CN107363814A - Single input multi-freedom parallel connection becomes born of the same parents' platform - Google Patents
Single input multi-freedom parallel connection becomes born of the same parents' platform Download PDFInfo
- Publication number
- CN107363814A CN107363814A CN201710717489.8A CN201710717489A CN107363814A CN 107363814 A CN107363814 A CN 107363814A CN 201710717489 A CN201710717489 A CN 201710717489A CN 107363814 A CN107363814 A CN 107363814A
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- China
- Prior art keywords
- sliding block
- gear
- platform
- single input
- same parents
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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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
- F16H1/206—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members characterised by the driving or driven member being composed of two or more gear wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
- F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H1/227—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts comprising two or more gearwheels in mesh with the same internally toothed wheel
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Structure Of Transmissions (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of single input multi-freedom parallel connection to become born of the same parents' platform, become born of the same parents' platform body and single input transmission system including parallel connection, parallel connection becomes the silent flatform that born of the same parents' platform body includes being connected with single input transmission system, it is circumferentially arranged on silent flatform and is moveable first sliding block, second sliding block and the 3rd sliding block, three movement branched chains and moving platform, first sliding block, second sliding block and the 3rd sliding block are connected by a movement branched chain with moving platform respectively, single input transmission system and the first sliding block, second sliding block and the 3rd sliding block are connected and for controlling the first sliding block respectively, second sliding block and the 3rd sliding block are rotated around the axis of silent flatform.The single input multi-freedom parallel connection of the present invention becomes born of the same parents' platform, using single input transmission system, the input being effectively classified using arrangement of gears to transmission system, so as to carry out different input status, production cost is reduced, and makes the change easily operated control of born of the same parents' platform in parallel.
Description
Technical field
The invention belongs to robotic technology field, and specifically, the present invention relates to a kind of change of single input multi-freedom parallel connection
Born of the same parents' platform.
Background technology
In the prior art, parallel institution, good rigidity, precision is higher, but the action that its specific linkage is made is single,
There can not be different spatial attitudes.Whose of multiple entry system be the design now in parallel for becoming born of the same parents' platform use mostly, and how defeated these are
Enter the design of system so that design cost increases, laser intensity reduces and the born of the same parents' Platform Requirements error in parallel that becomes is minimum, multi input
System works error bigger, causes the change easily operated control of born of the same parents' platform in parallel, and efficiency is low.
The content of the invention
It is contemplated that at least solves one of technical problem present in prior art.Therefore, the present invention provides a kind of list
Input multi-freedom parallel connection and become born of the same parents' platform, it is therefore an objective to reduce cost, and make the change easily operated control of born of the same parents' platform in parallel.
To achieve these goals, the technical scheme taken of the present invention is：Single input multi-freedom parallel connection becomes born of the same parents' platform, bag
Change born of the same parents' platform body in parallel and single input transmission system are included, parallel connection, which becomes born of the same parents' platform body, includes what is be connected with single input transmission system
Silent flatform, it is circumferentially arranged on silent flatform and is moveable first sliding block, the second sliding block and the 3rd sliding block, three motions
Side chain and moving platform, the first sliding block, the second sliding block and the 3rd sliding block are connected by a movement branched chain with moving platform respectively, single
Transmission system is inputted with the first sliding block, the second sliding block and the 3rd sliding block to be connected and for controlling the first sliding block, second to slide respectively
Block and the 3rd sliding block are rotated around the axis of silent flatform.
The silent flatform is annular, and first sliding block, the second sliding block and the 3rd sliding block and silent flatform are to be slidably connected.
The movement branched chain includes first connecting rod, second connecting rod, third connecting rod and the fourth link being sequentially connected, and second connects
Bar is rotation connection with first connecting rod and third connecting rod, and third connecting rod is sheathed in fourth link and phase can occur between the two
To rotating and moving, fourth link and the moving platform are rotatablely connected, and the first connecting rod of each movement branched chain is respectively with described the
One sliding block, the second sliding block and the 3rd sliding block are rotation connection.
The single input transmission system includes splined shaft, is sheathed on splined shaft and in the sliding tooth of splined shaft synchronous axial system
Wheel, the gear drive that is connected with first sliding block, the second sliding block and the 3rd sliding block and for controlling shifting slide gear to exist
The gear control mechanism moved back and forth between first predeterminated position, the second predeterminated position and the 3rd predeterminated position.
When the gear control mechanism makes the shifting slide gear be moved to the first predeterminated position, shifting slide gear passes with gear
Motivation structure engages and power is transferred into the first sliding block, the second sliding block and the 3rd sliding block to drive first by gear drive
Sliding block, the second sliding block and the 3rd sliding block are rotated around the axis of silent flatform；When gear control mechanism is moved to shifting slide gear
During the second predeterminated position, shifting slide gear engages with gear drive and power is transferred into the first cunning by gear drive
Block is to drive the first sliding block to be rotated around the axis of silent flatform；Preset when gear control mechanism makes shifting slide gear be moved to the 3rd
During position, shifting slide gear engages with gear drive and power is transferred into the second sliding block and the 3rd by gear drive
Sliding block is to drive the second sliding block and the 3rd sliding block to be rotated around the axis of silent flatform.
The first kinematic axis that the gear drive includes being connected with first sliding block, it is connected with second sliding block
Second motion shaft, the third motion shaft, the first internal gear and positioned at the inside of the first internal gear that are connected with the 3rd sliding block
And three the first moving gears engaged with the first internal gear, cover respectively on the first kinematic axis, second motion shaft and third motion shaft
Provided with first moving gear, when the gear control mechanism makes the shifting slide gear be moved to the first predeterminated position, sliding
Gear engages with three the first moving gears.
The gear drive also includes secondary annulus and positioned at the inside of secondary annulus and and secondary annulus
Second moving gear of engagement, the second moving gear are sheathed on first kinematic axis and are located at the top of first moving gear,
When the gear control mechanism makes the shifting slide gear be moved to the second predeterminated position, shifting slide gear is nibbled with the second moving gear
Close.
The gear drive also include the 3rd internal gear and positioned at the inside of the 3rd internal gear and with the 3rd internal gear
Two the 3rd moving gears of engagement, two the 3rd moving gears are sheathed on the second motion shaft and the third motion shaft respectively
And positioned at the top of first moving gear, when the gear control mechanism makes the shifting slide gear be moved to the 3rd predeterminated position
When, shifting slide gear engages with two the 3rd moving gears.
The gear control mechanism include be connected with the shifting slide gear shift fork, with shift fork rotation connection swing rod, and
The turntable shaft that swing rod is rotatablely connected and is connected for the control rotating disk of rotatable setting, with control rotating disk and the hand with rotating disk axis connection
Handle, the axis perpendicular of the axis of turntable shaft and the splined shaft.
The single input transmission system also includes main box and is arranged in main box and makes the splined shaft for offer
The motor of the power of rotation, the splined shaft, the shifting slide gear and the gear control mechanism are arranged at the inside of main box.
The single input multi-freedom parallel connection of the present invention becomes born of the same parents' platform, using single input transmission system, effectively utilizes gear cloth
The input being classified to transmission system is put, so as to carry out different input status, reduces production cost, and make change in parallel
The easily operated control of born of the same parents' platform.Meanwhile using the singularity features of closed chain, it is aided with and designs common fixation free degree branch in parallel
Chain, under conditions of ensureing to assemble, complete the design of metamorphic mechanisms side chain and parallel institution.By presetting parallel metamorphic mechanism
Kinetic characteristic, it is determined that a variety of possible forms of motion of multi-freedom parallel connection side chain and the conjunction that configuration design is judged by emulation
Rationality.
Brief description of the drawings
This specification includes the following drawings, and shown content is respectively：
Fig. 1 is the assembling schematic diagram in parallel for becoming born of the same parents' platform body and single input transmission system；
Fig. 2 is the structural representation in parallel for becoming born of the same parents' platform body；
Fig. 3 is the structural representation of gear control mechanism；
Fig. 4 is the structural representation of spindle assemblies；
Fig. 5 is the structural representation of case supports part；
1st, silent flatform；2nd, the first sliding block；3rd, first connecting rod；4th, second connecting rod；5th, third connecting rod；6th, fourth link；7th, move
Platform；8th, connector；9th, the first kinematic axis；10th, the second moving gear；11st, the first moving gear；12nd, the 3rd moving gear；13rd, second
Kinematic axis；14th, splined shaft；15th, the first internal gear；16th, secondary annulus；17th, the 3rd internal gear；18th, shifting slide gear；19th,
Three kinematic axis；20th, shift fork；21st, swing rod；22nd, perforate pin；23rd, main box；24th, rotating disk is controlled；25th, turntable shaft；26th, handle；
27th, bearing (ball) cover；28th, deep groove ball bearing；29th, thrust ball bearing；30th, side plate；31st, motor；32nd, fixed mount；33rd, shaft coupling；
34th, the second sliding block；35th, upper cover plate；36th, the 3rd sliding block；37th, fork slot.
Embodiment
Below against accompanying drawing, by the description to embodiment, embodiment of the invention is made further details of
Explanation, it is therefore an objective to help those skilled in the art to have more complete, accurate and deep reason to design of the invention, technical scheme
Solution, and contribute to its implementation.
As depicted in figs. 1 and 2, the invention provides single input multi-freedom parallel connection always to become born of the same parents' platform, including change in parallel
Born of the same parents' platform body and single input transmission system.Parallel connection become the silent flatform 1 that born of the same parents platform body includes being connected with single input transmission system,
It is circumferentially arranged on silent flatform 1 and is 36, three moveable first sliding block 2, the second sliding block 34 and the 3rd sliding block motions
Side chain and moving platform 7, the first sliding block 2, the second sliding block 34 and the 3rd sliding block 36 pass through a movement branched chain and moving platform 7 respectively
Connection, moving platform 7 are used for installment work part, single input transmission system and the first sliding block 2, the second sliding block 34 and the 3rd sliding block 36
It is connected and for controlling the first sliding block 2, the second sliding block 34 and the 3rd sliding block 36 to be rotated around the axis of silent flatform 1 respectively.
Specifically, as depicted in figs. 1 and 2, silent flatform 1 be annular component, the first sliding block 2, the and of the second sliding block 34
3rd sliding block 36 is to be slidably connected with silent flatform 1.Silent flatform 1 is located in vertical plane for the axis of fixed setting and silent flatform 1, the
One sliding block 2, the second sliding block 34 and the 3rd sliding block 36 are circumferentially to set gradually on silent flatform 1.First sliding block 2, the second sliding block
34 and the 3rd sliding block 36 on silent flatform 1 around silent flatform 1 axis rotation when, can by movement branched chain drive moving platform 7 enter
Row motion, moving platform 7 are located at the top of silent flatform 1.First connecting rod 3 that movement branched chain includes being sequentially connected, second connecting rod 4, the
Three connecting rods 5 and fourth link 6, second connecting rod 4 are rotation connection with first connecting rod 3 and third connecting rod 5, and third connecting rod 5 is sheathed on
In fourth link 6 and it can relatively rotate and move between the two, fourth link 6 is rotatablely connected with moving platform 7, Ge Geyun
The first connecting rod 3 of dynamic side chain is respectively rotation connection with the first sliding block 2, the second sliding block 34 and the 3rd sliding block 36.
As depicted in figs. 1 and 2, one end of the end of first connecting rod 3 and second connecting rod 4 is rotatablely connected, second connecting rod 4 it is another
One end and one end of third connecting rod 5 are rotatablely connected, i.e., second connecting rod 4 and first connecting rod 3 and third connecting rod 5 are be hinged.Each fortune
The first connecting rod 3 of dynamic side chain is respectively with the first sliding block 2, the second sliding block 34 and the 3rd sliding block 36 to be rotatablely connected, and first connecting rod 3
With the axis at the first sliding block 2, the second sliding block 34 and the rotation connection of the 3rd sliding block 36 and the axis perpendicular of silent flatform 1.3rd
The other end of connecting rod 5 is sheathed in fourth link 6, and the end of fourth link 6 is connected with moving platform 7 by ball pivot chain link, the 4th
Bar 6 is cylinder, and the end of third connecting rod 5, which has, allows the manhole that fourth link 6 passes through, third connecting rod 5 and fourth link 6
Connected by the way that cylinder is secondary, can relatively rotate and move between third connecting rod 5.The fourth link 6 of each movement branched chain is divided
It is not connected by a spherical hinge with moving platform 7, three spherical hinges are on moving platform 7 in 3 points of distributions and three spherical hinge difference
Positioned at an apex of equilateral triangle.Moving platform 7 is equilateral triangle structure, and three spherical hinges distinguish the one of moving platform 7
At individual cusp.
Moving platform 7 for can in the first direction, second direction, third direction move with rotate multi-DOF platform,
Third direction is vertical direction, and first direction is the axis direction of turntable shaft 25, second direction and first direction and second direction
It is mutually orthogonal.Guide effect, the first sliding block are played in movement of the silent flatform 1 to the first sliding block 2, the second sliding block 34 and the 3rd sliding block 36
2nd, mobile provide makes the driving force that moving platform 7 is rotated simultaneously for the second sliding block 34 and the 3rd sliding block 36.When the of movement branched chain
When 5 three one connecting rod 3, second connecting rod 4, third connecting rod connecting rods are in free state, moving platform 7 possesses certain spatial movement appearance
State and position and attitude, claim the first athletic posture.When become born of the same parents' motion, the first connecting rod 3 and second connecting rod 4 of movement branched chain are common
Line (now the angle between first connecting rod 3 and second connecting rod 4 is 180 degree), remaining connecting rod of movement branched chain are in free state,
Moving platform 7 possesses the space position solution and motion state different from the first athletic posture, claims the second athletic posture.When motion branch
When the first connecting rod 3 of chain overlaps with second connecting rod 4 (now the angle between first connecting rod 3 and second connecting rod 4 is 0 degree), motion
Remaining connecting rod of side chain is in free state, and moving platform 7 possesses the space different from the first athletic posture and the second athletic posture
Position and attitude and motion state, claim the 3rd athletic posture.Combined by various forms of topologys of three connecting rods of movement branched chain,
The mechanism for becoming born of the same parents' motion is constituted, and then also causes the motion change of moving platform 7 that there is diversity.
As shown in Figures 1 to 5, single input transmission system include main box 23, splined shaft 14, be sheathed on splined shaft 14 and
Shifting slide gear 18 in the synchronous axial system of splined shaft 14, the gear being connected with the first sliding block 2, the second sliding block 34 and the 3rd sliding block 36 pass
Motivation structure and for control shifting slide gear 18 between the first predeterminated position, the second predeterminated position and the 3rd predeterminated position back and forth
Mobile gear control mechanism.The top of main box 23 has upper cover plate 35, and upper cover plate 35 is horizontally disposed rectangular flat, quiet
Platform 1 is arranged on upper cover plate 35 and silent flatform 1 is fixedly connected with upper cover plate 35, silent flatform 1 and towards the top of upper cover plate 35
Protrusion, the axis and upper cover plate 35 of silent flatform 1 are perpendicular, and parallel connection becomes the top that born of the same parents' platform body is located at upper cover plate 35.Main box
23 be the rectangular box structure of inner hollow, and gear drive, shifting slide gear 18 and splined shaft 14 are arranged at main box 23
In hollow cavity, for splined shaft 14 with silent flatform 1 to be coaxially disposed, splined shaft 14 is rotatably to be arranged on main box 23.Flower
There is external splines, shifting slide gear 18 has internal spline, and shifting slide gear 18 is sheathed on splined shaft 14 and shifting slide gear on key axle 14
18 are engaged with splined shaft 14, and shifting slide gear 18 can drive cunning when that can be moved up and down on splined shaft 14 and splined shaft 14 rotates
Move the synchronous axial system of gear 18.When gear control mechanism makes shifting slide gear 18 be moved to the first predeterminated position, shifting slide gear 18 with
Gear drive engages and power is transferred into the first sliding block 2, the second sliding block 34 and the 3rd sliding block by gear drive
36 to drive the first sliding block 2, the second sliding block 34 and the 3rd sliding block 36 to be rotated around the axis of silent flatform 1, and the first sliding block
2nd, the second sliding block 34 and the 3rd sliding block 36 are synchronized with the movement.When gear control mechanism makes shifting slide gear 18 be moved to the second predeterminated position
When, shifting slide gear 18 engages with gear drive and power is transferred into the first sliding block 2 to drive by gear drive
First sliding block 2 is rotated around the axis of silent flatform 1, and the second sliding block 34 and the 3rd sliding block 36 remain stationary as.When gear control machine
When structure makes the shifting slide gear 18 be moved to three predeterminated positions, shifting slide gear 18 engages with gear drive and passes through gear drive
Power is transferred to the second sliding block 34 and the 3rd sliding block 36 to drive the second sliding block 34 and the 3rd sliding block 36 around silent flatform 1 by mechanism
Axis is rotated, and the second sliding block 34 and the 3rd sliding block 36 are synchronized with the movement, and the first sliding block 2 remains stationary as.First default position
Setting in the lower section of the second predeterminated position, the second predeterminated position is located at the lower section of the 3rd predeterminated position.
As shown in figure 1, as preferable, gear drive include the first kinematic axis 9 be connected with the first sliding block 2 and
The second motion shaft 13 of second sliding block 34 connection, third motion shaft 19, the first internal gear 15 and the position being connected with the 3rd sliding block 36
In the inside of the first internal gear 15 and three the first moving gears 11 being engaged with the first internal gear 15, the first kinematic axis 9, second fortune
First moving gear 11 is arranged with moving axis 13 and third motion shaft 19 respectively, when gear control mechanism moves shifting slide gear 18
When moving to the first predeterminated position, shifting slide gear 18 engages with three the first moving gears 11.First kinematic axis 9, second motion shaft 13
It is cylinder with third motion shaft 19, the axis and splined shaft 14 of the first kinematic axis 9, second motion shaft 13 and third motion shaft 19
Axis it is parallel.First internal gear 15 is fixedly installed in the hollow cavity of main box 23, and the first moving gear 11 is Cylinder Gear
Wheel, the first internal gear 15 have the ring gear engaged with the first moving gear 11, and the first internal gear 15 is set with splined shaft 14 to be coaxial
Put, splined shaft 14 passes through from the first internal gear 15.Three the first moving gear 11 difference empty sets are transported in the first kinematic axis 9, second
Engagement is kept on moving axis 13 and third motion shaft 19 and with the ring gear of the first internal gear 15, is sheathed on the first kinematic axis 9
On the first moving gear 11 can be rotated relative to the first kinematic axis 9 and be only capable of being rotated relative to the first kinematic axis 9,
The first moving gear 11 being sheathed on second motion shaft 13 can be rotated relative to second motion shaft 13 and be only capable of relative to
Second motion shaft 13 is rotated, and the first moving gear 11 being sheathed on third motion shaft 19 can be relative to third motion shaft 19
Rotated and be only capable of being rotated relative to third motion shaft 19.It is sliding after shifting slide gear 18 is moved to the first predeterminated position
Shifting gear 18 is engaged with three the first moving gears 11 and three the first moving gears 11 are distributed in around shifting slide gear 18, works as spline
When axle 14 drives the shifting slide gear 18 to rotate, in the case where three the first moving gears 11 engage with the first internal gear 15, three the
One moving gear 11 drives the first kinematic axis 9, second motion shaft 13 and third motion shaft 19 to be carried out around the axis of shifting slide gear 18
Rotation, the first kinematic axis 9, second motion shaft 13 and third motion shaft 19 simultaneously drive the first sliding block 2, the second sliding block 34 simultaneously respectively
Rotated with axis of the 3rd sliding block 36 around silent flatform 1 on silent flatform 1, moving platform 7 is performed corresponding action.
As shown in figure 1, the first kinematic axis 9 is fixedly connected by connector 8 with the first sliding block 2, the first sliding block 2 is located at first
The lower section of kinematic axis 9, connector 8 link into an integrated entity the first sliding block 2 and the first kinematic axis 9.Second motion shaft 13 passes through connection
Part 8 is fixedly connected with the second sliding block 34, and the second sliding block 34 is located at the lower section of second motion shaft 13, and connector 8 is by the second sliding block 34
Linked into an integrated entity with second motion shaft 13.Third motion shaft 19 is fixedly connected by connector 8 with the 3rd sliding block 36, the 3rd sliding block
36 are located at the lower section of third motion shaft 19, and connector 8 links into an integrated entity the 3rd sliding block 36 and third motion shaft 19.
As shown in figure 1, as preferably, gear drive also includes secondary annulus 16 and positioned at secondary annulus 16
Inside and the second moving gear 10 for being engaged with secondary annulus 16, the second moving gear 10 is sheathed on the first kinematic axis 9 and position
In the top of the first moving gear 11, when gear control mechanism makes shifting slide gear 18 be moved to the second predeterminated position, shifting slide gear
18 engage with the second moving gear 10.Secondary annulus 16 is fixedly installed in the hollow cavity of main box 23 and secondary annulus 16
Positioned at the top of the first internal gear 15, the second moving gear 10 is roller gear, and secondary annulus 16 has and the second moving gear 10
The ring gear of engagement, with splined shaft 14 to be coaxially disposed, splined shaft 14 passes through secondary annulus 16 from secondary annulus 16.The
The empty set of two moving gear 10 keeps engagement on the first kinematic axis 9 and with the ring gear of secondary annulus 16, is sheathed on first
The second moving gear 10 on kinematic axis 9 can be rotated relative to the first kinematic axis 9 and be only capable of entering relative to the first kinematic axis 9
Row rotates, and the vertical range between the second moving gear 10 and the first moving gear 11 is constant.When shifting slide gear 18, to be moved to second pre-
It is dynamic second when splined shaft 14 drives shifting slide gear 18 to rotate if behind position, shifting slide gear 18 engages with the second moving gear 10
In the case that gear 10 engages with secondary annulus 16, the second moving gear 10 drives the first kinematic axis 9 around shifting slide gear 18
Axis is rotated, and the first kinematic axis 9 simultaneously drives axis of first sliding block 2 around silent flatform 1 on silent flatform 1 to be revolved simultaneously
Turn, second motion shaft 13 remains stationary as with the sliding block 34 of third motion shaft 19 and second and the 3rd sliding block 36, performs moving platform 7
Corresponding action.
As shown in figure 1, as preferably, gear drive also includes the 3rd internal gear 17 and positioned at the 3rd internal gear 17
Inside and two the 3rd moving gears 12 being engaged with the 3rd internal gear 17, two the 3rd moving gears 12 be sheathed on the second fortune respectively
On moving axis 13 and third motion shaft 19 and positioned at the top of the first moving gear 11, when gear control mechanism moves shifting slide gear 18
During to three predeterminated positions, shifting slide gear 18 engages with two the 3rd moving gears 12.3rd internal gear 17 is fixedly installed on main tank
In the hollow cavity of body 23 and the 3rd internal gear 17 is located at the top of secondary annulus 16, and the 3rd moving gear 12 is roller gear,
3rd internal gear 17 has the ring gear engaged with the 3rd moving gear 12, and the 3rd internal gear 17 is to be coaxially disposed with splined shaft 14,
Splined shaft 14 passes through from the 3rd internal gear 17.Two the 3rd moving gear 12 difference empty sets are moved in second motion shaft 13 and the 3rd
On axle 19 and the ring gear of two the 3rd moving gears 12 and the 3rd internal gear 17 keeps engagement, is sheathed on second motion shaft 13
On the 3rd moving gear 12 can be rotated and be only capable of relative to 13 turns of second motion shaft relative to second motion shaft 13
Dynamic, the 3rd moving gear 12 being sheathed on third motion shaft 19 can be rotated relative to third motion shaft 19 and is only capable of relative
Rotated in third motion shaft 19, the vertical range between the 3rd moving gear 12 and the first moving gear 11 is constant.When sliding tooth
After wheel 18 is moved to the 3rd predeterminated position, shifting slide gear 18 engages with two the 3rd moving gears 12, is slid when splined shaft 14 drives
When gear 18 rotates, in the case where the 3rd moving gear 12 engages with the 3rd internal gear 17, two the 3rd moving gears 12 band respectively
Dynamic second motion shaft 13 and third motion shaft 19 are rotated around the axis of shifting slide gear 18, and second motion shaft 13 and the 3rd is transported
Moving axis 19 simultaneously drives the axis of the second sliding block 34 and the 3rd sliding block 36 around silent flatform 1 on silent flatform 1 to be rotated simultaneously respectively,
First kinematic axis 9 and the first sliding block 2 then remain stationary as, and moving platform 7 is performed corresponding action.
The gear drive of above-mentioned this structure is engaged with shifting slide gear 18, by shifting slide gear 18 in splined shaft 14
Upper change in location, to control the first sliding block 2 of change born of the same parents' platform body in parallel, the second sliding block 34 and the motion shape of the 3rd sliding block 36
State, and then single input is applied in change born of the same parents' platform in parallel, parallel connection platform is obtained different athletic postures.Become born of the same parents for parallel connection
Mechanism kinematic platform, required input is more, and in order to reduce cost, therefore the transmission system designed effectively utilizes the arrangement of gear
Classification input is carried out to transmission system, so as to carry out different input status, reduces production cost, it uses the side of shifting slide gear
Method realizes control.
As shown in figures 1 and 3, gear control mechanism includes shift fork 20, the swing rod 21 and swing rod that are rotatablely connected with shift fork 20
21 rotation connections and for the control rotating disk 24 of rotatable setting, with controlling the turntable shafts 25 that are connected of rotating disk 24 and connecting with turntable shaft 25
The handle 26 connect, the axis of turntable shaft 25 and the axis perpendicular of splined shaft 14.Turntable shaft 25 is rotatably to be arranged at main tank
On body 23, turntable shaft 25 is cylinder, and control rotating disk 24 is disc-shaped component, and one end of control rotating disk 24 and turntable shaft 25 is fixed
Connect and control rotating disk 24 with turntable shaft 25 to be coaxially disposed, handle 26 is fixedly connected with the other end of turntable shaft 25 and handle 26
Positioned at the outside of main box 23, personnel easy to operation, which pull handle 26, is rotated turntable shaft 25.Control rotating disk 24 and swing rod
21 in the hollow cavity of main box 23, and one end of swing rod 21 is rotatablely connected with control rotating disk 24, the other end of swing rod 21 and
Shift fork 20 is rotatablely connected, and swing rod 21 is located between splined shaft 14 and control rotating disk 24, and the rotation of swing rod 21 and control rotating disk 24 connects
The axis of contact is parallel with controlling the axis of rotating disk 24, and swing rod 21 is set for the eccentric on control rotating disk 24, and swing rod 21
It is also parallel with controlling the axis of rotating disk 24 with the axis of the rotating joint of shift fork 20.Shift fork 20 is on insertion shifting slide gear 18
In set fork slot 37, fork slot 37 is the annular groove set on shifting slide gear 18.Shift fork 20 is semicircle forked knot
Structure, its inner outline are semicircle, and its radius is equal with the radius of fork slot 37, and the inner outline of shift fork 20 falls in fork slot 37
In, enable shift fork 20 to drive shifting slide gear 18 to be moved linearly on splined shaft 14 along the axial direction of splined shaft 14.In turntable shaft
When 25 drive control rotating disks 24 rotate, control rotating disk 24 drives the movement shifting slide gear 18 of shift fork 20 by swing rod 21.Become in parallel connection
When born of the same parents' platform body works, by rotary handle 26, control shift fork 20 is subjected to displacement along third direction, and then drives shift fork 20
Shifting slide gear 18 moves linearly on splined shaft 14 along the axial direction of splined shaft 14, shifting slide gear 18 is in the first default position
Put, the second predeterminated position or the 3rd predetermined position, and then become born of the same parents' platform body for parallel connection and power is provided.
It is swing type operating mechanism using the gear control mechanism of said structure, it is simple to operate, easily and effectively, fast.
As shown in figure 4, single input transmission system also includes being arranged in the hollow cavity of main box 23 and for offer making
The motor 31 for the power that splined shaft 14 rotates.Connection between splined shaft 14 and main box 23 is by deep groove ball bearing 28, pushed away
The parts such as power ball bearing 29, bearing (ball) cover 27 realize that the in the vertical direction position of splined shaft 14 remains stationary as.Motor 31 fixes peace
On fixed mount 32, fixed mount 32 is fixedly connected with main box 23, and motor 31 is located at the lower section of splined shaft 14 and motor 31 is logical
The lower end that shaft coupling 33 is crossed with splined shaft 14 is connected.After motor 31 operates, splined shaft 14 is driven to rotate by shaft coupling 33, spline
Axle 14 drives the synchronous axial system of shifting slide gear 18.
The present invention is exemplarily described above in association with accompanying drawing.Obviously, present invention specific implementation is not by above-mentioned side
The limitation of formula.As long as employ the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress；Or not
It is improved, the above-mentioned design of the present invention and technical scheme are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (10)
1. single input multi-freedom parallel connection becomes born of the same parents' platform, it is characterised in that：Become born of the same parents' platform body and single input transmission including parallel connection
System, parallel connection becomes the silent flatform that born of the same parents platform body includes being connected with single input transmission system, on silent flatform to be circumferentially arranged
And be moveable first sliding block, the second sliding block and the 3rd sliding block, three movement branched chains and moving platform, the first sliding block, second
Sliding block and the 3rd sliding block are connected by a movement branched chain with moving platform respectively, single input transmission system and the first sliding block, second
Sliding block and the 3rd sliding block are connected and for controlling the first sliding block, the second sliding block and the 3rd sliding block to enter around the axis of silent flatform respectively
Row rotation.
2. single input multi-freedom parallel connection according to claim 1 becomes born of the same parents' platform, it is characterised in that：The silent flatform is circle
Annular, first sliding block, the second sliding block and the 3rd sliding block and silent flatform are to be slidably connected.
3. single input multi-freedom parallel connection according to claim 1 or 2 becomes born of the same parents' platform, it is characterised in that：The motion branch
Chain includes first connecting rod, second connecting rod, third connecting rod and the fourth link being sequentially connected, second connecting rod and first connecting rod and the 3rd
Connecting rod is rotation connection, and third connecting rod is sheathed in fourth link and can relatively rotate and move between the two, the 4th
Connecting rod and the moving platform are rotatablely connected, the first connecting rod of each movement branched chain respectively with first sliding block, the second sliding block and
3rd sliding block is rotation connection.
4. single input multi-freedom parallel connection according to claim 1 or 2 becomes born of the same parents' platform, it is characterised in that：The single input
Transmission system include splined shaft, be sheathed on splined shaft and the shifting slide gear in splined shaft synchronous axial system, with first sliding block,
The gear drive of second sliding block and the connection of the 3rd sliding block and for controlling shifting slide gear in the first predeterminated position, second pre-
If the gear control mechanism moved back and forth between position and the 3rd predeterminated position.
5. single input multi-freedom parallel connection according to claim 4 becomes born of the same parents' platform, it is characterised in that：When the gear controls
When mechanism makes the shifting slide gear be moved to the first predeterminated position, shifting slide gear is engaged with gear drive and passed by gear
Power is transferred to the first sliding block, the second sliding block and the 3rd sliding block to drive the first sliding block, the second sliding block and the 3rd to slide by motivation structure
Block is rotated around the axis of silent flatform；When gear control mechanism makes shifting slide gear be moved to the second predeterminated position, tooth is slid
Wheel engages with gear drive and power is transferred into the first sliding block by gear drive to drive the first sliding block around quiet
The axis of platform is rotated；When gear control mechanism makes shifting slide gear be moved to three predeterminated positions, shifting slide gear and tooth
Wheel drive mechanism engages and power is transferred into the second sliding block and the 3rd sliding block to drive the second sliding block by gear drive
Rotated with the 3rd sliding block around the axis of silent flatform.
6. the single input multi-freedom parallel connection according to claim 4 or 5 becomes born of the same parents' platform, it is characterised in that：The gear passes
Motivation structure includes the first kinematic axis being connected with first sliding block, the second motion shaft being connected with second sliding block and institute
State the third motion shaft of the 3rd sliding block connection, the first internal gear and engaged positioned at the inside of the first internal gear and with the first internal gear
Three the first moving gears, be arranged with first moving gear respectively on the first kinematic axis, second motion shaft and third motion shaft,
When the gear control mechanism makes the shifting slide gear be moved to the first predeterminated position, shifting slide gear and three the first moving gears
Engagement.
7. single input multi-freedom parallel connection according to claim 6 becomes born of the same parents' platform, it is characterised in that：The gear drive machine
Structure also includes secondary annulus and moved positioned at the inside of secondary annulus and the second moving gear for engage with secondary annulus, second
Geared sleeve on first kinematic axis and positioned at the top of first moving gear, when the gear control mechanism make it is described
When shifting slide gear is moved to the second predeterminated position, shifting slide gear engages with the second moving gear.
8. single input multi-freedom parallel connection according to claim 7 becomes born of the same parents' platform, it is characterised in that：The gear drive machine
Structure also includes the 3rd internal gear and positioned at the inside of the 3rd internal gear and two the 3rd moving gear being engaged with the 3rd internal gear, and two
Individual 3rd moving gear is sheathed on the second motion shaft and the third motion shaft and positioned at first moving gear respectively
Top, when the gear control mechanism makes the shifting slide gear be moved to three predeterminated positions, shifting slide gear and two the 3rd
Moving gear engages.
9. single input multi-freedom parallel connection according to claim 4 becomes born of the same parents' platform, it is characterised in that：The gear control machine
Structure include be connected with the shifting slide gear shift fork, with shift fork rotation connection swing rod, with swing rod rotation connection and be it is rotatable
The control rotating disk of setting, the handle with the turntable shaft that is connected of control rotating disk and with rotating disk axis connection, the axis of turntable shaft with it is described
The axis perpendicular of splined shaft.
10. single input multi-freedom parallel connection according to claim 4 becomes born of the same parents' platform, it is characterised in that：The single input passes
Dynamic system also includes main box and is arranged in main box and makes the motor of the power of the splined shaft rotation for offer, described
Splined shaft, the shifting slide gear and the gear control mechanism are arranged at the inside of main box.
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| CN201710717489.8A CN107363814B (en) | 2017-08-21 | 2017-08-21 | Single-input multi-degree-of-freedom parallel metamorphic platform |
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| CN108980284A (en) * | 2018-09-30 | 2018-12-11 | 武军 | A kind of circumference for flat double distributor boxes synchronizes driving part of pulling together |
| CN113771099A (en) * | 2021-09-23 | 2021-12-10 | 中国科学院上海微系统与信息技术研究所 | Parallel type three-degree-of-freedom bionic eye device |
| US20220166288A1 (en) * | 2019-03-22 | 2022-05-26 | Ntn Corporation | Parallel link mechanism and link actuation device |
| CN117140492A (en) * | 2023-11-01 | 2023-12-01 | 常熟理工学院 | 6-UPS parallel manipulator with variable diameter |
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| US20220166288A1 (en) * | 2019-03-22 | 2022-05-26 | Ntn Corporation | Parallel link mechanism and link actuation device |
| CN113771099A (en) * | 2021-09-23 | 2021-12-10 | 中国科学院上海微系统与信息技术研究所 | Parallel type three-degree-of-freedom bionic eye device |
| CN113771099B (en) * | 2021-09-23 | 2022-12-09 | 中国科学院上海微系统与信息技术研究所 | Parallel type three-degree-of-freedom bionic eye device |
| CN117140492A (en) * | 2023-11-01 | 2023-12-01 | 常熟理工学院 | 6-UPS parallel manipulator with variable diameter |
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