CN103438169A - Double-input double-translation double-rotation output-parallel motion device - Google Patents
Double-input double-translation double-rotation output-parallel motion device Download PDFInfo
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- CN103438169A CN103438169A CN2013103948961A CN201310394896A CN103438169A CN 103438169 A CN103438169 A CN 103438169A CN 2013103948961 A CN2013103948961 A CN 2013103948961A CN 201310394896 A CN201310394896 A CN 201310394896A CN 103438169 A CN103438169 A CN 103438169A
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- revolute pair
- connecting rod
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Abstract
The invention relates to a double-input double-translation double-rotation output-parallel motion device which comprises a movable platform (1), a machine frame (0), a pendulum bar (3) for connecting the movable platform (1) and the machine frame (0), and a mixing branch chain, wherein one end of the pendulum bar (3) is connected with the movable platform (1) through a ball pair (S), and the other end is connected with the machine frame (0) through a rotation pair 1 (R1); the mixing branch chain has the structure that a connecting rod a (8) of a plane 6 rotation pair 6 rod mechanism is connected in series with a rotation pair 4 (R8) and a rotation pair 5 (R9) which are parallel, i.e. a rotation pair 2 (R2) and a rotation pair 3 (R7) on the machine frame (0) are driving pairs, the connecting rod 1 (8) opposite the machine frame (0) is connected with one end of a connecting rod 2 (2) through the rotation pair 4 (R8), and the other end of the connecting rod 2 (2) is connected with the movable platform (1) through the rotation pair 5 (R9); and the axial line of the rotation pair 4 (R8) and the geometric axial line of the connecting rod 1 (8) coincide. When the two rotation pairs on the machine frame drive, the movable platform can generate a double-translation double-rotation output motion.
Description
Technical field
The present invention relates to a kind of double input two translations two and rotate the output-parallel movement meanss, specifically, is the novel type that equipment for realizing the requisite space multi-dimensional movement provides a class to input less to export more.
Background technique
Most of documents of paralleling mechanism research are at present all reported the paralleling mechanism that the input dimension equates with the output dimension, rotating (R) for two translations (T) two (is designated as: 2R2T) output-parallel movement means, example: Lin Ling, Liu Hui adopt the screw theory method synthesis to go out some 2R2T four-freedom parallel mechanisms [machine management exploitation, 2006 (6): 53-56]; Luo Yufeng, Yao Weike, stone will are new etc., adopt the synthesis of mechanism method based on the orientative feature collection to design some two translation two one-rotation parallel mechanism topological structures [lathe and hydraulic pressure, 2011 (3): 28-31]; And model rosy clouds, Liu Hongzhao, Zhang Yanbin, employing develops based on configuration and the method for Lie group theory has also proposed some 2T2R type four-freedom parallel mechanism type [China Mechanical Engineerings, 2010 (9): 97-101], the 2R2T paralleling mechanism that their research obtains is four inputs and drives, and side chain and complicated integral structure, but industrially sometimes need that some are simple in structure, few input but still can export the parallel kinematic device that two translations two are rotated.
Summary of the invention
The present invention overcomes the shortcoming that output-parallel mechanism is rotated in existing two translations two, a kind of double input is provided but can produces the paralleling mechanism that output is rotated in two translations two, its technological scheme is: the output-parallel movement means is rotated in a kind of double input two translations two, comprise moving platform (1), frame (0) and connect them both forks (3), a mixing side chain, one end of fork (3) connects moving platform (1) with ball secondary (S), and the other end is with revolute pair one (R
1) connection frame (0); The structure of mixing side chain is plane six revolute pair six-bar linkage (R
2-R
3-R
4-R
5-R
6-R
7) two parallel revolute pair four (R of the upper serial connection of connecting rod one (8)
8) and revolute pair five (R
9), that is, and the revolute pair two (R on its frame (0)
2), revolute pair three (R
7) secondary for driving, the connecting rod one (8) relative with frame (0) is with revolute pair four (R
8) connect an end of connecting rod two (2), and the other end of connecting rod two (2) and moving platform (1) are with revolute pair five (R
9) connect, wherein, revolute pair four (R
8) the geometrical axis of axis and connecting rod one (8) itself overlap, and with revolute pair five (R
9) axis parallel.
The accompanying drawing explanation
The structural representation that accompanying drawing 1 is a kind of embodiment of the present invention.
Embodiment
Below by drawings and Examples, technology of the present invention is given to illustrate further.
The structural representation that accompanying drawing 1 is a kind of embodiment of the present invention, its technological scheme is: the output-parallel movement means is rotated in a kind of double input two translations two, comprise moving platform 1, frame 0 and connect them both forks 2, one and mix side chain, one end of fork 3 connects moving platform 1 with secondary S of ball, and the other end is with revolute pair one R
1connection frame 0; The structure of mixing side chain is plane six revolute pair six-bar linkage R
2-R
3-R
4-R
5-R
6-R
7connecting rod 1 on the serial connection two parallel revolute pair four R
8with revolute pair five R
9, that is, and revolute pair two R on its frame 0
2, revolute pair three R
7for driving pair, the connecting rod one 8 relative with frame 0 is with revolute pair four R
8an end that connects connecting rod 22, and the other end of connecting rod 22 and moving platform 1 are with revolute pair five R
9connect, wherein, revolute pair four R
8the geometrical axis of axis and connecting rod 1 itself overlap, and with revolute pair five R
9axis parallel.
Revolute pair two R on frame 0
2, revolute pair three R
7during for driving, moving platform 1 produces the output movement that two translations two are rotated, but wherein only have two motions, is independently, and another two is derivative dependent motion; Can be used for vibrosieve, Spatial Multi-Dimensional mixing, entertainment and sports device etc., and this mechanism structure is simple, easy to manufacture, easy to operate.
Claims (1)
1. the output-parallel movement means is rotated in double input two translations two, comprise moving platform (1), frame (0) and connect them both forks (3), a mixing side chain, an end that it is characterized in that fork (3) connects moving platform (1) with ball secondary (S), and the other end is with revolute pair one (R
1) connection frame (0); The structure of mixing side chain is plane six revolute pair six-bar linkage (R
2-R
3-R
4-R
5-R
6-R
7) two parallel revolute pair four (R of the upper serial connection of connecting rod one (8)
8) and revolute pair five (R
9), that is, and the revolute pair two (R on its frame (0)
2), revolute pair three (R
7) secondary for driving, the connecting rod one (8) relative with frame (0) is with revolute pair four (R
8) connect an end of connecting rod two (2), and the other end of connecting rod two (2) and moving platform (1) are with revolute pair five (R
9) connect, wherein, revolute pair four (R
8) the geometrical axis of axis and connecting rod one (8) itself overlap, and with revolute pair five (R
9) axis parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310394896.1A CN103438169B (en) | 2013-09-03 | 2013-09-03 | Output-parallel movement means is rotated in a kind of double input two translation two |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310394896.1A CN103438169B (en) | 2013-09-03 | 2013-09-03 | Output-parallel movement means is rotated in a kind of double input two translation two |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103438169A true CN103438169A (en) | 2013-12-11 |
| CN103438169B CN103438169B (en) | 2016-01-20 |
Family
ID=49691871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310394896.1A Active CN103438169B (en) | 2013-09-03 | 2013-09-03 | Output-parallel movement means is rotated in a kind of double input two translation two |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103438169B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619387A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Single-input three-translation and one-rotation parallel robot device |
| CN105619384A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Single-input three-translation and one-rotation parallel robot manipulator |
| CN107049498A (en) * | 2017-05-15 | 2017-08-18 | 浙江理工大学 | A kind of parallel Three Degree Of Freedom remote centre of motion operating robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020007690A1 (en) * | 1999-12-06 | 2002-01-24 | Se-Kyong Song | Six-degrees-of-freedom parallel mechanism for micro-positioning work |
| CN1463821A (en) * | 2002-06-28 | 2003-12-31 | 杨廷力 | Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot |
| CN102806557A (en) * | 2012-08-23 | 2012-12-05 | 常州大学 | Single-degree-of-freedom three-dimensional movement mechanism |
| CN103008232A (en) * | 2012-12-12 | 2013-04-03 | 常州大学 | Variable-input three-dimensional spatial motion vibrating screen mechanism |
-
2013
- 2013-09-03 CN CN201310394896.1A patent/CN103438169B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020007690A1 (en) * | 1999-12-06 | 2002-01-24 | Se-Kyong Song | Six-degrees-of-freedom parallel mechanism for micro-positioning work |
| CN1463821A (en) * | 2002-06-28 | 2003-12-31 | 杨廷力 | Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot |
| CN102806557A (en) * | 2012-08-23 | 2012-12-05 | 常州大学 | Single-degree-of-freedom three-dimensional movement mechanism |
| CN103008232A (en) * | 2012-12-12 | 2013-04-03 | 常州大学 | Variable-input three-dimensional spatial motion vibrating screen mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619387A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Single-input three-translation and one-rotation parallel robot device |
| CN105619384A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Single-input three-translation and one-rotation parallel robot manipulator |
| CN107049498A (en) * | 2017-05-15 | 2017-08-18 | 浙江理工大学 | A kind of parallel Three Degree Of Freedom remote centre of motion operating robot |
| CN107049498B (en) * | 2017-05-15 | 2023-10-20 | 浙江理工大学 | Parallel three-degree-of-freedom remote motion center surgical robot |
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| Publication number | Publication date |
|---|---|
| CN103438169B (en) | 2016-01-20 |
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Effective date of registration: 20210311 Address after: Room 407-2-6, building C, Tian'an Digital City, 588 Changwu South Road, Wujin high tech Industrial Development Zone, Changzhou City, Jiangsu Province 213000 Patentee after: CHANGZHOU XIAOGUO INFORMATION SERVICES Co.,Ltd. Address before: Gehu Lake Road Wujin District 213164 Jiangsu city of Changzhou province No. 1 Patentee before: CHANGZHOU University |