CN116103995A - Four-degree-of-freedom trestle device based on three-degree-of-freedom spherical mechanism - Google Patents
Four-degree-of-freedom trestle device based on three-degree-of-freedom spherical mechanism Download PDFInfo
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- CN116103995A CN116103995A CN202211568398.XA CN202211568398A CN116103995A CN 116103995 A CN116103995 A CN 116103995A CN 202211568398 A CN202211568398 A CN 202211568398A CN 116103995 A CN116103995 A CN 116103995A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D15/00—Movable or portable bridges; Floating bridges
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
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Abstract
The invention discloses a four-degree-of-freedom trestle device based on a three-degree-of-freedom spherical mechanism, which comprises the three-degree-of-freedom spherical mechanism, wherein a first section of bridge body is arranged at the upper end of the three-degree-of-freedom spherical mechanism, the first section of bridge body is connected with a second section of bridge body through a first sliding pair, the second section of bridge body is connected with a third section of bridge body through a second sliding pair, one end of the third section of bridge body is provided with a visual sensor, a six-dimensional force sensor and a butting claw, a second telescopic hydraulic cylinder is arranged at the lower end of the first section of bridge body, the three-degree-of-freedom spherical mechanism comprises a turntable, a first connecting rod, a second connecting rod, a third connecting rod, a first rotary support, a second rotary support, a third rotary support, a fixed ring, a turntable support, a base, a first worm wheel, a second rotary shaft, a third worm wheel, a first worm, a first driver, a second worm, a second driver, a third worm and a third driver. The invention can obtain four-degree-of-freedom large-scale motion compensation capability with compact structure and smaller driving power.
Description
Technical Field
The invention belongs to the technical field of ocean engineering equipment, and particularly relates to a four-degree-of-freedom trestle device based on a three-degree-of-freedom spherical mechanism.
Background
The trestle device is important equipment for docking ships with other fixed working platforms at sea and is used for carrying conveying requirements of personnel, materials and the like. The relative motion between the ship and the fixed operation platform is difficult to avoid due to the influence of the sea tides and wind waves, and in order to ensure the safety and the comfort of the conveying process, the trestle device is generally required to have certain wave compensation capability so as to reduce the relative motion between the trestle device and the fixed platform. At present, the device mainly has three different motion compensation capacities of three degrees of freedom, four degrees of freedom and six degrees of freedom. The three-degree-of-freedom and four-degree-of-freedom trestle device is light in weight, simple in structure, easy to control and low in cost, is generally carried on small and medium ships, and the six-degree-of-freedom trestle device is large in weight, complex in structure, high in control difficulty and high in cost and is generally carried on large ships.
However, the conventional trestle device mainly adopts a plurality of hydraulic telescopic cylinders to be connected with a bridge body to realize multi-degree-of-freedom motion, the structure of the trestle device not only occupies large space, but also directly transmits power to the bridge body through a connecting rod without a speed reducer, so that in order to ensure enough driving force, larger cylinder diameter or pressure is often required, and the problems of power redundancy, overlarge structural size and the like are easily caused. All the problems occupy a large amount of load of the small and medium-sized ships, and greatly reduce the transportation capacity of the ships.
Disclosure of Invention
The invention aims to provide a four-degree-of-freedom landing stage device based on a three-degree-of-freedom spherical mechanism, so as to solve the problems in the background, and the three-degree-of-freedom spherical mechanism and a two-stage telescopic hydraulic cylinder can be applied to the landing stage device, so that the landing stage device is beneficial to obtaining four-degree-of-freedom large-scale motion compensation capability with a compact structure and smaller driving power, and is convenient to carry on small and medium-sized ships.
The four-degree-of-freedom trestle device based on the three-degree-of-freedom spherical mechanism comprises the three-degree-of-freedom spherical mechanism, wherein a first section of bridge body is arranged at the upper end of the three-degree-of-freedom spherical mechanism, the first section of bridge body is connected with a second section of bridge body through a first sliding pair, the second section of bridge body is connected with a third section of bridge body through a second sliding pair, one end of the third section of bridge body is provided with a visual sensor, a six-dimensional force sensor and a butting claw, and a second-stage telescopic hydraulic cylinder is arranged at the lower end of the first section of bridge body;
the three-degree-of-freedom spherical mechanism comprises a turntable, a first connecting rod, a second connecting rod, a third connecting rod, a first rotary support, a second rotary support, a third rotary support, a fixed ring, a turntable bracket, a base, a first worm wheel, a second rotating shaft, a second worm wheel, a third rotating shaft, a third worm wheel, a first worm, a first driver, a second worm, a second driver, a third worm and a third driver;
the rotary table is fixedly connected with the first section of bridge body, the rotary table is respectively hinged with one ends of a first connecting rod, a second connecting rod and a third connecting rod, the other end of the first connecting rod is hinged with a first rotary support, the other end of the second connecting rod is hinged with a second rotary support, the other end of the third connecting rod is hinged with a third rotary support, the first rotary support is arranged in a fixed ring, the fixed ring is fixed with a rotary table support, the rotary table support is fixed with a base, the lower end of the first rotary support is fixed with a first worm wheel, the second rotary support is fixed with a second rotary shaft, the second rotary shaft is arranged in the first rotary support, the lower end of the second rotary shaft is fixed with a second worm wheel, the third rotary support is fixed with a third rotary shaft, the third rotary shaft is fixed with a third worm, the first worm is meshed with a first worm, the first driver is fixed with the output end of the first driver, the first driver is fixed with the base, the second worm wheel is fixed with the second worm wheel, the second worm wheel is meshed with the third driver, the third driver is fixed with the base, and the output end of the third driver is meshed with the base.
Further, the second section bridge body is arranged on the first section bridge body through a first sliding pair, the first sliding pair comprises a first guide rail fixed on the inner side of the first section bridge body, and the first guide rail is in sliding connection with a first sliding block fixed on the second section bridge body.
Further, the second section bridge body is provided with a third section bridge body through a second sliding pair, the second sliding pair comprises a second guide rail fixed on the inner side of the second section bridge body, and the second guide rail is in sliding connection with a second sliding block fixed on the third section bridge body.
Further, a visual sensor and a six-dimensional force sensor are fixed at the bottom of one end of the third-section bridge body, and the six-dimensional force sensor is fixedly connected with the butting claw.
Further, the second-stage telescopic hydraulic cylinder comprises a cylinder body hinged with the bottom of the first-stage bridge body, a first-stage telescopic rod hinged with the bottom of the second-stage bridge body, and a second-stage telescopic rod hinged with the bottom of the third-stage bridge body.
Further, the axis of the secondary telescopic hydraulic cylinder is parallel to the axis of the first sliding pair, and the axis of the first sliding pair is parallel to the axis of the second sliding pair.
Further, the first connecting rod, the second connecting rod and the third connecting rod have the same structure, and the included angles of the hinge axes at the two ends of the first connecting rod, the second connecting rod and the third connecting rod are all 90 degrees.
Further, the hinge axis of the first rotary support and the axis included angle of the first worm wheel are 45 degrees, the hinge axis of the second rotary support and the axis included angle of the second worm wheel are 45 degrees, the hinge axis of the third rotary support and the axis included angle of the third worm wheel are 45 degrees, the axes of the first worm wheel and the second worm wheel are collinear with the axis of the third worm wheel, and the first worm wheel, the second worm wheel and the third worm wheel are sequentially arranged from top to bottom.
Advantageous effects
Compared with the prior art, the invention has the following advantages.
1. The invention uses the characteristics of compact structure and easy control of the three-degree-of-freedom spherical mechanism and the advantages of large expansion ratio of the two-stage telescopic hydraulic cylinder to apply the three-degree-of-freedom spherical mechanism and the two-stage telescopic hydraulic cylinder to the motion compensation driving of the trestle device, so that the trestle device obtains four-degree-of-freedom large-scale motion compensation capability with lower cost and smaller installation space;
2. the invention applies the worm and gear mechanism to the transmission system of the three-degree-of-freedom spherical mechanism, so that the trestle device obtains a larger reduction ratio in a compact structure, and meanwhile, the driving of the trestle device can be more matched with the action characteristics of large sea waves, low speed and large impact force, and the problem of system power redundancy can be effectively avoided; in addition, the worm and gear mechanism has self-locking capability, so that the trestle device can be ensured to be stable in an unused state;
3. according to the invention, the visual sensor is arranged on the trestle device, so that the trestle device can acquire the relative pose relationship between the trestle body and the operation platform in real time when being in butt joint with the fixed operation platform, and the trestle device is beneficial to ensuring the efficient and safe butt joint of the trestle; and a six-dimensional force sensor is arranged between the trestle body and the butt-joint claw, so that the trestle device can acquire interaction force parameters between the trestle device and the fixed operation platform in real time, a control system of the trestle is helped to judge the motion change of the trestle relative to the fixed operation platform, and further the gesture of the trestle is quickly adjusted to ensure the lap-joint stability of the trestle.
Drawings
The present invention is described in further detail below with reference to the accompanying drawings.
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a bottom view of the three degree of freedom spherical mechanism of the present invention;
FIG. 4 is a cross-sectional view of a three degree of freedom spherical mechanism of the present invention;
FIG. 5 is an isometric view of a first link of the present invention;
FIG. 6 is an isometric view of a first shaft drive system of a three degree of freedom spherical mechanism of the present invention;
FIG. 7 is an isometric view of a second shaft drive system of a three degree of freedom spherical mechanism in accordance with the present invention;
fig. 8 is an isometric view of a third shaft drive system for a three degree of freedom spherical mechanism in accordance with the present invention.
Detailed Description
The invention is further described below with reference to examples and figures.
1-8, a four-degree-of-freedom trestle device based on a three-degree-of-freedom spherical mechanism comprises a three-degree-of-freedom spherical mechanism 1, wherein a first section of bridge body 2 is arranged at the upper end of the three-degree-of-freedom spherical mechanism 1, the first section of bridge body 2 is connected with a second section of bridge body 3 through a first sliding pair, the second section of bridge body 3 is connected with a third section of bridge body 4 through a second sliding pair, one end of the third section of bridge body 4 is provided with a visual sensor 6, a six-dimensional sensor 7 and a butting claw 8, and the lower end of the first section of bridge body 2 is provided with a second-stage telescopic hydraulic cylinder 5;
the three-degree-of-freedom spherical mechanism 1 comprises a turntable 101, a first connecting rod 102, a second connecting rod 103, a third connecting rod 104, a first rotary support 105, a second rotary support 106, a third rotary support 107, a fixed ring 108, a turntable bracket 109, a base 110, a first worm gear 111, a second rotating shaft 112, a second worm gear 113, a third rotating shaft 114, a third worm gear 115, a first worm 116, a first driver 117, a second worm 118, a second driver 119, a third worm 120 and a third driver 121;
the rotary table 101 is fixedly connected with the first bridge 2, the rotary table 101 is respectively hinged with one ends of a first connecting rod 102, a second connecting rod 103 and a third connecting rod 104, the other end of the first connecting rod 102 is hinged with a first rotary support 105, the other end of the second connecting rod 103 is hinged with a second rotary support 106, the other end of the third connecting rod 104 is hinged with a third rotary support 107, the first rotary support 105 is arranged in a fixed ring 108, the fixed ring 108 is fixed with a rotary table bracket 109, the rotary table bracket 109 is fixed with a base 110, the lower end of the first rotary support 105 is fixed with a first worm wheel 111, the second rotary support 106 is fixed with a second rotary shaft 112, the second rotary shaft 112 is arranged in the first rotary support 105, the lower end of the second rotary shaft 112 is fixed with a second worm wheel 113, the third rotary support 107 is fixed with a third rotary shaft 114, the lower end of the third rotary support 114 is fixed with a third 115, the first worm wheel 111 is fixed with a third worm wheel 116, the first worm wheel 116 is meshed with a third driver 116, the second driver 116 is meshed with a third driver 117, the second driver 117 is meshed with a second driver 110.
The first section bridge body is provided with a second section bridge body through a first sliding pair, the first sliding pair comprises a first guide rail 9 fixed on the inner side of the first section bridge body 2, and the first guide rail 9 is in sliding connection with a first sliding block 10 fixed on the second section bridge body.
The second section bridge body is provided with a third section bridge body through a second sliding pair, the second sliding pair comprises a second guide rail 11 fixed on the inner side of the second section bridge body 3, and the second guide rail 11 is in sliding connection with a second sliding block 12 fixed on the third section bridge body.
The visual sensor 6 and the six-dimensional force sensor 7 are fixed at the bottom of one end of the third bridge body, and the six-dimensional force sensor 7 is fixedly connected with the butting claw 8.
The secondary telescopic hydraulic cylinder 5 comprises a cylinder body 501 hinged with the bottom of the first-section bridge body 2, a primary telescopic rod 502 hinged with the bottom of the second-section bridge body 3 and a secondary telescopic rod 503 hinged with the bottom of the third-section bridge body 4.
The axis of the secondary telescopic hydraulic cylinder 5 is parallel to the axis of the first sliding pair, and the axis of the first sliding pair is parallel to the axis of the second sliding pair.
The first connecting rod 102, the second connecting rod 103 and the third connecting rod 104 have the same structure, and the included angles of the hinge axes of the two ends of the first connecting rod 102, the second connecting rod 103 and the third connecting rod 104 are all 90 degrees.
The included angle between the hinge axis of the first rotary support 105 and the axis of the first worm wheel 111 is 45 degrees, the included angle between the hinge axis of the second rotary support 106 and the axis of the second worm wheel 113 is 45 degrees, the included angle between the hinge axis of the third rotary support 107 and the axis of the third worm wheel 115 is 45 degrees, the axes of the first worm wheel 111 and the second worm wheel 113 are collinear with the axis of the third worm wheel 115, and the first worm wheel 111, the second worm wheel 113 and the third worm wheel 115 are sequentially arranged from top to bottom.
In the invention, a turntable 101 of the three-degree-of-freedom spherical mechanism 1 is fixedly connected with a first section bridge body 2, a first guide rail 9 is fixed on the inner side of the first section bridge body 2, the first guide rail 9 is matched with a first sliding block 10 to form a first sliding pair, the first sliding block 10 is fixed on the outer side of a second section bridge body 3, a second guide rail 11 is fixed on the inner side of the second section bridge body 3, the second guide rail 11 is matched with a second sliding block 12 to form a second sliding pair, the second sliding block 12 is fixed on the outer side of a third section bridge body 4, the bottom of the first section bridge body 2 is hinged with a cylinder body 501 of a second-stage telescopic hydraulic cylinder 5, the bottom of the second section bridge body 3 is hinged with a first-stage telescopic rod 502 of the second-stage telescopic hydraulic cylinder 5, the bottom of the third section bridge body 4 is hinged with a second-stage telescopic rod 503 of the second-stage telescopic hydraulic cylinder 5, the bottom of the third section bridge body 4 is fixed with a vision sensor 6 and a six-dimensional force sensor 7, the six-dimensional force sensor 7 is fixed with the butting claw 8, the turntable 101 is hinged with one end of a first connecting rod 102, a second connecting rod 103 and a third connecting rod 104 respectively, the other end of the first connecting rod 102 is hinged with a first rotary support 105, the other end of the second connecting rod 103 is hinged with a second rotary support 106, the other end of the third connecting rod 104 is hinged with a third rotary support 107, the first rotary support 105 penetrates through the center of a fixed ring 108, the fixed ring 108 is fixed with a turntable bracket 109, the turntable bracket 109 is fixed with a base 110, the lower end of the first rotary support 105 is fixed with a first worm gear 111, the second rotary support 106 is fixed with a second rotary shaft 112, the second rotary shaft 112 penetrates through the center of the first rotary support 105, the lower end of the second rotary shaft 112 is fixed with a second worm gear 113, the third rotary support 107 is fixed with a third rotary shaft 114, the third rotating shaft 114 penetrates through the center of the second rotating shaft 112, a third worm gear 115 is fixed at the lower end of the third rotating shaft 114, the first worm gear 111 is meshed with a first worm 116, the first worm 116 is fixed with a first driver 117, the first driver 117 is fixed with the base 110, the second worm gear 113 is meshed with a second worm 118, the second worm 118 is fixed with a second driver 119, the second driver 119 is fixed with the base 110, the third worm gear 115 is meshed with a third worm 120, the third worm 120 is fixed with a third driver 121, and the third driver 121 is fixed with the base 110.
The axis of the secondary telescopic hydraulic cylinder 5 is parallel to a first auxiliary sliding axis formed by matching the first guide rail 9 and the first sliding block 10, and the auxiliary sliding axis formed by matching the first guide rail 9 and the first sliding block 10 is parallel to a second auxiliary sliding axis formed by matching the second guide rail 11 and the second sliding block 12.
The first connecting rod 102, the second connecting rod 103 and the third connecting rod 104 have the same structure, and the included angle of the hinge axes of the two ends is 90 degrees.
The included angle between the hinge axis of the first rotary support 105 and the axis of the first worm wheel 111 is 45 degrees, the included angle between the hinge axis of the second rotary support 106 and the axis of the second worm wheel 113 is 45 degrees, the included angle between the hinge axis of the third rotary support 107 and the axis of the third worm wheel 115 is 45 degrees, the axes of the first worm wheel 111 and the second worm wheel 113 are collinear with the axis of the third worm wheel 115, and the first worm wheel 111, the second worm wheel 113 and the third worm wheel 115 are sequentially arranged from top to bottom.
The working principle of the invention is as follows:
(1) Trestle bridge rotation principle: the first driver 117, the second driver 119, and the third driver 121 respectively drive the first worm 116, the second worm 118, and the third worm 120 to rotate correspondingly, the first worm 116, the second worm 118, and the third worm 120 respectively drive the first worm wheel 111, the second worm wheel 113, and the third worm wheel 115 to rotate correspondingly, the first worm wheel 111, the second worm wheel 113, and the third worm wheel 115 are respectively meshed, the first worm wheel 111, the second worm wheel 113, and the third worm wheel 115 are respectively driven to rotate, the first worm wheel 111, the second worm wheel 113, and the third worm wheel 115 respectively drive the first rotary support 105, the second rotary shaft 112, and the third rotary shaft 114 to rotate, the second rotary support 106 and the third rotary support 107 are respectively driven to rotate, the first rotary support 105, the second rotary support 106, and the third rotary support 107 respectively drive the first link 102, the second link 103, and the third link 104 to move, the first link 102, the second link 103, and the third link 104 drive the turntable 101 to rotate, the first bridge 2 to drive the second bridge 3 to rotate, and the third bridge 3 to rotate; the rotation motion of the trestle body around the x, y and z three axes is jointly controlled by the rotation speed and direction of the first worm 116, the second worm 118 and the third worm 120, wherein the first driver 117, the second driver 119 and the third driver 121 respectively drive the first worm 116, the second worm 118 and the third worm 120 to rotate around the z axis only when the first worm 116, the second worm 118 and the third worm 120 rotate in the same direction at the same speed.
(2) Trestle bridge body telescoping principle: the first-stage telescopic rod 502 stretches and stretches to drive the second-stage bridge body 3 to stretch and stretch, and the second-stage telescopic rod 503 stretches and stretches to drive the third-stage bridge body 4 to stretch and stretch.
(3) The working principle of the sensor is as follows: the vision sensor 6 acquires the front image information of the third-section bridge body 4 in real time and transmits the front image information to the central processing unit, and the relative pose between the trestle bridge body and the fixed operation platform is judged; after the trestle is in butt joint with the fixed working platform, the six-dimensional force sensor 7 acquires interaction force parameters between the butt joint claw 8 and the fixed working platform in real time and transmits the interaction force parameters to the central processing unit, and the force action relation between the trestle and the fixed working platform is judged.
The invention provides a four-degree-of-freedom landing stage device based on a three-degree-of-freedom spherical mechanism, which can realize that the three-degree-of-freedom spherical mechanism and a two-stage telescopic hydraulic cylinder are applied to the landing stage device, is beneficial to the landing stage device to obtain four-degree-of-freedom large-scale motion compensation capability with a compact structure and smaller driving power, and is convenient to carry on small and medium-sized ships.
Claims (8)
1. The four-degree-of-freedom trestle device based on the three-degree-of-freedom spherical mechanism comprises a three-degree-of-freedom spherical mechanism (1) and is characterized in that a first section of bridge body (2) is arranged at the upper end of the three-degree-of-freedom spherical mechanism (1), the first section of bridge body (2) is connected with a second section of bridge body (3) through a first sliding pair, the second section of bridge body (3) is connected with a third section of bridge body (4) through a second sliding pair, a visual sensor (6), a six-dimensional force sensor (7) and a butting claw (8) are arranged at one end of the third section of bridge body (4), and a second-stage telescopic hydraulic cylinder (5) is arranged at the lower end of the first section of bridge body (2); the three-degree-of-freedom spherical mechanism (1) comprises a rotary table (101), a first connecting rod (102), a second connecting rod (103), a third connecting rod (104), a first rotary support (105), a second rotary support (106), a third rotary support (107), a fixed ring (108), a rotary table bracket (109), a base (110), a first worm wheel (111), a second rotating shaft (112), a second worm wheel (113), a third rotating shaft (114), a third worm wheel (115), a first worm (116), a first driver (117), a second worm (118), a second driver (119), a third worm (120) and a third driver (121); the rotary table (101) is fixedly connected with the first section of bridge body (2), the rotary table (101) is respectively hinged with one ends of a first connecting rod (102), a second connecting rod (103) and a third connecting rod (104), the other end of the first connecting rod (102) is hinged with a first rotary support (105), the other end of the second connecting rod (103) is hinged with a second rotary support (106), the other end of the third connecting rod (104) is hinged with a third rotary support (107), the first rotary support (105) is arranged in a fixed ring (108), the fixed ring (108) is fixed with a rotary table bracket (109), the rotary table bracket (109) is fixed with a base (110), the lower end of the first rotary support (105) is fixed with a first worm wheel (111), the second rotary support (106) is fixed with a second rotary shaft (112), the second rotary support (112) is arranged in the first rotary support (105), the lower end of the second rotary support (112) is fixed with a second worm wheel (113), the third rotary support (108) is fixed with a third worm wheel (114), the third rotary support (114) is fixed with the third rotary shaft (114), the third rotary support (114) is meshed with the third rotary shaft (116), the first worm (116) is fixed with the output end of the first driver (117), the first driver (117) is fixed with the base (110), the second worm wheel (113) is meshed with the second worm (118), the second worm (118) is fixed with the output end of the second driver (119), the second driver (119) is fixed with the base (110), the third worm wheel (115) is meshed with the third worm (120), the third worm (120) is fixed with the output end of the third driver (121), and the third driver (121) is fixed with the base (110).
2. The four-degree-of-freedom trestle device based on the three-degree-of-freedom spherical mechanism according to claim 1, characterized in that the second-section bridge body (3) is mounted on the first-section bridge body (2) through a first sliding pair, the first sliding pair comprises a first guide rail (9) fixed on the inner side of the first-section bridge body (2), and the first guide rail (9) is in sliding connection with a first sliding block (10) fixed on the second-section bridge body (3).
3. The four-degree-of-freedom trestle device based on the three-degree-of-freedom spherical mechanism according to claim 1, characterized in that the third-section bridge body (4) is mounted on the second-section bridge body (3) through a second sliding pair, the second sliding pair comprises a second guide rail (11) fixed on the inner side of the second-section bridge body (3), and the second guide rail (11) is in sliding connection with a second sliding block (12) fixed on the third-section bridge body (4).
4. The four-degree-of-freedom trestle device based on the three-degree-of-freedom spherical mechanism according to claim 1, wherein a visual sensor (6) and a six-dimensional force sensor (7) are fixed at the bottom of one end of the third-section bridge body (4), and the six-dimensional force sensor (7) is fixedly connected with a butting claw (8).
5. The four-degree-of-freedom trestle device based on the three-degree-of-freedom spherical mechanism according to claim 1, wherein the two-stage telescopic hydraulic cylinder (5) comprises a cylinder body (501) hinged with the bottom of the first-stage bridge body (2), a first-stage telescopic rod (502) hinged with the bottom of the second-stage bridge body (3) and a second-stage telescopic rod (503) hinged with the bottom of the third-stage bridge body (4).
6. The four-degree-of-freedom trestle device based on the three-degree-of-freedom spherical mechanism according to claim 1, characterized in that the axis of the secondary telescopic hydraulic cylinder (5) is parallel to the axis of the first sliding pair, and the axis of the first sliding pair is parallel to the axis of the second sliding pair.
7. The four-degree-of-freedom trestle device based on the three-degree-of-freedom spherical mechanism according to claim 1, wherein the first connecting rod (102), the second connecting rod (103) and the third connecting rod (104) have the same structure, and the included angles of the hinge axes of the two ends of the first connecting rod (102), the second connecting rod (103) and the third connecting rod (104) are all 90 degrees.
8. The four-degree-of-freedom trestle device based on the three-degree-of-freedom spherical mechanism according to claim 1, characterized in that an included angle between a hinge axis of the first rotary support (105) and an axis of the first worm wheel (111) is 45 degrees, an included angle between a hinge axis of the second rotary support (106) and an axis of the second worm wheel (113) is 45 degrees, an included angle between a hinge axis of the third rotary support (107) and an axis of the third worm wheel (115) is 45 degrees, an axis of the first worm wheel (111) and an axis of the second worm wheel (113) are collinear with an axis of the third worm wheel (115), and the first worm wheel (111), the second worm wheel (113) and the third worm wheel (115) are sequentially arranged from top to bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211568398.XA CN116103995A (en) | 2022-12-08 | 2022-12-08 | Four-degree-of-freedom trestle device based on three-degree-of-freedom spherical mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211568398.XA CN116103995A (en) | 2022-12-08 | 2022-12-08 | Four-degree-of-freedom trestle device based on three-degree-of-freedom spherical mechanism |
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| CN116103995A true CN116103995A (en) | 2023-05-12 |
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| CN202211568398.XA Pending CN116103995A (en) | 2022-12-08 | 2022-12-08 | Four-degree-of-freedom trestle device based on three-degree-of-freedom spherical mechanism |
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- 2022-12-08 CN CN202211568398.XA patent/CN116103995A/en active Pending
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