CN109605330A - Platypelloid type six degree of freedom platform structure - Google Patents
Platypelloid type six degree of freedom platform structure Download PDFInfo
- Publication number
- CN109605330A CN109605330A CN201811580870.5A CN201811580870A CN109605330A CN 109605330 A CN109605330 A CN 109605330A CN 201811580870 A CN201811580870 A CN 201811580870A CN 109605330 A CN109605330 A CN 109605330A
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- CN
- China
- Prior art keywords
- sliding block
- connecting rod
- mounting plate
- degree
- upper mounting
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention discloses a kind of platypelloid type six degree of freedom platform structures, including lower platform, upper mounting plate, six support constructions, and six support constructions are radial to be evenly distributed between lower platform and upper mounting plate；The guide rail of support construction is all directed to the center of hexagon, and has two sliding blocks in support construction, and a sliding block is located at the inside of hexagon, and another sliding block is located at the outside of hexagon.The present invention realizes the mobile of upper mounting plate and rotation by controlling movement of each sliding block on guide rail, and drive arrangement is convenient and due to avoiding directly between two platforms plus driving, and saves the segment space between two platforms, space utilization rate is high.
Description
Technical field
The present invention relates to a kind of six degree of freedom platform structures, and in particular to a kind of six degree of freedom platform with specific shape
Structure.
Background technique
Six degree of freedom platform structure in the prior art is innovated and is transformed based on Stewart platform mostly.
Stewart platform parallel mechanism due to having the characteristics that rigidity is big, bearing capacity is strong, location error is not accumulative, application it is upper with
Serial mechanism forms complementation, it has also become the research hotspot that space mechanism is learned.Currently, Stewart platform parallel mechanism is being navigated
The industries such as sky, space flight, seabed operation, underground mining, manufacture assembly have a wide range of applications.Nowadays, this mechanism is also not only
Be confined in engineering, such as the six degree of freedom platform earthquake experience device that CN204215642U is related to, including experience area, upper mounting plate,
Servo mechanism and lower platform, experience area are fixed on above upper mounting plate, completely simulate earthquake shake by control servo mechanism.
But since the driving of such device is connected directly between upper mounting plate and lower platform, so that distance is widened between two platforms.Example again
Such as Chinese patent CN105345770A, it discloses the six degree of freedom platforms and Chinese patent of a kind of biasing of Hooke's hinge
CN107053144A discloses a kind of six degree of freedom platform structure, but to eventually lead to whole device figure inclined for these platform structures
Greatly, these big figure machines are not available under many narrow operating conditions.Based on this, realization can be applicable under narrow operating condition
Six degree of freedom platform structure be very important.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of platypelloid type six degree of freedom platform structure, by controlling each cunning
Movement of the block on guide rail come realize the mobile of upper mounting plate and rotation.It links together, then passes through with sliding block due to driving
The final movement for realizing upper mounting plate of the transmission of connecting rod, therefore being directly connected to for driving and upper mounting plate and lower platform is avoided, simultaneously
Also it is reduced significantly platform structure figure, suitable for narrow operating condition.
The technical scheme adopted by the invention is that:
Platypelloid type six degree of freedom platform structure, including lower platform 1, upper mounting plate, 6 support constructions, it is characterised in that: described
The circumference of lower platform and the upper mounting plate is regular hexagon；6 support constructions radially distribute in lower platform and
Between upper mounting plate and it is evenly arranged in using the central axis of upper and lower regular hexagon as on the circle in the center of circle；The support construction includes leading
Rail, the first sliding block, the first body cradle, first connecting rod, Hooke's hinge, second connecting rod, third connecting rod, the second body cradle, the second sliding block,
The guide rail is fixedly mounted on the upper surface of lower platform；First sliding block and the second sliding block are all slidably mounted on guide rail；Institute
It states first connecting rod one end to be rotatably installed on the first sliding block by the first body cradle, the other end is rotatably installed in third connecting rod
Between position；Described third connecting rod one end is rotatably installed on the second sliding block by the second body cradle, and the other end passes through Hooke's hinge
It is connect with second connecting rod one end, the second connecting rod other end is in spherical, and for connecting with upper mounting plate flexural pivot.
Further, the area of lower platform is greater than the area of upper mounting plate.
Further, the guide rail of the support construction is all directed to the center of regular hexagon.
Further, the second sliding block in 6 support constructions is entirely located in the inside of regular hexagon, the first sliding block whole position
In the outside of regular hexagon.
Since present invention employs above-mentioned technical proposals, to have the advantage that it is leading by controlling each sliding block
Movement on rail is convenient to realize the mobile of upper mounting plate and rotation, drive arrangement；Due to avoiding directly between two platforms
Add driving, save the segment space between two platforms, space utilization rate is high.
Detailed description of the invention
Fig. 1 is platypelloid type six degree of freedom platform structure schematic diagram of the invention.
Wherein, 1- lower platform；2- upper mounting plate；3- support construction；
Fig. 2 is support construction schematic diagram in platypelloid type six degree of freedom platform structure of the invention.
Wherein, 301- guide rail；The first sliding block of 302-；The first body cradle of 303-；304- first connecting rod；305- Hooke's hinge；
306- second connecting rod；307- third connecting rod；The second body cradle of 308-；The second sliding block of 309-.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in FIG. 1, FIG. 1 is platypelloid type six degree of freedom platform structure schematic diagrames of the invention.Platypelloid type six of the invention
Freedom degree platform structure, including 2,6 lower platform 1, upper mounting plate support constructions 3, it is characterised in that: the lower platform 1 and described
The top view of 3 profile of upper mounting plate is regular hexagon；6 support constructions 3 are radial to be evenly distributed on lower platform 1 and upper flat
Between platform 2 and the area of lower platform is greater than the area of upper mounting plate.
As shown in Fig. 2, Fig. 2 is support construction schematic diagram in platypelloid type six degree of freedom platform structure of the invention.The branch
Support structure 3 includes guide rail 301, the first sliding block 302, the first body cradle 303, first connecting rod 304, Hooke's hinge 305, second connecting rod
306, third connecting rod 307, the second body cradle 308, the second sliding block 309, the guide rail 301 are fixedly mounted on the upper surface of lower platform 1；
First sliding block 302 and the second sliding block 309 are all slidably mounted on guide rail 301；304 left end of first connecting rod passes through the
One body cradle 303 is rotatably installed on the first sliding block 302, and right end is rotatably installed in 307 middle position of third connecting rod；Described
307 right end of three-link is rotatably installed on the second sliding block 309 by the second body cradle 308, and left end passes through Hooke's hinge 305 and the
The connection of two connecting rods, 306 left end.306 right end of second connecting rod is in spherical, and is connect with 2 flexural pivot of upper mounting plate.
Further, the guide rail 301 of the support construction 3 is all directed to the center of hexagon, and 6 the second sliding blocks 309
It is entirely located in the inside of hexagon, 6 the first sliding blocks 302 are entirely located in the outside of hexagon.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (5)
1. platypelloid type six degree of freedom platform structure, including lower platform, upper mounting plate, 6 support constructions, it is characterised in that: under described
The circumference of platform and the upper mounting plate is regular hexagon；6 support constructions radially distribute in lower platform and upper
Between platform and it is evenly arranged in using the central axis of upper and lower regular hexagon as on the circle in the center of circle；The support construction include guide rail,
First sliding block, the first body cradle, first connecting rod, Hooke's hinge, second connecting rod, third connecting rod, the second body cradle, the second sliding block, institute
It states guide rail and is fixedly mounted on the upper surface of lower platform；First sliding block and the second sliding block are all slidably mounted on guide rail；It is described
First connecting rod one end is rotatably installed on the first sliding block by the first body cradle, and the other end is rotatably installed among third connecting rod
Position；Described third connecting rod one end is rotatably installed on the second sliding block by the second body cradle, the other end by Hooke's hinge with
The connection of second connecting rod one end, the second connecting rod other end are in spherical, and for connecting with upper mounting plate flexural pivot.
2. platypelloid type six degree of freedom platform structure as described in claim 1, wherein the area of lower platform is greater than the face of upper mounting plate
Product.
3. platypelloid type six degree of freedom platform structure as described in claim 1, wherein the guide rail of the support construction is all directed to
The center of regular hexagon.
4. platypelloid type six degree of freedom platform structure as described in claim 1, wherein the distance between lower platform and upper mounting plate are wanted
The sufficiently small shape to meet platypelloid type.
5. platypelloid type six degree of freedom platform structure according to any one of claims 1-4, wherein in 6 support constructions
Two sliding blocks are entirely located in the inside of regular hexagon, and the first sliding block is entirely located in the outside of regular hexagon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811580870.5A CN109605330A (en) | 2018-12-24 | 2018-12-24 | Platypelloid type six degree of freedom platform structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811580870.5A CN109605330A (en) | 2018-12-24 | 2018-12-24 | Platypelloid type six degree of freedom platform structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109605330A true CN109605330A (en) | 2019-04-12 |
Family
ID=66011320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811580870.5A Pending CN109605330A (en) | 2018-12-24 | 2018-12-24 | Platypelloid type six degree of freedom platform structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109605330A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634224A (en) * | 2020-07-20 | 2020-09-08 | 吉林工程技术师范学院 | Three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device |
| CN111993389A (en) * | 2020-08-24 | 2020-11-27 | 宁波大学 | Hybrid-driven movable multi-degree-of-freedom parallel motion platform |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0263627A1 (en) * | 1986-09-30 | 1988-04-13 | Dilip Kohli | Robotic manipulators and rotary linear actuators for use in such manipulators |
| CN1472046A (en) * | 2003-07-16 | 2004-02-04 | 刘辛军 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
| CN101451933A (en) * | 2008-12-18 | 2009-06-10 | 北京林业大学 | Six-dimension loading material mechanical test machine |
| CN104858887A (en) * | 2015-06-11 | 2015-08-26 | 安庆市华鑫重工股份有限公司 | Six-degree-of-freedom self-stabilized box grab bucket based on parallel mechanism |
| CN104308838B (en) * | 2014-09-26 | 2016-01-06 | 燕山大学 | Low-and high-frequency composite flooding six-freedom parallel sports platform |
-
2018
- 2018-12-24 CN CN201811580870.5A patent/CN109605330A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0263627A1 (en) * | 1986-09-30 | 1988-04-13 | Dilip Kohli | Robotic manipulators and rotary linear actuators for use in such manipulators |
| CN1472046A (en) * | 2003-07-16 | 2004-02-04 | 刘辛军 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
| CN101451933A (en) * | 2008-12-18 | 2009-06-10 | 北京林业大学 | Six-dimension loading material mechanical test machine |
| CN104308838B (en) * | 2014-09-26 | 2016-01-06 | 燕山大学 | Low-and high-frequency composite flooding six-freedom parallel sports platform |
| CN104858887A (en) * | 2015-06-11 | 2015-08-26 | 安庆市华鑫重工股份有限公司 | Six-degree-of-freedom self-stabilized box grab bucket based on parallel mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634224A (en) * | 2020-07-20 | 2020-09-08 | 吉林工程技术师范学院 | Three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device |
| CN111993389A (en) * | 2020-08-24 | 2020-11-27 | 宁波大学 | Hybrid-driven movable multi-degree-of-freedom parallel motion platform |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190412 |
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