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Six-degree-of-freedom foldable parallel motion platform with closed-loop dual-drive sub-chains

A dual-drive, degree-of-freedom technology, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of small drive output stroke and limited working space of the mechanism, so as to increase the expansion ratio and ensure the rigidity and dynamics of the mechanism The effect of performance and large expansion space

Inactive Publication Date: 2021-01-05
NORTH CHINA INST OF AEROSPACE ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] To sum up, by introducing a four-bar mechanism or a five-bar mechanism, although the superimposition of motions of different natures can be realized and the dynamic characteristics can be improved, the drive output stroke is small and the overall working space of the mechanism is limited.

Method used

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  • Six-degree-of-freedom foldable parallel motion platform with closed-loop dual-drive sub-chains
  • Six-degree-of-freedom foldable parallel motion platform with closed-loop dual-drive sub-chains
  • Six-degree-of-freedom foldable parallel motion platform with closed-loop dual-drive sub-chains

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] Such as figure 1 , 4 As shown, the first drive assembly of the slide plate type includes a guide rail 4-1, a slider 4-2 and a transmission rod 4-4, the guide rail 4-1 is installed on the herringbone mounting frame 5, and the slide The block 4-2 is slidably connected on the guide rail 4-1, and one end of the slide block 4-2 and the transmission rod 4-4 is connected together by the first rotating pair 3, and the end of the transmission rod 4-4 The other end is connected with one end of the linkage rod 4-6 through the second rotating pair 4-5; when working, the slider 4-2 can move horizontally along the guide rail 4-1, and the transmission rod 4-4 can move around the first The axis of the rotating pair 3 rotates, and the second rotating pair 4-5 acts as a rotating shaft to generate a rotating motion between the linkage rod 4-6 and the transmission rod 4-4. Specifically, the herringbone installation frame 5, slider 4-2, transmission rod 4-4, linkage rod 4-6, push rod 4-8 ...

Embodiment 2

[0040] Such as image 3 , 8 As shown, the spring type first drive assembly includes a spring damper 4-20, one end of the spring damper 4-20 is installed on the herringbone mounting frame 5 through the ninth rotating pair 4-19, the The other end of the spring damper 4-20 is connected to one end of the linkage rod 4-6 through the tenth rotating pair 4-21; during operation, the bottom of the spring damper 4-20 can rotate around the ninth rotating pair 4-19 rotates, and at the same time, the cylinder body of the spring damper 4-20 pushes the push rod to drive the tenth revolving pair 4-21 to move up and down. Other linkage processes are the same as in embodiment 1. Specifically, the herringbone installation frame 5, the spring damper 4-20 (the damper includes a cylinder and a push rod), the linkage rod 4-6, the push rod 4-8 and the drive cylinder 4-9 form a Planar six-bar mechanism, the planar six-bar mechanism can superimpose the input of two different frequencies and different...

Embodiment 3

[0042] Such as figure 2 , 7 As shown, the actuator-type first drive assembly includes an actuator cylinder 4-16 and an actuator push rod 4-17, and the actuator cylinder 4-16 passes through the seventh rotating pair 4- 15 is installed on the herringbone mounting frame 5, the actuator push rod 4-17 is connected to the actuator cylinder 4-16 and is located at the upper part, and the top end of the actuator push rod 4-17 The eighth rotating pair 4-18 is connected to one end of the linkage rod 4-6; when working, the bottom of the actuator cylinder 4-16 can rotate around the seventh rotating pair 4-15, and at the same time, The actuator cylinder 4-16 pushes the actuator push rod 4-17 to drive the eighth revolving pair 4-18 to move up and down, and other linkage processes are the same as in Embodiment 1. Specifically, the herringbone mounting frame 5, the actuator cylinder 4-16, the actuator push rod 4-17, the linkage rod 4-6 push rod 4-8, and the driving cylinder 4-9 form a plane...

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Abstract

The invention discloses a six-degree-of-freedom foldable parallel motion platform with closed-loop dual-drive sub-chains. The six-degree-of-freedom foldable parallel motion platform comprises a motionoutput platform, a herringbone mounting frame and six double-input composite driving branches, and every two double-input composite driving branches form a group and are totally three groups and uniformly distributed in the circumferential direction; and each double-input composite drive branch comprises a closed-loop composite double-drive sub-chain installed on the herringbone mounting frame, atransmission supporting rod in the middle and a linkage bearing with the top connected with the motion output platform, and the top of the closed-loop composite double-drive sub-chain is connected with the linkage bearings through the transmission supporting rod. The six-degree-of-freedom foldable parallel motion platform provided by the invention has six output degrees of freedom, and through the effect of the closed-loop composite double-drive sub-chain, separation input of drives with different properties and superposition output of motion components with different properties on each output degree of freedom can be realized.

Description

technical field [0001] The invention relates to the technical field of parallel motion platforms, in particular to a six-degree-of-freedom foldable parallel motion platform with closed-loop double-drive sub-chains. Background technique [0002] Attitude adjustment vibration isolation technology is a key technology in many major engineering fields such as aerospace, national defense, vehicles, and ships. The so-called attitude adjustment vibration isolation is a comprehensive elimination technology for the superposition of two or more different types of disturbances on the same output degree of freedom of the carrier, which is generally realized by specially designed mechanism devices. Due to its relatively small occupation, uniform drive output, high rigidity, and easier introduction of vibration isolation links in the drive, the parallel mechanism is more suitable as an attitude-adjusting vibration isolation device for future vehicles. Pose adjustment generally corresponds...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 陈宇航李兴兴陈丽缓王冰郝增亮蔡毅
Owner NORTH CHINA INST OF AEROSPACE ENG
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