CN110142741A - Mixed connection frame-type moves shelter - Google Patents
Mixed connection frame-type moves shelter Download PDFInfo
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- CN110142741A CN110142741A CN201910409699.XA CN201910409699A CN110142741A CN 110142741 A CN110142741 A CN 110142741A CN 201910409699 A CN201910409699 A CN 201910409699A CN 110142741 A CN110142741 A CN 110142741A
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- shelter
- sliding block
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- 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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Bearings For Parts Moving Linearly (AREA)
Abstract
The present invention relates to a kind of mixed connection frame-types to move shelter, it includes double layer planar telecontrol equipment, cage type frame, vertical driving device, shelter and connecting rod, double layer planar telecontrol equipment is located at the lowest level of shelter, shelter can be made to move and rotate along the longitudinal direction around vertical axis, freedom degree parallel connection pose_adjuster is located at the upper layer of biplane mobile device, including cage type frame, vertical driving device, shelter and connecting rod, shelter can be made to move along the vertical direction, and can be rotated along the x-axis and y-axis of fixed coordinate system.Shelter is arranged among cage type frame, advantageously reduces fortuitous event, meanwhile, shelter can be transferred on ground in an inactive state, occupy height space very little.Hybrid mechanism of the invention also adds working space of the invention while retaining parallel institution large carrying capacity, and the present invention also has that bearing capacity is strong, compact-sized and high reliability.
Description
Technical field
The present invention relates to a kind of mechanical device, in particular to a kind of mixed connection frame-type moves shelter.
Background technique
Movement shelter can be widely applied to the fields such as movement simulation, innervation experiencing, the stable compensation of Ship Motion, have very wide
Wealthy market application prospect.Movement shelter technology in the prior art, though accommodation space is big, branch occupies little space, whole
Load capacity is strong, but its motion range is limited, and especially shelter is very small around the transhipment angle of vertical axis, and existing fortune
There is also occupied space in such as short transverse is big in dynamic shelter technology, activity space is limited in short transverse, and bearing capacity is weak
The deficiencies of place.Therefore, a kind of high load capability, high security are researched and developed, is occupied little space in short transverse, overall structure is tight
It gathers, and the naval vessel with bigger working space is significantly with movement shelter.
Summary of the invention
For the above the deficiencies in the prior art, the present invention provides a kind of mixed connection frame-type movement shelter, cabin can be allowed to fall
Onto ground, occupy little space in short transverse, compact overall structure, and there is bigger working space.
The technical scheme of the present invention is realized as follows:
Mixed connection frame-type of the invention moves shelter comprising double layer planar telecontrol equipment, cage type frame, shelter and company
Bar, the double layer planar telecontrol equipment are in groined type structure comprising Liang Ge lower layer linear guide, four lower layer's linear movements are slided
Block, two upper layer linear guides and four upper layers linear movement sliding blocks；Lower layer's linear guide and lower layer's linear movement sliding block
It is divided into two groups, lower layer's linear guide and Liang Ge lower layer linear movement sliding block are lower layer's linear guide in one group, each group
It is connect by first movement pair between Liang Ge lower layer linear movement sliding block；The upper layer linear guide and upper layer move linearly
Sliding block is divided into two groups, and a upper layer linear guide is led with two upper layer linear movement sliding blocks for the upper layer straight line in one group, every group
It is connected by the second prismatic pair between rail and two upper layer linear movement sliding blocks；The setting of Liang Zu lower layer linear guide side by side parallel
In the left and right side of shelter, lower layer's linear movement sliding block is erected on lower layer's linear guide, and two groups of upper layers are straight
The setting of line guide rail side by side parallel in shelter front and rear sides, the upper layer linear movement sliding block be arranged in inversion state it is described on
In layer linear guide, upper layer linear movement sliding block is connected with corresponding lower layer linear movement sliding block；The cage type frame includes top
Portion's collar tie beam, bottom ring beam and a plurality of vertical beam, the top ring beam connect to form cage type by the vertical beam with the bottom ring beam
Frame structure, the bottom ring beam of the cage type frame are connect with the top of the double layer planar telecontrol equipment；The shelter setting
Vertical shifting is equipped in the cage type lower portion, the left front of the shelter, the vertical beam of the cage type frame of right front and rear
Movable slider is connected between the vertical mobile sliding block and the vertical beam by third prismatic pair, the axis of the third prismatic pair
Along the vertical direction；And the connecting rod, between vertical mobile sliding block and shelter, the both ends of the connecting rod are equipped with flexural pivot, often
The first end of connecting rod described in item is connect by the flexural pivot with the vertical mobile sliding block, and the second end of the every connecting rod passes through
The flexural pivot is connect with the shelter.
It may be preferred that being equipped with one vertical mobile sliding block in each vertical beam, intermediate mobile sliding block, first move
Pulley blocks, upper wheels rope, the second running block, lower wheel rope and vertical driving cylinder, the intermediate mobile sliding block are located at described hang down
To between mobile sliding block and the vertical beam, the intermediate mobile sliding block is connect by the 4th prismatic pair with the vertical beam, and described the
It is parallel to each other between the axis of four prismatic pairs and the axis of the third prismatic pair, first running block is located at intermediate movement
The top of sliding block, by shaft and the intermediate mobile sliding block connection, second running block is located at the bottom of intermediate slider,
By shaft and the intermediate mobile sliding block connection, the pivot center of the first dynamic running block and the second running block is mutually flat
Row, and each parallel to horizontal plane；The first end of the upper wheels rope is connected to the vertical beam, the second end edge of the upper wheels rope
Vertical direction up around being connected to the vertical mobile sliding block vertically downwards again after first running block；It is described
The first end of lower wheel rope is connected to the vertical beam, and the second end of the lower wheel rope bypasses described second vertically downwards
After running block, then connected up along the vertical direction to the vertical mobile sliding block；The cylinder barrel of the vertical driving cylinder with it is described
Vertical beam connection, the cylinder rod of the vertical driving cylinder and the intermediate mobile sliding block connection；Each upper layer linear movement sliding block
It is connected between lower layer's linear movement sliding block corresponding thereto by revolute pair, the axis of the revolute pair is along the vertical direction.
It may be preferred that being additionally provided with vertical revolution dress between the cage type frame and the double layer planar telecontrol equipment
It sets, the vertical slewing equipment includes floating bearing, driving gear and drive motor；The bottom of the outer ring of floating bearing and bilayer
It is fixedly connected at the top of plane motion device, the inner ring of floating bearing is fixedly connected with the bottom of cage type frame, floating bearing
Rotation axis extends along the vertical direction；It is machined with external gear on the outer ring of floating bearing, drives the external tooth of gear and floating bearing
Wheel engagement, and the output axis connection of the driving gear and the drive motor being fixed on cage type frame.
It may be preferred that the upper surface of the bottom ring beam of the cage type frame and the double layer planar telecontrol equipment is by turning
Dynamic secondary connection, the revolute pair axis is along the vertical direction.
It may be preferred that leading between the lower layer's linear movement sliding block of each upper layer linear movement sliding block corresponding thereto
Revolute pair connection is crossed, the axis of the revolute pair is along the vertical direction.
It may be preferred that the flexural pivot center of two connecting rods on the vertical mobile sliding block is overlapped, it is described vertical mobile sliding
It is connected between block and the shelter by tripod, the vertex of the tripod is connected to the vertical movement by the flexural pivot
The bottom edge of sliding block, the tripod is connected to the shelter by revolute pair.
It may be preferred that the connecting rod quantity is 6, six balls that the connecting rod is connect with the shelter are compared in
The heart in the same plane, and surrounds hexagon.
It may be preferred that being mutually perpendicular between the axis of the first movement pair and the axis of second prismatic pair.
Further, Liang Ge lower layer drive cylinder and two upper layer drive cylinders are additionally provided in double layer planar telecontrol equipment, when
When Liang Ge lower layer drive cylinder or two upper layer drive cylinders stretch a contracting with the cylinder rod one of identical speed drive cylinder, the shelter
It is moved along x-axis or y-axis, when Liang Ge lower layer drive cylinder or two upper layer drive cylinders are flexible with friction speed driving cylinder rod
When, shelter will generate rotation along z-axis.
Compared with prior art, the present invention has the advantage that
1, the double layer planar movement mechanism of bottom is combined with the adjusting parallel platform on top, remains parallel institution carrying
The big advantage of ability, while the present invention being made to have bigger working space.
2, shelter advantageously reduces unexpected generation within the frame-type on plane mechanism.
3, shelter can be transferred on ground when off working state, occupy little space in short transverse, compact overall structure, work
It is lower to make center of gravity under state, more securely and reliably.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram that mixed connection frame-type of the invention moves shelter；
Fig. 2 is the top view that mixed connection frame-type of the invention moves shelter；
Fig. 3 is the schematic three dimensional views that lower layer's linear guide and lower layer the linear movement sliding block in the present invention are connect；
Fig. 4 is the schematic three dimensional views that the upper layer linear guide in the present invention is connect with upper layer linear movement sliding block；
Fig. 5 is the schematic three dimensional views that vertical mobile sliding block, the intermediate mobile sliding block in the present invention are connect with vertical beam；
Fig. 6 is vertical mobile sliding block and the schematic three dimensional views that are connected by tripod of shelter in the present invention；
Fig. 7 is the three-dimensional perspective view of the explosion of the hypophysis slewing equipment in the present invention；And
Fig. 8 is the three-dimensional perspective view of the explosion of the double layer planar telecontrol equipment in the present invention.
In figure: 1- double layer planar telecontrol equipment；101- lower layer linear guide；102- lower layer linear movement sliding block；On 103-
Layer linear guide；The upper layer 104- linear movement sliding block；105- lower layer drive cylinder；The upper layer 106- drive cylinder；107- first is moved
Dynamic pair；108- lower layer drive cylinder cylinder barrel；109- lower layer drive cylinder cylinder rod；The second prismatic pair of 110-；The upper layer 111- driving oil
Cylinder cylinder barrel；The upper layer 112- drive cylinder cylinder rod；113- linear slider revolute pair；2- cage type frame；201- top ring beam；202- is perpendicular
Beam；203- bottom ring beam；3- shelter；4- connecting rod；5- vertical driving device；The vertical mobile sliding block of 501-；It is mobile among 502- to slide
Block；The first running block of 503-；The second running block of 504-；505- upper wheels rope；506- lower wheel rope；The vertical driving oil of 507-
Cylinder；508- third prismatic pair；The 4th prismatic pair of 509-；6- tripod；The vertical slewing equipment of 7-；701- floating bearing；702- drives
Moving gear；703- drive motor；704- external gear.
Specific embodiment
Below with reference to the attached drawing exemplary embodiment that the present invention will be described in detail, feature and aspect of performance.It is identical in attached drawing
Appended drawing reference indicate element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, remove
It non-specifically points out, it is not necessary to attached drawing drawn to scale.
It is term "front", "rear", "left", "right", "upper", "lower", " left front it will be appreciated that in the description of the present invention
The orientation or positional relationship of the instructions such as side ", " right front ", " rear " is to be based on the orientation or positional relationship shown in the drawings, and is only
The present invention is described when for the ease of from certain orientation and simplifies description, rather than the device or element of indication or suggestion meaning
It must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.Term
" first ", " second ", " third " etc. are only used for simplifying verbal description to be different from similar object, and should not be understood as specific
Precedence relationship between order.
In this application unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be straight
It connects connected, the connection inside two elements can also be can be indirectly connected through an intermediary.For the common skill of this field
For art personnel, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
As shown in Fig. 1~2, mixed connection frame-type of the invention moves shelter comprising double layer planar telecontrol equipment 1, cage type
Frame 2, shelter 3 and connecting rod 4.
Double layer planar telecontrol equipment 1 is in groined type structure comprising 101, four lower layer's straight lines of Liang Ge lower layer linear guide
The mobile upper layer of upper layer linear guide 103, four of sliding block 102, two linear movement sliding block 104, Liang Ge lower layer drive cylinder 105 with
Two upper layer drive cylinders 106.
Lower layer's linear guide 101, lower layer's linear movement sliding block 102 and lower layer's drive cylinder 105 constitute the driving of Liang Zu lower layer
Unit, every group includes lower layer's linear guide 101, Liang Ge lower layer linear movement sliding block 102 and lower layer's drive cylinder
105.Liang Zu lower layer driving unit side by side parallel is arranged in 3 left and right side of shelter.As shown in figure 3, every group of lower layer's driving unit
In lower layer's linear guide 101 and Liang Ge lower layer linear movement sliding block 102 between by first movement pair 107 connection, two
Lower layer's drive cylinder cylinder barrel 108 and lower layer's linear guide 101 are connected.Lower layer in the 3 one group of lower layer's driving unit in left side of shelter drives
Dynamic oil cylinder cylinder rod 109 is connect with the linear movement sliding block 102 at rear in the group.In the 3 one group of lower layer's driving unit in right side of shelter
Lower layer's drive cylinder cylinder rod 109 is connect with lower layer's linear movement sliding block 102 in front in the group.
Upper layer linear guide 103, upper layer linear movement sliding block 104 and upper layer drive cylinder 106 constitute two groups of upper layers and drive
Unit, every group includes 103, two upper layer linear movement sliding blocks 104 of a upper layer linear guide and a upper layer drive cylinder
106.As shown in figure 4, two groups of upper layer driving unit side by side parallel are arranged in 3 front and rear sides of shelter.In every group of upper layer driving unit
Upper layer linear guide 103 and two upper layers linear movement sliding blocks 104 between connected by the second prismatic pair 110, on two
Layer drive cylinder cylinder barrel 111 is connected with upper layer linear guide 103.It drives on upper layer in one group of upper layer driving unit of 3 front side of shelter
Dynamic oil cylinder cylinder rod 112 is connect with the upper layer linear movement sliding block 104 on the left side in the group.One group of upper layer of 3 rear side of shelter drives single
Upper layer drive cylinder cylinder rod 112 in member is connect with the upper layer linear movement sliding block 104 on the right in the group.
Upward, four upper layers move linearly sliding blocks 104 downward to four lower layer's linear movement sliding blocks 102, each upper layer straight line
Mobile sliding block 104 is connected with corresponding lower layer linear movement sliding block 102.Lower layer's linear movement sliding block 102 is erected at lower layer's straight line
On guide rail 101, upper layer linear movement sliding block 104 is arranged in the upper layer linear guide 103 in inversion state, and upper layer straight line moves
Movable slider 104 is connected with each other with corresponding lower layer linear movement sliding block 102.The bottom of upper layer linear guide constitutes entire double-deck flat
The top of face telecontrol equipment.
As shown in Figure 1, cage type frame 2 includes top ring beam 201, the bottom turns in polygonized structure in polygonized structure
Beam 203 and a plurality of vertical beam 202, vertical beam 202 link together top ring beam 201 and bottom ring beam 203, form cage type frame knot
Structure.The bottom ring beam 203 of cage type frame 2 is fixedly connected with the upper surface of double layer planar movement mechanism 1.
Shelter 3 is the enclosing square cabinet that chamfering is equipped at four vertical edges, and leading flank is equipped with going out for personnel and goods and materials
Introduction.Shelter 3 is located inside cage type frame 2, it is possible to reduce the generation of fortuitous event when work.
As shown in Fig. 1 and Fig. 5, vertical driving device is equipped in the vertical beam 202 of the left front of shelter 3, right front and rear
5, vertical driving device 5 includes the intermediate mobile sliding blocks 502 of one vertical mobile sliding block 501, one, the first running block 503, the
Two running blocks 504, upper wheels rope 505, lower wheel rope 506 and vertical drive cylinder 507.Vertical mobile sliding block 501 and vertical beam
It is connected between 202 by third prismatic pair 508, the axis of third prismatic pair 508 is mobile with first movement pair 107, second simultaneously
The axis perpendicular of pair 110.The mobile sliding block 502 in centre is located between vertical mobile sliding block 501 and vertical beam 202, and passes through the 4th
Prismatic pair 509 is connect with vertical beam 202, is parallel to each other between the axis of the 4th prismatic pair 509 and the axis of third prismatic pair 508,
First running block 503 connect with intermediate mobile sliding block 502 by shaft and is located at the top of centre movement sliding block 502, and second
Running block 504 connects intermediate mobile sliding block 502 by shaft and is located at the bottom of intermediate mobile sliding block 502, the first movable pulley
The pivot center of group 503 and the second running block 504 is parallel to each other and each parallel to horizontal plane.The first end of upper wheels rope 505
Connect vertical beam 202, the second end of upper wheels rope 505 is bypassed after the first running block 503 again straight up along connecting straight down
Vertical mobile sliding block 501.The first end of lower wheel rope 506 connects vertical beam 202, the second end of lower wheel rope 506 straight down around
It crosses after the second running block 504 and to move sliding block 501, the cylinder barrel of vertical drive cylinder 507 along the connection of direction straight up is vertical again
It is connect with vertical beam 202, cylinder rod is connect with the mobile sliding block 502 in centre.
Pass through the first running block 503 and second between vertical mobile sliding block 501, intermediate mobile sliding block 502 and vertical beam 202
Enable vertical mobile sliding block 501 and intermediate mobile 502 real-time linkage of sliding block after the connection of running block 504, and identical
The stroke of vertical mobile sliding block 501 is twice of intermediate mobile 502 stroke of sliding block in time, when the intermediate mobile sliding block of driving
When 502 movement, the amplification to vertical 507 stroke of drive cylinder is can be realized in vertical mobile sliding block 501, reduces vertical driving
The height of oil cylinder 507 reduces the possibility of strut buckling, while but also the whole height of vertical driving device 5 is reduced.
It is connected between each vertical mobile sliding block 501 and shelter 3 by two connecting rods 4, the first end of every connecting rod 4 passes through
Flexural pivot connects vertical mobile sliding block 501, and second end connects shelter 3 by flexural pivot, and each vertical mobile sliding block 501 connects with shelter 3
It meets place and constitutes space four-links local closed loop.
In a preferred embodiment, as shown in fig. 6, by being substituted between each vertical mobile sliding block 501 and shelter 3
Connection is realized by a tripod 6, and the vertex of the tripod 6 connects vertical mobile sliding block 501 by flexural pivot, and bottom edge is by turning
Dynamic secondary connection shelter 3.
In a preferred embodiment, as shown in fig. 7, may be used also between cage type frame 2 and double layer planar telecontrol equipment 1
To be equipped with vertical slewing equipment 7.Vertical slewing equipment 7 includes floating bearing 701, driving gear 702 and drive motor 703.It returns
The bottom that shaft holds 701 outer ring is fixedly connected with the top of double layer planar telecontrol equipment 1, the inner ring and cage of floating bearing 701
The bottom of shape frame 2 is fixedly connected, and the rotation axis of floating bearing 701 extends along the vertical direction.On the outer ring of floating bearing 701
It is machined with external gear 704, driving gear 702 is engaged with the external gear 704 of floating bearing 701.It drives gear 702 and is fixed on cage
The output axis connection of drive motor 703 on shape frame 2.When drive motor 703 drives driving gear 702 to rotate, make upper layer
Posture adjusting device in parallel can rotate about the z axis.
As shown in figure 8, in a preferred embodiment, each upper layer linear movement sliding block 104 and one it is adjacent under
Layer linear movement sliding block 102 is connected by linear slider revolute pair 113, and the axis of the linear slider revolute pair 113 is along vertical side
To.
Liang Ge lower layer drive cylinder 105 and two upper layer drive cylinders 106 are additionally provided in double layer planar telecontrol equipment 1, when
When Liang Ge lower layer drive cylinder 105 or two upper layer drive cylinders 106 stretch a contracting with identical speed driving cylinder rod one, shelter 3 is along x
Axis or y-axis are mobile, when Liang Ge lower layer drive cylinder 105 or two upper layer drive cylinders 106 are stretched with friction speed driving cylinder rod
When contracting, shelter 3 will generate small-scale rotation along z-axis.
Working principle of the invention is as follows: shelter can be realized by double layer planar telecontrol equipment along fixed coordinate system front-rear direction
Y to, left and right directions x to movement and along the vertical direction z to small range rotation；Vertical mobile sliding block and vertical drive cylinder it
Between add intermediate mobile sliding block and connected vertical mobile sliding block and the intermediate sliding block that moves by upper and lower two groups of movable pulleys, make
Vertical mobile sliding block can amplify the stroke of vertical driving cylinder twice；Pass through part between shelter and three vertical mobile sliding block
The connection of four pole closed loop of space, can be obtained by the principle of theory of mechanisms, shelter remain above and below fixed coordinate system z to move,
The three degree of freedom relatively rotated along x-axis, y-axis, by driving three vertical mobile sliding block to move up and down according to certain rule,
Shelter pose can be changed, move it according to specific rule, by turning between the double layer planar telecontrol equipment and frame of bottom
Dynamic secondary connection can be such that shelter turns round on a large scale along vertical axis z-axis.
To sum up, by above description it is found that the present invention is equipped with frame on the basis of the double layer planar telecontrol equipment of bottom
Posture adjusting parallel platform, that is, remain adjusting parallel platform and carry big advantage and increase working space again.In addition, of the invention
Mixed connection frame-type movement shelter there is high load capability, high security, occupy little space in short transverse, overall structure is tight
It gathers, and there is bigger working space.
Finally, it should be noted that above-described each embodiment is merely to illustrate technical solution of the present invention, rather than it is limited
System；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that: its
It can still modify to technical solution documented by previous embodiment, or part of or all technical features are carried out
Equivalent replacement；And these modifications or substitutions, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
Range.
Claims (9)
1. a kind of mixed connection frame-type moves shelter, it is characterised in that: it includes double layer planar telecontrol equipment, cage type frame, shelter
And connecting rod,
The double layer planar telecontrol equipment is in groined type structure comprising Liang Ge lower layer linear guide, four lower layer's linear movements
Sliding block, two upper layer linear guides and four upper layers linear movement sliding blocks；Lower layer's linear guide and lower layer's linear movement are slided
Block is divided into two groups, and lower layer's linear guide and Liang Ge lower layer linear movement sliding block are that lower layer's straight line in one group, each group is led
It is connected by first movement pair between rail and Liang Ge lower layer linear movement sliding block；The upper layer linear guide and upper layer straight line move
Movable slider is divided into two groups, and a upper layer linear guide is the upper layer straight line in one group, every group with two upper layer linear movement sliding blocks
It is connected by the second prismatic pair between guide rail and two upper layer linear movement sliding blocks；Liang Zu lower layer linear guide side by side parallel is set
The left and right side in shelter is set, lower layer's linear movement sliding block is erected on lower layer's linear guide, two groups of upper layers
The setting of linear guide side by side parallel is arranged in shelter front and rear sides, the upper layer linear movement sliding block in described in inversion state
In the linear guide of upper layer, upper layer linear movement sliding block is connected with corresponding lower layer linear movement sliding block；
The cage type frame includes top ring beam, bottom ring beam and a plurality of vertical beam, and the top ring beam passes through the vertical beam and institute
It states bottom ring beam to connect to form cage type frame structure, the bottom ring beam of the cage type frame and the double layer planar telecontrol equipment
Top connection；
Shelter setting is in the cage type lower portion, the left front of the shelter, the cage type frame of right front and rear
It is equipped with vertical mobile sliding block in vertical beam, is connected between the vertical mobile sliding block and the vertical beam by third prismatic pair, it is described
The axis of third prismatic pair is along the vertical direction；And
For the connecting rod between vertical mobile sliding block and shelter, the both ends of the connecting rod are equipped with flexural pivot, the every connecting rod
First end connect with the vertical mobile sliding block by the flexural pivot, the second end of the every connecting rod pass through the flexural pivot and
The shelter connection.
2. mixed connection frame-type according to claim 1 moves shelter, it is characterised in that:
One vertical mobile sliding block, intermediate mobile a sliding block, the first running block, upper wheels are equipped in each vertical beam
Rope, the second running block, lower wheel rope and vertical driving cylinder, the intermediate mobile sliding block are located at the vertical mobile sliding block and institute
It states between vertical beam, the intermediate mobile sliding block is connect by the 4th prismatic pair with the vertical beam, the axis of the 4th prismatic pair
It is parallel to each other between the axis of the third prismatic pair, first running block is located at the top of intermediate mobile sliding block, leads to
Shaft and the intermediate mobile sliding block connection are crossed, second running block is located at the bottom of intermediate slider, passes through shaft and institute
Intermediate mobile sliding block to be stated to connect, the pivot center of the first dynamic running block and the second running block is parallel to each other, and each parallel to
Horizontal plane；The first end of the upper wheels rope is connected to the vertical beam, and the second end of the upper wheels rope is upward along the vertical direction
Around being connected to the vertical mobile sliding block after first running block vertically downwards again；The of the lower wheel rope
One end is connected to the vertical beam, after the second end of the lower wheel rope bypasses second running block vertically downwards,
It is connected up along the vertical direction again to the vertical mobile sliding block；The cylinder barrel of the vertical driving cylinder is connect with the vertical beam, institute
State the cylinder rod and the intermediate mobile sliding block connection of vertical driving cylinder；Each upper layer linear movement sliding block is corresponding thereto
It is connected between lower layer's linear movement sliding block by revolute pair, the axis of the revolute pair is along the vertical direction.
3. mixed connection frame-type according to claim 1 moves shelter, it is characterised in that: in the cage type frame and described pair
Be additionally provided with vertical slewing equipment between layer plane telecontrol equipment, the vertical slewing equipment include floating bearing, driving gear with
Drive motor；It is fixedly connected at the top of the bottom of the outer ring of floating bearing and double layer planar telecontrol equipment, the inner ring of floating bearing
It is fixedly connected with the bottom of cage type frame, the rotation axis of floating bearing extends along the vertical direction；Add on the outer ring of floating bearing
Work has an external gear, and driving gear engage with the external gear of floating bearing, and the driving gear be fixed on cage type frame
Drive motor output axis connection.
4. mixed connection frame-type according to claim 1 moves shelter, it is characterised in that: the bottom ring beam of the cage type frame
It is connect with the upper surface of the double layer planar telecontrol equipment by revolute pair, the revolute pair axis is along the vertical direction.
5. mixed connection frame-type according to claim 1 or 2 moves shelter, it is characterised in that: each upper layer straight line
It is connected between the lower layer's linear movement sliding block of mobile sliding block corresponding thereto by revolute pair, the axis of the revolute pair is along vertical
Direction.
6. mixed connection frame-type according to claim 1 or 2 moves shelter, it is characterised in that: the vertical mobile sliding block
On two connecting rods flexural pivot center be overlapped, between the vertical mobile sliding block and the shelter by tripod connection, it is described
The vertex of tripod is connected to the vertical mobile sliding block by the flexural pivot, and the bottom edge of the tripod is connected by revolute pair
To the shelter.
7. mixed connection frame-type according to claim 1 or 2 moves shelter, it is characterised in that: the connecting rod quantity is 6
It is a, six balls that the connecting rod is connect with the shelter compared with center in the same plane, and surround hexagon.
8. mixed connection frame-type according to claim 1 or 2 moves shelter, it is characterised in that: the first movement pair
It is mutually perpendicular between axis and the axis of second prismatic pair.
9. mixed connection frame-type according to claim 1 or 2 moves shelter, it is characterised in that: double layer planar telecontrol equipment
In be additionally provided with Liang Ge lower layer drive cylinder and two upper layer drive cylinders, when Liang Ge lower layer drive cylinder or two upper layers driving oil
When cylinder stretches a contracting with the cylinder rod one of identical speed drive cylinder, the shelter is moved along x-axis or y-axis, when Liang Ge lower layer drives
When oil cylinder or two upper layer drive cylinders flexible with friction speed driving cylinder rod, shelter will generate rotation along z-axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910409699.XA CN110142741A (en) | 2019-05-17 | 2019-05-17 | Mixed connection frame-type moves shelter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910409699.XA CN110142741A (en) | 2019-05-17 | 2019-05-17 | Mixed connection frame-type moves shelter |
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| CN110142741A true CN110142741A (en) | 2019-08-20 |
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| CN201910409699.XA Pending CN110142741A (en) | 2019-05-17 | 2019-05-17 | Mixed connection frame-type moves shelter |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111564095A (en) * | 2020-01-23 | 2020-08-21 | 浙江大学 | Series-parallel combined type two-degree-of-freedom heavy swing platform |
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