CN110228054A - A kind of six degree of freedom structure in parallel for saving bottom installation space - Google Patents
A kind of six degree of freedom structure in parallel for saving bottom installation space Download PDFInfo
- Publication number
- CN110228054A CN110228054A CN201910417375.0A CN201910417375A CN110228054A CN 110228054 A CN110228054 A CN 110228054A CN 201910417375 A CN201910417375 A CN 201910417375A CN 110228054 A CN110228054 A CN 110228054A
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- Prior art keywords
- degree
- freedom
- platform
- skewback
- parallel
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- 238000009434 installation Methods 0.000 title claims abstract description 35
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The present invention relates to a kind of six degree of freedom structures in parallel for saving bottom installation space, mainly include motion platform, platform frame, platform driving group, skewback and installation pedestal.It is rigidly connected, is rigidly connected between platform driving group one end and support frame, the other end is fixed in installation pedestal between motion platform and platform frame.Platform driving group includes the actuator assembly of 6 achievable straight reciprocating motions, by controlling the displacement of actuator, to drive motion platform to generate the movement of six-freedom degree.Installation pedestal is divided into bottom support and lateral support.
Description
Technical field
The present invention relates to multiple freedom parallel mechanism application field, especially a kind of parallel connection six for saving bottom installation space
Freedom degree structure
Background technique
For six degree of freedom structure in parallel since its bearing capacity is big, control precision is high, and is applied to heavy load or contraposition attitude control
Make demanding occasion.But conventional parallel six degree of freedom structure is higher to the requirements of installation space of mesa base, mounting process
Complexity is difficult the occasion for being suitable for having space particular/special requirement, to limit its scope of application.
Summary of the invention
The purpose of the present invention is: a kind of six degree of freedom structure in parallel for saving bottom installation space is designed, parallel connection six is reduced
Requirement of the freedom degree structure to bottom installation space expands the application range of six degree of freedom in parallel.
The technical solution adopted by the present invention is that: a kind of six degree of freedom structure in parallel for saving bottom installation space includes fortune
Moving platform, platform frame, driving group and installation pedestal.
It is rigid connection between motion platform and platform frame.
Driving group includes six drive chains that can produce straight reciprocating motion, and actuator both ends are hingedly connected in drive chain
On motion platform and platform installation pedestal, the movement of hinge is constrained at hinge joint, it is free to rotate.
Installation pedestal is divided into bottom installation pedestal and is mounted laterally pedestal
Every drive chain can receive external drive signal and realize straight reciprocating motion in driving group, and driving motion platform is real
The movement of existing six-freedom degree.
Detailed description of the invention
Fig. 1 is using a kind of specific embodiment of the invention；
In Fig. 1,1 is motion platform, and 2 be platform frame, and 3 be platform driving group, and 4 be skewback, and 5 be installation pedestal；
Fig. 2 is a kind of specific implementation example for not including a drive chain of installation skewback in driving group of the present invention；
In Fig. 2,2 be platform frame, and 3011 cut with scissors joint for multiple degrees of freedom, and 3012 be actuator, and 3013 be multiple degrees of freedom
Joint is cut with scissors, 501 be to be mounted laterally pedestal；
Fig. 3 is a kind of specific embodiment of a drive chain comprising installation skewback in driving group of the present invention；
In Fig. 3,2 be platform frame, and 401 be skewback, and 3051 cut with scissors joint for multiple degrees of freedom, and 3052 be actuator, 3053
Joint is cut with scissors for multiple degrees of freedom, 402 be skewback, and 502 be bottom installation pedestal；
Specific embodiment
It is a specific implementation example of the invention below, the present invention is done furtherly in conjunction with attached drawing 1, Fig. 2 and Fig. 3
It is bright.
As shown in Figure 1, a kind of six degree of freedom structure in parallel for saving bottom installation space, including motion platform 1, platform branch
Support 2, driving group 3, skewback 4 and installation pedestal 5.It is rigid connection between moving platform 1 and platform support frame 2；Support frame 2 and tiltedly
It is rigid connection between block 4；It is hinged, hinge joint constraint between driving group 3 and platform frame 2, skewback 4 and installation pedestal 5
The translation of hinge.
Driving group 3 include 6 drive chains, every drive chain can individual reception external drive signal, realize linear reciprocation
Movement.
Fig. 2 is a kind of specific embodiment of a drive chain in driving group of the present invention not comprising skewback.Actuator 3012
Wherein joint 3011 is cut with scissors by multiple degrees of freedom in one end and platform support frame 2 connects；The other end cuts with scissors joint 3013 by multiple degrees of freedom
It is connect with pedestal 501 is mounted laterally.
Fig. 3 is a kind of specific embodiment of a drive chain in driving group of the present invention comprising skewback.Actuator 3052 its
Middle one end cuts with scissors joint 3051 by multiple degrees of freedom and skewback 401 connects, and skewback 401 and platform frame are rigidly connected；The other end
It cuts with scissors joint 3053 by multiple degrees of freedom to connect with skewback 402, skewback 402 and bottom installation pedestal 502 are rigidly connected.
The foregoing is merely preferable case study on implementation of the invention, are not intended to limit the invention, all in original of the invention
It then with any modification for being made within spirit, equally improves and replacement, should all be included in the protection scope of the present invention.
Claims (8)
1. it is a kind of save bottom installation space six degree of freedom structure in parallel, including motion platform, platform frame, driving group,
Skewback and installation pedestal.
2. a kind of six degree of freedom structure in parallel for saving bottom installation space as described in claim 1, it is characterised in that movement
It is rigid connection between platform and platform support frame；It is rigid connection between support frame and skewback.
3. a kind of six degree of freedom structure in parallel for saving bottom installation space as described in claim 1, it is characterised in that driving
Group and platform frame, skewback, be between installation pedestal it is hinged, hinge joint constrains the translation of hinge, but does not constrain its rotation.
4. a kind of six degree of freedom structure in parallel for saving bottom installation space as described in claim 1, it is characterised in that driving
Group include six drive chains, every drive chain can individual reception external drive signal, realize straight reciprocating motion.
5. a kind of six degree of freedom structure in parallel for saving bottom installation space as described in claim 1, it is characterised in that mostly certainly
By the translation of degree hinge joint hinge by Complete Bind, the constraint of hinge rotation include all with two kinds of situations of partially restrained.
6. a kind of six degree of freedom structure in parallel for saving bottom installation space as described in claim 1, it is characterised in that driving
It include a kind of drive chain not comprising skewback in device group, joint and platform branch are cut with scissors by multiple degrees of freedom in actuator one end in drive chain
Support 2 connects；The other end cuts with scissors joint by multiple degrees of freedom and connect with pedestal is mounted laterally.
7. a kind of six degree of freedom structure in parallel for saving bottom installation space as described in claim 1, it is characterised in that driving
It include a kind of drive chain comprising skewback in device group.Joint is cut with scissors by multiple degrees of freedom in actuator one end in drive chain and skewback connects
It connects, skewback and platform frame are rigidly connected；The other end cuts with scissors joint by multiple degrees of freedom and connect with skewback, and skewback and bottom are installed
Pedestal rigid connection.
8. a kind of six degree of freedom structure in parallel for saving bottom installation space as described in claim 1, it is characterised in that platform
Installation pedestal includes bottom installation pedestal and is mounted laterally pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910417375.0A CN110228054A (en) | 2019-05-20 | 2019-05-20 | A kind of six degree of freedom structure in parallel for saving bottom installation space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910417375.0A CN110228054A (en) | 2019-05-20 | 2019-05-20 | A kind of six degree of freedom structure in parallel for saving bottom installation space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110228054A true CN110228054A (en) | 2019-09-13 |
Family
ID=67860757
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910417375.0A Pending CN110228054A (en) | 2019-05-20 | 2019-05-20 | A kind of six degree of freedom structure in parallel for saving bottom installation space |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110228054A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112091939A (en) * | 2020-08-24 | 2020-12-18 | 上海大学 | Reconfigurable deformation truss mechanism based on flexible plate driving |
-
2019
- 2019-05-20 CN CN201910417375.0A patent/CN110228054A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112091939A (en) * | 2020-08-24 | 2020-12-18 | 上海大学 | Reconfigurable deformation truss mechanism based on flexible plate driving |
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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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190913 |
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| RJ01 | Rejection of invention patent application after publication |