CN2564840Y - Console with three-freedom spheric parallel mechanism - Google Patents

Console with three-freedom spheric parallel mechanism Download PDF

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Publication number
CN2564840Y
CN2564840Y CN 02209064 CN02209064U CN2564840Y CN 2564840 Y CN2564840 Y CN 2564840Y CN 02209064 CN02209064 CN 02209064 CN 02209064 U CN02209064 U CN 02209064U CN 2564840 Y CN2564840 Y CN 2564840Y
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CN
China
Prior art keywords
angle
degree
worktable
moving
hole
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN 02209064
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Chinese (zh)
Inventor
黄田
曾子平
曾宪菁
张大卫
倪雁冰
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Tianjin University
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Tianjin University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Priority to CN 02209064 priority Critical patent/CN2564840Y/en
Application granted granted Critical
Publication of CN2564840Y publication Critical patent/CN2564840Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to a console with a three-freedom spheric parallel mechanism. Three angle seats are arranged on a base in the mode of 120 DEG uniform distribution. Vertical angle retarders are respectively arranged at the outer-lower parts of the slopes of the three angle seats. A servomotor is respectively arranged at one end of each of three vertical angle retarders. Output shafts of the vertical angle retarders are respectively arranged at the upper parts of the slopes of the three angle seats. The upper parts of the output shafts of the three vertical angle retarders are respectively connected with holes at one end of each of arc-shaped bracket connecting rods which are arranged above the output shafts of the three vertical angel retarders. Holes at the other ends of three arc-shaped bracket connecting rods are respectively arranged on small shafts at one end of each of arc-shaped connecting rods. Three rotating shafts of a movable angle table are arranged on the convex surface of the lower-oblique part of the movable angle table in the mode of 120 DEG uniform distribution. Holes which are arranged at the other end of each of three arc-shaped connecting rods are arranged on the rotating shafts of the movable angle table. A step-shaped through hole is arranged at the middle part of the movable angle table, and a servomotor of the console is arranged in the lower part of the through hole. An output shaft of the servomotor of the console is connected with the console which is arranged on the movable angle table. The utility model can make 60 DEG hemi-pyramidal three-dimensional revolution, positive 360 DEG revolution and negative 360 DEG revolution in the space.

Description

A kind of three-degree-of-freedom spherical parallel mechanism Control work platform
Technical field
It is mechanical that the utility model belongs to, and relates in particular to sphere Control work table apparatus.
Background technique
1994, Canadian scholar Gosselin proposed a kind of design method of spherical three-degree-of-freedom parallel mechanism, and had designed " vidicon camera automatic positioning device ", and its working space is the taper shape of semi-cone angle 70 degree, and spin angle is positive and negative 30 degree.But its structure is not compact, and the spin operating angle is little, can not satisfy the requirement of digital control processing.
Summary of the invention
The purpose of this utility model provides a kind of three-degree-of-freedom spherical parallel mechanism Control work platform, to solve an above-mentioned difficult problem, satisfies the needs of multiple occasion to the operating process of 3 D auto degree sphere control apparatus.
The purpose of this utility model is achieved in that a kind of three-degree-of-freedom spherical parallel mechanism Control work platform, comprises base, right angle retarder, actuating motor, moving angle platform, worktable.The utility model base is provided with three uniform angle seats of 120 degree, and the outer bottom on seat inclined-plane, three angles is equipped with the right angle retarder respectively, and an end of three right angle retarders is equipped with actuating motor respectively; The top on seat inclined-plane, three angles is equipped with the output shaft of right angle retarder respectively, the top of three right angle reducer output shafts is connected with the hole of arc side link one end that is equipped with on it respectively, and the hole of three arc side link the other ends places respectively on the little axle of curved rod one end; The convex surface of moving angle platform declivity portion is provided with three the 120 uniform moving angle platform rotating shafts of degree, and the hole of three curved rod the other ends setting places respectively in the moving angle platform rotating shaft; The middle part of moving angle platform is provided with the through hole of stepped shape, and the interior bottom of through hole is equipped with the worktable actuating motor, and the output shaft of worktable actuating motor is connected with the worktable that is arranged at moving Jiao Tai top.
Because the utility model has adopted above technological scheme, thereby has:
1, the three-degree-of-freedom spherical parallel mechanism scale parameter is optimized, good operation performance, and worktable can be done three-dimensional revolution in 60 degree hemicone spaces, and spin angle reaches positive and negative 360 degree, can satisfy the requirement of digital control processing.
2, simple in structure, rationally distributed, compactness, volume is little.
3, stable, it is very convenient to operate, control.
4, practicability is wide, can be used for machining, shooting, laser lockon, radar fix, light fixture, etc. the needs of multiple occasion three interlock Spin Control.
Description of drawings
Fig. 1 is a kind of base shape and structure schematic representation of the present utility model;
Fig. 2 is the shape and structure schematic representation of a kind of moving angle platform of the present utility model and worktable;
Fig. 3 is a kind of arc side link shape and structure schematic representation of the present utility model;
Fig. 4 is a kind of curved rod shape and structure schematic representation of the present utility model;
Fig. 5 is the single curved rod mechanism shape and structure schematic representation of organizing in a kind of device of the present utility model;
Fig. 6 is the shape and structure schematic representation of a kind of assembly device in parallel of the present utility model.
Among the figure:
1, base 2, angle seat 3, right angle retarder 4, actuating motor 5, right angle reducer output shaft 6, arc side link 7, curved rod 8, curved rod axle 9, curved rod hole 10, moving angle platform 11, worktable 12, moving angle platform convex face 13, moving angle platform rotating shaft 14, worktable actuating motor
Embodiment
Below in conjunction with accompanying drawing enforcement of the present utility model is explained as follows:
In Fig. 1, base 1 adopts metallic material to make circular body, and its central authorities are provided with concentric circle holes, and it is provided with the fastening screw pit of three groups of angle seats 2 of 120 degree uniform distribution devices.
In Fig. 2, moving angle platform 10 adopts metallic material, and circular body is arranged at its middle part; Its declivity portion place is provided with equally distributed three the moving angle platform convex faces 12 of 120 degree respectively, and each moving angle platform convex face 12 is provided with moving angle platform rotating shaft 13; The center of moving angle platform 10 is provided with concentric circle holes, and the circular hole inner end is provided with the fastening screw pit of configuration effort platform actuating motor moving 14.Moving platform 10 its tops, angle dispose worktable 11.The top of worktable 11 is provided with entad T-slot screw thread, is used for the fastening operative workpiece or the device of controlling.The bottom of worktable 11 is provided with and moves the cylindrical step that the center hole of angle platform 10 matches.Worktable actuating motor 14 is fastened on the center hole inner end that moves angle platform 10 by screw, and its output shaft is connected with the worktable 11 of device on moving platform 10 tops, angle.
Be the needs of Control work platform 11 corners, the output shaft of rotating servo motor 14, its and the joint of the worktable 11 on platform 10 tops, moving angle between be provided with harmonic speed reducer.The input of harmonic speed reducer, output shaft are connected with worktable 11 with the output shaft of worktable actuating motor 14 respectively.
In Fig. 3, arc side link 6 adopts metallic material to be made of two arc curved bar split assemblings, and two ends of arc side link 6 respectively are provided with attachment hole, and the center angle of two stomidiums is 67 degree.The middle part of two arc side links 6 is respectively arranged with interconnective axle and hole, after axle and hole are equipped, the center angle of two arc curved bars are adjusted into 90 spend, and adopts the fastening formation one of pin then.Certainly, the arc side link 6 of two arc shapes also can adopt methods such as pressure, casting directly to make one.
In Fig. 4, curved rod 7 adopts metallic material to be arranged to the curved bar of arc shape, and the one end is provided with the coupling shaft 8 that the attachment hole with arc side link 6 matches, and the other end is provided with and moves the attachment hole 9 that angle platform rotating shaft 13 matches.Curved rod 7 one end attachment holes 9, with the center angle of the other end coupling shaft 8 be 90 degree.
In Fig. 5, there is angle seat 2 on one side of base 1 by screw fastening device, and lower device has right angle retarder 3 outside the inclined-plane of angle seat 2, and a side device of right angle retarder 3 has actuating motor 4.Be equipped with the output shaft 5 of right angle retarder 3 in the hole that top, angle seat 2 inclined-plane is provided with.The output shaft 5 of right angle retarder 3 is matchedly connected with the attachment hole of arc side link 6 one ends.The other end attachment hole of arc side link 6 links to each other with the rotating shaft 8 of device curved rod 7 one ends at an upper portion thereof.The attachment hole 9 of curved rod 7 the other ends, matched with device in the moving angle platform rotating shaft 13 on top.
In Fig. 6, on the base 1 by screw fastening be three groups of angle seats 2 that 120 degree are evenly arranged.The right angle retarder 3 of every group of angle seat 2 its upper units, actuating motor 4, right angle reducer output shaft 5, arc side link 6, curved rod 7, moving angle platform 10, its shape, the method for constructing, be linked and packed are described like Fig. 5.Lower device has worktable actuating motor 14 in the center hole of moving angle platform 10.The output shaft of worktable actuating motor 14, matched with device at worktable 11 its connector elements that are provided with down on moving platform 10 tops, angle.
For realizing the smooth running of worktable 11, can be provided with rolling bearing at the step hole place of matching, center of worktable 11 and moving angle platform 10.
In actual use of the utility model and the operating process, can press different needs on the top of worktable 11, the configuration operative workpiece is used for machining; Or configuration radar antenna, laser head, vidicon camera, illuminating device etc., by controlling the rotating speed of three actuating motors 4 and worktable actuating motor 14 respectively or simultaneously, be used for the control of freedom degree parallel connection rotation, to satisfy the actual needs that use and operate of each side.

Claims (4)

1. three-degree-of-freedom spherical parallel mechanism Control work platform, comprise base, right angle retarder, actuating motor, moving angle platform, worktable, it is characterized in that, base is provided with three uniform angle seats of 120 degree, the outer bottom on seat inclined-plane, three angles is equipped with the right angle retarder respectively, and an end of three right angle retarders is equipped with actuating motor respectively; The top on seat inclined-plane, three angles is equipped with the output shaft of right angle retarder respectively, the top of three right angle reducer output shafts is connected with the hole of arc side link one end that is equipped with on it respectively, and the hole of three arc side link the other ends places respectively on the little axle of curved rod one end; The convex surface of moving angle platform declivity portion is provided with three the 120 uniform moving angle platform rotating shafts of degree, and the hole of three curved rod the other ends setting places respectively in the moving angle platform rotating shaft; The middle part of moving angle platform is provided with the through hole of stepped shape, and the interior bottom of through hole is equipped with the worktable actuating motor, and the output shaft of worktable actuating motor is connected with the worktable that is arranged at moving Jiao Tai top.
2. a kind of three-degree-of-freedom spherical parallel mechanism Control work platform according to claim 1 is characterized in that, the center angle of arc side link two stomidiums is 67 degree, and the angle of two bar medial axis is 90 degree.
3. a kind of three-degree-of-freedom spherical parallel mechanism Control work platform according to claim 1 is characterized in that, the center angle of curved rod one stomidium and the other end coupling shaft is 90 degree.
4. a kind of three-degree-of-freedom spherical parallel mechanism Control work platform according to claim 1 is characterized in that, the output shaft of worktable actuating motor be provided with harmonic speed reducer between the worktable on moving Jiao Tai top is connected.
CN 02209064 2002-03-28 2002-03-28 Console with three-freedom spheric parallel mechanism Expired - Fee Related CN2564840Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 02209064 CN2564840Y (en) 2002-03-28 2002-03-28 Console with three-freedom spheric parallel mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 02209064 CN2564840Y (en) 2002-03-28 2002-03-28 Console with three-freedom spheric parallel mechanism

Publications (1)

Publication Number Publication Date
CN2564840Y true CN2564840Y (en) 2003-08-06

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100363151C (en) * 2005-01-04 2008-01-23 浙江理工大学 Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide
CN102177386A (en) * 2008-08-11 2011-09-07 欧特科技有限公司 Adjustable holder
CN102275162A (en) * 2011-07-08 2011-12-14 常州大学 Three-rotation spherical surface parallel operation device
CN102785239A (en) * 2012-07-23 2012-11-21 东莞市李群自动化设备有限公司 Industrial robot of six-degrees of freedom
CN102975196A (en) * 2012-12-04 2013-03-20 天津大学 Double-rotational freedom parallel mechanism
CN104511904A (en) * 2013-09-26 2015-04-15 崔文德 Spherical coordinates manipulating mechanism
CN104626189A (en) * 2014-12-15 2015-05-20 深圳华强智能技术有限公司 Entertainment robot sphere three-freedom-degree parallel mechanism
CN105216999A (en) * 2015-10-16 2016-01-06 山东大学(威海) Freedom degree parallel connection type vector propulsion device and there is the under-water robot of this device
TWI574722B (en) * 2014-05-15 2017-03-21 崔文德 Spherical coordinates orientating mechanism
EP3196532A1 (en) * 2016-01-15 2017-07-26 Wen-Der Trui Twelve axes mechanism for spherical coordinate kinematics
CN108150778A (en) * 2017-11-22 2018-06-12 西安电子科技大学 A kind of Three Degree Of Freedom compound hinges
CN110454656A (en) * 2019-08-14 2019-11-15 上海卫星工程研究所 Frame-type dual mechanisms and its application method
CN111195923A (en) * 2020-01-14 2020-05-26 中南大学 Novel series connection mechanism based on three-degree-of-freedom spherical joint and robot
CN111203856A (en) * 2020-01-14 2020-05-29 中南大学 Universal spherical parallel mechanism and robot
CN112050711A (en) * 2019-06-07 2020-12-08 卡尔蔡司工业测量技术有限公司 Rotary probe for a measuring device and measuring device

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100363151C (en) * 2005-01-04 2008-01-23 浙江理工大学 Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide
CN102177386A (en) * 2008-08-11 2011-09-07 欧特科技有限公司 Adjustable holder
CN102177386B (en) * 2008-08-11 2014-11-26 欧特科技有限公司 Adjustable holder
CN102275162A (en) * 2011-07-08 2011-12-14 常州大学 Three-rotation spherical surface parallel operation device
CN102785239A (en) * 2012-07-23 2012-11-21 东莞市李群自动化设备有限公司 Industrial robot of six-degrees of freedom
CN102785239B (en) * 2012-07-23 2015-04-29 东莞市李群自动化设备有限公司 Industrial robot of six-degrees of freedom
CN102975196A (en) * 2012-12-04 2013-03-20 天津大学 Double-rotational freedom parallel mechanism
CN104511904A (en) * 2013-09-26 2015-04-15 崔文德 Spherical coordinates manipulating mechanism
TWI574722B (en) * 2014-05-15 2017-03-21 崔文德 Spherical coordinates orientating mechanism
CN104626189A (en) * 2014-12-15 2015-05-20 深圳华强智能技术有限公司 Entertainment robot sphere three-freedom-degree parallel mechanism
CN105216999A (en) * 2015-10-16 2016-01-06 山东大学(威海) Freedom degree parallel connection type vector propulsion device and there is the under-water robot of this device
CN105216999B (en) * 2015-10-16 2017-07-04 山东大学(威海) Freedom degree parallel connection type vector propulsion device and the underwater robot with the device
EP3196532A1 (en) * 2016-01-15 2017-07-26 Wen-Der Trui Twelve axes mechanism for spherical coordinate kinematics
US9851045B2 (en) 2016-01-15 2017-12-26 Wen-Der TRUI Twelve axes mechanism for spherical coordinate kinematics
CN108150778A (en) * 2017-11-22 2018-06-12 西安电子科技大学 A kind of Three Degree Of Freedom compound hinges
CN112050711A (en) * 2019-06-07 2020-12-08 卡尔蔡司工业测量技术有限公司 Rotary probe for a measuring device and measuring device
CN110454656A (en) * 2019-08-14 2019-11-15 上海卫星工程研究所 Frame-type dual mechanisms and its application method
CN110454656B (en) * 2019-08-14 2021-09-14 上海卫星工程研究所 Frame type dual mechanism and using method thereof
CN111195923A (en) * 2020-01-14 2020-05-26 中南大学 Novel series connection mechanism based on three-degree-of-freedom spherical joint and robot
CN111203856A (en) * 2020-01-14 2020-05-29 中南大学 Universal spherical parallel mechanism and robot

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