CN106112980A - A kind of attitude regulating mechanism - Google Patents
A kind of attitude regulating mechanism Download PDFInfo
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- CN106112980A CN106112980A CN201610599492.XA CN201610599492A CN106112980A CN 106112980 A CN106112980 A CN 106112980A CN 201610599492 A CN201610599492 A CN 201610599492A CN 106112980 A CN106112980 A CN 106112980A
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- side chain
- steering gear
- hydraulic steering
- cross piece
- expansion link
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/066—Redundant equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of attitude regulating mechanism, belong to automated machine and equipment design field.Including a moving platform installing executor and a fixed platform, and connect three movement branched chain between described moving platform and fixed platform；These three side chains be space six degree of freedom that structure is identical without constrained branched chain, all contain the kinematic pair of an active drive；Described side chain is connected one Spatial Parallel close loop mechanism of formation respectively with fixed platform and moving platform, moving platform is driven to move by three input motions, can realize two, space rotational freedom, the present invention has the features such as rigidity is high, bearing capacity is strong, attitude regulation is flexible and can effectively prevent the adnexa cable being equipped on device from being caused damaging by torsional load.
Description
Technical field
The invention belongs to automated machine and equipment design field, particularly to a kind of attitude regulating mechanism.
Background technology
At present in many engineer applied such as rotating display stand, Solar use, fountain design, light of stage and radar scanning
In field, the spatial pose of executor there is specific requirement.
In spacious construction site, for multiple emphasis manipulating objects, need large-scale searchlight to supervise, improve for this
Searchlight utilization rate, reduces construction cost, and the bogey reaching a multiplex purpose has to be developed；Lead at Solar use
Territory, the condenser gathering solar energy the most in the same time there will be change relative to the attitude on ground, compels the tracking function demand of the sun
Cut；Scan field at airborne radar, dynamic loading can be born and realize the attitude regulating mechanism of high-velocity scanning and currently also there is no report.
Traditional attitude regulating mechanism mostly is cascaded structure, and the usual rigidity of this class formation is relatively low, and load-carrying properties are poor.In order to
Avoid the executor's cable being equipped on device to be caused damaging by torsional load, such mechanism majority use sacrifice anglec of rotation or
Person designs the mode of the rotary brush of complexity.The mode sacrificing the anglec of rotation makes structural behaviour unsatisfactory, design complexity
The mode of rotary brush makes production cost significantly increase.
The spherical three-degree-of-freedom parallel connection gesture stability of existing parallel institution attitude regulating mechanism a kind of band ring-shaped guide rail
Mechanism, this mechanism includes that ring-shaped guide rail is connected with moving platform, the most often by three completely identical in structure branched structures respectively
Individual branch is that the one end of first connecting rod the ball pivot respectively at an angle of moving platform is connected or is connected with the first revolute pair
Connecing, the other end of first connecting rod is connected respectively at the second revolute pair, and one end of second connecting rod is connected respectively at the second revolute pair
Connecing, the other end of second connecting rod is connected respectively at respective slide block, and three slide blocks are installed on ring-shaped guide rail, three slide blocks
Can only annularly move by guide rail, the axes intersect of all revolute pairs of three branches is in a bit.Though this parallel connection attitude coutrol mechanism
So there is attitude regulation function and easily controllable, the feature that rigidity is high, but its during attitude regulation inevitably
There will be moving platform rotation about the z axis.The torsion that so the executor's cable being equipped on moving platform will be caused to bear alternation for a long time
Load, and then cause cable fails.
Summary of the invention
It is an object of the invention to the deficiency showed for tradition attitude regulating mechanism, it is proposed that a kind of attitude regulation
Device.There is the features such as rigidity is high, bearing capacity is strong, attitude regulation is flexible.
The attitude regulating mechanism that the present invention proposes not only can realize two, space rotational freedom, and can be the most anti-
The adnexa cable being only equipped on device is caused damaging by torsional load.
A kind of attitude regulating mechanism that the present invention proposes, including a moving platform installing executor and a fixed platform,
It is characterized in that: this device also includes the first, second, third and fourth side chain connecting between described moving platform and fixed platform,
This first, second, and third side chain be space six degree of freedom that structure is identical without constrained branched chain, all contain an active drive
Kinematic pair；This device also includes the 4th side chain connecting between described moving platform and fixed platform, the 4th side chain be space two from
By degree side chain, there are two rotational restraints；Described first, second, third and fourth side chain respectively with fixed platform and moving platform
Connecting and form a Spatial Parallel close loop mechanism, this Spatial Parallel close loop mechanism drives moving platform to transport by three input motions
Dynamic, two rotational freedoms can be realized.
The another kind of attitude regulating mechanism that the present invention proposes, allocates including a moving platform installing executor and one
Platform, it is characterised in that: this device also includes first, second, and third side chain connecting between described moving platform and fixed platform, should
First, second, and third side chain be space six degree of freedom that structure is identical without constrained branched chain, all contain the fortune of an active drive
Dynamic pair；Described first, second, and third side chain is connected one Spatial Parallel closed loop machine of formation respectively with fixed platform and moving platform
Structure, this Spatial Parallel close loop mechanism drives moving platform to move by three input motions, can realize two rotational freedoms.
The feature of the present invention and technique effect:
A kind of attitude regulating mechanism of the present invention, uses the version of three/tetra-side chains to constitute and can realize space two certainly
By degree close loop mechanism, moving platform is driven to move by three inputs, it is achieved two, space rotational freedom.The feature of this device exists
Do not contain the degree of freedom around vertical direction axle in moving platform itself, but moving platform can be by the rotation of two other axis of orientations
Degree of freedom realizes the rotational symmetric attitude regulation of opposed vertical axis of orientation.A kind of effect of the attitude regulating mechanism technology of the present invention
It is not only to realize two, space rotational freedom, and can effectively prevent the adnexa cable being equipped on device from being turned round
Reprint lotus to cause damaging.Can apply to rotating display stand, music fountain, monitoring camera, light of stage, tested rotating platform device,
The pedestal of the executors such as Watchtower searchlight, radar scanning, solar concentrator, to realize corresponding spatial attitude regulation merit
Can, thus reach the position of this kind of executor or the adjustment at visual angle.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention 1；
Fig. 2 is first, second, third side chain shaft side figure of the embodiment of the present invention 1；
Fig. 3 is the 4th side chain shaft side figure of the embodiment of the present invention 1；Wherein Fig. 3 (a) is each exploded sketch, Fig. 3
B () is that each parts are assembled into overall schematic；
Fig. 4 is the attitude regulation effect shaft side figure of the embodiment of the present invention 1；
Fig. 5 is the structural representation of the embodiment of the present invention 2；
Fig. 6 is first, second, third side chain shaft side figure of the embodiment of the present invention 2；
Fig. 7 is the attitude regulation effect shaft side figure of the embodiment of the present invention 2；
Fig. 8 is the structural representation of the embodiment of the present invention 3；
Fig. 9 is first, second, third side chain shaft side figure of the embodiment of the present invention 3.
Figure 10 is the attitude regulation effect shaft side figure of the embodiment of the present invention 3.
Detailed description of the invention
A kind of attitude regulating mechanism that the present invention proposes combines drawings and Examples and describes in detail as follows:
Embodiment 1:
The structure of a kind of attitude regulating mechanism of the present embodiment is as it is shown in figure 1, include a moving platform installing executor
1, fixed platform 7 and first, second, third, fourth side chain, described four side chains be connected to moving platform 1 and fixed platform 7 it
Between, and with this moving platform 1 and fixed platform 7 Special composition close loop mechanism.
Described first, second, third side chain be space six degree of freedom that structure is identical without constrained branched chain, all contain a master
The dynamic kinematic pair driven；As in figure 2 it is shown, every side chain all includes: upper connector 3, lower connector 11, upper hydraulic steering gear adopting cross piece 4, lower cross
Block 12, upper U-shaped part 5, under U-shaped part 10, expansion link 6, electronic cylinder body 9, connecting plate 13, motor 14 and connect kinematic pair.Described
Kinematic pair has six, a revolute pair being connected between upper connector 3 and upper hydraulic steering gear adopting cross piece 4, and one is connected to cross
Revolute pair between block 4 and upper U-shaped part 5, a revolute pair being connected between U-shaped part 5 and expansion link 6, one is even
Be connected to the moving sets between expansion link 6 and electronic cylinder body 9, one be connected to down between U-shaped part 10 and lower hydraulic steering gear adopting cross piece 12 turn
Dynamic pair, another is connected to the revolute pair between lower hydraulic steering gear adopting cross piece 12 and lower connector 11.Electronic cylinder body 9 and motor 14 are assemblied in
On connecting plate 13, expansion link 6, electronic cylinder body 9, connecting plate 13 and motor 14 collectively form electric cylinder, by the rotation of motor 14
The expansion link 6 central axis stretching motion along electronic cylinder body 9 can be realized.
In described six kinematic pairs, be connected between expansion link 6 and electronic cylinder body 9 along bar length direction stretching motion by
Drive.It is connected between upper connector 3 and upper hydraulic steering gear adopting cross piece 4 and is connected to two between hydraulic steering gear adopting cross piece 4 and upper U-shaped part 5
Revolute pair is orthogonality relation, can be replaced by a Hooke's hinge or a ball pivot.It is connected between U-shaped part 5 and expansion link 6
Revolute pair and be connected between upper connector 3 and upper hydraulic steering gear adopting cross piece 4 and be connected to three between hydraulic steering gear adopting cross piece 4 and upper U-shaped part 5
Individual revolute pair space meets at a bit, can be replaced by a ball pivot.It is connected to down between U-shaped part 10 and lower hydraulic steering gear adopting cross piece 12 and connects
Two revolute pairs between lower hydraulic steering gear adopting cross piece 12 and lower connector 11 are also orthogonality relations, can be by a Hooke's hinge or one
Ball pivot replaces.
4th side chain of the present embodiment is space two-freedom side chain, has two rotational restraints；As it is shown on figure 3, wherein
Fig. 3 (a) is exploded view, and Fig. 3 (b) is installation diagram.4th side chain includes: upper support frame 15, lower bracing frame 8, hydraulic steering gear adopting cross piece 2 and
Kinematic pair.Described kinematic pair has two, and a revolute pair being connected between upper support frame 15 and hydraulic steering gear adopting cross piece 2, another is
It is connected to the revolute pair between hydraulic steering gear adopting cross piece 2 and lower bracing frame 8.It is connected between upper support frame 15 and hydraulic steering gear adopting cross piece 2 and is connected to
Two revolute pairs between hydraulic steering gear adopting cross piece 2 and lower bracing frame 8 are orthogonality relations, can be replaced by a Hooke's hinge.The cross of this side chain
Block 2 center manufactures cylindrical hole, and the cable of the executor for being mounted on moving platform passes.
Three upper connectors 3 and the upper support frame 15 of first, second, third side chain of the present embodiment are flat with dynamic by screw
Platform 1 fastens, and becomes 120 degree of circumference uniform distributions with 3 upper connectors 3 of moving platform 1 fastening.Three lower connectors 11 and lower bracing frame 8
Fastened with fixed platform 7 by screw, become 120 degree of circumference uniform distributions with 3 lower connectors 11 of fixed platform 7 fastening.Moving platform 1, fixed
All can increase on platform 7, upper support frame 15, lower bracing frame 8, upper hydraulic steering gear adopting cross piece 4 and lower hydraulic steering gear adopting cross piece 12 appropriate lightening hole in order to
Alleviate the gross mass of this attitude regulating mechanism.
Described first, second, third and fourth side chain is connected one space of formation also respectively with fixed platform and moving platform
Joining close loop mechanism, this Spatial Parallel close loop mechanism drives moving platforms to move by three input motions, can realize two and rotate certainly
By spending.
The attitude regulating mechanism of the present embodiment can be by the different rotating speeds of three motors 14 of first, second, third side chain
Be converted to 3 expansion links 6 stretching motion along the central axis friction speed of 3 electronic cylinder bodies 9, thus realize moving platform 1
Two rotational freedoms attitude regulation control.Fig. 4 is the present embodiment 1 opposed vertical direction rotational symmetric attitude regulation effect
Really schematic diagram, for intuitive display, adds a rectangular pyramid arrow as moving platform normal vector on moving platform 1.The most perpendicular
Nogata to rotational symmetric complete attitude regulation process such as (a), (b), (c) in Fig. 4, (d), (e), (f), (a), wherein (a),
(b), (c), (d), (e), 360 degree of circumference of projection six decile on fixed platform 7 of moving platform normal vector of (f) six poses.
Embodiment 2:
The structure of a kind of attitude regulating mechanism of the present embodiment is as it is shown in figure 5, include moving platform 01, fixed platform 05 and
One, second, third side chain, this first, second, and third side chain be space six degree of freedom that structure is identical without constrained branched chain, all contain
There is the kinematic pair of an active drive；Described three side chains are connected between moving platform 01 and fixed platform 05, and move with this
Platform 01 and fixed platform 05 Special composition close loop mechanism, this Spatial Parallel close loop mechanism drives dynamic flat by three input motions
Platform moves, and can realize two rotational freedoms.
Described first, second, third branched structure is identical, and as shown in Figure 6, each side chain all includes: upper connecting sliding rail
010, U-shaped slide block 09, hydraulic steering gear adopting cross piece 02, U-shaped part 08, expansion link 03, electronic cylinder body 04, connecting plate 06, motor 07 and motion
Secondary.Described kinematic pair has 5, a moving sets being connected between connecting sliding rail 010 and U-shaped slide block 09, and one is even
It is connected to the revolute pair between U-shaped slide block 09 and hydraulic steering gear adopting cross piece 02, a rotation being connected between hydraulic steering gear adopting cross piece 02 and U-shaped part 08
Pair, a revolute pair being connected between U-shaped part 08 and expansion link 03, another is connected to expansion link 03 and electronic cylinder body
Moving sets between 04.Electronic cylinder body 04 and motor 07 are assemblied on connecting plate 06, and connecting plate 06 is fixed on fixed platform 05；Stretch
Contracting bar 03, electronic cylinder body 04, connecting plate 06 and motor 07 collectively form electric cylinder, can realize stretching by the rotation of motor 07
Bar 03 is along the central axis stretching motion of electronic cylinder body 04.
In described five kinematic pairs, between expansion link 03 and electronic cylinder body 04, the stretching motion along bar length direction is driven
's.Two revolute pairs being connected between U-shaped slide block 09 and hydraulic steering gear adopting cross piece 02 and being connected between hydraulic steering gear adopting cross piece 02 and U-shaped part 08 are
Orthogonality relation, can be replaced by a Hooke's hinge or a ball pivot.It is connected between U-shaped part 08 and expansion link 03 and is connected to
Between U-shaped slide block 09 and hydraulic steering gear adopting cross piece 02 and three revolute pair spaces being connected between hydraulic steering gear adopting cross piece 02 and U-shaped part 08 meet at one
Point, can be replaced by a ball pivot.Each side chain is space five-freedom side chain.
Upper connecting sliding rail 010 is fastened with moving platform 01 by screw, the upper connecting sliding rail 010 with 3 of moving platform 01 fastening
Become 120 degree of circumference uniform distributions.Connecting plate 06 is fastened with fixed platform 05 by screw, becomes with 3 connecting plates 06 of fixed platform 05 fastening
120 degree of circumference uniform distributions.Appropriate lightening hole all can be increased in order to alleviate this attitude regulating mechanism on moving platform 01, fixed platform 05
Gross mass.
This attitude regulating mechanism can be converted to 3 by the different rotating speeds of the three of first, second, third side chain motor 07
Expansion link 03 is along the stretching motion of the central axis friction speed of 3 electronic cylinder bodies 04, thus realizes two of moving platform 01
The attitude regulation of rotational freedom controls.Attitude regulation effect as it is shown in fig. 7, wherein Fig. 7 (a) be 0 degree of attitude of the present embodiment
Regulating effect shaft side figure, Fig. 7 (b) is 40 degree of attitude regulation effect shaft side figures of the present embodiment.
Embodiment 3:
A kind of structure of the attitude regulating mechanism of the present embodiment as shown in Figure 8, including moving platform 001, fixed platform 008 and
One, second, third side chain, described three side chains are connected between moving platform 001 and fixed platform 008, and with this moving platform
001 and fixed platform 008 Special composition close loop mechanism.
Described first, second, third side chain, as it is shown in figure 9, all include: upper connector 002, lower connector 009, upper ten
Block 003, lower shaft pin 0010, upper U-shaped part 004, under U-shaped part 0011, expansion link 0012, electronic cylinder body 005, connecting plate 007, electricity
Machine 006 and kinematic pair.Described kinematic pair has 6, one be connected between upper connector 002 and upper hydraulic steering gear adopting cross piece 003 turn
Dynamic pair, a revolute pair being connected between hydraulic steering gear adopting cross piece 003 and upper U-shaped part 004, one is connected to U-shaped part 004 He
Revolute pair between expansion link 0012, a revolute pair being connected between lower connector 009 and lower shaft pin 0010, one is
Be connected to lower shaft pin 0010 and under revolute pair between U-shaped part 0011, another is connected to expansion link 0012 and electronic cylinder body
Moving sets between 005.Electronic cylinder body 005 and motor 006 are assemblied on connecting plate 007, expansion link 0012, electronic cylinder body 005,
Connecting plate 007 and motor 006 collectively form electric cylinder, can realize expansion link 0012 along electronic by the rotation of motor 006
The central axis stretching motion of cylinder body 005.
In described six kinematic pairs, between expansion link 0012 and electronic cylinder body 005 along bar length direction stretching motion by
Drive；Connect between upper connector 002 and upper hydraulic steering gear adopting cross piece 003 and be connected between hydraulic steering gear adopting cross piece 003 and upper U-shaped part 004
Two revolute pairs be orthogonality relation, can be replaced by Hooke's hinge.Connect between upper connector 002 and upper hydraulic steering gear adopting cross piece 003 with
And be connected between hydraulic steering gear adopting cross piece 003 and upper U-shaped part 004 and be connected to three between U-shaped part 004 and expansion link 0012
Revolute pair space meets at a bit, can be replaced by a ball pivot.Connect to descend between connector 009 and lower shaft pin 0010 and be connected to
Lower shaft pin 0010 and under two revolute pairs between U-shaped part 0011 can be replaced by a revolute pair；This side chain is that space five is free
Degree side chain.
Upper connector 002 is fastened with moving platform 001 by screw, becomes with 3 upper connectors 002 of moving platform 001 fastening
120 degree of circumference uniform distributions.Lower connector 009 is fastened with fixed platform 008 by screw, with 3 lower connectors of fixed platform 008 fastening
009 one-tenth 120 degree of circumference uniform distribution.Appropriate lightening hole all can be increased in order to alleviate this attitude on moving platform 001, fixed platform 008
The gross mass of adjusting means.
This attitude regulating mechanism can be converted to 3 by the different rotating speeds of the three of first, second, third side chain motor 006
Individual expansion link 0012 is along the stretching motion of the central axis friction speed of 3 electronic cylinder bodies 005, thus realizes moving platform 001
Two rotational freedoms attitude regulation control.As shown in Figure 10, wherein Figure 10 (a) is the present embodiment to attitude regulation effect
0 degree of attitude regulation effect shaft side figure, Figure 10 (b) is 40 degree of attitude regulation effect shaft side figures of the present embodiment.
Claims (10)
1. an attitude regulating mechanism, including a moving platform installing executor and a fixed platform, it is characterised in that: this dress
Putting the first, second, third and fourth side chain also including connecting between described moving platform and fixed platform, this is first, second and years old
Three side chains be space six degree of freedom that structure is identical without constrained branched chain, all contain the kinematic pair of an active drive；This device is also
Including the 4th side chain connected between described moving platform and fixed platform, the 4th side chain is space two-freedom side chain, has two
Individual rotational restraint；Described first, second, third and fourth side chain is connected one space of formation respectively with fixed platform and moving platform
Parallel closed loop mechanism, this Spatial Parallel close loop mechanism drives moving platform to move by three input motions, it is achieved two rotate certainly
By spending.
2. device as claimed in claim 1, it is characterised in that first, second, and third described side chain all includes: upper connection
Part, lower connector, upper hydraulic steering gear adopting cross piece, lower hydraulic steering gear adopting cross piece, upper U-shaped part, under U-shaped part, expansion link, electronic cylinder body, connecting plate, motor and
Connect kinematic pair；Described kinematic pair has six, a revolute pair being connected between upper connector and upper hydraulic steering gear adopting cross piece, and one is
It is connected to the revolute pair between hydraulic steering gear adopting cross piece and upper U-shaped part, a revolute pair being connected between U-shaped part and expansion link,
One moving sets being connected between expansion link and electronic cylinder body, one is connected to down between U-shaped part and lower hydraulic steering gear adopting cross piece
Revolute pair, another is connected to the revolute pair between lower hydraulic steering gear adopting cross piece and lower connector；Electronic cylinder body and motor are assemblied in connection
On plate, expansion link, electronic cylinder body, connecting plate and motor collectively form electric cylinder, by the rotation of motor realize expansion link along
The central axis stretching motion of electronic cylinder body.
3. device as claimed in claim 1, it is characterised in that in described six kinematic pairs, be connected to expansion link and electronic cylinder body
Between be powered along the stretching motion of bar length direction；It is connected between upper connector and upper hydraulic steering gear adopting cross piece and is connected to ten
Two revolute pairs between block and upper U-shaped part are orthogonality relations；Be connected to the revolute pair between U-shaped part and expansion link and
Three the revolute pair spaces being connected between upper connector and upper hydraulic steering gear adopting cross piece and be connected between hydraulic steering gear adopting cross piece and upper U-shaped part are handed over
In a bit；Two rotations being connected to down between U-shaped part and lower hydraulic steering gear adopting cross piece and be connected between lower hydraulic steering gear adopting cross piece and lower connector
Pair is also orthogonality relation.
4. device as claimed in claim 1, it is characterised in that described 4th side chain is space two-freedom side chain, has two
Rotational restraint；4th side chain includes: upper support frame, lower bracing frame, hydraulic steering gear adopting cross piece and kinematic pair；Described kinematic pair has two,
One is connected to the revolute pair between upper support frame and hydraulic steering gear adopting cross piece, and another is connected between hydraulic steering gear adopting cross piece and lower bracing frame
Revolute pair.
5. as claimed in claim 1 device, it is characterised in that three upper connectors of first, second, third described side chain and
Upper support frame is fastened with moving platform by screw, becomes 120 degree of circumference uniform distributions with 3 upper connectors of moving platform fastening；Under three
Connector and lower bracing frame are fastened with fixed platform by screw, become 120 degree of circumference uniform distributions with a lower connector for fixed platform fastening.
6. an attitude regulating mechanism, including a moving platform installing executor and a fixed platform, it is characterised in that: this dress
Put first, second, and third side chain also including connecting between described moving platform and fixed platform, this first, second, and third side chain
For the identical space six degree of freedom of structure without constrained branched chain, all contain the kinematic pair of an active drive；Described first, second He
3rd side chain is connected one Spatial Parallel close loop mechanism of formation, this Spatial Parallel close loop mechanism respectively with fixed platform and moving platform
Moving platform is driven to move by three input motions, it is achieved two rotational freedoms.
7. device as claimed in claim 6, it is characterised in that each side chain all includes: upper connecting sliding rail, U-shaped slide block, cross
Block, U-shaped part, expansion link, electronic cylinder body, connecting plate, motor and kinematic pair；Described kinematic pair has 5, and one is connected to
Moving sets between connecting sliding rail and U-shaped slide block, a revolute pair being connected between U-shaped slide block and hydraulic steering gear adopting cross piece, one is
It is connected to the revolute pair between hydraulic steering gear adopting cross piece and U-shaped part, a revolute pair being connected between U-shaped part and expansion link, another
It is connected to the moving sets between expansion link and electronic cylinder body.Electronic cylinder body and motor are assemblied on connecting plate, and connecting plate is fixed
On fixed platform；Expansion link, electronic cylinder body, connecting plate and motor collectively form electric cylinder, can be realized by the rotation of motor
Expansion link is along the central axis stretching motion of electronic cylinder body.
8. device as claimed in claim 6, it is characterised in that each side chain all includes: upper connector, lower connector, upper cross
Block, lower shaft pin, upper U-shaped part, under U-shaped part, expansion link, electronic cylinder body, connecting plate, motor and kinematic pair；Described kinematic pair has 6
Individual, a revolute pair being connected between upper connector and upper hydraulic steering gear adopting cross piece, one be connected to hydraulic steering gear adopting cross piece and upper U-shaped part it
Between revolute pair, a revolute pair being connected between U-shaped part and expansion link, one is connected to lower connector and lower axle
Revolute pair between pin, one be connected to lower shaft pin and under revolute pair between U-shaped part, another be connected to expansion link and
Moving sets between electronic cylinder body.Electronic cylinder body and motor are assemblied on connecting plate, expansion link, electronic cylinder body, connecting plate and electricity
Machine collectively forms electric cylinder, can realize the expansion link central axis stretching motion along electronic cylinder body by the rotation of motor.
Device the most as claimed in claims 6 or 7, it is characterised in that 3 connectors that each side chain is connected with moving platform become 120
Degree circumference uniform distribution, 3 connectors being connected with fixed platform become 120 degree of circumference uniform distributions.
10. device as described in claim 1 or 5, it is characterised in that be provided with on described moving platform, fixed platform, each side chain
Lightening hole, in order to alleviate the gross mass of this attitude regulating mechanism.
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| CN201610599492.XA CN106112980A (en) | 2016-07-26 | 2016-07-26 | A kind of attitude regulating mechanism |
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| CN201610599492.XA CN106112980A (en) | 2016-07-26 | 2016-07-26 | A kind of attitude regulating mechanism |
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| CN107275786A (en) * | 2017-06-22 | 2017-10-20 | 成都希塔科技有限公司 | The direction switch base of directional aerial |
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| CN107284025A (en) * | 2017-08-09 | 2017-10-24 | 嘉兴学院 | A kind of electrohydrodynamics curved surface spray printing device and its control method |
| CN108608407B (en) * | 2018-04-11 | 2021-03-26 | 清华大学 | Foldable multi-axis linkage robot |
| CN108608407A (en) * | 2018-04-11 | 2018-10-02 | 清华大学 | A kind of multi-shaft interlocked robot of telescopic formula |
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| CN113386106A (en) * | 2021-05-26 | 2021-09-14 | 清华大学 | Three-degree-of-freedom workbench for workpiece assembly |
| CN113545851A (en) * | 2021-06-11 | 2021-10-26 | 诺创智能医疗科技(杭州)有限公司 | Control method, system, equipment and storage medium for reconstructing instrument surgical field center |
| CN113545851B (en) * | 2021-06-11 | 2022-07-29 | 诺创智能医疗科技(杭州)有限公司 | Control method, system, equipment and storage medium for reconstructing instrument surgical field center |
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| CN114120748A (en) * | 2021-11-25 | 2022-03-01 | 中国人民解放***箭军工程大学 | Six-degree-of-freedom motion platform system based on reverse gravity balance |
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