CN210414530U - Three-freedom-degree spherical parallel mechanism transmission device - Google Patents
Three-freedom-degree spherical parallel mechanism transmission device Download PDFInfo
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- CN210414530U CN210414530U CN201920993318.2U CN201920993318U CN210414530U CN 210414530 U CN210414530 U CN 210414530U CN 201920993318 U CN201920993318 U CN 201920993318U CN 210414530 U CN210414530 U CN 210414530U
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Abstract
The utility model discloses a three degree of freedom sphere parallel mechanism transmission, include three rocking arm and be used for controlling the drive mechanism that three rocking arm realized independent turnover motion, three rocking arm all arranges in drive mechanism's circumference, drive mechanism includes three group's compound drive assembly, and a set of compound drive assembly corresponds and is connected with a rocking arm. Each group of composite transmission assemblies comprises a driving motor, gear transmission, belt wheel transmission and rope winding transmission, the gear transmission transmits the non-coaxial rotation of the driving motor to the coaxial rotation of the central shaft, the belt wheel transmission transmits the coaxial rotation of the central shaft to the corresponding rocker arm, and the rope winding transmission restricts the rocker arm to be tangent to the excircle of the ball joint and roll purely. The utility model provides a present actuating mechanism's motion inertia too big, the too big and not compact problem enough of structure of overall dimension.
Description
Technical Field
The utility model relates to a mechanical transmission technical field, in particular to compound sphere parallel mechanism transmission is driven to three degrees of freedom gear conveyer belt ropes.
Background
The research, development, manufacture and application of modern robots are important marks for measuring the level of national technological innovation and high-end manufacturing industry. The cooperative and cooperative operation between robots has become an important direction for the research and development of the robots at present. Traditional cooperative robots all adopt a serial connection mode, but a human shoulder joint is a parallel mechanism, and robots adopting serial joints cannot well perform similar motion interaction with a human.
The common parallel mechanism can not realize the turnover movement generally and can only move in a space with a smaller range, and the parallel ball joint transmission mechanism can realize the requirement of the turnover movement, thereby realizing the movement in a large angle range and conforming to the spherical movement of the shoulder joint of the human body. The driving mechanism applied to the parallel ball joint has a plurality of defects at present, a driving motor is arranged on a moving rocker arm of a common parallel ball joint mechanism, the motor drives the rocker arm and simultaneously moves together with the rocker arm, the mode is very simple and convenient to realize, the movement inertia in the driving process is increased, the integral movement performance of the mechanism is reduced under the condition that the movement acceleration of the mechanism is large, and the static load of the rocker arm is increased, so that the load of the parallel mechanism is reduced.
One current solution is to use pitch circle internal gear transmission to fix the motor at the bottom of the transmission device, and to drive the parallel ball joints through internal gear engagement transmission, although this method can fix the motor to reduce the rotational inertia, under the condition of meeting the load requirement, the module is large or the tooth width is thick, so that the volume and the mass of the internal gear ring are large, and also there is large rotational inertia in the operation process, and the space occupied by the layout gear is too large, and there are problems of heavy mass and not compact enough structure.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's not enough, provide a three degree of freedom sphere parallel mechanism transmission, this mechanism makes parallelly connected ball joint's connecting rod bottom carry out the turnover motion round design ball joint radius.
The technical scheme of the utility model is that: the utility model provides a three degree of freedom sphere parallel mechanism transmission, includes three rocking arms and is used for controlling three rocking arms and realizes the drive mechanism of independent turnover motion, three rocking arms all arrange in drive mechanism's circumference, drive mechanism includes three group's compound transmission subassemblies, and a group of compound transmission subassembly corresponds and is connected with a rocking arm.
The transmission mechanism further comprises a central shaft and a ball joint excircle, each group of composite transmission assemblies comprises a driving motor, gear transmission, belt wheel transmission and rope winding transmission, the gear transmission transmits the non-coaxial rotation of the driving motor to the coaxial rotation of the central shaft, the belt wheel transmission transmits the coaxial rotation of the central shaft to the corresponding rocker arm, and the rope winding transmission restrains the rocker arm to be tangent to the ball joint excircle and roll purely. The central shaft can be used for restraining the revolving motion of the rocker arm, and simultaneously can provide installation space for the gear and the belt wheel, so that the non-coaxial transmission of the output end of the driving motor is converted into coaxial transmission; the belt wheel transmission respectively transmits the coaxial rotation transmitted by the gear to the rotation motion of a small rope winding wheel structure tangent to the excircle of the parallel ball joint, and the belt wheel can be used for long-distance transmission to reduce the mass of a transmission part; the purpose of the rope winding transmission is to enable rope winding wheels tangent to the excircle of the ball joint to be meshed with the excircle of the ball joint to roll purely, and the quality of the structure can be reduced by adopting the rope winding transmission mode.
The first group of composite transmission assemblies comprise a first driving motor, a first gear, a first belt, first belt wheels and first rope winding wheels, the first gear arranged on the central shaft is in transmission fit with the output end of the first driving motor, the two ends of the first belt are respectively provided with the first belt wheels, one of the first belt wheels rotates coaxially with the first gear on the central shaft, the other belt wheel is arranged on the corresponding rocker arm and rotates coaxially with the first rope winding wheel, and the first rope winding wheels are provided with first rope windings;
the second group of composite transmission components comprise a second driving motor, a second gear, a second belt, second belt wheels and second rope winding wheels, the second gear arranged on the central shaft is in transmission fit with the output end of the second driving motor, the two ends of the second belt are respectively provided with the second belt wheels, one of the second belt wheels rotates coaxially with the second gear on the central shaft, the other belt wheel is arranged on the corresponding rocker arm and rotates coaxially with the second rope winding wheel, and the second rope winding wheels are provided with second rope windings;
the third group of composite transmission assemblies comprise a third driving motor, a third gear, a third belt wheel and a third rope winding wheel, the third gear arranged on the central shaft is in transmission fit with the output end of the third driving motor, the third belt wheels are arranged at two ends of the third belt respectively, one of the third belt wheels rotates coaxially with the third gear on the central shaft, the other belt wheel is arranged on the corresponding rocker arm and rotates coaxially with the third rope winding wheel, and a third rope winding is arranged on the third rope winding wheel.
The first rope winding comprises two ropes wound in 8-shaped directions along different directions, and two ends of each rope are respectively fixed on the first rope winding wheel and the outer circle of the ball joint; the second rope winding comprises two ropes wound in 8-shaped directions along different directions, and two ends of each rope are respectively fixed on the second rope winding wheel and the outer circle of the ball joint; the third rope winding comprises two 8-shaped ropes wound in different directions, and two ends of each rope are fixed on the third rope winding wheel and the outer circle of the ball joint respectively. The structure is adopted to realize the rolling motion between the excircle of the ball joint and the rope winding wheel, and the revolving motion of the rocker arm can be restrained.
First driving motor and second driving motor set up, and the upper end of center pin is located to first gear, first band pulley, second gear and second band pulley, and third driving motor sets up down, and the lower extreme of center pin is located to third gear and third band pulley. The purpose of inverting the third driving motor is to simplify the structure of the upper end of the central shaft into two layers, so that the size of the used bearing can be reduced, and the overall mass and size of the device can be reduced.
The upper end of the central shaft adopts a shaft sleeve shaft structure; the first gear is fixedly connected with the first belt pulley through a flange, the second gear and the second belt pulley are spanned between the first gear and the first belt pulley, and the flange is connected with the central shaft through a bearing; the second gear is fixedly connected with the second belt wheel, and a bearing is arranged between the second gear and the central shaft as well as between the second belt wheel and the central shaft. The structure of the shaft sleeve shaft can ensure that the composite transmission assemblies of each group do not interfere in the coaxial rotation process.
Each rocker arm comprises a screw rod, a belt wheel, a rope winding wheel and an inner connecting rod used for connecting the belt wheel and the rope winding wheel, the belt wheel and the rope winding wheel are arranged on the screw rod, the inner connecting rod is fixed with the belt wheel, the rope winding wheel slides on the inner connecting rod, a nut is fixed on the rope winding wheel, and the nut is matched with the screw rod. When the belt wheel on the rocker arm rotates, the inner connecting rod and the rope winding wheel are driven to rotate, the nut fixed on the rope winding wheel moves up and down along the screw rod, and the rope winding wheel can wind the rope without winding.
The upper end and the lower extreme of screw rod are connected respectively and are had enough to meet the need the platform and have enough to meet the need the platform down, go up to have enough to meet the need still to be equipped with many vertical bracing pieces between platform and the lower platform of having enough to meet the need, go up the top of having had enough to meet the need the platform and the below of having enough to meet the need the platform down all fixed horizontally connecting rod that is equipped with, the other pot. Wherein, the connecting rod provides the turnover restraint of rocking arm, and the bracing piece provides linking firmly the restraint of rocking arm, and the overall structure of rocking arm is longitudinal symmetry, can guarantee overall structure's symmetry and improve system rigidity.
And a spiral rope winding groove is formed in the rope winding wheel, and the groove pitch of the rope winding groove is the same as the thread pitch of the screw. Wherein, adopt this kind of structure, guarantee every wiring a pitch of round lift to make the rope evenly fall on every wiring groove.
The driving motor is arranged inside the outer circle of the ball joint, and a plurality of rope winding grooves are formed in the periphery of the outer circle of the ball joint. The driving motor is arranged according to the mode, the whole size of the transmission mechanism can be reduced to a large extent, and the rope winding grooves are formed to prevent the ropes from being wound with each other in the rope winding transmission process.
The use principle of the three-degree-of-freedom spherical parallel mechanism transmission device is that the non-coaxial rotation of the output ends of the three driving motors is transmitted to the coaxial rotation of the central shaft through gear transmission respectively, and is transmitted to the rope winding wheel tangent to the excircle of the ball joint through belt wheel transmission, and the rope winding wheel is matched with the excircle of the ball joint in a rope winding transmission mode when rotating, so that three independent turnover motions are realized by the three rocker arms under the turnover constraint of the rocker arm connecting rods, the three independent turnover motions provide corresponding motion drive for the parallel ball joints, and finally the spherical motion of the parallel ball joints is realized.
The utility model discloses a gear drive, band pulley transmission and wiring driven compound drive mode arrive the turnover motion that goes on round ball joint excircle radius drive motor's non-coaxial rotation transmission to a driving mechanism's that is applied to parallelly connected ball joint mechanism solution is provided. Let the gear-driven reduction ratio be i1The reduction ratio of belt wheel transmission is i2The reduction ratio of the rope winding transmission is i3The reduction ratio of the whole drive mechanism is i1·i2·i3And the rotating direction of each rocker arm is opposite to the rotating direction of the output end of the corresponding driving motor.
Compared with the prior art, the utility model, following beneficial effect has:
the utility model provides a be applied to actuating mechanism of parallelly connected ball joint mechanism has solved present actuating mechanism's motion inertia too big, the too big and not compact problem enough of structure of overall dimension.
The utility model discloses a compound driven form has adopted gear drive, belt drive and wiring driven mode, and it is too big to have improved the inertia among the present sphere parallel mechanism transmission, and the dynamic behavior is not good, and the quality is overweight and the structure is too big problem of volume that leads to compact inadequately.
The utility model discloses an in driving motor arranged ball joint excircle in, reduced inertia, the mode of adopting a driving motor to invert simultaneously has simplified transmission's structure for the structure of this device is compacter and weight reduction.
Drawings
Fig. 1 is a schematic structural diagram of the transmission device of the three-degree-of-freedom spherical parallel mechanism.
Fig. 2 is a cross-sectional internal view of the three-degree-of-freedom spherical parallel mechanism transmission device, in which the central shaft is not shown.
Fig. 3 is a top view of the transmission device of the three-degree-of-freedom spherical parallel mechanism.
Fig. 4 is a schematic structural view of embodiment 2.
Fig. 5 is a schematic structural view of the rocker arm.
Fig. 6 is a schematic diagram of the rope winding of the engaging movement of the outer circle of the ball joint and the rope winding wheel.
In the figure, 1 is a rocker arm, 2 is a central shaft, 3 is a spherical joint outer circle, 4 is a driving motor, 51 is a first gear, 52 is a second gear, 53 is a third gear, 6 is a belt wheel, 61 is a first belt wheel, 62 is a second belt wheel, 63 is a third belt wheel, 7 is a rope winding wheel, 8 is a flange, 9 is a screw rod, 10 is an inner connecting rod, 11 is a nut, 12 is an upper revolving platform, 13 is a lower revolving platform, 14 is a support rod, and 15 is a connecting rod.
Detailed Description
The present invention will be described in further detail with reference to examples, but the present invention is not limited thereto.
Example 1
The three-degree-of-freedom spherical parallel mechanism transmission device comprises three rocker arms and a transmission mechanism used for controlling the three rocker arms to realize independent turnover movement, wherein the three rocker arms are arranged in the circumferential direction of the transmission mechanism, the transmission mechanism comprises three groups of composite transmission assemblies, and one group of composite transmission assemblies is correspondingly connected with one rocker arm.
The transmission mechanism further comprises a central shaft and a ball joint excircle, each group of composite transmission assemblies comprises a driving motor, gear transmission, belt wheel transmission and rope winding transmission, the gear transmission transmits the non-coaxial rotation of the driving motor to the coaxial rotation of the central shaft, the belt wheel transmission transmits the coaxial rotation of the central shaft to the corresponding rocker arm, and the rope winding transmission restrains the rocker arm to be tangent to the ball joint excircle and roll purely. The central shaft can be used for restraining the revolving motion of the rocker arm, and simultaneously can provide installation space for the gear and the belt wheel, so that the non-coaxial transmission of the output end of the driving motor is converted into coaxial transmission; the belt wheel transmission respectively transmits the coaxial rotation transmitted by the gear to the rotation motion of a small rope winding wheel structure tangent to the excircle of the parallel ball joint, and the belt wheel can be used for long-distance transmission to reduce the mass of a transmission part; the purpose of the rope winding transmission is to enable rope winding wheels tangent to the excircle of the ball joint to be meshed with the excircle of the ball joint to roll purely, and the quality of the structure can be reduced by adopting the rope winding transmission mode.
The first group of composite transmission assemblies comprise a first driving motor, a first gear, a first belt, first belt wheels and first rope winding wheels, the first gear arranged on the central shaft is in transmission fit with the output end of the first driving motor, the two ends of the first belt are respectively provided with the first belt wheels, one of the first belt wheels rotates coaxially with the first gear on the central shaft, the other belt wheel is arranged on the corresponding rocker arm and rotates coaxially with the first rope winding wheel, and the first rope winding wheels are provided with first rope windings;
the second group of composite transmission components comprise a second driving motor, a second gear, a second belt, second belt wheels and second rope winding wheels, the second gear arranged on the central shaft is in transmission fit with the output end of the second driving motor, the two ends of the second belt are respectively provided with the second belt wheels, one of the second belt wheels rotates coaxially with the second gear on the central shaft, the other belt wheel is arranged on the corresponding rocker arm and rotates coaxially with the second rope winding wheel, and the second rope winding wheels are provided with second rope windings;
the third group of composite transmission assemblies comprise a third driving motor, a third gear, a third belt wheel and a third rope winding wheel, the third gear arranged on the central shaft is in transmission fit with the output end of the third driving motor, the third belt wheels are arranged at two ends of the third belt respectively, one of the third belt wheels rotates coaxially with the third gear on the central shaft, the other belt wheel is arranged on the corresponding rocker arm and rotates coaxially with the third rope winding wheel, and a third rope winding is arranged on the third rope winding wheel.
The first rope winding comprises two ropes wound in 8-shaped directions along different directions, and two ends of each rope are respectively fixed on the first rope winding wheel and the outer circle of the ball joint; the second rope winding comprises two ropes wound in 8-shaped directions along different directions, and two ends of each rope are respectively fixed on the second rope winding wheel and the outer circle of the ball joint; the third rope winding comprises two 8-shaped ropes wound in different directions, and two ends of each rope are fixed on the third rope winding wheel and the outer circle of the ball joint respectively. The structure is adopted to realize the rolling motion between the excircle of the ball joint and the rope winding wheel, and the revolving motion of the rocker arm can be restrained.
First driving motor and second driving motor set up, and the upper end of center pin is located to first gear, first band pulley, second gear and second band pulley, and third driving motor sets up down, and the lower extreme of center pin is located to third gear and third band pulley. The purpose of inverting the third driving motor is to simplify the structure of the upper end of the central shaft into two layers, so that the size of the used bearing can be reduced, and the overall mass and size of the device can be reduced.
The upper end of the central shaft adopts a shaft sleeve shaft structure; the first gear is fixedly connected with the first belt pulley through a flange, the second gear and the second belt pulley are spanned between the first gear and the first belt pulley, and the flange is connected with the central shaft through a bearing; the second gear is fixedly connected with the second belt wheel, and a bearing is arranged between the second gear and the central shaft as well as between the second belt wheel and the central shaft. The structure of the shaft sleeve shaft can ensure that the composite transmission assemblies of each group do not interfere in the coaxial rotation process.
Each rocker arm comprises a screw rod, a belt wheel, a rope winding wheel and an inner connecting rod used for connecting the belt wheel and the rope winding wheel, the belt wheel and the rope winding wheel are arranged on the screw rod, the inner connecting rod is fixed with the belt wheel, the rope winding wheel slides on the inner connecting rod, a nut is fixed on the rope winding wheel, and the nut is matched with the screw rod. When the belt wheel on the rocker arm rotates, the inner connecting rod and the rope winding wheel are driven to rotate, the nut fixed on the rope winding wheel moves up and down along the screw rod, and the rope winding wheel can wind the rope without winding.
The upper end and the lower extreme of screw rod are connected respectively and are had enough to meet the need the platform and have enough to meet the need the platform down, go up to have enough to meet the need still to be equipped with many vertical bracing pieces between platform and the lower platform of having enough to meet the need, go up the top of having had enough to meet the need the platform and the below of having enough to meet the need the platform down all fixed horizontally connecting rod that is equipped with, the other pot. Wherein, the connecting rod provides the turnover restraint of rocking arm, and the bracing piece provides linking firmly the restraint of rocking arm, and the overall structure of rocking arm is longitudinal symmetry, can guarantee overall structure's symmetry and improve system rigidity.
The rope winding wheel is provided with a spiral rope winding groove, and the groove pitch of the rope winding groove is the same as the thread pitch of the screw. Wherein, adopt this kind of structure, guarantee every wiring a pitch of round lift to make the rope evenly fall on every wiring groove.
The driving motor is arranged inside the outer circle of the ball joint, and a plurality of rope winding grooves are formed in the periphery of the outer circle of the ball joint. The driving motor is arranged according to the mode, the whole size of the transmission mechanism can be reduced to a large extent, and the rope winding grooves are formed to prevent the ropes from being wound with each other in the rope winding transmission process.
The use principle of the three-degree-of-freedom spherical parallel mechanism transmission device is that the non-coaxial rotation of the output ends of the three driving motors is transmitted to the coaxial rotation of the central shaft through gear transmission respectively, and is transmitted to the rope winding wheel tangent to the excircle of the ball joint through belt wheel transmission, and the rope winding wheel is matched with the excircle of the ball joint in a rope winding transmission mode when rotating, so that three independent turnover motions are realized by the three rocker arms under the turnover constraint of the rocker arm connecting rods, the three independent turnover motions provide corresponding motion drive for the parallel ball joints, and finally the spherical motion of the parallel ball joints is realized.
The utility model discloses a gear drive, band pulley transmission and wiring driven compound drive mode arrive the turnover motion that goes on round ball joint excircle radius drive motor's non-coaxial rotation transmission to a driving mechanism's that is applied to parallelly connected ball joint mechanism solution is provided. Let the gear-driven reduction ratio be i1The reduction ratio of belt wheel transmission is i2The reduction ratio of the rope winding transmission is i3The reduction ratio of the whole drive mechanism is i1·i2·i3And the rotating direction of each rocker arm is opposite to the rotating direction of the output end of the corresponding driving motor.
Example 2
The present embodiment is different from embodiment 1 in that, as shown in fig. 4, a parallel ball joint and a stage for outputting power are provided on a swing arm, and the portion not mentioned in the present embodiment is the same as embodiment 1.
As described above, the present invention can be realized well, and the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all equivalent changes and modifications made according to the present invention are intended to be covered by the scope of the claims of the present invention.
Claims (10)
1. The utility model provides a three degree of freedom sphere parallel mechanism transmission, its characterized in that includes three rocking arms and is used for controlling three rocking arms and realizes the drive mechanism of independent turnover motion, three rocking arms all arrange in drive mechanism's circumference, drive mechanism includes three group's compound drive assembly, and a set of compound drive assembly corresponds and is connected with a rocking arm.
2. The three-degree-of-freedom spherical parallel mechanism transmission device according to claim 1, wherein the transmission mechanism further comprises a central shaft and a spherical joint outer circle, each group of composite transmission components comprises a driving motor, a gear transmission, a belt pulley transmission and a rope winding transmission, the gear transmission transmits non-coaxial rotation of the driving motor to coaxial rotation of the central shaft, the belt pulley transmission transmits coaxial rotation of the central shaft to a corresponding rocker arm, and the rope winding transmission restricts the rocker arms to be tangent to the spherical joint outer circle and roll purely.
3. The transmission device of three-degree-of-freedom spherical parallel mechanism according to claim 2, wherein the first group of compound transmission components includes a first driving motor, a first gear, a first belt, a first pulley and a first rope winding wheel, the first gear arranged on the central shaft is in transmission fit with the output end of the first driving motor, the two ends of the first belt are respectively provided with the first pulley, one of the first pulleys rotates coaxially with the first gear on the central shaft, the other pulley is arranged on the corresponding rocker arm and rotates coaxially with the first rope winding wheel, and the first rope winding wheel is provided with a first rope winding;
the second group of composite transmission components comprise a second driving motor, a second gear, a second belt, second belt wheels and second rope winding wheels, the second gear arranged on the central shaft is in transmission fit with the output end of the second driving motor, the two ends of the second belt are respectively provided with the second belt wheels, one of the second belt wheels rotates coaxially with the second gear on the central shaft, the other belt wheel is arranged on the corresponding rocker arm and rotates coaxially with the second rope winding wheel, and the second rope winding wheels are provided with second rope windings;
the third group of composite transmission assemblies comprise a third driving motor, a third gear, a third belt wheel and a third rope winding wheel, the third gear arranged on the central shaft is in transmission fit with the output end of the third driving motor, the third belt wheels are arranged at two ends of the third belt respectively, one of the third belt wheels rotates coaxially with the third gear on the central shaft, the other belt wheel is arranged on the corresponding rocker arm and rotates coaxially with the third rope winding wheel, and a third rope winding is arranged on the third rope winding wheel.
4. The transmission device of three-degree-of-freedom spherical parallel mechanism according to claim 3, wherein the first rope winding comprises two ropes wound in 8-shaped directions along different directions, and two ends of the rope are respectively fixed on the first rope winding wheel and the outer circle of the ball joint; the second rope winding comprises two ropes wound in 8-shaped directions along different directions, and two ends of each rope are respectively fixed on the second rope winding wheel and the outer circle of the ball joint; the third rope winding comprises two 8-shaped ropes wound in different directions, and two ends of each rope are fixed on the third rope winding wheel and the outer circle of the ball joint respectively.
5. The transmission device of three-degree-of-freedom spherical parallel mechanism according to claim 3, wherein the first driving motor and the second driving motor are disposed upward, the first gear, the first pulley, the second gear and the second pulley are disposed at the upper end of the central shaft, the third driving motor is disposed downward, and the third gear and the third pulley are disposed at the lower end of the central shaft.
6. The transmission device of three-degree-of-freedom spherical parallel mechanism according to claim 3, wherein the upper end of the central shaft adopts a shaft sleeve shaft structure; the first gear is fixedly connected with the first belt pulley through a flange, the second gear and the second belt pulley are spanned between the first gear and the first belt pulley, and the flange is connected with the central shaft through a bearing; the second gear is fixedly connected with the second belt wheel, and a bearing is arranged between the second gear and the central shaft as well as between the second belt wheel and the central shaft.
7. The transmission device of three-degree-of-freedom spherical parallel mechanism according to claim 1, wherein each rocker arm comprises a screw, a pulley, a rope winding wheel and an inner connecting rod for connecting the pulley and the rope winding wheel, the pulley and the rope winding wheel are both arranged on the screw, the inner connecting rod is fixed with the pulley, the rope winding wheel slides on the inner connecting rod, and a nut is fixed on the rope winding wheel and matched with the screw.
8. The transmission device of three-degree-of-freedom spherical parallel mechanism according to claim 7, wherein the upper end and the lower end of the screw rod are respectively connected with the upper revolving platform and the lower revolving platform, a plurality of vertical support rods are further arranged between the upper revolving platform and the lower revolving platform, horizontal connecting rods are fixedly arranged above the upper revolving platform and below the lower revolving platform, and the other ends of the connecting rods are sleeved on the central shaft.
9. The transmission device of three-degree-of-freedom spherical parallel mechanism according to claim 7, wherein the rope winding wheel is provided with spiral rope winding grooves, and the groove pitch of the rope winding grooves is the same as the screw pitch of the screw.
10. The transmission device of three-degree-of-freedom spherical parallel mechanism according to claim 2, wherein the driving motors are all arranged inside the outer circle of the ball joint, and a plurality of rope winding grooves are arranged on the outer periphery of the outer circle of the ball joint.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110202550A (en) * | 2019-06-28 | 2019-09-06 | 华南理工大学 | A kind of three-degree-of-freedom spherical parallel mechanism transmission device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202550A (en) * | 2019-06-28 | 2019-09-06 | 华南理工大学 | A kind of three-degree-of-freedom spherical parallel mechanism transmission device |
| CN110202550B (en) * | 2019-06-28 | 2024-04-26 | 华南理工大学 | Three-degree-of-freedom spherical parallel mechanism transmission device |
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