CN108656089A - Foldable parallel institution - Google Patents
Foldable parallel institution Download PDFInfo
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- CN108656089A CN108656089A CN201810680614.7A CN201810680614A CN108656089A CN 108656089 A CN108656089 A CN 108656089A CN 201810680614 A CN201810680614 A CN 201810680614A CN 108656089 A CN108656089 A CN 108656089A
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- connecting rod
- rotating connector
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- platform
- axis
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- 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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of foldable parallel institutions, it includes moving platform, fixed platform adjustable active branch identical with connection moving platform and three structures of fixed platform, it is attached by the first articulated section between the moving platform and each active branch, is attached by the second articulated section between the fixed platform and each active branch；The present invention can form closely a branch of after folding, the field for having strict demand to space hold such as greatly reduce the space hold of mechanism, be readily transported, carry, and can apply to portable stable holder, space flight.
Description
Technical field
The present invention relates to a kind of parallel-connection structures, and in particular to a kind of foldable parallel institution.
Background technology
Parallel institution is all designed to big bearing capacity fortune all the time because of the features such as its rigidity is big, bearing capacity is strong
Dynamic analog platform, stabilized platform, machine tool chief axis etc., such application scenarios require the space hold of mechanism being not very tight
Lattice, therefore few scholars purposefully carry out foldable design to it.However in recent years, traditional news report field,
Film and television shoot field and the emerging necks such as the outdoor live streaming that are born with smart machine and mobile communications network development
In domain, very big need all are proposed to the stabilized platform that can carry video capture equipment because pursuing video capture quality
It asks.In addition, the required pose_adjuster of the capture apparatus of Aerospace Satellite, due to satellite volumetric constraint, to traditional pose_adjuster
Propose folding demand.
In face of these demands, there are many successfully commercially produced products based on serial mechanism, as great Jiang companies give birth to
The hand-held stable holder and professional video capture apparatus of production stablize holder.
And the parallel institution for being more suitable for design stability platform from design feature can not find relevant design product.Wherein one
A major reason, which is exactly that parallel institution is generally huge, heavy, does not adapt to this use field for having strict demand to space hold
Scape.
Invention content
For shortcoming in the prior art, it is an object of the invention to propose a kind of foldable parallel institution comprising
Foldable fixed platform, foldable moving platform and three identical UPU branches, the mechanism mechanism freedom and property when being fully deployed
It is identical that 3-UPU parallel institutions can be moved with common two turn one, can be formed closely a branch of after folding, greatly be reduced
The space hold of mechanism, being readily transported, carry, and can apply to portable stable holder, space flight etc. has space hold
The field of strict demand.
Technical scheme is as follows：
A kind of foldable parallel institution comprising moving platform, fixed platform and three structures for connecting moving platform and fixed platform
Identical adjustable active branch, is attached between the moving platform and each active branch by the first articulated section, described
It is attached by the second articulated section between fixed platform and each active branch；The active branch includes first support bar and second
Supporting rod, the first support bar are sleeved on outside the second support bar, and the second support bar and the first support bar
Between can carry out relative motion, the second end of the second support bar stretches to described from the second end of the first support bar
Inside first support bar, prismatic pair is formed；It is affixed in the first end setting of the first support bar and the first support bar
First crossbar, the first crossbar is arranged close to top open part in the top of first U-shaped connector, the first U-shaped connector
It can be rotated along the axis of the first crossbar, form the second revolute pair of fixed platform；The of the second support bar
One end is arranged and the second affixed U-shaped connector of the second support bar, and the top of the second U-shaped connector is opened close to top
Mouthful place's setting second crossbar, the second crossbar can be rotated along the axis of the second crossbar, formation moving platform the
Two revolute pairs；The moving platform is three-fold symmetry structure comprising the rotating connector of moving platform and the connecting rod of moving platform, it is described
The rotating connector of moving platform is respectively the first rotating connector, the second rotating connector, third rotating connector, the 4th rotation
Connector, the 5th rotating connector and the 6th rotating connector；The connecting rod of the moving platform include first connecting rod, second connecting rod,
Third connecting rod, fourth link, the 5th connecting rod and six-bar linkage；The first connecting rod passes through described first turn with the second connecting rod
Follower link is connected, and the second connecting rod is connected with the third connecting rod by second rotating connector, and the third connects
Bar is connected with the fourth link by the third rotating connector, and the fourth link passes through described with the 5th connecting rod
4th rotating connector is connected, and the 5th connecting rod is connected with the six-bar linkage by the 5th rotating connector, described
Six-bar linkage is connected with the first connecting rod by the 6th rotating connector；First rotating connector, the third
The second montant is respectively set in rotating connector, the 5th rotating connector, and second montant is rotated with the second crossbar
Connection forms the first revolute pair of moving platform, the first revolute pair of the moving platform and the moving platform the second revolute pair collective effect
Form moving platform U pairs；The fixed platform is three-fold symmetry structure comprising the rotating connector of fixed platform and the company of fixed platform
The first montant is respectively set in bar, the 7th rotating connector, the 9th rotating connector, the 11st rotating connector, and described first is perpendicular
Bar and the first crossbar are rotatablely connected, and form the first revolute pair of fixed platform, the first revolute pair of the fixed platform and described are allocated
The second revolute pair of platform cooperatively forms fixed platform U pairs.
Preferably, the pivot center for first rotating connector that the first connecting rod is connected and the 6th rotation
Axis projections angle of the pivot center of connector in the plane perpendicular to the first connecting rod is 60 °, the second connecting rod
The pivot center of first rotating connector connected and the pivot center of second rotating connector are perpendicular to institute
It is 300 ° to state the axis projections angle in the plane of second connecting rod, second rotating connector that the third connecting rod is connected
Pivot center and axis of the pivot center in the plane perpendicular to the third connecting rod of the third rotating connector throw
Shadow angle is 60 °, and the pivot center for the third rotating connector that the fourth link is connected and the 4th rotation connect
Axis projections angle of the pivot center of fitting in the plane perpendicular to the fourth link is 300 °, the 5th connecting rod institute
The pivot center of the 4th rotating connector of connection and the pivot center of the 5th rotating connector are perpendicular to described
Axis projections angle in the plane of 5th connecting rod is 60 °.The 5th rotating connector that the six-bar linkage is connected and
Axis projections angle of 6th rotating connector in the plane perpendicular to the 5th connecting rod is 300 °.
Preferably, in the fixed platform each connecting rod equal length, and in the moving platform each connecting rod equal length, with
Ensure the foldability of the foldable parallel-connection structure.
Preferably, the axis of the first crossbar and the axis of first montant are mutually perpendicular to, and the second crossbar
The axis of axis and second montant be mutually perpendicular to.
Preferably, secondary first revolute pairs of moving platform U intersect at a point with secondary first revolute pairs of fixed platform U, and moving platform U pairs
The axis and fixed platform plane of secondary first revolute pair of angle and fixed platform U between the axis and moving platform plane of first revolute pair
Between angle it is identical, fixed platform the second revolute pair axis is parallel with moving platform the second revolute pair axis.
Preferably, first rotating connector and adjacent links angle ω1Ranging from 0 ° to 90 °, the second rotation connection
Part and adjacent links included angle X1It is 90 °, third rotating connector and adjacent links angle ω2Ranging from 0 ° to 90 °, the 4th rotation
Connector and adjacent links included angle X2It is 90 °, the 5th rotating connector and adjacent links angle ω3Ranging from 0 ° to 90 °, the 6th
Rotating connector and adjacent links included angle X3It is 90 °.
Preferably, the pivot center of the first rotating connector of the moving platform, third rotating connector pivot center,
The pivot center of 5th rotating connector is overlapped with the axis of secondary first revolute pairs of the moving platform U of each active branch and described respectively
The rotation of the pivot center of 7th rotating connector of fixed platform, the axis, the 11st rotating connector of the 9th rotating connector
Axis is overlapped with the secondary first revolute pair axis of the fixed platform U of each active branch respectively.
Preferably, the second revolute pair of the pivot center and moving platform U pairs of the first revolute pair of the moving platform U pairs
Pivot center be mutually perpendicular to and the pivot center of the first revolute pair of fixed platform U pairs and the fixed platform U are secondary second
The pivot center of revolute pair is mutually perpendicular to.
Preferably, the Liang Ge three-fold symmetries mechanism of the fixed platform and the moving platform is folded into a branch of completely, is made triple
Six endpoints of symmetrical mechanism be punctured into it is parallel to each other a branch of, so as to the space hold state for making mechanism integrally reach minimum.
Beneficial effects of the present invention are as follows：
The foldable parallel institution of the present invention, mechanism freedom and performance and two turn of one common shifting 3- when being fully deployed
UPU parallel institutions are identical, can form closely a branch of after folding, greatly reduce the space hold of mechanism, just
It in transport, carries, and portable stable holder, space flight can be applied to etc. to have space hold in the field of strict demand.
Description of the drawings
Fig. 1 is the structural schematic diagram of foldable parallel institution according to the present invention.
Fig. 2 is the adjacent rotated sub-folder angle schematic diagram of foldable parallel institution according to the present invention.
Fig. 3 A are the structural schematic diagrams of foldable parallel institution fully unfolded position according to the present invention.
Fig. 3 B are the structural schematic diagrams in foldable parallel institution folding process according to the present invention.
Fig. 3 C are the structural schematic diagrams of foldable parallel institution completely folded state according to the present invention.
Fig. 4 is the structural schematic diagram of foldable parallel institution setting bottom support according to the present invention.
Specific implementation mode
Below in conjunction with attached drawing, the present invention will be described in detail.
Specifically, according to an embodiment of the invention, as shown in Fig. 3 A to Fig. 3 C and Fig. 4, a kind of foldable parallel institution,
It includes moving platform, fixed platform and the active branch for connecting moving platform and fixed platform.
Preferably, the quantity of the active branch is three, and the structure of each active branch is identical.
The active branch includes first support bar 100 and second support bar 200, and the first support bar is sleeved on described
Outside two supporting rods, and relative motion can be carried out between the second support bar and the first support bar, described second
The second end of strut 200 is stretched into from the second end of the first support bar 100 inside the first support bar 100, forms movement
Pair, i.e. P pairs.
Preferably, the first support bar 100 and the second support bar 200 are hollow object.
The active branch further includes being arranged to exist in the first U-shaped connector 101 of 100 first end of first support bar and setting
Second U-shaped connector 201 of second support bar first end.
First crossbar 102, the first crossbar is arranged close to top open part in the top of the first U-shaped connector 101
102 can be rotated along the axis of the first crossbar 102, form the second revolute pair of fixed platform；And the second U-shaped company
Second crossbar 202 is arranged close to top open part in the top of fitting 201；The second crossbar can be along the second crossbar
Axis is rotated, and the second revolute pair of moving platform is formed.
The moving platform is three-fold symmetry structure comprising the connecting rod of six rotating connectors and six roots of sensation equal length,
The rotating connector of the moving platform is respectively the first rotating connector 1001, the second rotating connector 1002,
Three rotating connectors 1003, the 4th rotating connector 1004, the 5th rotating connector 1005 and the 6th rotating connector 1006.
The connecting rod of the moving platform includes first connecting rod 1, second connecting rod 2, third connecting rod 3, fourth link 4, the 5th connecting rod 5
With six-bar linkage 6.
First connecting rod 1 is connected with second connecting rod 2 by the first rotating connector 1001, and second connecting rod 2 is logical with third connecting rod 3
The second rotating connector 1002 to be crossed to be connected, third connecting rod 3 is connected with fourth link 4 by third rotating connector 1003, and the 4th
Connecting rod 4 is connected with the 5th connecting rod 5 by the 4th rotating connector 1004, and the 5th connecting rod 5 and six-bar linkage 6 are connected by the 5th rotation
Fitting 1005 is connected, and six-bar linkage 6 is connected with first connecting rod 1 by the 6th rotating connector 1006.
The respective rotation axis of first rotating connector 1001, third rotating connector 1003, the 5th rotating connector 1005
Line intersects at a point always, the second rotating connector 1002, the 4th rotating connector 1004, the 6th rotating connector 1006 turn
Shaft line intersects at another point always, further, misaligned between two intersection points.The first rotation that first connecting rod 1 is connected
The pivot center of the pivot center of connector 1001 and the 6th rotating connector 1006 is in the plane perpendicular to first connecting rod 1
Axis projections angle is 60 °, the pivot center for the first rotating connector 1001 that second connecting rod 2 is connected and the second rotation connection
Axis projections angle of the pivot center of part 1002 in the plane perpendicular to second connecting rod 2 is 300 °, and third connecting rod 3 is connected
The second rotating connector 1002 pivot center and third rotating connector 1003 pivot center perpendicular to third connecting rod 3
Plane on axis projections angle be 60 °, the pivot center for the third rotating connector 1003 that fourth link 4 is connected and
Axis projections angle of the pivot center of four rotating connectors 1004 in the plane perpendicular to fourth link 4 is 300 °, the 5th
The pivot center for the 4th rotating connector 1004 that connecting rod 5 is connected and the pivot center of the 5th rotating connector 1005 are vertical
In the axis projections angle in the plane of the 5th connecting rod 5 be 60 °.1005 He of the 5th rotating connector that six-bar linkage 6 is connected
Axis projections angle of 6th rotating connector 1006 in the plane perpendicular to the 5th connecting rod 5 is 300 °.
First rotating connector 1001, the third rotating connector 1003, the 5th rotating connector 1005
The second montant 103 is respectively set, second montant is rotatablely connected with the second crossbar, forms the first revolute pair of moving platform,
The first revolute pair of the moving platform and the second revolute pair of the moving platform cooperatively form moving platform U pairs.
The fixed platform is three-fold symmetry structure comprising the connecting rod of six rotating connectors and six roots of sensation equal length,
The rotating connector of the fixed platform is respectively the 7th rotating connector 1007, eighth-turn follower link 1008,
Nine rotating connectors 1009, the tenth rotating connector 10010, the 11st rotating connector 10011 and the 12nd rotating connector
10012。
The connecting rod of the fixed platform includes seven-link assembly 7, the 8th connecting rod 8, the 9th connecting rod 9, the tenth connecting rod the 10, the 11st company
Bar 11 and the 12nd connecting rod 12.
Seven-link assembly is connected with the 8th connecting rod by the 7th rotating connector, and the 8th connecting rod and the 9th connecting rod pass through eighth-turn
Follower link is connected, and the 9th connecting rod is connected with the tenth connecting rod by the 9th rotating connector, and the tenth connecting rod and the 11st connecting rod are logical
It crosses the tenth rotating connector to be connected, the 11st connecting rod is connected with the 12nd connecting rod by the 11st rotating connector, and the 12nd connects
Bar is connected with seven-link assembly by the 12nd rotating connector.
Seven, the nine, the respective pivot center of 11 rotating connectors intersects at a point always, and the eight, the 12, ten rotations connect
The pivot center of fitting intersects at another point always.The pivot center and the tenth for the 7th rotating connector that seven-link assembly is connected
Axis projections angle of the pivot center of two rotating connectors in the plane perpendicular to seven-link assembly is 60 °, the 8th connecting rod institute
The pivot center of 7th rotating connector of connection and the pivot center of eighth-turn follower link are perpendicular to the flat of the 8th connecting rod
Axis projections angle on face is 300 °, and the pivot center for the eighth-turn follower link that the 9th connecting rod is connected and the 9th rotation connect
Axis projections angle of the pivot center of fitting in the plane perpendicular to the 9th connecting rod is 60 °, the tenth connecting rod connected
Axis of the pivot center of the pivot center of nine rotating connectors and the tenth rotating connector in the plane perpendicular to the tenth connecting rod
Line projection's angle is 300 °, the pivot center and the 11st rotating connector of the tenth rotating connector that the 11st connecting rod is connected
Axis projections angle of the pivot center in the plane perpendicular to the 11st connecting rod be 60 °.12nd connecting rod connected
The axis projections angle of 11 rotating connectors and the 12nd rotating connector in the plane perpendicular to the 11st connecting rod is
300°。
7th rotating connector 1007, the 9th rotating connector 1009, the 11st rotation connection
The first montant 103 is respectively set in part, and first montant is rotatablely connected with the first crossbar, forms fixed platform first and rotates
Pair, the first revolute pair of the fixed platform and the second revolute pair of the fixed platform cooperatively form fixed platform U pairs.
The pivot center of the first rotating connector of the moving platform, the pivot center of third rotating connector, the 5th rotation
The pivot center of connector is overlapped with the secondary first revolute pair axis of the moving platform U of three active branch respectively, according to identical company
It connects method to connect moving platform and three UPU branches, constitutes the foldable parallel institution.
Preferably, each length of connecting rod of the fixed platform is equal and each length of connecting rod of the moving platform is equal, to ensure
The moving platform and the fixed platform are equilateral triangle, to ensure the foldability of the foldable parallel-connection structure.Preferably,
Each length of connecting rod of fixed platform and each length of connecting rod of moving platform it is equal or have length difference.
Preferably, the axis of the first crossbar and the axis of first montant are mutually perpendicular to, and the second crossbar
The axis of axis and second montant be mutually perpendicular to.
As shown in Fig. 2, triangle △ ABC and triangle △ DEF are two congruent equilateral triangles, AD representative organizations connect
Bar, AC and DE are the axis of two revolute pairs of connecting rod two end.Point E is enabled to be moved to point E ' along EB.Using AC as the rotation of pivot center
The secondary included angle X with connecting rod ADiIt is 90 °, is the revolute pair of pivot center and the angle ω of connecting rod AD with DE 'iValue range be 0 °
To 90 °.
First revolute pair of moving platform U pairs intersects at a point with secondary first revolute pairs of fixed platform U, and moving platform U pairs first
Between angle between the axis and moving platform plane of revolute pair and the axis and fixed platform plane of secondary first revolute pairs of fixed platform U
Angle it is identical, fixed platform the second revolute pair axis is parallel with moving platform the second revolute pair axis.
Fixed platform, the moving platform of the foldable parallel institution telecontrol equipment are three-fold symmetry mechanism, three-fold symmetry machine
Structure includes the long connecting rods such as six revolute pairs and the six roots of sensation.First connecting rod is connected with second connecting rod by the first revolute pair, second connecting rod
Be connected by the second revolute pair with third connecting rod, third connecting rod is connected with fourth link by third revolute pair, fourth link with
5th connecting rod is connected by the 4th revolute pair, and the 5th connecting rod is connected with six-bar linkage by the 5th revolute pair, six-bar linkage and the
One connecting rod is connected by the 6th revolute pair.
The pivot center of first and third, five revolute pairs of the three-fold symmetry mechanism intersects at a point always, and second, four, six
The pivot center of revolute pair intersects at another point always.
Axis of the first revolute pair and the 6th revolute pair that first connecting rod is connected in the plane perpendicular to first connecting rod
It is 60 ° to project angle, and the first revolute pair and the second revolute pair that second connecting rod is connected are in the plane perpendicular to second connecting rod
Axis projections angle be 300 °, the second revolute pair and third revolute pair that third connecting rod is connected are perpendicular to third connecting rod
Axis projections angle in plane is 60 °, and the third revolute pair and the 4th revolute pair that fourth link is connected are perpendicular to the 4th
Axis projections angle in the plane of connecting rod is 300 °, and the 4th revolute pair and the 5th revolute pair that the 5th connecting rod is connected are vertical
In the axis projections angle in the plane of the 5th connecting rod be 60 °, the 5th revolute pair and the 6th revolute pair that six-bar linkage is connected
Axis projections angle in the plane perpendicular to the 5th connecting rod is 300 °.First revolute pair and adjacent links angle ω1Range
It is 0 ° to 90 °, the second revolute pair and adjacent links included angle X1It is 90 °, third revolute pair and adjacent links angle ω2Ranging from 0 °
To 90 °, the 4th revolute pair and adjacent links included angle X2It is 90 °, the 5th revolute pair and adjacent links angle ω3Ranging from 0 ° is arrived
90 °, the 6th revolute pair and adjacent links included angle X3It is 90 °.
First revolute pair axis of the moving platform, third revolute pair axis, the 5th revolute pair axis respectively with three articles of work
The secondary first revolute pair axis of moving platform U of dynamic branch overlap.According to identical connection method fixed platform and three active branch
It connects, constitutes foldable structure in parallel.
It is the structural schematic diagram of the fully unfolded position of foldable parallel institution as shown in Figure 3A；Fig. 3 B are foldable parallel connection
The folding process of mechanism, the Liang Ge three-fold symmetries mechanism of composition mechanism fixed platform and moving platform is respectively by fully unfolded position at this time
It is folded；Fig. 3 C are two of the completely folded state of foldable parallel institution, at this time composition mechanism fixed platform and moving platform
Three-fold symmetry mechanism is folded into a branch of completely, so that 6 endpoints of three-fold symmetry mechanism is punctured into parallel to each other a branch of, to make
Mechanism integrally reaches minimum space hold state.
The rotation of the pivot center of first revolute pair of the moving platform U pairs and the second revolute pair of moving platform U pairs
Axis is mutually perpendicular to and the second revolute pair of the pivot center of the first revolute pair of fixed platform U pairs and fixed platform U pairs
Pivot center be mutually perpendicular to.
Preferably, dismountable support foot rest 400 is set on each connecting rod for allocating face.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.It will be understood by those of ordinary skill in the art that：It still can be to aforementioned implementation
Technical solution recorded in example is modified, or carries out equivalent replacement to which part or all technical features；And these are repaiied
Change or replaces, the range for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (9)
1. a kind of foldable parallel institution, it is characterised in that：It includes moving platform, fixed platform and connection moving platform and fixed platform
The identical adjustable active branch of three structures, is connected between the moving platform and each active branch by the first articulated section
It connects, is attached by the second articulated section between the fixed platform and each active branch；
The active branch includes first support bar and second support bar, and the first support bar is sleeved on outside the second support bar
Portion, and relative motion can be carried out between the second support bar and the first support bar, the second of the second support bar
End is stretched to from the second end of the first support bar inside the first support bar, forms prismatic pair；
First end setting in the first support bar and the first affixed U-shaped connector of the first support bar, the first U
First crossbar is arranged close to top open part in the top of type connector, and the first crossbar can be along the axis of the first crossbar
Line is rotated, and the second revolute pair of fixed platform is formed；First end setting in the second support bar and the second support bar
Second crossbar is arranged close to top open part in the second affixed U-shaped connector, the top of the second U-shaped connector, and described the
Two cross bars can be rotated along the axis of the second crossbar, form the second revolute pair of moving platform；
The moving platform is three-fold symmetry structure comprising the rotating connector of moving platform and the connecting rod of moving platform are described dynamic flat
The rotating connector of platform is respectively the first rotating connector, the second rotating connector, third rotating connector, the 4th rotation connection
Part, the 5th rotating connector and the 6th rotating connector；The connecting rod of the moving platform includes first connecting rod, second connecting rod, third
Connecting rod, fourth link, the 5th connecting rod and six-bar linkage；The first connecting rod is connected with the second connecting rod by first rotation
Fitting be connected, the second connecting rod is connected with the third connecting rod by second rotating connector, the third connecting rod and
The fourth link is connected by the third rotating connector, and the fourth link passes through the described 4th with the 5th connecting rod
Rotating connector is connected, and the 5th connecting rod is connected with the six-bar linkage by the 5th rotating connector, and the described 6th
Connecting rod is connected with the first connecting rod by the 6th rotating connector；First rotating connector, third rotation
The second montant is respectively set in connector, the 5th rotating connector, and second montant is rotatablely connected with the second crossbar,
The first revolute pair of moving platform is formed, the first revolute pair of the moving platform and the second revolute pair of the moving platform cooperatively form dynamic
Platform U pairs；
The fixed platform is three-fold symmetry structure comprising the rotating connector of fixed platform and the connecting rod of fixed platform, the 7th rotation
The first montant, first montant and described first is respectively set in connector, the 9th rotating connector, the 11st rotating connector
Cross bar is rotatablely connected, and forms the first revolute pair of fixed platform, the second revolute pair of the first revolute pair of the fixed platform and the fixed platform
Cooperatively form fixed platform U pairs.
2. foldable parallel institution as described in claim 1, it is characterised in that：The first connecting rod connected described first
The pivot center of the pivot center of rotating connector and the 6th rotating connector is in the plane perpendicular to the first connecting rod
On axis projections angle be 60 °, the pivot center for first rotating connector that the second connecting rod is connected and described
Axis projections angle of the pivot center of second rotating connector in the plane perpendicular to the second connecting rod is 300 °, described
The pivot center for second rotating connector that third connecting rod is connected and the pivot center of the third rotating connector exist
Axis projections angle in the plane of the third connecting rod is 60 °, and the third that the fourth link is connected turns
The pivot center of the pivot center of follower link and the 4th rotating connector is in the plane perpendicular to the fourth link
Axis projections angle be 300 °, the pivot center for the 4th rotating connector that the 5th connecting rod is connected and described
Axis projections angle of the pivot center of five rotating connectors in the plane perpendicular to the 5th connecting rod is 60 °, described
The 5th rotating connector and the 6th rotating connector that six-bar linkage is connected are perpendicular to the flat of the 5th connecting rod
Axis projections angle on face is 300 °.
3. foldable parallel institution as claimed in claim 2, it is characterised in that：The length phase of each connecting rod in the fixed platform
Deng, and in the moving platform each connecting rod equal length, to ensure the foldability of the foldable parallel-connection structure.
4. foldable parallel institution as claimed in claim 3, it is characterised in that：The axis of the first crossbar and described first
The axis of montant is mutually perpendicular to, and the axis of the second crossbar and the axis of second montant are mutually perpendicular to.
5. foldable parallel institution as claimed in claim 4, it is characterised in that：Secondary first revolute pairs of moving platform U and fixed platform U
Secondary first revolute pair intersects at a point, and angle between the axis and moving platform plane of secondary first revolute pairs of moving platform U and calmly
The axis of secondary first revolute pairs of platform U is identical as the angle between fixed platform plane, and fixed platform the second revolute pair axis is put down with dynamic
Platform the second revolute pair axis is parallel.
6. foldable parallel institution as claimed in claim 5, it is characterised in that：First rotating connector and adjacent links
Angle ω1Ranging from 0 ° to 90 °, the second rotating connector and adjacent links included angle X1It is 90 °, third rotating connector and adjacent
Connecting rod angle ω2Ranging from 0 ° to 90 °, the 4th rotating connector and adjacent links included angle X2Be 90 °, the 5th rotating connector and
Adjacent links angle ω3Ranging from 0 ° to 90 °, the 6th rotating connector and adjacent links included angle X3It is 90 °.
7. foldable parallel-connection structure as claimed in claim 6, it is characterised in that：First rotating connector of the moving platform
Pivot center, the pivot center of third rotating connector, the 5th rotating connector pivot center respectively with each active branch
The axis of secondary first revolute pairs of moving platform U overlaps and the pivot center of the 7th rotating connector of the fixed platform, the 9th rotation
The axis of connector, the 11st rotating connector pivot center respectively with secondary first revolute pairs of the fixed platform U of each active branch
Axis overlaps.
8. foldable parallel institution as claimed in claim 7, it is characterised in that：First revolute pair of the moving platform U pairs
The pivot center of second revolute pair of pivot center and the moving platform U pair is mutually perpendicular to and first turn of fixed platform U pairs
It moves secondary pivot center and the pivot center of the second revolute pair of fixed platform U pairs is mutually perpendicular to.
9. foldable parallel institution as claimed in claim 8, it is characterised in that：Two of the fixed platform and the moving platform
Three-fold symmetry mechanism is folded into a branch of completely, so that six endpoints of three-fold symmetry mechanism is punctured into parallel to each other a branch of, so as to
Mechanism is set integrally to reach minimum space hold state.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810680614.7A CN108656089B (en) | 2018-06-27 | 2018-06-27 | Foldable parallel mechanism |
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|---|---|---|---|
| CN201810680614.7A CN108656089B (en) | 2018-06-27 | 2018-06-27 | Foldable parallel mechanism |
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| CN108656089B CN108656089B (en) | 2023-09-19 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746896A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | Parallel system with 3T, 2T1R and 1R2T motor pattern |
| CN110465923A (en) * | 2019-08-02 | 2019-11-19 | 西安工程大学 | There are three mobile, a two mobile rotations and two one Move Modes of rotation parallel institutions |
| CN111287327A (en) * | 2020-02-14 | 2020-06-16 | 北京工业大学 | Single-degree-of-freedom symmetric space seven-rod closed-loop mechanism and space deployable mechanism based on same |
| CN113199462A (en) * | 2021-05-25 | 2021-08-03 | 燕山大学 | Adjustable 3-PXY parallel mechanism |
| CN115199914A (en) * | 2022-06-16 | 2022-10-18 | 上海工程技术大学 | Easily-concealed investigation equipment carrying platform |
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| CN109746896A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | Parallel system with 3T, 2T1R and 1R2T motor pattern |
| CN109746896B (en) * | 2018-12-11 | 2022-02-18 | 西安工程大学 | Parallel system with 3T, 2T1R and 1R2T motion patterns |
| CN110465923A (en) * | 2019-08-02 | 2019-11-19 | 西安工程大学 | There are three mobile, a two mobile rotations and two one Move Modes of rotation parallel institutions |
| CN110465923B (en) * | 2019-08-02 | 2022-02-25 | 西安工程大学 | Parallel mechanism with three-movement, two-movement one-rotation and two-rotation one-movement modes |
| CN111287327A (en) * | 2020-02-14 | 2020-06-16 | 北京工业大学 | Single-degree-of-freedom symmetric space seven-rod closed-loop mechanism and space deployable mechanism based on same |
| CN111287327B (en) * | 2020-02-14 | 2021-07-30 | 北京工业大学 | Single-degree-of-freedom symmetric space seven-rod closed-loop mechanism and space deployable mechanism based on same |
| CN113199462A (en) * | 2021-05-25 | 2021-08-03 | 燕山大学 | Adjustable 3-PXY parallel mechanism |
| CN113199462B (en) * | 2021-05-25 | 2022-09-20 | 燕山大学 | Adjustable 3-PXY parallel mechanism |
| WO2023020237A1 (en) * | 2021-08-20 | 2023-02-23 | 苏州大学 | Multiple-degree-of-freedom series-parallel pelvic fracture reduction robot and pelvic fracture reduction system |
| CN115199914A (en) * | 2022-06-16 | 2022-10-18 | 上海工程技术大学 | Easily-concealed investigation equipment carrying platform |
| CN115199914B (en) * | 2022-06-16 | 2023-06-02 | 上海工程技术大学 | Easily hidden investigation equipment carries on platform |
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