rotate relative to the third moving shaft and can rotate relative to the third moving shaft only, and the vertical distance between the third movable gear and the first movable gear is unchanged; when the spline shaft drives the sliding gears to rotate, the two third movable gears respectively drive the second moving shaft and the third moving shaft to rotate around the axis of the sliding gears under the condition that the third movable gears are meshed with the third internal gear, the second moving shaft and the third moving shaft respectively drive the second sliding block and the third sliding block to rotate around the axis of the static platform on the static platform at the same time, and the first moving shaft and the first sliding block keep motionless, so that the movable platform executes corresponding actions;
the gear control mechanism comprises a shifting fork, a swing rod rotationally connected with the shifting fork, a control turntable rotationally connected with the swing rod and rotatably arranged, a turntable shaft connected with the control turntable and a handle connected with the turntable shaft, and the axis of the turntable shaft is perpendicular to the axis of the spline shaft; the rotary table shaft is rotatably arranged on the main box body, the control rotary table is a disc-shaped member, the control rotary table is fixedly connected with one end of the rotary table shaft and is coaxially arranged with the rotary table shaft, the handle is fixedly connected with the other end of the rotary table shaft and is positioned outside the main box body; the control turntable and the swing rod are positioned in the hollow cavity of the main box body, one end of the swing rod is rotationally connected with the control turntable, the other end of the swing rod is rotationally connected with the shifting fork, the swing rod is positioned between the spline shaft and the control turntable, the axis of the rotational connection point of the swing rod and the control turntable is parallel to the axis of the control turntable, the swing rod is eccentrically arranged on the control turntable, and the axis of the rotational connection point of the swing rod and the shifting fork is also parallel to the axis of the control turntable;
the shifting fork is inserted into a shifting fork groove arranged on the sliding gear, the shifting fork groove is an annular groove arranged on the sliding gear, and the shifting fork can drive the sliding gear to linearly move on the spline shaft along the axial direction of the spline shaft; when the turntable shaft drives the control turntable to rotate, the control turntable drives the shifting fork to move the sliding gear through the swing rod; when the parallel metamorphic platform body works, the shifting fork is controlled to displace along the third direction through the rotating handle, and then the shifting fork drives the sliding gear to linearly move on the spline shaft along the axial direction of the spline shaft, so that the sliding gear is positioned at a first preset position, a second preset position or a third preset position, and further power is provided for the parallel metamorphic platform body.
2. The single-input multiple-degree-of-freedom parallel metamorphic platform of claim 1, wherein: the single-input transmission system further comprises a main box body and a motor which is arranged in the main box body and used for providing power for rotating the spline shaft, and the spline shaft, the sliding gear and the gear control mechanism are arranged in the main box body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710717489.8A CN107363814B (en) | 2017-08-21 | 2017-08-21 | Single-input multi-degree-of-freedom parallel metamorphic platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710717489.8A CN107363814B (en) | 2017-08-21 | 2017-08-21 | Single-input multi-degree-of-freedom parallel metamorphic platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107363814A CN107363814A (en) | 2017-11-21 |
| CN107363814B true CN107363814B (en) | 2023-08-25 |
Family
ID=60310358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710717489.8A Active CN107363814B (en) | 2017-08-21 | 2017-08-21 | Single-input multi-degree-of-freedom parallel metamorphic platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107363814B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108980284B (en) * | 2018-09-30 | 2024-04-02 | 武军 | Circumferential synchronization cooperative driving part for flat double distribution boxes |
| EP3943780A4 (en) * | 2019-03-22 | 2022-12-28 | NTN Corporation | Parallel link mechanism and link operation device |
| CN113771099B (en) * | 2021-09-23 | 2022-12-09 | 中国科学院上海微系统与信息技术研究所 | Parallel type three-degree-of-freedom bionic eye device |
| CN117140492B (en) * | 2023-11-01 | 2024-02-09 | 常熟理工学院 | 6-UPS parallel manipulator with variable diameter |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5588930A (en) * | 1995-03-21 | 1996-12-31 | Industrial Technology Research Institute | Two-speed gearbox |
| CN101249654A (en) * | 2008-03-28 | 2008-08-27 | 北京工业大学 | FOUR mechanism |
| CN103302659A (en) * | 2013-07-03 | 2013-09-18 | 上海交通大学 | Single-degree-of-freedom metamorphic mechanism |
| CN103552058A (en) * | 2013-10-22 | 2014-02-05 | 北京航空航天大学 | Parallel metamorphic mechanism capable of achieving pure translation and pure rotation |
| CN104057442A (en) * | 2014-06-10 | 2014-09-24 | 上海交通大学 | Series-parallel robot with five degrees of freedom |
| CN104308842A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Novel plane-symmetric dual-rotation parallel mechanism |
| CN104308834A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Symmetric three-rotation parallel mechanism |
| CN104325456A (en) * | 2014-10-24 | 2015-02-04 | 天津大学 | Novel two-rotation parallel mechanism |
| CN104325457A (en) * | 2014-10-24 | 2015-02-04 | 天津大学 | Novel symmetric three-rotation parallel mechanism |
| CN104400780A (en) * | 2014-11-26 | 2015-03-11 | 河北工业大学 | Parallel mechanism with three branching chains and six degrees of freedom |
| CN105563472A (en) * | 2016-03-07 | 2016-05-11 | 山东大学（威海） | Two-freedom-degree wheel-leg composite spherical mechanism and underwater robot |
| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
| CN106891322A (en) * | 2016-12-27 | 2017-06-27 | 中国科学院长春光学精密机械与物理研究所 | A kind of novel six freedom parallel connection platform |
| CN106917847A (en) * | 2017-03-10 | 2017-07-04 | 安徽理工大学 | The robot double uniform many modulus gear train assemblies in parallel of microminiature planetary gear |
| CN206366991U (en) * | 2016-12-09 | 2017-08-01 | 江苏理工学院 | A kind of 3-dof parallel robot device |
| CN107061637A (en) * | 2017-03-10 | 2017-08-18 | 安徽理工大学 | A kind of planetary transmission system of the double uniform flow dividing structure in parallel of planetary gear |
-
2017
- 2017-08-21 CN CN201710717489.8A patent/CN107363814B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5588930A (en) * | 1995-03-21 | 1996-12-31 | Industrial Technology Research Institute | Two-speed gearbox |
| CN101249654A (en) * | 2008-03-28 | 2008-08-27 | 北京工业大学 | FOUR mechanism |
| CN103302659A (en) * | 2013-07-03 | 2013-09-18 | 上海交通大学 | Single-degree-of-freedom metamorphic mechanism |
| CN103552058A (en) * | 2013-10-22 | 2014-02-05 | 北京航空航天大学 | Parallel metamorphic mechanism capable of achieving pure translation and pure rotation |
| CN104057442A (en) * | 2014-06-10 | 2014-09-24 | 上海交通大学 | Series-parallel robot with five degrees of freedom |
| CN104325457A (en) * | 2014-10-24 | 2015-02-04 | 天津大学 | Novel symmetric three-rotation parallel mechanism |
| CN104308834A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Symmetric three-rotation parallel mechanism |
| CN104325456A (en) * | 2014-10-24 | 2015-02-04 | 天津大学 | Novel two-rotation parallel mechanism |
| CN104308842A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Novel plane-symmetric dual-rotation parallel mechanism |
| CN104400780A (en) * | 2014-11-26 | 2015-03-11 | 河北工业大学 | Parallel mechanism with three branching chains and six degrees of freedom |
| CN105563472A (en) * | 2016-03-07 | 2016-05-11 | 山东大学（威海） | Two-freedom-degree wheel-leg composite spherical mechanism and underwater robot |
| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
| CN206366991U (en) * | 2016-12-09 | 2017-08-01 | 江苏理工学院 | A kind of 3-dof parallel robot device |
| CN106891322A (en) * | 2016-12-27 | 2017-06-27 | 中国科学院长春光学精密机械与物理研究所 | A kind of novel six freedom parallel connection platform |
| CN106917847A (en) * | 2017-03-10 | 2017-07-04 | 安徽理工大学 | The robot double uniform many modulus gear train assemblies in parallel of microminiature planetary gear |
| CN107061637A (en) * | 2017-03-10 | 2017-08-18 | 安徽理工大学 | A kind of planetary transmission system of the double uniform flow dividing structure in parallel of planetary gear |
Non-Patent Citations (1)
| Title |
|---|
| 一种新型并联变胞机构的设计与分析;吴腾;张武翔;丁希仑;;机械工程学报(07);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107363814A (en) | 2017-11-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107363814B (en) | Single-input multi-degree-of-freedom parallel metamorphic platform | |
| US8429996B2 (en) | Robot arm assembly | |
| CN102059696B (en) | Parallel mechanism | |
| CN103737207A (en) | Parallel-serial welding robot mechanism with six degrees of freedom | |
| CN108656092B (en) | Series-parallel robot based on four branched chains, two-rotation and one-movement parallel mechanism | |
| CN102615641B (en) | Five-degree-of-freedom parallel power head | |
| CN104029201A (en) | SCARA (selective compliance assembly robot arm) robot special for welding operation | |
| CN104440901A (en) | High-precision heavy-load assembly robot | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| CN103737582B (en) | A kind of six degree of freedom welding robot robot mechanism | |
| CN203680320U (en) | Multi-freedom-degree robot arm | |
| CN106041897A (en) | Intelligent cooperation dual-arm robot | |
| CN207564481U (en) | A kind of rotatable robot | |
| US20110106302A1 (en) | Robot arm assembly and industrial robot using the same | |
| CN102601791A (en) | Three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot | |
| CN102357879A (en) | Eight-degree-of-freedom series-parallel combined automatic welding robot | |
| CN104999472A (en) | Series-parallel type five-freedom-degree bionic shoulder joint linked with shoulder blade | |
| CN101590650B (en) | Decoupled three-rotational-degree-of-freedom parallel mechanism | |
| CN108714509B (en) | Avoid spraying device at valve processing dead angle | |
| CN109048988A (en) | A kind of mechanical wrist constructional device | |
| CN103264399A (en) | Robot waist-arm integrated synchronous double-drive mechanism and control method thereof | |
| CN207309930U (en) | Single input multi-freedom parallel connection becomes born of the same parents' platform | |
| CN210878236U (en) | Cutting mobile device is used in robot processing | |
| CN202241278U (en) | Series-parallel combined type automatic welding robot with eight degrees of freedom | |
| CN201800047U (en) | Transmission mechanism for hollow wrist of industrial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |