CN105835040B - A kind of six branch's parallel institutions of mobile input of centralization - Google Patents
- ️Fri Oct 20 2017
CN105835040B - A kind of six branch's parallel institutions of mobile input of centralization - Google Patents
A kind of six branch's parallel institutions of mobile input of centralization Download PDFInfo
-
Publication number
- CN105835040B CN105835040B CN201610339340.6A CN201610339340A CN105835040B CN 105835040 B CN105835040 B CN 105835040B CN 201610339340 A CN201610339340 A CN 201610339340A CN 105835040 B CN105835040 B CN 105835040B Authority
- CN
- China Prior art keywords
- connecting rod
- ring
- screw
- frame
- bracket Prior art date
- 2016-05-20 Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 238000005096 rolling process Methods 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 14
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
Six branch's parallel institutions of a kind of mobile input of centralization, mainly including base, lower fixed support, support rod, motor fixing frame, servomotor A, servo support, screw pair, connecting rod A, leading screw bearing support A, pivoting support, roller gear, drive disk, serrations, positioning disk, sliding bar, rolling bearing, upper fixed support, connecting rod B, leading screw bearing support B, movement branched chain, servomotor A and servo motor B.The present invention reduces cost, is easy to control.
Description
技术领域technical field
本发明涉及机械学中的并联机构领域。The invention relates to the field of parallel mechanisms in mechanics.
背景技术Background technique
并联机构相对串联机构具有刚度大、承载能力强、运动精度高的优点,其缺陷是运动空间小、结构复杂。六分支并联机构的动平台和定平台之间以六个运动支链相连，通常用驱动器单独驱动各分支来控制动平台位姿的变化。如中国专利CN201510436220公布了一种六棱锥式六自由度并联机构、中国专利CN201510424628公布了一种六自由度动感平台、中国专利CN201510025977公布了一种六自由度并联机构加载系统及其方法、中国专利CN201410113807公布了一种用于纵向运动模拟的六自由度并联组装机构、中国专利CN201310282798公布了一种带有平衡机构的六自由度重载静平衡并联运动模拟台机构，以上所述的六分支并联机构都是对各运动支链进行独立驱动。六分支单独进行驱动的六自由度并联机构需要对六个驱动器进行控制，制造成本较高，控制复杂。在某些特定的场合，只须要机械装置的末端执行器做周期性的六维运动。Compared with the series mechanism, the parallel mechanism has the advantages of high rigidity, strong bearing capacity, and high motion precision, but its disadvantages are small motion space and complex structure. The moving platform and the fixed platform of the six-branch parallel mechanism are connected by six motion branch chains, and drivers are usually used to drive each branch separately to control the change of the pose of the moving platform. For example, Chinese patent CN201510436220 discloses a hexagonal pyramid six-degree-of-freedom parallel mechanism, Chinese patent CN201510424628 discloses a six-degree-of-freedom dynamic platform, Chinese patent CN201510025977 discloses a six-degree-of-freedom parallel mechanism loading system and its method, Chinese patent CN201410113807 discloses a six-degree-of-freedom parallel assembly mechanism for longitudinal motion simulation, and Chinese patent CN201310282798 discloses a six-degree-of-freedom heavy-duty statically balanced parallel motion simulation table mechanism with a balance mechanism. The above-mentioned six-branch parallel The mechanism drives each branch chain independently. A six-degree-of-freedom parallel mechanism driven by six branches independently needs to control six drivers, which has high manufacturing costs and complicated control. In some specific occasions, only the end effector of the mechanical device is required to perform periodic six-dimensional motion.
发明内容Contents of the invention
本发明的目的是提供一种降低成本、便于控制的集中式移动输入六分支并联机构。The purpose of the present invention is to provide a centralized mobile input six-branch parallel mechanism with reduced cost and easy control.
本发明主要包括底座、下固定支架、支承杆、电机固定架、伺服电机A、随动支架、丝杠螺母副、连接杆A、丝杠支承架A、回转支承、圆柱齿轮、驱动盘、齿形键、导向盘、滑动杆、滚动轴承、上固定支架、连接杆B、丝杠支承架B、运动支链、伺服电机A和伺服电机B。The invention mainly includes a base, a lower fixing bracket, a support rod, a motor fixing frame, a servo motor A, a follower bracket, a screw nut pair, a connecting rod A, a screw supporting frame A, a slewing bearing, a cylindrical gear, a drive plate, a gear Shaped key, guide plate, sliding rod, rolling bearing, upper fixed bracket, connecting rod B, screw support frame B, motion branch chain, servo motor A and servo motor B.
其中，在底座的上表面设有三根下固定支架和三根支承杆，三根支承杆的上端固定连接一个电机固定架，电机固定架为环形架，在电机固定架中部设有伺服电机A13。在三根下固定支架的上部设有随动支架，随动支架为圆环形平板，在随动支架的内环设有五根连接杆A，连接杆A的一端与随动支架的内环相连，连接杆A的另一端设有丝杠支承架A，丝杠支承架A为环形。在随动支架的上部通过螺钉与回转支承相连，回转支承的内圈与圆柱齿轮相互啮合，回转支承的内圈与驱动盘通过螺钉相连，驱动盘置于回转支承的上部，在驱动盘的外壁上设有凹槽。回转支承的外圈上设有齿形键，回转支承的外圈的外部通过齿形键与导向盘相连。导向盘为上下开口的圆柱形筒体，六根滑动杆延伸至导向盘的上部，六根滑动杆的下端的内壁上分别设有滚动轴承，滚动轴承的外圈与驱动盘外壁上的凹槽间隙配合。在导向盘上部设有一个上固定支架，在上固定支架的内环设有五根连接杆B，连接杆B的一端与上固定支架的内环相连，连接杆B的另一端设有丝杠支承架B，丝杠支承架B为环形。六根滑动杆的上端分别设有运动支链，每根运动支链包括弧形连接杆A、弧形连接杆B、十字销轴、连接杆C和球副。弧形连接杆A和弧形连接杆B的两端均设有通孔，弧形连接杆A和弧形连接杆B通过十字销轴连接。在弧形连接杆B的上端固定连接连接杆C，连接杆C的上端与球副相连，球副与动平台的下表面相连。伺服电机A13的输出轴与滚珠丝杠的下端相连，滚珠丝杠上、下两端分别支承于丝杠支承架B和电机固定架上，丝杠螺母副的螺母与丝杠支承架A固定连接。伺服电机B14的输出端与设在随动支架上方的直齿轮键连接。Wherein, the upper surface of the base is provided with three lower fixing brackets and three supporting rods, and the upper ends of the three supporting rods are fixedly connected with a motor fixing frame, the motor fixing frame is a ring frame, and a servo motor A13 is arranged in the middle part of the motor fixing frame. The upper part of the three lower fixed brackets is provided with a follow-up support, which is a circular flat plate, and five connecting rods A are arranged on the inner ring of the follow-up support, and one end of the connecting rod A is connected with the inner ring of the follow-up support , The other end of the connecting rod A is provided with a screw support frame A, and the screw support frame A is ring-shaped. The upper part of the follow-up support is connected with the slewing bearing through screws, the inner ring of the slewing bearing is meshed with the cylindrical gear, the inner ring of the slewing bearing is connected with the driving disc through screws, and the driving disc is placed on the upper part of the slewing bearing, and on the outer wall of the driving disc There are grooves on it. A toothed key is provided on the outer ring of the slewing support, and the outside of the outer ring of the slewing support is connected with the guide plate through the toothed key. The guide disc is a cylindrical barrel with upper and lower openings. Six sliding rods extend to the upper part of the guide disc. The inner walls of the lower ends of the six sliding rods are respectively provided with rolling bearings. There is an upper fixing bracket on the upper part of the guide plate, five connecting rods B are arranged on the inner ring of the upper fixing bracket, one end of the connecting rod B is connected with the inner ring of the upper fixing bracket, and the other end of the connecting rod B is provided with a screw Support frame B, leading screw support frame B is annular. The upper ends of the six sliding rods are respectively provided with kinematic branch chains, and each kinematic branch chain includes an arc-shaped connecting rod A, an arc-shaped connecting rod B, a cross pin shaft, a connecting rod C and a ball pair. Both ends of the arc-shaped connecting rod A and the arc-shaped connecting rod B are provided with through holes, and the arc-shaped connecting rod A and the arc-shaped connecting rod B are connected by a cross pin. The upper end of the arc-shaped connecting rod B is fixedly connected with the connecting rod C, the upper end of the connecting rod C is connected with the ball pair, and the ball pair is connected with the lower surface of the moving platform. The output shaft of the servo motor A13 is connected to the lower end of the ball screw, and the upper and lower ends of the ball screw are respectively supported on the screw supporting frame B and the motor fixing frame, and the nut of the screw nut pair is fixedly connected with the screw supporting frame A . The output end of the servo motor B14 is connected with the spur gear key located at the top of the follow-up support.
本发明在使用时，伺服电机B通过圆柱齿轮带动回转支承的内圈转动，回转支承内圈带动驱动盘转动，驱动盘上的凹槽带动六个运动支链联动，实现各分支的移动输入。伺服电机A驱动滚珠丝杠转动，滚珠丝杠带动随动支架沿丝杠轴线方向移动。When the present invention is in use, the servo motor B drives the inner ring of the slewing bearing to rotate through the cylindrical gear, the inner ring of the slewing bearing drives the drive disc to rotate, and the grooves on the drive disc drive the linkage of six motion branch chains to realize the movement input of each branch. The servo motor A drives the ball screw to rotate, and the ball screw drives the follower bracket to move along the axis of the screw.
本发明与现有技术相比具有如下优点：降低成本、便于控制。Compared with the prior art, the present invention has the following advantages: cost reduction and convenient control.
附图说明Description of drawings
图1为本发明一种实施例的整体结构示意图。Fig. 1 is a schematic diagram of the overall structure of an embodiment of the present invention.
图2为本发明一种实施例的传动部分结构详细示意图。Fig. 2 is a detailed schematic diagram of the transmission part structure of an embodiment of the present invention.
图3为本发明一种实施例的驱动盘安装详细结构示意图。Fig. 3 is a schematic diagram of the detailed structure of the installation of the drive disk according to an embodiment of the present invention.
图4为本发明一种实施例的驱动电机安置详细结构示意图。Fig. 4 is a schematic diagram of the detailed structure of the arrangement of the driving motor according to an embodiment of the present invention.
附图中，动平台1、运动支链2、回转支承3、滚珠丝杠4、连接杆A5、下固定支架6、导向盘7、随动支架8、丝杠螺母副9、驱动盘10、上固定支架11、圆柱齿轮12、伺服电机A13、伺服电机B14、底座15、支承杆16、电机固定架17、丝杠支承架A18、齿形键19、滑动杆20、滚动轴承21、连接杆B22、丝杠支承架B23、弧形连接杆A24、弧形连接杆B25、十字销轴26、连接杆C27、球副28、直齿轮键29、回转支承的内圈30、回转支承的外圈31。In the accompanying drawings, a moving platform 1, a moving branch chain 2, a slewing bearing 3, a ball screw 4, a connecting rod A5, a lower fixed bracket 6, a guide plate 7, a follower bracket 8, a screw nut pair 9, a drive plate 10, Upper fixing bracket 11, cylindrical gear 12, servo motor A13, servo motor B14, base 15, supporting rod 16, motor fixing frame 17, screw supporting frame A18, tooth key 19, sliding rod 20, rolling bearing 21, connecting rod B22 , screw support frame B23, arc-shaped connecting rod A24, arc-shaped connecting rod B25, cross pin shaft 26, connecting rod C27, ball pair 28, spur gear key 29, inner ring 30 of slewing ring, outer ring 31 of slewing ring .
具体实施方式detailed description
在图1、图2、图3和图4所示的本发明的示意简图中，在底座15的上表面设有三根下固定支架6和三根支承杆16，三根支承杆的上端固定连接一个电机固定架17，电机固定架为环形架，在电机固定架中部设有伺服电机A13。在三根下固定支架的上部设有随动支架8，随动支架为圆环形平板，在随动支架的内环设有五根连接杆A5，连接杆A的一端与随动支架的内环相连，连接杆A的另一端设有丝杠支承架A18，丝杠支承架A为环形。在随动支架的上部通过螺钉与回转支承3相连，回转支承的内圈30与圆柱齿轮12相互啮合，回转支承的内圈与驱动盘10通过螺钉相连，驱动盘置于回转支承的上部，在驱动盘的外壁上设有凹槽。回转支承的外圈上设有齿形键19，回转支承的外圈31的外部通过齿形键与导向盘7相连。导向盘为上下开口的圆柱形筒体，六根滑动杆20延伸至导向盘的上部，六根滑动杆的下端的内壁上分别设有滚动轴承21，滚动轴承的外圈与驱动盘外壁上的凹槽间隙配合。在导向盘上部设有一个上固定支架11，在上固定支架的内环设有五根连接杆B22，连接杆B的一端与上固定支架的内环相连，连接杆B的另一端设有丝杠支承架B23，丝杠支承架B为环形。六根滑动杆的上端分别设有运动支链2，每根运动支链包括弧形连接杆A24、弧形连接杆B25、十字销轴26、连接杆C27和球副28。弧形连接杆A和弧形连接杆B的两端均设有通孔，弧形连接杆A和弧形连接杆B通过十字销轴连接。在弧形连接杆B的上端固定连接连接杆C，连接杆C的上端与球副相连，球副与动平台1的下表面相连。伺服电机A的输出轴与滚珠丝杠4的下端相连，滚珠丝杠上、下两端分别支承于丝杠支承架B和电机固定架上，丝杠螺母副9的螺母与丝杠支承架A固定连接。伺服电机B14的输出端与设在随动支架上方的直齿轮键29连接。In the schematic diagram of the present invention shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, three lower fixing brackets 6 and three supporting rods 16 are arranged on the upper surface of the base 15, and the upper ends of the three supporting rods are fixedly connected to one The motor fixed mount 17, the motor fixed mount is an annular frame, and the servomotor A13 is provided with in the middle part of the motor fixed mount. The top of the three lower fixed brackets is provided with a follow-up support 8, and the follow-up support is a circular flat plate. Five connecting rods A5 are arranged on the inner ring of the follow-up support, and one end of the connecting rod A is connected to the inner ring of the follow-up support. Link to each other, the other end of connecting rod A is provided with leading screw supporting frame A18, and leading screw supporting frame A is annular. The upper part of the follow-up bracket is connected with the slewing support 3 through screws, the inner ring 30 of the slewing support is meshed with the cylindrical gear 12, the inner ring of the slewing support is connected with the drive disc 10 through screws, and the drive disc is placed on the upper part of the slewing support. Grooves are arranged on the outer wall of the drive disc. A toothed key 19 is provided on the outer ring of the slewing support, and the outside of the outer ring 31 of the slewing support is connected with the guide plate 7 through the toothed key. The guide plate is a cylindrical cylinder with upper and lower openings. Six sliding rods 20 extend to the upper part of the guide plate. Rolling bearings 21 are respectively arranged on the inner walls of the lower ends of the six sliding rods. . An upper fixed bracket 11 is arranged on the guide plate top, five connecting rods B22 are arranged on the inner ring of the upper fixed bracket, one end of the connecting rod B is connected with the inner ring of the upper fixed bracket, and the other end of the connecting rod B is provided with a wire The bar supporting frame B23, the leading screw supporting frame B is annular. The upper ends of the six sliding bars are respectively provided with kinematic branch chains 2, and each kinematic branch chain includes an arc connecting rod A24, an arc connecting rod B25, a cross pin shaft 26, a connecting rod C27 and a ball pair 28. Both ends of the arc-shaped connecting rod A and the arc-shaped connecting rod B are provided with through holes, and the arc-shaped connecting rod A and the arc-shaped connecting rod B are connected by a cross pin. The upper end of the arc-shaped connecting rod B is fixedly connected with the connecting rod C, the upper end of the connecting rod C is connected with the ball pair, and the ball pair is connected with the lower surface of the moving platform 1 . The output shaft of the servo motor A is connected to the lower end of the ball screw 4. The upper and lower ends of the ball screw are respectively supported on the screw support frame B and the motor fixing frame. The nut of the screw nut pair 9 is connected to the screw support frame A. Fixed connection. The output end of servomotor B14 is connected with the spur gear key 29 that is located at the top of the follow-up support.
Claims (2)
1.一种集中式移动输入六分支并联机构，主要包括底座、下固定支架、支承杆、电机固定架、伺服电机A、随动支架、丝杠螺母副、连接杆A、丝杠支承架A、回转支承、圆柱齿轮、驱动盘、齿形键、导向盘、滑动杆、滚动轴承、上固定支架、连接杆B、丝杠支承架B、运动支链、伺服电机A和伺服电机B，其特征在于：在底座的上表面设有三根下固定支架和三根支承杆，每根下固定支架的上部对应设有一根支承杆，三根支承杆的上端固定连接一个电机固定架，电机固定架为环形架，在电机固定架中部设有伺服电机A，在三根下固定支架的上部设有随动支架，随动支架为圆环形平板，在随动支架的内环设有五根连接杆A，连接杆A的一端与随动支架的内环相连，连接杆A的另一端设有丝杠支承架A，丝杠支承架A为环形，在随动支架的上部通过螺钉与回转支承相连，回转支承的内圈与圆柱齿轮相互啮合，回转支承的内圈与驱动盘通过螺钉相连，驱动盘置于回转支承的上部，在驱动盘的外壁上设有凹槽，回转支承的外圈上设有齿形键，回转支承的外圈的外部通过齿形键与导向盘相连，导向盘为上下开口的圆柱形筒体，六根滑动杆延伸至导向盘的上部，六根滑动杆的下端的内壁上分别设有滚动轴承，滚动轴承的外圈与驱动盘外壁上的凹槽间隙配合，在导向盘上部设有一个上固定支架，在上固定支架的内环设有五根连接杆B，连接杆B的一端与上固定支架的内环相连，连接杆B的另一端设有丝杠支承架B，丝杠支承架B为环形，六根滑动杆的上端分别设有运动支链，伺服电机A的输出轴与滚珠丝杠的下端相连，滚珠丝杠上、下两端分别支承于丝杠支承架B和电机固定架上，丝杠螺母副的螺母与丝杠支承架A固定连接，伺服电机B的输出端与设在随动支架上方的直齿轮键连接。1. A centralized mobile input six-branch parallel mechanism, mainly including a base, a lower fixed bracket, a support rod, a motor fixing frame, a servo motor A, a follower bracket, a screw nut pair, a connecting rod A, and a screw support frame A , slewing ring, cylindrical gear, drive plate, toothed key, guide plate, sliding rod, rolling bearing, upper fixed bracket, connecting rod B, screw support frame B, motion branch chain, servo motor A and servo motor B, its characteristics That is: there are three lower fixing brackets and three supporting rods on the upper surface of the base, and a supporting rod is arranged on the upper part of each lower fixing bracket, and the upper ends of the three supporting rods are fixedly connected to a motor fixing frame, and the motor fixing frame is a ring frame , a servo motor A is provided in the middle of the motor fixing frame, and a follow-up support is provided on the upper part of the three lower fixed supports. The follow-up support is a circular flat plate. One end of the rod A is connected with the inner ring of the follow-up bracket, and the other end of the connecting rod A is provided with a screw support frame A. The screw support frame A is ring-shaped. The inner ring of the slewing ring meshes with the cylindrical gear, the inner ring of the slewing ring is connected with the drive plate by screws, the drive plate is placed on the upper part of the slewing ring, grooves are provided on the outer wall of the drive plate, and teeth are provided on the outer ring of the slewing ring. The outer ring of the slewing bearing is connected with the guide plate through the tooth key. The guide plate is a cylindrical cylinder with upper and lower openings. The six sliding rods extend to the upper part of the guide plate. The inner walls of the lower ends of the six sliding rods are respectively set There is a rolling bearing, the outer ring of the rolling bearing is matched with the groove on the outer wall of the drive disc, an upper fixing bracket is arranged on the upper part of the guide disc, five connecting rods B are arranged on the inner ring of the upper fixing bracket, and one end of the connecting rod B is connected to The inner ring of the upper fixed bracket is connected, the other end of the connecting rod B is provided with a screw support frame B, the screw support frame B is ring-shaped, and the upper ends of the six sliding rods are respectively equipped with a kinematic branch chain, the output shaft of the servo motor A and the ball The lower end of the screw is connected, the upper and lower ends of the ball screw are respectively supported on the screw supporting frame B and the motor fixing frame, the nut of the screw nut pair is fixedly connected with the screw supporting frame A, and the output end of the servo motor B is connected to the A spur gear key connection located above the follower bracket. 2.根据权利要求1所述的一种集中式移动输入六分支并联机构，其特征在于：每根运动支链包括弧形连接杆A、弧形连接杆B、十字销轴、连接杆C和球副，弧形连接杆A和弧形连接杆B的两端均设有通孔，弧形连接杆A和弧形连接杆B通过十字销轴连接，在弧形连接杆B的上端固定连接连接杆C，连接杆C的上端与球副相连，球副与动平台的下表面相连。2. A centralized mobile input six-branch parallel mechanism according to claim 1, characterized in that: each motion branch chain includes an arc-shaped connecting rod A, an arc-shaped connecting rod B, a cross pin, a connecting rod C and For the ball pair, both ends of the arc-shaped connecting rod A and arc-shaped connecting rod B are provided with through holes. The connecting rod C, the upper end of the connecting rod C is connected with the ball pair, and the ball pair is connected with the lower surface of the moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610339340.6A CN105835040B (en) | 2016-05-20 | 2016-05-20 | A kind of six branch's parallel institutions of mobile input of centralization |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610339340.6A CN105835040B (en) | 2016-05-20 | 2016-05-20 | A kind of six branch's parallel institutions of mobile input of centralization |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105835040A CN105835040A (en) | 2016-08-10 |
| CN105835040B true CN105835040B (en) | 2017-10-20 |
Family
ID=56592999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610339340.6A Expired - Fee Related CN105835040B (en) | 2016-05-20 | 2016-05-20 | A kind of six branch's parallel institutions of mobile input of centralization |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105835040B (en) |
Families Citing this family (7)
* Cited by examiner, † Cited by third party| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112982B (en) * | 2016-07-29 | 2018-05-15 | 哈工大机器人集团（广州）知识产权投资控股有限公司 | A kind of e-commerce product show robot special intelligent manipulator |
| CN107336219B (en) * | 2017-07-04 | 2020-05-29 | 北京交通大学 | A parallel mechanism with two movements, three rotations and five degrees of freedom |
| CN107553468B (en) * | 2017-09-27 | 2020-11-20 | 西安电子科技大学 | A reconfigurable six-degree-of-freedom parallel operation platform |
| CN108724899A (en) * | 2018-05-24 | 2018-11-02 | 安徽中亚钢结构工程有限公司 | A kind of building board pressing device |
| CN109318186B (en) * | 2018-10-16 | 2021-03-02 | 中国矿业大学 | A four-degree-of-freedom working platform with continuous rotation |
| CN110480600B (en) * | 2019-07-31 | 2020-09-11 | 燕山大学 | Two-rotation and one-shift hybrid parallel-driven pendulum mechanism with follow-up constraints |
| CN112008694A (en) * | 2020-07-22 | 2020-12-01 | 西安方元明科技股份有限公司 | Full-electric heavy-load six-degree-of-freedom platform based on electric cylinder and electric control system thereof |
Citations (5)
* Cited by examiner, † Cited by third party| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0834383A1 (en) * | 1996-10-07 | 1998-04-08 | Gec Alsthom Systemes Et Services Sa | Robot with a parallel structure |
| CN103383821A (en) * | 2013-07-05 | 2013-11-06 | 燕山大学 | Six-freedom-degree heavy load static balance parallel motion simulation table mechanism with balancing mechanism |
| CN104308838A (en) * | 2014-09-26 | 2015-01-28 | 燕山大学 | High/low-frequency composite driving six-degree-of-freedom parallel movement platform |
| CN105171728A (en) * | 2015-07-23 | 2015-12-23 | 盐城工学院 | Hexagonal pyramid type six-freedom-degree parallel mechanism |
| CN105243911A (en) * | 2015-10-22 | 2016-01-13 | 燕山大学 | Structure parameter-adjustable parallel motion table with combined spring bearing branches |
Family Cites Families (1)
* Cited by examiner, † Cited by third party| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8215199B2 (en) * | 2008-11-17 | 2012-07-10 | Marcroft Sacha L | Parallel kinematic positioning system |
-
2016
- 2016-05-20 CN CN201610339340.6A patent/CN105835040B/en not_active Expired - Fee Related
Patent Citations (6)
* Cited by examiner, † Cited by third party| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0834383A1 (en) * | 1996-10-07 | 1998-04-08 | Gec Alsthom Systemes Et Services Sa | Robot with a parallel structure |
| CN103383821A (en) * | 2013-07-05 | 2013-11-06 | 燕山大学 | Six-freedom-degree heavy load static balance parallel motion simulation table mechanism with balancing mechanism |
| CN103383821B (en) * | 2013-07-05 | 2015-09-16 | 燕山大学 | With the six degree of freedom heavy duty static equilibrium parallel movement simulative platform mechanism of balanced controls |
| CN104308838A (en) * | 2014-09-26 | 2015-01-28 | 燕山大学 | High/low-frequency composite driving six-degree-of-freedom parallel movement platform |
| CN105171728A (en) * | 2015-07-23 | 2015-12-23 | 盐城工学院 | Hexagonal pyramid type six-freedom-degree parallel mechanism |
| CN105243911A (en) * | 2015-10-22 | 2016-01-13 | 燕山大学 | Structure parameter-adjustable parallel motion table with combined spring bearing branches |
Non-Patent Citations (1)
* Cited by examiner, † Cited by third party| Title |
|---|
| 并联6-RUS卫星相机像移补偿机构建模与分析;赵延治;《中国机械工程》;20160215;第27卷(第3期);第369-375页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105835040A (en) | 2016-08-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105835040B (en) | 2017-10-20 | A kind of six branch's parallel institutions of mobile input of centralization |
| CN202507284U (en) | 2012-10-31 | Synchronous transmission telescoping mechanical arm for multistage hollow screw rod |
| CN201841545U (en) | 2011-05-25 | Three-rotation one-movement freedom parallel robot with driving telescopic rod |
| CN102717383B (en) | 2014-08-20 | Novel six-freedom-degree force feedback device |
| CN205835413U (en) | 2016-12-28 | A kind of adaptability climbing level robot mechanical arm |
| CN107520836B (en) | 2023-06-23 | A large slewing planar three-degree-of-freedom motion platform |
| CN203330287U (en) | 2013-12-11 | Workpiece conveying device |
| CN106238649B (en) | 2019-11-01 | Heavily loaded forging operation machine people with redundancy feature |
| CN106903712A (en) | 2017-06-30 | The conllinear joint of mechanical arm of two-freedom based on differential rope drive |
| CN202209382U (en) | 2012-05-02 | Transmission mechanism for thin type harmonic retarder |
| CN106523635A (en) | 2017-03-22 | Spiral telescopic device |
| CN105563458B (en) | 2017-11-03 | A kind of parallel robot of four-bar linkage |
| CN103791211B (en) | 2016-03-02 | Removable supporting frame |
| CN104626114B (en) | 2016-05-18 | The detachable light-duty sorting machine people of a kind of multiple degrees of freedom |
| CN103075488B (en) | 2015-11-25 | The transmission device of adjustable transmission distance |
| CN204183547U (en) | 2015-03-04 | A kind of parallel robot of four-bar linkage |
| CN203092550U (en) | 2013-07-31 | Three-translation freedom degree robot mechanism with near support parallelogram and far support paralleling rod |
| CN107471254A (en) | 2017-12-15 | It is a kind of can independent telescope rotation Two dimension of freedom robot arm |
| CN104827485A (en) | 2015-08-12 | Linear drive robot joint with bar linkage mechanism |
| CN211491605U (en) | 2020-09-15 | Steering joint structure for stable steering of robot |
| RU99371U1 (en) | 2010-11-20 | SPATIAL MECHANISM |
| CN117588536A (en) | 2024-02-23 | An integrated multi-stage heavy-duty electric cylinder |
| CN204054045U (en) | 2014-12-31 | The built-in parallel robot of Three Degree Of Freedom bar |
| CN201693341U (en) | 2011-01-05 | Automobile engine disassembly and assembly lifting arm with multi-degree of freedom |
| CN206580484U (en) | 2017-10-24 | Double guide pillar single screw rod motor-driven jacks |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 2016-08-10 | C06 | Publication | |
| 2016-08-10 | PB01 | Publication | |
| 2016-09-07 | C10 | Entry into substantive examination | |
| 2016-09-07 | SE01 | Entry into force of request for substantive examination | |
| 2017-10-20 | GR01 | Patent grant | |
| 2017-10-20 | GR01 | Patent grant | |
| 2024-05-31 | CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171020 |
| 2024-05-31 | CF01 | Termination of patent right due to non-payment of annual fee |