CN103465251B - Work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two - Google Patents
Work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two Download PDFInfo
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- CN103465251B CN103465251B CN201310395259.6A CN201310395259A CN103465251B CN 103465251 B CN103465251 B CN 103465251B CN 201310395259 A CN201310395259 A CN 201310395259A CN 103465251 B CN103465251 B CN 103465251B
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Abstract
Work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two, comprise take-off lever (1), five linear cylinders, frame (0) and operators (P), it is characterized in that take-off lever (1) is for straight line rod-like form, the piston rod of five linear cylinders uses single ball pair one (S respectively
31), single ball pair two (S
32), single ball pair three (S
33), single ball pair four (S
34), single ball pair five (S
35) be connected with take-off lever (1), but the single ball pair one (S on take-off lever (1)
31), single ball pair two (S
32), single ball pair three (S
33), single ball pair four (S
34), single ball pair five (S
35) do not overlap mutually; The cylinder body of five linear cylinders uses single ball pair six (S respectively
11), single ball pair seven (S
12), single ball pair eight (S
13), single ball pair nine (S
14), single ball pair ten (S
15) be connected with frame (0), operator (P) is fixed on one end of take-off lever (1).When five linear cylinders drive, take-off lever can point to work high above the ground and produce the output campaign of three translations two rotations.
Description
Technical field
The present invention relates to class five degree of freedom three translation two and rotate work high above the ground take-off lever operator, specifically, is the space directivity new architecture that the equipment for realizing work high above the ground requisite space position and attitude provides a class novel.
Background technology
Industry, in military affairs many occasion Structure of need simply, the equipment of requisite space position and attitude can be realized, have many bibliographical informations three translation two one-rotation parallel mechanisms of five degree of freedom, such as: Guo Sheng, Fang Yuefa describe five-freedom parallel device people method for designing [robot, 2004 (3): 49-53]; Li Qinchuan have studied symmetrical Limited-DOF Parallel Robot pattern synthesis theory and new architecture comprehensive [University On The Mountain Of Swallows's thesis for the doctorate, 2003]; Chen Hongliang, Luo Yufeng etc. describe a kind of novel 3T2R parallel robot [machine design and manufacture, 2007 (12): 147-148]; Tang Weixing, Ma Lvzhong, Shi Qiduan also studied the pattern synthesis [China Mechanical Engineering, 2007 (20): 69-72.] of 3T-2R five-freedom parallel structure; But they are plane polygon or stage body by the moving platform of parallel institution of research, are not suitable for the occasion of work high above the ground, example: high-altitude fire fighting, the disaster relief, rescue people scene, meanwhile, branched structure and complicated integral structure thereof.Therefore, need invention structure simple and the five degree of freedom operator of work high above the ground can be adapted to.
Summary of the invention
The present invention is the above-mentioned shortcoming overcoming prior art, the five degree of freedom three translation two rotation in-parallel operating hand providing a class can be adapted to work high above the ground, its moving platform is rod-like structure, and structure is simple, its technical scheme is: work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two, comprise take-off lever (1), five linear cylinders, frame (0) and operators (P), it is characterized in that take-off lever (1) is for straight line rod-like form, the piston rod of five linear cylinders uses single ball pair one (S respectively
31), single ball pair two (S
32), single ball pair three (S
33), single ball pair four (S
34), single ball pair five (S
35) be connected with take-off lever (1), but the single ball pair one (S on take-off lever (1)
31), single ball pair two (S
32), single ball pair three (S
33), single ball pair four (S
34), single ball pair five (S
35) do not overlap mutually; The cylinder body of five linear cylinders uses single ball pair six (S respectively
11), single ball pair seven (S
12), single ball pair eight (S
13), single ball pair nine (S
14), single ball pair ten (S
15) be connected with frame (0), operator (P) is fixed on one end of take-off lever (1).
Work high above the ground take-off lever operator is rotated in described five degree of freedom three translation two, it is characterized in that the single ball pair one (S on take-off lever (1)
31), single ball pair two (S
32), single ball pair three (S
33) three overlaps formation three heavy ball pair (S
123), and single ball pair four (S
34), single ball pair five (S
35) both coincidence formation two heavy ball pair (S
45),
1but three heavy ball pair (S
123) and two heavy ball pair (S
45) can not overlap again.
Work high above the ground take-off lever operator is rotated in described five degree of freedom three translation two, it is characterized in that the single ball pair one (S on take-off lever (1)
31), single ball pair two (S
32) both coincidence formation two heavy ball pair one (S
12), single ball pair three (S
33), single ball pair four (S
34) both coincidence formation two heavy ball pair two (S
34), but two heavy ball pair one (S
12) and two heavy ball pair two (S
34) can not overlap again, single ball pair five (S
35) still individualism.
When five linear cylinders drive, take-off lever (1) just produces the output campaign that three translations two are rotated, and because take-off lever (1) is for shaft-like, can needs design, can point to work high above the ground by physical length.
Accompanying drawing explanation
Accompanying drawing 1,2,3 is respectively the structural representation of three kinds of embodiments of the present invention.
Detailed description of the invention
Give to illustrate further to technology of the present invention below by drawings and Examples.
Accompanying drawing 1 is the structural representation of the first embodiment of the present invention, and its technical scheme is: work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two, comprises take-off lever 1, five linear cylinder P
1, P
2, P
3, P
4, P
5, frame 0 and operator P, take-off lever 1 is straight line rod-like form, five linear cylinder P
1, P
2, P
3, P
4, P
5piston rod use the secondary S of single ball respectively
31, secondary two S of single ball
32, the secondary Three S's of single ball
33, secondary four S of single ball
34, secondary five S of single ball
35be connected with take-off lever 1, but these five single ball pairs on take-off lever 1 do not overlap mutually; The cylinder body of five linear cylinders uses secondary six S of single ball respectively
11, secondary seven S of single ball
12, secondary eight S of single ball
13, secondary nine S of single ball
14, secondary ten S of single ball
15be connected with frame 0, operator P is fixed on one end of take-off lever 1.
Accompanying drawing 2 is the structural representation of the second embodiment of the present invention, and its technical scheme is: work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two, the secondary S of the single ball on its take-off lever 1
31, secondary two S of single ball
32, the secondary Three S's of single ball
33three overlaps formation three heavy ball secondary S
123, and secondary four S of single ball
34, secondary five S of single ball
35both coincidence formation two heavy ball secondary S
45, but three heavy ball secondary S
123with two heavy ball secondary S
45can not overlap again.
Accompanying drawing 3 is the structural representation of the third embodiment of the present invention, and its technical scheme is: work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two, is the secondary S of single ball on take-off lever 1
31, secondary two S of single ball
32the secondary S of both coincidence formation two heavy ball
12, the secondary Three S's of single ball
33, secondary four S of single ball
34secondary two S of both coincidence formation two heavy ball
34, but the secondary S of two heavy ball
12two Ss secondary with two heavy ball
34can not overlap again, secondary five S of single ball
35still individualism.
When five linear cylinders (electronic, hydraulic pressure, air pressure etc.) in above-mentioned three embodiments drive, the take-off lever 1 of rectilinear form just produces the output campaign of three translations two rotations, its operator (example: spray gun, high pressure nozzle etc.) can reach high empty position by specific attitude and to go forward side by side row operation, this mechanism structure can point to work high above the ground, simple, easy to manufacture, easy to operate.
Claims (1)
1. work high above the ground take-off lever operator is rotated in a five degree of freedom three translation two, comprise take-off lever (1), five linear cylinders, frame (0) and operators (P), it is characterized in that take-off lever (1) is for straight line rod-like form, the piston rod of five linear cylinders uses single ball pair one (S respectively
31), single ball pair two (S
32), single ball pair three (S
33), single ball pair four (S
34), single ball pair five (S
35) be connected with take-off lever (1); The cylinder body of five linear cylinders uses single ball pair six (S respectively
11), single ball pair seven (S
12), single ball pair eight (S
13), single ball pair nine (S
14), single ball pair ten (S
15) be connected with frame (0), operator (P) is fixed on one end of take-off lever (1); Further, the single ball pair one (S on take-off lever (1)
31), single ball pair two (S
32), single ball pair three (S
33) three overlaps formation three heavy ball pair (S
123), and single ball pair four (S
34), single ball pair five (S
35) both coincidence formation two heavy ball pair (S
45), but three heavy ball pair (S
123) and two heavy ball pair (S
45) can not overlap again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310395259.6A CN103465251B (en) | 2013-09-03 | 2013-09-03 | Work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310395259.6A CN103465251B (en) | 2013-09-03 | 2013-09-03 | Work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103465251A CN103465251A (en) | 2013-12-25 |
| CN103465251B true CN103465251B (en) | 2016-03-09 |
Family
ID=49790410
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310395259.6A Active CN103465251B (en) | 2013-09-03 | 2013-09-03 | Work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two |
Country Status (1)
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| CN (1) | CN103465251B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104275691B (en) * | 2014-09-16 | 2016-08-24 | 燕山大学 | There is the asymmetric parallel institution of three two turns of five degree of freedom of shifting |
| CN104858860B (en) * | 2015-06-01 | 2020-11-03 | 山东理工大学 | Parallel mechanism with two translation and one rotation |
| CN111972125A (en) * | 2020-08-14 | 2020-11-24 | 南京农业大学 | Five-degree-of-freedom parallel device for orchard high-altitude operation |
Citations (4)
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|---|---|---|---|---|
| EP1340478A2 (en) * | 2002-02-28 | 2003-09-03 | Honda Giken Kogyo Kabushiki Kaisha | Parallel linkage and artificial joint device using the same |
| CN2578058Y (en) * | 2002-11-13 | 2003-10-08 | 安徽工业大学 | Three freedom parallel structure robot posture inspector |
| CN101693366A (en) * | 2009-06-11 | 2010-04-14 | 哈尔滨工业大学深圳研究生院 | 5-DOF (degree of freedom) parallel robot mechanism |
| CN101850519A (en) * | 2010-05-28 | 2010-10-06 | 浙江大学 | Space five-freedom parallel machine tool |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10153854C1 (en) * | 2001-11-02 | 2003-06-12 | Fraunhofer Ges Forschung | Movement and / or positioning device |
-
2013
- 2013-09-03 CN CN201310395259.6A patent/CN103465251B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1340478A2 (en) * | 2002-02-28 | 2003-09-03 | Honda Giken Kogyo Kabushiki Kaisha | Parallel linkage and artificial joint device using the same |
| CN2578058Y (en) * | 2002-11-13 | 2003-10-08 | 安徽工业大学 | Three freedom parallel structure robot posture inspector |
| CN101693366A (en) * | 2009-06-11 | 2010-04-14 | 哈尔滨工业大学深圳研究生院 | 5-DOF (degree of freedom) parallel robot mechanism |
| CN101850519A (en) * | 2010-05-28 | 2010-10-06 | 浙江大学 | Space five-freedom parallel machine tool |
Non-Patent Citations (1)
| Title |
|---|
| A Reconfigurable 5-DoF 5-SPU Parallel Platform;Borras, J. et al;《ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots》;20090624;摘要、前言部分及图1-3 * |
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| CN103465251A (en) | 2013-12-25 |
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Effective date of registration: 20211215 Address after: Room 407-2-6, building C, Tian'an Digital City, 588 Changwu South Road, Wujin high tech Industrial Development Zone, Changzhou City, Jiangsu Province 213100 Patentee after: CHANGZHOU XIAOGUO INFORMATION SERVICES Co.,Ltd. Address before: Gehu Lake Road Wujin District 213164 Jiangsu city of Changzhou province No. 1 Patentee before: CHANGZHOU University |
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