38results about How to "The movement method is clear" patented technology

The invention discloses a four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation. The parallel mechanism comprises a fixed frame, a movable platform, and four branch chains which are arranged between the fixed frame and the movable platform and adopt the same structure, wherein each branch chain comprises a rotating fork, an active arm, two parallel slave arms which are equal in lengths, and four T-shaped shafts; the rotating forks are connected with the fixed frame in a rotating manner; each active arm is connected to the inside of the corresponding rotating fork in a rotating manner; one ends of every two corresponding slave arms are connected with the corresponding active arm through two T-shaped shafts, and the other ends of the slave arms are connected with the movable platform through two T-shaped shafts. The movable platform of the parallel mechanism adopts a single-platform structure, and has the characteristics of simple structure, light weight and the like, and the realization of dynamic response characteristics with high speed and high acceleration is facilitated.

The invention discloses a vertical rolling bearing equivalent friction coefficient measuring device. The vertical rolling bearing equivalent friction coefficient measuring device comprises a machine body, a sliding seat, a mandrel, two bearing pedestals, an annular counterweight part, a rotating speed sensor and a data acquisition / processing / calculation / display device; one bearing pedestal is fixedly connected with the machine body, and the other one is fixedly connected with the sliding seat; the two bearing pedestals are provided with inner cylindrical surfaces matched with the outer rings of tested rolling bearings respectively; the two inner cylindrical surfaces are coaxial; the two ends of the mandrel are provided with shaft shoulders used for mounting the inner rings of the tested rolling bearings respectively; the mandrel is provided with the annular counterweight part; the sliding seat axially and horizontally moves along the inner cylindrical surfaces of the two bearing pedestals under external force driving; the data acquisition / processing / calculation / display device is used for collecting and processing the angular speed signal, monitored by the rotating speed sensor, ofthe mandrel, and calculating the equivalent friction torque and equivalent friction coefficient of an tested rolling bearing and a B tested rolling bearing. The measuring device has the capability ofrapidly and precisely measuring the equivalent friction torque and equivalent friction coefficient of the rolling bearing.

The invention discloses a parallel mechanism with three-dimensional translation and one-dimensional rotation. The parallel mechanism comprises a fixed frame, a moving platform and four branched chains which are symmetrically arranged between the fixed frame and the moving platform and have the same structure. Each branched chain comprises a near frame rod and two far frame rods parallel to each other, wherein one end of the near frame rod is fixedly connected with the drive end fixed on the fixed frame and the other end of the near frame rod is fixedly connected with an upper connection shaft; and one end of each far frame rod is ball-hinged with the upper connection shaft, and the other end of each far frame rod is ball-hinged with a lower connection shaft fixedly connected to the movingplatform. The moving platform comprises a main platform and a secondary platform which are connected by a rotary pair and vertical to each other, wherein both ends of the main platform and the secondary platform are connected with the corresponding lower connection shafts respectively. The parallel mechanism is simple in structure, has definite mode of motion and can meet the requirements of complex holding-releasing operations; and because the drive ends are symmetrically arranged, the rigidity of the mechanism in the whole working space is improved, and simultaneously by replacing the main platform and the secondary platform, or adding a reversing mechanism, the rotational degree of freedom is realized in three orthogonal directions.

The invention discloses an equivalent friction coefficient measurement device and method of a rolling bearing. The equivalent friction coefficient measurement device comprises a machine body, a sliding seat, two air flotation main shaft assemblies, a core shaft, a rotational speed sensor and a data acquisition / processing / calculation / display system, wherein each air flotation main shaft assembly comprises an air flotation main shaft matrix and an air flotation main shaft, one of the air flotation main shaft matrixes is fixedly connected with the machine body, the other one air flotation main shaft matrix is fixedly connected with the sliding seat, the two air flotation main shafts are coaxial, two ends of the core shaft are matched or connected with the two air flotation main shafts by conical surfaces or couplers, an inner circle of a measured rolling bearing is arranged at a shaft shoulder of the core shaft, the rotational speed sensor is used for monitoring angular speeds of the coreshaft or the air floatation main shafts, and the data acquisition / processing / calculation / display system is used for acquiring and processing angular speed signals, monitored by the rotational speed sensor, of the core shaft or the air flotation main shafts and calculating equivalent friction torque and an equivalent friction coefficient of the measured rolling bearing. The measurement device hasthe capability of rapidly and accurately measuring the equivalent friction torque and the equivalent friction coefficient of the rolling bearing.

The invention discloses a four-freedom-degree robot mechanism capable of achieving three-dimensional translation and one-dimensional rotation. The four-freedom-degree robot mechanism comprises a fixed frame, a moving platform, a first branched chain, a second branched chain and a third branched chain. The first branched chain, the second branched chain and the third branched chain are arranged between the fixed frame and the moving platform. The three branched chains each comprise a close frame bar and two parallel and equilong far frame bars. The third branched chain further comprises a rotating fork, and the rotating fork is rotationally connected with the fixed frame. One end of each close frame bar is connected with the fixed frame or the rotating fork, the other end of each close frame bar is spherically hinged to the corresponding far frame bars, and each far frame bar is spherically hinged to the moving platform. The moving platform comprises a main platform body and an auxiliary platform body which are rotationally connected. According to the mechanism, four-freedom-degree motion of three-dimensional translation and one-dimensional rotation is achieved through the three branched chains, and the manufacturing cost can be reduced easily.

The invention discloses a parallel mechanism with two-dimensional translation and two-dimensional rotation. The parallel mechanism comprises a fixed frame, a moving platform and four branched chains which are symmetrically arranged between the fixed frame and the moving platform and provided with a drive device respectively, wherein the four branched chains have two types of structures; the branched chain with one type of structure comprises a straight line guide rail, a drive block arranged in the straight line guide rail and a fixed-length connecting rod of which both ends are provided withrotary hinges; the branched chain with the other type of structure comprises a straight line guide rail, a drive block arranged in the straight line guide rail and a fixed-length connecting rod of which both ends are provided with spherical hinges; the four branched chains with the two types of structures are in crossed arrangement; one end of the fixed-length connecting rod is connected with themoving platform, and the other end of the fixed-length connecting rod is connected with the drive block; and the moving platform is connected with a main platform and a fork-shaped shaft, of which the axial lines are vertical to each other, by a rotary pair, and the main platform can rotate around the axial line of the fork-shaped shaft. The parallel mechanism has the advantages that: the structure is simple; the mode of motion is definite; the requirements on complicated holding-releasing operations are met; and because the connecting rod is the fixed length rod which helps to reduce the inertia load, the parallel mechanism has higher rigidity in different operational ranges, and the high-speed movement is easily realized.

The invention relates to an abutting joint mechanism suitable for water sample collection. The abutting joint mechanism includes an upper part and a lower part. The upper part is a passive abutting joint structure, and includes a linear pushing bar, a two-degree-freedom plane translation unit, a bellows coupler and an upper abutting joint. The upper abutting joint is connected to the two-degree-freedom plane translation unit through the bellows coupler, achieving translation movement of the upper abutting joint in the horizontal plane. The linear pushing bar achieves translation movement of the upper abutting joint in the vertical direction. The lower part is a water sample collection unit and includes a layered water sampler and a lower abutting joint. The lower abutting joint is fixed tothe top of the layered water sampler, and is provided with a pipeline inside used for extracting a water sample in the layered water sampler. The disclosed abutting joint mechanism has characteristics of a simple and compact structure and definite movement manners, can achieve three-dimensional translation movement in a high movement speed and a large movement range, thus achieving rapid and accurate abutting. The abutting joint mechanism is suitable for automatic water sample collection in unmanned surface boats.

The invention relates to the technical field of automobile parts, in particular to a four-degree-of-freedom parallel mechanism. The four-degree-of-freedom parallel mechanism comprises a fixed frame, a movable platform and four branch chains. The branch chains are symmetrically arranged between the fixed frame and the movable platform and of the same structure. The movable platform is mainly composed of a main platform and a vice platform. The vice platform is connected with the main platform in a sleeving mode through a bevel gear pair. The axis of a big bevel gear of the bevel gear pair and the axis center of the main platform are coaxial, and the big bevel gear is fixed to one side of the vice platform. A small bevel gear of the bevel gear pair is installed on the main platform. The axis of the big bevel gear is perpendicular to the axis of the small bevel gear. An end effector is installed on the lower portion of the small bevel gear. The four-degree-of-freedom parallel mechanism is simple in structure and clear in motion mode. A large rotation angle range is obtained due to the large transmission ratio of the bevel gear pair, so that a magnification mechanism does not need to be used, and the motion speed is greatly increased.

The invention discloses a high-speed parallel robot mechanism capable of realizing SCARA motion. The high-speed parallel robot mechanism comprises fixed brackets, a mobile platform as well as a first support chain, a second support chain, a third support chain and a fourth support chain which are arranged between the mobile platform and the fixed brackets, wherein each of the first support chain and the second support chain comprises a slide plate, a rotating shaft A, two parallel far frame rods with equal length and a rotating shaft B, the slide plate is connected with the fixed brackets through a slide pair, the rotating shaft A is rotationally connected with the slide plate, one end of each far frame rod is in spherical joint with the rotating shaft A, the other end is in spherical joint with the rotating shaft B, and the rotating shaft B is rotationally connected with the mobile platform; and each of the third support chain and the fourth support chain comprises a slide plate and two parallel far frame rods with equal length, the slide plate is connected with the fixed frame through a slide pair, one end of each far frame rod is in spherical joint with the slide plate, and the other end is in spherical joint with the mobile platform. The high-speed parallel robot mechanism is skillful in design, compact in structure and can adapt to complicated gripping and releasing environments.

The invention discloses a vertical rolling bearing equivalent friction coefficient measuring device. The vertical rolling bearing equivalent friction coefficient measuring device comprises a machine body, a sliding table, a mandrel, two bearing pedestals, a rotating speed sensor and a data acquisition / processing / calculation / display device, wherein one of the bearing pedestals is fixedly connectedwith the machine body, and the other one is fixedly connected with the sliding table; an A to-be-tested rolling bearing outer ring is arranged on a bearing pedestal shoulder which is fixedly connectedwith the machine body, and a B to-be-tested rolling bearing outer ring is arranged on a bearing pedestal shoulder which is fixedly connected with the sliding table; an A to-be-tested rolling bearinginner ring is arranged on the shaft shoulder at one end of the mandrel, and a B to-be-tested rolling bearing inner ring is arranged on the shaft shoulder at the other end of the mandrel; the sliding table is capable of horizontally moving along the axial direction of the inner cylindrical surface of the bearing pedestals under the guide of a guide component; and the data acquisition / processing / calculation / display device is used for collecting and processing the angular speed signal, monitored by the rotating speed sensor, of the mandrel, and calculating the equivalent friction torque and equivalent friction coefficient of the tested rolling bearing. The measuring device has the capability of rapidly and precisely measuring the equivalent friction torque and equivalent friction coefficientof the rolling bearing.

The invention discloses a four-freedom-degree high-speed parallel robot mechanism which comprises a fixed frame, a moving platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain. The first branched chain, the second branched chain, the third branched chain and the fourth branched chain are arranged between the fixed frame and the moving platform. The first branched chain and the second branched chain each comprise a rotating fork, a close frame bar, two parallel and equilong far frame bars and a rotating shaft, wherein each rotating fork is rotationally connected with the fixed frame, one end of each close frame bar is rotationally connected with the corresponding rotating fork, the other end of each close frame bar is spherically hinged to the corresponding far frame bars, each far frame bar is spherically hinged to the corresponding rotating shaft, and each rotating shaft is rotationally connected with the moving platform. The third branched chain and the fourth branched chain each comprise a close frame bar and two parallel and equilong far frame bars, wherein one end of each close frame bar is rotationally connected with the fixed frame, the other end of each close frame bar is spherically hinged to the corresponding far frame bars, and each far frame bar is spherically hinged to the moving platform. The mechanism is ingenious in design and compact in structure and can adapt to complex grabbing and releasing environments.

The invention discloses a parallel mechanism with a two-degree-of-free translation function. The parallel mechanism comprises a fixed frame, a movable platform, two driving branched chains identical in structure and a driven branched chain, the two driving branched chains are symmetrically arranged between the fixed frame and the movable platform and on two sides of the driven branched chain, the driven branched chain comprises two rod members in left-right parallelism, the upper ends of the rod members are connected with the fixed frame through a rotating pair while the lower ends of the same are connected with the end portion of a horizontal connecting rod, the fixed frame, the two rod members and the horizontal connecting rod form a parallelogram structure, a vertical connecting rod perpendicular to the horizontal connecting rod is fixedly connected below the middle portion of the horizontal connecting rod, and the movable platform comprises a transverse rod and a vertical rod which is vertically fixed above the middle portion of the transverse rod and connected with the vertical connecting rod through a moving pair. The parallel mechanism is low in manufacturing cost, smoother in operating and higher in motion transmitting efficiency.

The invention discloses a three-freedom-degree robot mechanism capable of translating in two directions and rotating in one direction. The three-freedom-degree robot mechanism capable of translating in two directions and rotating in one direction comprises a fixed frame, a moving platform, and a first branched chain, a second branched chain and a third branched chain which are arranged between the fixed frame and the moving platform; each of the three branched chains comprises a near frame rod and two parallel far frame rods with equal lengths; the third branched chain also comprises a converting fork; the converting fork is fixedly connected with the fixed frame; one end of the near frame rod is connected with the fixed frame or the converting fork; the other end of the near frame rod is spherically hinged to the far frame rod; the far frame rod is spherically hinged to the moving platform; the moving platform comprises a primary platform and a secondary platform which can rotate relatively; the mechanism is high in rigidity, flexible in movement, and can realize high-speed grasping and releasing.

The invention discloses a parallel robot mechanism capable of achieving SCARA motion. The parallel robot mechanism comprises a fixing frame, a movable platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, wherein the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are arranged between the fixing frame and the movable platform; the four branched chain each comprise a near frame rod and two parallel and equal-length far frame rods, one end of each near frame rod is rotationally connected with the fixing frame, and the other end of each near frame rod is in ball hinge to the corresponding far frame rods; the far frame rods are in ball hinge to the movable platform; and the movable platform comprises a main platform, an auxiliary platform and two rotating shafts, and the auxiliary platform and the two rotating shafts are rotationally connected with the main platform. The mechanism is ingenious in design, compact in structure and capable of adapting to complex grabbing and placing environments.

The invention discloses an up-and-down telescopic three-platform one-rotation parallel mechanism, comprising a fixed frame, a moving platform and four groups of branch chains, wherein the branch chains are same in structure and are symmetrically arranged between the fixed frame and the moving platform; the moving platform comprises an upper platform and a lower platform which are mutually parallel; the vertical axes of the upper platform and the lower platform are coincident; a connecting rod group guiding mechanism is connected between the upper platform and the lower platform, and consists of at least three dual-connecting-rod structures which are same in structure and are distributed along the circumference of the vertical axis of the moving platform; each dual-connecting-rod structurecomprises an upper connecting rod hinged with the upper platform and a lower connecting rod hinged with the lower platform; and the upper connecting rod is hinged with the lower connecting rod. In the up-and-down telescopic three-platform one-rotation parallel mechanism, relative movement of the upper platform and the lower platform along the direction of the common vertical axis is converted into the rotation of a lead screw around the axis of the lead screw through a rotating mechanism and the connecting rod group guiding mechanism, the vertical relative movement of the upper platform and the lower platform is guaranteed by utilizing the constrained characteristic of the connecting rod group guiding mechanism, and the rigidity and the stability are good.