CN110813729A - 2T2R four-degree-of-freedom vibrating screen based on parallel mechanism - Google Patents
2T2R four-degree-of-freedom vibrating screen based on parallel mechanism Download PDFInfo
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- CN110813729A CN110813729A CN201911055057.0A CN201911055057A CN110813729A CN 110813729 A CN110813729 A CN 110813729A CN 201911055057 A CN201911055057 A CN 201911055057A CN 110813729 A CN110813729 A CN 110813729A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/28—Moving screens not otherwise provided for, e.g. swinging, reciprocating, rocking, tilting or wobbling screens
- B07B1/36—Moving screens not otherwise provided for, e.g. swinging, reciprocating, rocking, tilting or wobbling screens jigging or moving to-and-fro in more than one direction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/42—Drive mechanisms, regulating or controlling devices, or balancing devices, specially adapted for screens
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Abstract
The invention provides a 2T2R four-degree-of-freedom vibrating screen based on a parallel mechanism, which comprises a first vibrating branch chain, a second vibrating branch chain, a third vibrating branch chain, a fourth vibrating branch chain, a static platform and a screen; the first vibration branch chain can enable the screen to move along the X-axis direction, the second vibration branch chain can enable the screen to move along the Y-axis direction, the third vibration branch chain can enable the screen to rotate around the X-axis direction, the fourth vibration branch chain can enable the screen to rotate around the Z-axis direction, and four-degree-of-freedom vibration screening movement along the X-axis direction, along the Z-axis direction, around the X-axis direction and around the Z-axis direction can be achieved. The parallel mechanism is applied to the vibrating screen, so that the multi-dimensional vibrating screen can be realized, and the vibrating screen has the advantages of small overall size, high screening efficiency, stable screening performance, high overall rigidity and the like, and has important practical significance and application value for establishing a new vibrating screen theory and developing practical vibrating screen equipment.
Description
Technical Field
The invention belongs to the field of vibration screening equipment, and particularly relates to a 2T2R four-degree-of-freedom vibration screen based on a parallel mechanism.
Background
The vibrating screen is equipment for grading and sorting material particles, is mature at present and applied to industrial departments such as chemical industry, metallurgy, coal, building, petroleum, water conservancy and the like, and is also generally applied to agricultural fields such as agricultural grain screening, seed sorting, turning and throwing of organic fertilizers and the like. The traditional vibrating sieves are single in motion track, materials are difficult to rapidly and uniformly distribute on the screen, the screen is easy to block, the screening penetration rate is low, the degree of freedom is low, the whole size of equipment is overlarge, the cost is higher, resonance is easy to cause, and therefore the service life of the vibrating sieves is shortened, and the traditional vibrating sieves are generally linear vibrating sieves and circular vibrating sieves.
The solid livestock and poultry manure is utilized to raise the fly maggots, so that on one hand, a large amount of solid livestock and poultry manure can be consumed to reduce environmental pollution, and on the other hand, required high-protein living bait can be provided for large-scale breeding industry. At present, maggot manure separation still depends on manual separation, the mechanization degree of automatic separation is not high, the separation is not beneficial to feeding a large number of living maggots and quickly separating the living maggots, the most important thing is that a quick controllable separation technology of mature maggots and livestock and poultry manure culture mediums in a maggot breeding production chain is lacked, currently, the biological characteristics of the maggots are mostly utilized to carry out non-mechanical separation, and the separation method is low in efficiency and uncontrollable.
Disclosure of Invention
Aiming at the technical problems, the invention provides a 2T2R four-degree-of-freedom vibrating screen based on a parallel mechanism, which can realize four-degree-of-freedom vibrating screen motion along the X-axis direction, along the Z-axis direction, around the X-axis direction and around the Z-axis direction. The parallel mechanism is applied to the vibrating screen, so that the multi-dimensional vibrating screen can be realized, and the vibrating screen has the advantages of small overall size, high screening efficiency, stable screening performance, high overall rigidity and the like, and has important practical significance and application value for establishing a new vibrating screen theory and developing practical vibrating screen equipment.
The technical scheme adopted by the invention for solving the technical problems is as follows: A2T 2R four-degree-of-freedom vibrating screen based on a parallel mechanism is characterized by comprising a first vibrating branch chain, a second vibrating branch chain, a third vibrating branch chain, a fourth vibrating branch chain, a static platform and a screen;
two sides of the static platform are respectively provided with a first guide rail along the X-axis direction, a second slide rail along the Y-axis direction, and a vertical rod along the Z-axis direction, wherein the first guide rail, the second slide rail and the vertical rods are vertical to each other in pairs;
the screen is positioned right below the static platform, one end of the first vibrating branched chain is axially overlapped with a first sliding rail on the static platform, the other end of the first vibrating branched chain is connected with the screen, one end of the second vibrating branched chain is axially overlapped with a second sliding rail on the static platform, the other end of the second vibrating branched chain is connected with the screen, one end of the third vibrating branched chain is axially overlapped with the first sliding rail on the static platform, the other end of the third vibrating branched chain is connected with the screen, one end of the fourth vibrating branched chain is connected with a vertical rod perpendicular to the static platform, and the other end of the fourth;
the first vibration branch chain can enable the screen to move along the X-axis direction, the second vibration branch chain can enable the screen to move along the Y-axis direction, the third vibration branch chain can enable the screen to rotate around the X-axis direction, and the fourth vibration branch chain can enable the screen to rotate around the Z-axis direction.
In the above scheme, the first vibrating branched chain comprises a revolute pair R11Connecting rod L11Universal joint U12Connecting rod L12And a sliding pair P13Connecting rod L13And universal joint U14；
The revolute pair R11A revolute pair R arranged on the guide rail I at one side of the static platform11The axial line of the rotating pair is coincided with the axial direction of a first guide rail on the static platform, and the rotating pair R11By means of a connecting rod L11And universal joint U12Connected, universal joint U12By means of a connecting rod L12And a sliding pair P13Connected to, and moved by, pairs P13By means of a connecting rod L13And universal joint U14Connected by universal joint U14And the first vibrating branch chain is connected with the screen, and can enable the screen to move along the X-axis direction.
In the above scheme, the second vibration branched chain comprises a revolute pair R21Connecting rod L21Universal joint U22Connecting rod L22And a sliding pair P23Connecting rod L23And universal joint U24；
The revolute pair R21Is arranged on a second guide rail of the static platform and is provided with a revolute pair R21The axial line of the guide rail B is overlapped with the axial direction of the guide rail B on the static platform, and the revolute pair R21By means of a connecting rod L21And universal joint U22Connected, universal joint U22By means of a connecting rod L22And a sliding pair P23Connected to, and moved by, pairs P23By means of a connecting rod L23And universal joint U24Connected by universal joint U24And the second vibrating branch chain is connected with the screen, and can enable the screen to move along the Y-axis direction.
In the above scheme, the third vibration branched chain comprises a revolute pair R31Connecting rod L31Universal joint U32Connecting rod L32And universal joint U33；
The revolute pair R31A revolute pair R arranged on the first guide rail at the other side of the static platform31The axial line of the rotating pair is coincided with the axial direction of a first guide rail on the static platform, and the rotating pair R31The other end passes through a connecting rod L31And universal joint U32Connected, universal joint U32By means of a connecting rod L32And universal joint U33Are connected with the universal joint U33The third vibrating branch chain can enable the screen to rotate around the X-axis direction.
In the above scheme, the fourth vibration branched chain comprises a revolute pair R41Connecting rod L41And a revolute pair R42Connecting rod L42And universal joint U43；
The revolute pair R41One end of the rotating pair is connected with a vertical rod vertically arranged on the static platform, and the rotating pair R41By means of a connecting rod L41And a revolute pair R42Connected by a revolute pair R42By means of a connecting rod L42And universal joint U43Connected by a revolute pair R41Rotating shaft and revolute pair R42Parallel to the axis of rotation of said universal joint U 43405 is connected to screen 601 and the fourth vibrating branch enables the screen to rotate about the Z-axis.
In the above scheme, the first vibrating branch chain, the second vibrating branch chain, the third vibrating branch chain and the fourth vibrating branch chain are respectively provided with an independent power source;
starting a power source of the first vibration branched chain, wherein the screen can perform screening motion along the X-axis direction; starting a power source of the second vibration branched chain, wherein the screen can perform screening motion along the Y-axis direction; starting a power source of the third vibration branched chain, wherein the screen can perform reciprocating screening motion around the X-axis direction; starting a power source on the fourth vibration branch chain, wherein the screen can perform reciprocating screening motion around the Z-axis direction; and simultaneously starting the power source of the first vibration branched chain, the power source of the second vibration branched chain, the power source on the third vibration branched chain and the power source on the fourth vibration branched chain, and the screen can simultaneously perform screening motion along the X-axis direction, along the Y-axis direction, around the X-axis direction and around the Z-axis direction.
Compared with the prior art, the invention has the beneficial effects that: the 2T2R four-degree-of-freedom vibrating screen based on the parallel mechanism can realize four-degree-of-freedom vibrating screen motion along the X direction, along the Y direction, around the X direction and around the Z direction. Wherein the vibrating screen motion along the X-axis is provided by a revolute pair R11Connecting rod L11Universal joint U12Connecting rod L12And a sliding pair P13Connecting rod L13Universal joint U14The first vibration branch chain is formed; the vibrating screen along the Y-axis direction moves by a rotating pair R21Connecting rod L21Universal joint U22Connecting rod L22And a sliding pair P23Connecting rod L23Universal joint U24The second vibration branch chain is formed; the vibration screening motion around the X-axis direction is performed by a rotating pair R31Connecting rod L31Universal joint U32Connecting rod L32Universal joint U33A third vibration branch chain is formed; the vibrating screen motion around the Z-axis direction is formed by a rotating pair R41Connecting rod L41And a revolute pair R42Connecting rod L42And universal joint U43The fourth vibration branch chain is formed, and the four branch chains act on the screen together, so that the screen can integrally realize four-degree-of-freedom vibration screening motion along the X-axis direction, along the Y-axis direction, around the X-axis direction and around the Z-axis direction. The invention can realize the movement of two degrees of freedom and the rotation of two degrees of freedom. The problem of maggot and feed separation is solved by using a parallel mechanism technology, the key problem of fly maggot culture by using solid livestock and poultry manure at present can be solved, and maggot and feed are realizedThe parallel mechanism has the advantages of high rigidity, small overall size, light overall weight and practical significance for realizing industrial application, and a driving device can be positioned on or close to a rack.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is an overall three-dimensional view of the present invention;
FIG. 2 is a three-dimensional view of the present invention vibrating a branched chain linearly in the X direction;
FIG. 3 is a three-dimensional view of the present invention vibrating the branched chain linearly in the Y direction;
FIG. 4 is a three-dimensional view of the present invention oscillating the branched chain linearly about the X direction;
FIG. 5 is a three-dimensional view of the present invention rotating the vibrating arm about the Z-direction.
In the figure: 101. revolute pair R11(ii) a 102. Connecting rod L11(ii) a 103. Universal joint U12(ii) a 104. Connecting rod L12(ii) a 105. Sliding pair P13(ii) a 106. Connecting rod L13(ii) a 107. Universal joint U14(ii) a 201. Revolute pair R21(ii) a 202. Connecting rod L21(ii) a 203. Universal joint U22(ii) a 204. Connecting rod L22(ii) a 205. Sliding pair P23(ii) a 206. Connecting rod L23(ii) a 207. Universal joint U24(ii) a 301. Revolute pair R31(ii) a 302. Connecting rod L31(ii) a 303. Universal joint U32(ii) a 304. Connecting rod L32(ii) a 305. Universal joint U33(ii) a 401. Revolute pairR41(ii) a 402. Connecting rod L41(ii) a 403. Revolute pair R42(ii) a 404. Connecting rod L42(ii) a 405. Universal joint U43(ii) a 501. A static platform; 502. a first guide rail; 503. A second guide rail; 504. a vertical rod; 601. and (4) screening.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Fig. 1 shows a preferred embodiment of the parallel mechanism based 2T2R four-degree-of-freedom vibrating screen according to the present invention, where the parallel mechanism based 2T2R four-degree-of-freedom vibrating screen includes a first vibrating branched chain, a second vibrating branched chain, a fourth vibrating branched chain, a static platform 501, and a screen 601. Two sides of the static platform 501 are provided with a first guide rail 502 along the X-axis direction, a second guide rail 503 along the Y-axis direction, and a vertical rod 504 along the Z-axis direction, wherein the first guide rail 502, the second guide rail 503 and the vertical rod 504 are vertical in pairs; the screen 601 is arranged right below the static platform 501; one end of the first vibration branched chain is axially overlapped with a first guide rail 502 on the static platform 501, and the other end of the first vibration branched chain is connected with the screen 601; one end of the second vibration branched chain is axially overlapped with a second guide rail 503 on the static platform 501, and the other end of the second vibration branched chain is connected with the screen 601; one end of the third vibration branched chain is axially overlapped with a first guide rail 502 on the static platform 501, and the other end of the third vibration branched chain is connected with the screen 601; one end of the fourth vibrating branched chain is connected with a vertical rod 504 vertical to the static platform 501, and the other end of the fourth vibrating branched chain is connected with the screen 601; the first vibrating branched chain can enable the screen 601 to move along the X-axis direction, the second vibrating branched chain can enable the screen 601 to move along the Y-axis direction, the third vibrating branched chain can enable the screen 601 to rotate around the X-axis direction, and the fourth vibrating branched chain can enable the screen 601 to rotate around the Z-axis direction. The first vibration branch chain, the second vibration branch chain, the third vibration branch chain and the fourth vibration branch chain are respectively provided with an independent power source; preferably, the power source is an electric motor. The first vibrating branch chain, the second vibrating branch chain, the third vibrating branch chain and the fourth vibrating branch chain can enable the screen 601 to do vibrating screening motion along the X direction, along the Y direction, around the X direction and around the Z direction under the driving of a power source.
As shown in fig. 2, according to the present embodiment, it is preferable that the first vibration branch chain includes a revolute pair R 11101. Connecting rod L 11102. Universal joint U 12103. Connecting rod L 12104. Sliding pair P 13105. Connecting rod L 13106 and a universal joint U 14107；
The revolute pair R11101 is arranged on the first guide rail 502 on one side of the static platform 501, and the revolute pair R 11101 axis is coincident with the axial direction of a first guide rail 502 on a static platform 501, and a revolute pair R 11101 through a connecting rod L 11102 and universal joint U 12103 connected, universal joint U 12103 via a connecting rod L 12104 and a sliding pair P 13105 connection, sliding pair P 13105 through a connecting rod L 13106 and a universal joint U14Phase 107Connecting universal joint U 14107 are fixed to screen 601, said first vibrating branch enabling movement of screen 601 in the X-direction. Power source for opening first vibration branch chain, revolute pair R 11101 can make linear vibration motion along X direction, and the connecting rod L 11102. Universal joint U 12103. Connecting rod L 12104. Sliding pair P 13105. Connecting rod L 13106. Universal joint U14The screen 601 is driven by the driving unit 107 to perform linear vibration motion in the X-axis direction.
As shown in fig. 3, according to the present embodiment, preferably, the second branch chain includes a revolute pair R 21201. Connecting rod L 21202. Universal joint U 22203. Connecting rod L 22204. Sliding pair P 23205. Connecting rod L 23206 and universal joint U 24207；
The revolute pair R 21201 is arranged on a second guide rail 503 of the static platform 501, and a revolute pair R21The axial line of 201 is coincident with the axial direction of a second guide rail 503 on the static platform 501, and a revolute pair R 21201 is arranged on a static platform 501 and a revolute pair R 21201 is parallel to the second guide rail on the static platform, and a revolute pair R 21201 through a connecting rod L 21202 and a universal joint U 22203 connected with each other, and a universal joint U22032 through connecting rod L 22204 and a sliding pair P 23205 are connected, a sliding pair P 23205 through a connecting rod L 23206 and universal joint U 24207 are connected with each other and a universal joint U 24207 are fixed to screen 601 and the second vibrating arm enables screen 601 to move in the Y-axis direction. Power source for opening second vibration branch chain, revolute pair R 21201 can make linear vibration motion along Y direction and is connected with a connecting rod L 21202. Universal joint U 22203. Connecting rod L 22204. Sliding pair P 23205. Connecting rod L 23206. Universal joint U 24207 drives the screen 601 to make a linear vibration motion along the Y-axis direction.
As shown in fig. 4, according to the present embodiment, preferably, the third branch chain includes a revolute pair R 31301. Connecting rod L 31302. Universal joint U 32303. Connecting rod L32304 and a universal joint U 33305；
The revolute pair R 31301 is arranged on a first guide rail 502 at the other side of the static platform 501, and a revolute pair R 31301 is axially coincident with the axial direction of a first guide rail 502 on a static platform 501, and a revolute pair R 31301 another end passes through a connecting rod L 31302 and universal joint U 32303 are connected with a universal joint U 32303 through a connecting rod L32304 and a universal joint U 33305, the universal joint U 33305 are fixed to the screen and the third vibrating branch enables the screen 601 to rotate around the X direction. Power source for opening third vibration branch chain, revolute pair R 31301 can make certain amplitude swinging vibration around its axis, and is passed through connecting rod L 31302. Universal joint U 32303. Connecting rod L32304. Universal joint U 33305 drives the entire screen 601 to perform a certain amplitude of oscillating vibration around the X-axis direction.
As shown in fig. 5, according to the present embodiment, preferably, the fourth branch chain includes a revolute pair R 41401. Connecting rod L 41402. Revolute pair R 42403. Connecting rod L 42404 and a universal joint U 43405。
The revolute pair R 41401 one end is connected with a vertical rod 504 vertically arranged on the static platform 501, and the revolute pair R 41401 through a connecting rod L 41402 and revolute pair R 42403 are connected and a revolute pair R 42403 via a connecting rod L 42404 and a universal joint U 43405 connection, the universal joint U 43405 is fixed on the screen 601 and a revolute pair R 41401 axis of rotation and revolute pair R 42403 are parallel to each other, and the fourth oscillating branch enables the screen 601 to rotate around the Z-axis direction. Opening the power source on the fourth vibration branch chain, and turning pair R 41401 oscillating about its axis to a certain extent, via a connecting rod L 41402. Revolute pair R 42403. Connecting rod L 42404 and a universal joint U 43405 drives the entire screen 601 to perform a certain amplitude of oscillating vibration around the Z direction.
Revolute pair R on first vibration branched chain 11101. Revolute pair R on second vibration branched chain 21201. Revolute pair R on third vibration branched chain 31301 and revolute pair R on the fourth branch 41401 is the active pair on each branch.
The engineering process of the invention is as follows: the power source of the first vibration branch chain is opened, and the motor drives the revolute pair R 11101 in the X direction by a reciprocating linear vibrating screen motion via a connecting rod L 11102. Universal joint U 12103. Connecting rod L 12104. Sliding pair P 13105. Connecting rod L 13106. Universal joint U 14107 drives the screen 601 to make linear vibration motion along the X-axis direction; the power source of the second vibration branch chain is opened, and the motor drives the revolute pair R 21201 in a reciprocating linear vibrating screen motion in the Y direction, via a connecting rod L 21202. Universal joint U 22203. Connecting rod L 22204. Sliding pair P 23205. Connecting rod L 23206. Universal joint U 24207 drives the screen 601 to make linear vibration motion along the Y-axis direction; the power source of the third vibration branch chain is opened, and the motor drives the revolute pair R 31301 make certain amplitude swinging vibration around its axis, via connecting rod L 31302. Universal joint U 32303. Connecting rod L32304. Universal joint U 33305 drives the screen 601 to perform certain amplitude of swinging vibration around the X-axis direction; opening the power source on the fourth vibration branch chain, and turning pair R 41401 oscillating about its axis to a certain extent, via a connecting rod L 41402. Revolute pair R 42403. Connecting rod L 42404 and a universal joint U 43405 drives the entire screen 601 to perform a certain amplitude of oscillating vibration around the Z direction. The four branched chains act on the screen 601 together, so that four-degree-of-freedom vibration screening motion along the X-axis direction, along the Y-axis direction, around the X-axis direction and around the Z-axis direction can be realized.
The power source of the first vibration branched chain is independently started, and the screen 601 can perform screening motion along the X direction; a power source of the second vibration branched chain is independently started, and the screen 601 can perform screening motion along the Y direction; a power source on the third vibration branched chain is independently started, and the screen 601 can perform reciprocating screening motion around the X direction; when the power source of the fourth branch chain is independently started, the screen 601 can perform reciprocating screening motion around the Z direction. And simultaneously starting a power source of the first vibration branched chain, a power source of the second vibration branched chain, a power source on the third vibration branched chain and a power source on the fourth branched chain, and the screen 601 can perform screening motion along the X-axis direction, along the Y-axis direction, around the X-axis direction and around the Z-axis direction simultaneously. In actual use, one, two, three or four of the four power sources can be selected randomly according to requirements to be combined and started, so that the screen 601 obtains corresponding vibration output.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (6)
1. A2T 2R four-degree-of-freedom vibrating screen based on a parallel mechanism is characterized by comprising a first vibrating branch chain, a second vibrating branch chain, a third vibrating branch chain, a fourth vibrating branch chain, a static platform (501) and a screen (601);
two sides of the static platform (501) are respectively provided with a first guide rail (502) along the X-axis direction, a second slide rail (503) along the Y-axis direction, and a vertical rod (504) along the Z-axis direction, wherein the first guide rail (502), the second slide rail (503) and the vertical rod (504) are vertical to each other in pairs;
the screen (601) is located right below the static platform (501), one end of a first vibration branched chain is axially overlapped with a first sliding rail (502) on the static platform (501), the other end of the first vibration branched chain is connected with the screen (601), one end of a second vibration branched chain is axially overlapped with a second sliding rail (503) on the static platform (501), the other end of the second vibration branched chain is connected with the screen (601), one end of a third vibration branched chain is axially overlapped with the first sliding rail (502) on the static platform (501), the other end of the third vibration branched chain is connected with the screen (601), one end of a fourth vibration branched chain is connected with a vertical rod (504) perpendicular to the static platform (501), and the other end of the fourth vibration branched chain is connected with the screen (601);
the first vibrating branched chain can enable the screen (601) to move along the X-axis direction, the second vibrating branched chain can enable the screen (601) to move along the Y-axis direction, the third vibrating branched chain can enable the screen (601) to rotate around the X-axis direction, and the fourth vibrating branched chain can enable the screen (601) to rotate around the Z-axis direction.
2. The parallel mechanism based 2T2R four-degree-of-freedom vibrating screen as claimed in claim 1, wherein the first vibrating branch chain comprises a revolute pair R11(101) Connecting rod L11(102) Universal joint U12(103) Connecting rod L12(104) And a sliding pair P13(105) Connecting rod L13(106) And universal joint U14(107)；
The revolute pair R11(101) A revolute pair R is arranged on a guide rail I (502) at one side of the static platform (501)11(101) The axial line of the rotating pair (R) is coincident with the axial direction of a first guide rail (502) on the static platform (501), and the rotating pair R11(101) By means of a connecting rod L11(102) And universal joint U12(103) Connected, universal joint U12(103) By means of a connecting rod L12(104) And a sliding pair P13(105) Connected to, and moved by, pairs P13(105) By means of a connecting rod L13(106) And universal joint U14(107) Connected by universal joint U14(107) The first vibrating branch chain is connected with the screen (601), and can enable the screen (601) to move along the X-axis direction.
3. The parallel mechanism based 2T2R four-degree-of-freedom vibrating screen as claimed in claim 1, wherein the second vibrating branch chain comprises a revolute pair R21(201) Connecting rod L21(202) Universal joint U22(203) Connecting rod L22(204) And a sliding pair P23(205) Connecting rod L23(206) And universal joint U24(207)；
The revolute pair R21(201) Is arranged on a second guide rail (503) of the static platform (501) and has a revolute pair R21(201) Of the axis of the moving part and a second guide rail (503) on the static platform (501)Axial coincidence, revolute pair R21(201) By means of a connecting rod L21(202) And universal joint U22(203) Connected, universal joint U22(203) By means of a connecting rod L22(204) And a sliding pair P23(205) Connected to, and moved by, pairs P23(205) By means of a connecting rod L23(206) And universal joint U24(207) Connected by universal joint U24(207) The second vibrating branch is connected with the screen (601), and can enable the screen (601) to move along the Y-axis direction.
4. The parallel mechanism based 2T2R four-degree-of-freedom vibrating screen as claimed in claim 1, wherein the third vibrating branch chain comprises a revolute pair R31(301) Connecting rod L31(302) Universal joint U32(303) Connecting rod L32(304) And universal joint U33(305)；
The revolute pair R31(301) A revolute pair R is arranged on a guide rail I (502) at the other side of the static platform (501)31(301) The axial line of the rotating pair (R) is coincident with the axial direction of a first guide rail (502) on the static platform (501), and the rotating pair R31(301) The other end passes through a connecting rod L31(302) And universal joint U32(303) Connected, universal joint U32(303) By means of a connecting rod L32(304) And universal joint U33(305) Are connected with the universal joint U33(305) The third vibrating branch chain is fixed on the screen (601), and can enable the screen (601) to rotate around the X-axis direction.
5. The parallel mechanism based 2T2R four-degree-of-freedom vibrating screen as claimed in claim 1, wherein the fourth vibrating branch chain comprises a revolute pair R41(401) Connecting rod L41(402) And a revolute pair R42(403) Connecting rod L42(404) And universal joint U43(405)；
The revolute pair R41(401) One end of the rotating pair is connected with a vertical rod (504) vertically arranged on the static platform (501), and the rotating pair R41(401) By means of a connecting rod L41(402) And a revolute pair R42(403) Connected by a revolute pair R42(403) By means of a connecting rod L42(404) And universal joint U43(405) Connected and rotated pairR41(401) Rotating shaft and revolute pair R42(403) Parallel to the axis of rotation of said universal joint U43(405) The fourth vibrating branch chain is connected with the screen (601), and can enable the screen (601) to rotate around the Z-axis direction.
6. The parallel mechanism based 2T2R four-degree-of-freedom vibrating screen as claimed in claim 1, wherein the first vibrating branch chain, the second vibrating branch chain, the third vibrating branch chain and the fourth vibrating branch chain are respectively provided with independent power sources;
starting a power source of the first vibration branched chain, wherein the screen (601) can perform screening motion along the X-axis direction; starting a power source of the second vibration branched chain, wherein the screen (601) can perform screening motion along the Y-axis direction; starting a power source of the third vibration branched chain, wherein the screen (601) can perform reciprocating screening motion around the X-axis direction; starting a power source on the fourth vibrating branch chain, wherein the screen (601) can perform reciprocating screening motion around the Z-axis direction; and simultaneously starting a power source of the first vibration branched chain, a power source of the second vibration branched chain, a power source on the third vibration branched chain and a power source on the fourth vibration branched chain, and screening the screen (601) along the X-axis direction, along the Y-axis direction, around the X-axis direction and around the Z-axis direction.
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