CN2564840Y - Console with three-freedom spheric parallel mechanism - Google Patents
Console with three-freedom spheric parallel mechanism Download PDFInfo
- Publication number
- CN2564840Y CN2564840Y CN02209064.9U CN02209064U CN2564840Y CN 2564840 Y CN2564840 Y CN 2564840Y CN 02209064 U CN02209064 U CN 02209064U CN 2564840 Y CN2564840 Y CN 2564840Y
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
一种三自由度球面并联机构控制工作台，它是在底座上设置有120度均布的三个角座，三个角座斜面的外下部分别置有直角减速器，三个直角减速器的一端分别置有伺服电机；三个角座斜面的上部分别置有直角减速器的输出轴，三个直角减速器输出轴的上方分别与其上置有的弧形连架杆一端的孔连接，三个弧形连架杆另一端的孔分别置于弧形连杆一端的小轴上；动角台下斜部的凸面上设置有三个120度均布的动角台转轴，三个弧形连杆另一端设置的孔分别置于动角台转轴上；动角台的中部设置有台阶形的通孔，通孔的内下部置有工作台伺服电机，工作台伺服电机的输出轴与设置于动角台上部的工作台连接。在空间内可作60度半锥体的三维回转和正、负360度旋转。
A three-degree-of-freedom spherical parallel mechanism control workbench, which is provided with three corner seats uniformly distributed at 120 degrees on the base, and the outer lower parts of the slopes of the three corner seats are respectively equipped with right-angle reducers. Servo motors are installed at one end; the output shafts of the right-angle reducer are respectively arranged on the upper parts of the three angle seat slopes, and the upper parts of the output shafts of the three right-angle reducers are respectively connected with the holes at one end of the arc-shaped connecting rods on the three corner seats. The holes at the other ends of the arc-shaped connecting rods are respectively placed on the small shafts at one end of the arc-shaped connecting rods; on the convex surface of the lower slope of the movable angle table, there are three rotating angle table rotating shafts evenly distributed at 120 degrees, and the three arc-shaped connecting rods The holes provided at the other end of the rod are respectively placed on the rotating shaft of the movable angle platform; the middle part of the movable angle platform is provided with a step-shaped through hole, and the inner and lower parts of the through hole are equipped with a workbench servo motor. The worktable connection on the upper part of the movable corner table. In the space, it can be used for three-dimensional rotation of 60-degree semi-cone and positive and negative 360-degree rotation.
Description
Technical field
It is mechanical that the utility model belongs to, and relates in particular to sphere Control work table apparatus.
Background technique
1994, Canadian scholar Gosselin proposed a kind of design method of spherical three-degree-of-freedom parallel mechanism, and had designed " vidicon camera automatic positioning device ", and its working space is the taper shape of semi-cone angle 70 degree, and spin angle is positive and negative 30 degree.But its structure is not compact, and the spin operating angle is little, can not satisfy the requirement of digital control processing.
Summary of the invention
The purpose of this utility model provides a kind of three-degree-of-freedom spherical parallel mechanism Control work platform, to solve an above-mentioned difficult problem, satisfies the needs of multiple occasion to the operating process of 3 D auto degree sphere control apparatus.
The purpose of this utility model is achieved in that a kind of three-degree-of-freedom spherical parallel mechanism Control work platform, comprises base, right angle retarder, actuating motor, moving angle platform, worktable.The utility model base is provided with three uniform angle seats of 120 degree, and the outer bottom on seat inclined-plane, three angles is equipped with the right angle retarder respectively, and an end of three right angle retarders is equipped with actuating motor respectively; The top on seat inclined-plane, three angles is equipped with the output shaft of right angle retarder respectively, the top of three right angle reducer output shafts is connected with the hole of arc side link one end that is equipped with on it respectively, and the hole of three arc side link the other ends places respectively on the little axle of curved rod one end; The convex surface of moving angle platform declivity portion is provided with three the 120 uniform moving angle platform rotating shafts of degree, and the hole of three curved rod the other ends setting places respectively in the moving angle platform rotating shaft; The middle part of moving angle platform is provided with the through hole of stepped shape, and the interior bottom of through hole is equipped with the worktable actuating motor, and the output shaft of worktable actuating motor is connected with the worktable that is arranged at moving Jiao Tai top.
Because the utility model has adopted above technological scheme, thereby has:
1, the three-degree-of-freedom spherical parallel mechanism scale parameter is optimized, good operation performance, and worktable can be done three-dimensional revolution in 60 degree hemicone spaces, and spin angle reaches positive and negative 360 degree, can satisfy the requirement of digital control processing.
2, simple in structure, rationally distributed, compactness, volume is little.
3, stable, it is very convenient to operate, control.
4, practicability is wide, can be used for machining, shooting, laser lockon, radar fix, light fixture, etc. the needs of multiple occasion three interlock Spin Control.
Description of drawings
Fig. 1 is a kind of base shape and structure schematic representation of the present utility model;
Fig. 2 is the shape and structure schematic representation of a kind of moving angle platform of the present utility model and worktable;
Fig. 3 is a kind of arc side link shape and structure schematic representation of the present utility model;
Fig. 4 is a kind of curved rod shape and structure schematic representation of the present utility model;
Fig. 5 is the single curved rod mechanism shape and structure schematic representation of organizing in a kind of device of the present utility model;
Fig. 6 is the shape and structure schematic representation of a kind of assembly device in parallel of the present utility model.
Among the figure:
1, base 2, angle seat 3, right angle retarder 4, actuating motor 5, right angle reducer output shaft 6, arc side link 7, curved rod 8, curved rod axle 9, curved rod hole 10, moving angle platform 11, worktable 12, moving angle platform convex face 13, moving angle platform rotating shaft 14, worktable actuating motor
Embodiment
Below in conjunction with accompanying drawing enforcement of the present utility model is explained as follows:
In Fig. 1, base 1 adopts metallic material to make circular body, and its central authorities are provided with concentric circle holes, and it is provided with the fastening screw pit of three groups of angle seats 2 of 120 degree uniform distribution devices.
In Fig. 2, moving angle platform 10 adopts metallic material, and circular body is arranged at its middle part; Its declivity portion place is provided with equally distributed three the moving angle platform convex faces 12 of 120 degree respectively, and each moving angle platform convex face 12 is provided with moving angle platform rotating shaft 13; The center of moving angle platform 10 is provided with concentric circle holes, and the circular hole inner end is provided with the fastening screw pit of configuration effort platform actuating motor moving 14.Moving platform 10 its tops, angle dispose worktable 11.The top of worktable 11 is provided with entad T-slot screw thread, is used for the fastening operative workpiece or the device of controlling.The bottom of worktable 11 is provided with and moves the cylindrical step that the center hole of angle platform 10 matches.Worktable actuating motor 14 is fastened on the center hole inner end that moves angle platform 10 by screw, and its output shaft is connected with the worktable 11 of device on moving platform 10 tops, angle.
Be the needs of Control work platform 11 corners, the output shaft of rotating servo motor 14, its and the joint of the worktable 11 on platform 10 tops, moving angle between be provided with harmonic speed reducer.The input of harmonic speed reducer, output shaft are connected with worktable 11 with the output shaft of worktable actuating motor 14 respectively.
In Fig. 3, arc side link 6 adopts metallic material to be made of two arc curved bar split assemblings, and two ends of arc side link 6 respectively are provided with attachment hole, and the center angle of two stomidiums is 67 degree.The middle part of two arc side links 6 is respectively arranged with interconnective axle and hole, after axle and hole are equipped, the center angle of two arc curved bars are adjusted into 90 spend, and adopts the fastening formation one of pin then.Certainly, the arc side link 6 of two arc shapes also can adopt methods such as pressure, casting directly to make one.
In Fig. 4, curved rod 7 adopts metallic material to be arranged to the curved bar of arc shape, and the one end is provided with the coupling shaft 8 that the attachment hole with arc side link 6 matches, and the other end is provided with and moves the attachment hole 9 that angle platform rotating shaft 13 matches.Curved rod 7 one end attachment holes 9, with the center angle of the other end coupling shaft 8 be 90 degree.
In Fig. 5, there is angle seat 2 on one side of base 1 by screw fastening device, and lower device has right angle retarder 3 outside the inclined-plane of angle seat 2, and a side device of right angle retarder 3 has actuating motor 4.Be equipped with the output shaft 5 of right angle retarder 3 in the hole that top, angle seat 2 inclined-plane is provided with.The output shaft 5 of right angle retarder 3 is matchedly connected with the attachment hole of arc side link 6 one ends.The other end attachment hole of arc side link 6 links to each other with the rotating shaft 8 of device curved rod 7 one ends at an upper portion thereof.The attachment hole 9 of curved rod 7 the other ends, matched with device in the moving angle platform rotating shaft 13 on top.
In Fig. 6, on the base 1 by screw fastening be three groups of angle seats 2 that 120 degree are evenly arranged.The right angle retarder 3 of every group of angle seat 2 its upper units, actuating motor 4, right angle reducer output shaft 5, arc side link 6, curved rod 7, moving angle platform 10, its shape, the method for constructing, be linked and packed are described like Fig. 5.Lower device has worktable actuating motor 14 in the center hole of moving angle platform 10.The output shaft of worktable actuating motor 14, matched with device at worktable 11 its connector elements that are provided with down on moving platform 10 tops, angle.
For realizing the smooth running of worktable 11, can be provided with rolling bearing at the step hole place of matching, center of worktable 11 and moving angle platform 10.
In actual use of the utility model and the operating process, can press different needs on the top of worktable 11, the configuration operative workpiece is used for machining; Or configuration radar antenna, laser head, vidicon camera, illuminating device etc., by controlling the rotating speed of three actuating motors 4 and worktable actuating motor 14 respectively or simultaneously, be used for the control of freedom degree parallel connection rotation, to satisfy the actual needs that use and operate of each side.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN02209064.9U CN2564840Y (en) | 2002-03-28 | 2002-03-28 | Console with three-freedom spheric parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN02209064.9U CN2564840Y (en) | 2002-03-28 | 2002-03-28 | Console with three-freedom spheric parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2564840Y true CN2564840Y (en) | 2003-08-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN02209064.9U Expired - Fee Related CN2564840Y (en) | 2002-03-28 | 2002-03-28 | Console with three-freedom spheric parallel mechanism |
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| CN (1) | CN2564840Y (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100363151C (en) * | 2005-01-04 | 2008-01-23 | 浙江理工大学 | Spherical three-degree-of-freedom parallel attitude control mechanism with ring guide |
| CN102177386A (en) * | 2008-08-11 | 2011-09-07 | 欧特科技有限公司 | adjustable stand |
| CN102275162A (en) * | 2011-07-08 | 2011-12-14 | 常州大学 | Three-rotation spherical surface parallel operation device |
| CN102785239A (en) * | 2012-07-23 | 2012-11-21 | 东莞市李群自动化设备有限公司 | Industrial robot of six-degrees of freedom |
| CN102975196A (en) * | 2012-12-04 | 2013-03-20 | 天津大学 | Double-rotational freedom parallel mechanism |
| CN104511904A (en) * | 2013-09-26 | 2015-04-15 | 崔文德 | Spherical coordinate control mechanism |
| CN104626189A (en) * | 2014-12-15 | 2015-05-20 | 深圳华强智能技术有限公司 | Entertainment robot sphere three-freedom-degree parallel mechanism |
| CN105216999A (en) * | 2015-10-16 | 2016-01-06 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and there is the under-water robot of this device |
| TWI574722B (en) * | 2014-05-15 | 2017-03-21 | 崔文德 | Spherical coordinates orientating mechanism |
| EP3196532A1 (en) * | 2016-01-15 | 2017-07-26 | Wen-Der Trui | Twelve axes mechanism for spherical coordinate kinematics |
| CN108150778A (en) * | 2017-11-22 | 2018-06-12 | 西安电子科技大学 | A kind of Three Degree Of Freedom compound hinges |
| CN110454656A (en) * | 2019-08-14 | 2019-11-15 | 上海卫星工程研究所 | Frame-type dual mechanisms and its application method |
| CN111195923A (en) * | 2020-01-14 | 2020-05-26 | 中南大学 | A Novel Series Mechanism and Robot Based on Three Degrees of Freedom Spherical Joints |
| CN111203856A (en) * | 2020-01-14 | 2020-05-29 | 中南大学 | Universal spherical parallel mechanism and robot |
| CN112050711A (en) * | 2019-06-07 | 2020-12-08 | 卡尔蔡司工业测量技术有限公司 | Rotary probe for a measuring device and measuring device |
| CN116275592A (en) * | 2023-04-28 | 2023-06-23 | 华南智能机器人创新研究院 | Laser cutting head posture changing device and control system thereof |
-
2002
- 2002-03-28 CN CN02209064.9U patent/CN2564840Y/en not_active Expired - Fee Related
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100363151C (en) * | 2005-01-04 | 2008-01-23 | 浙江理工大学 | Spherical three-degree-of-freedom parallel attitude control mechanism with ring guide |
| CN102177386A (en) * | 2008-08-11 | 2011-09-07 | 欧特科技有限公司 | adjustable stand |
| CN102177386B (en) * | 2008-08-11 | 2014-11-26 | 欧特科技有限公司 | adjustable stand |
| CN102275162A (en) * | 2011-07-08 | 2011-12-14 | 常州大学 | Three-rotation spherical surface parallel operation device |
| CN102785239A (en) * | 2012-07-23 | 2012-11-21 | 东莞市李群自动化设备有限公司 | Industrial robot of six-degrees of freedom |
| CN102785239B (en) * | 2012-07-23 | 2015-04-29 | 东莞市李群自动化设备有限公司 | Industrial robot of six-degrees of freedom |
| CN102975196A (en) * | 2012-12-04 | 2013-03-20 | 天津大学 | Double-rotational freedom parallel mechanism |
| CN104511904A (en) * | 2013-09-26 | 2015-04-15 | 崔文德 | Spherical coordinate control mechanism |
| TWI574722B (en) * | 2014-05-15 | 2017-03-21 | 崔文德 | Spherical coordinates orientating mechanism |
| CN104626189A (en) * | 2014-12-15 | 2015-05-20 | 深圳华强智能技术有限公司 | Entertainment robot sphere three-freedom-degree parallel mechanism |
| CN105216999A (en) * | 2015-10-16 | 2016-01-06 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and there is the under-water robot of this device |
| CN105216999B (en) * | 2015-10-16 | 2017-07-04 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and the underwater robot with the device |
| EP3196532A1 (en) * | 2016-01-15 | 2017-07-26 | Wen-Der Trui | Twelve axes mechanism for spherical coordinate kinematics |
| US9851045B2 (en) | 2016-01-15 | 2017-12-26 | Wen-Der TRUI | Twelve axes mechanism for spherical coordinate kinematics |
| CN108150778A (en) * | 2017-11-22 | 2018-06-12 | 西安电子科技大学 | A kind of Three Degree Of Freedom compound hinges |
| CN112050711A (en) * | 2019-06-07 | 2020-12-08 | 卡尔蔡司工业测量技术有限公司 | Rotary probe for a measuring device and measuring device |
| US11543230B2 (en) | 2019-06-07 | 2023-01-03 | Carl Zeiss Industrielle Messtechnik Gmbh | Articulating probe |
| CN110454656A (en) * | 2019-08-14 | 2019-11-15 | 上海卫星工程研究所 | Frame-type dual mechanisms and its application method |
| CN110454656B (en) * | 2019-08-14 | 2021-09-14 | 上海卫星工程研究所 | Frame type dual mechanism and using method thereof |
| CN111195923A (en) * | 2020-01-14 | 2020-05-26 | 中南大学 | A Novel Series Mechanism and Robot Based on Three Degrees of Freedom Spherical Joints |
| CN111203856A (en) * | 2020-01-14 | 2020-05-29 | 中南大学 | Universal spherical parallel mechanism and robot |
| CN116275592A (en) * | 2023-04-28 | 2023-06-23 | 华南智能机器人创新研究院 | Laser cutting head posture changing device and control system thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |