Six-link mechanism
By introducing a telescopic frame and vertical telescopic components into the six-bar linkage platform, the problems of limited lifting height and non-compact structure of the six-degree-of-freedom platform are solved, achieving a larger travel distance and a smaller footprint, thus improving the stability and flexibility of the platform.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-30
- Publication Date
- 2026-04-07
AI Technical Summary
Existing six-degree-of-freedom platforms have limited lifting height, are not compact in structure, occupy a large space, and are not conducive to product miniaturization.
A six-bar linkage is adopted, with six second telescopic components set between the moving plate and the fixed plate, and the telescopic frame connected to the moving plate. The telescopic mechanism drives the output frame to reciprocate along the first direction, increasing the stroke of the output frame. The vertical telescopic components enable the rotation or translation of the connecting frame, thus optimizing the structural compactness.
The increased travel of the output frame reduced the overall space required, maintained the stability and mobility of the six-bar linkage platform, and expanded its application scenarios.
Smart Images
Figure CN224094186U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to multi -freedom degree platform technical field especially relates to a six -bar mechanism. BACKGROUND
[0002] Six -bar mechanism is a six -freedom degree platform, six -freedom degree platform includes fixed plate, moving plate and sets up between fixed plate and moving plate six electric cylinders, six electric cylinders can drive moving plate to carry out translation, rotation or lift and multidirectional tilt, mechanism has the characteristics of flexible movement. Because of the structural characteristics of six -freedom degree platform, its lifting height cannot be played to the extreme, i.e. after the maximum stroke of actuator, six -freedom degree platform due to other direction stroke consumption, lead to its lifting height is limited. The overall structure of the existing six -freedom degree platform is not compact enough, occupies the larger space, is not favorable to the miniaturization of product. SUMMARY
[0003] The utility model discloses a six -bar mechanism can improve the moving stroke of output frame, and can reduce the space occupied.
[0004] To achieve this purpose, the utility model adopts the following technical scheme:
[0005] Six -bar mechanism, including:
[0006] Six -bar platform, the six -bar platform includes fixed plate, moving plate and six second telescopic parts articulated between the fixed plate and the moving plate;
[0007] Connecting frame, set up on the moving plate, the six -bar platform can drive the connecting frame reciprocating movement along the first direction through driving the moving plate;The connecting frame is provided with the connecting rod extending along the first direction;
[0008] Telescopic frame body, including output frame and telescopic mechanism, the telescopic mechanism is connected between the connecting frame and the output frame, the telescopic mechanism can drive the output frame reciprocating movement along the first direction, the telescopic mechanism includes at least one telescopic component, the telescopic component includes first telescopic part and mounting shell, the first telescopic part is installed in the mounting shell, and the fixed end of the first telescopic part is articulated with the mounting shell;The moving plate, connecting rod, telescopic mechanism and output frame are sequentially arranged from inside to outside along the second direction, and the first direction and the second direction are perpendicular;When the telescopic end of the second telescopic part is stretched or retracted, the moving plate drives the connecting frame reciprocating movement along the first direction, and the moving plate also drives the connecting frame to rotate or translate.
[0009] As an alternative, when the telescopic mechanism includes only one telescopic component, the mounting housing is slidably connected to the connecting frame, while the mounting housing is fixedly connected to the output frame, and the telescopic end of the first telescopic member is hinged to the connecting frame;
[0010] When the telescopic mechanism includes multiple telescopic components, the multiple mounting housings are slidably connected in sequence along the second direction, and the mounting housing near the connecting frame is slidably connected to the connecting frame, the mounting housing near the output frame is fixedly connected to the output frame, the telescopic end of the first telescopic member in the mounting housing slidably connected to the connecting frame is hinged to the connecting frame, and the telescopic ends of the remaining first telescopic members are sequentially hinged to the adjacent mounting housings.
[0011] The first direction and the second direction are perpendicular.
[0012] As an alternative, the connecting frame and the mounting housing, as well as any two adjacent mounting housings, are connected by a sliding assembly.
[0013] As an alternative, the sliding assembly is disposed between the mounting housing and the connecting rod.
[0014] As an alternative, a first hinge rod is provided in the connecting frame and in a plurality of mounting housings other than the mounting housing fixedly connected to the output frame, and the telescopic end of the first telescopic member is hinged to the first hinge rod.
[0015] As an alternative, the output frame includes two square frames spaced apart along the first direction, the two square frames are fixedly connected by connecting columns, and the mounting housing is fixedly connected to both square frames.
[0016] As an alternative, the telescopic mechanism includes three telescopic components that are sequentially slidably connected along the second direction.
[0017] As an alternative, the first telescopic member has an actuator, which is an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder.
[0018] As an alternative, four telescopic mechanisms are provided, and two or more of the four telescopic mechanisms are distributed in a group along the second direction at intervals. Two of the telescopic mechanisms in each group are distributed in a third direction at intervals. The first direction, the second direction, and the third direction are perpendicular to each other.
[0019] As an optional solution, the fixed plate is provided with three sets of first hinge positions evenly distributed around the circumference of the first direction, each set of first hinge positions includes two first hinge parts, and the movable plate is provided with three sets of second hinge positions evenly distributed around the circumference of the first direction, each set of second hinge positions includes two second hinge parts, and the projections of the three sets of second hinge positions and the three sets of first hinge positions in the first direction are intersected, and each second telescopic member is hinged between adjacent distributed first hinge parts and second hinge parts.
[0020] The beneficial effects of this utility model are:
[0021] This invention provides a six-bar linkage mechanism. The output frame is connected to the connecting frame via a telescopic mechanism, allowing the output frame to reciprocate along the first direction when the six-bar platform drives the connecting frame to move reciprocally. After the output frame reaches its maximum stroke along the first direction, the telescopic end of the telescopic mechanism can extend further along the first direction, allowing the output frame to continue moving in that direction, thus increasing its stroke. The moving plate, connecting rod, telescopic mechanism, and output frame are arranged sequentially from the inside to the outside along a second direction, which is perpendicular to the first and second directions. This six-bar linkage mechanism avoids placing the six-bar platform on the existing lifting platform, resulting in a more compact overall structure, reduced space occupation, and no impact on the stability of the six-bar platform. When the telescopic end of the second telescopic member extends or retracts, it enables the moving plate to drive the connecting frame to reciprocate along the first direction, and also enables the moving plate to drive the connecting frame to rotate or translate, making the movement of the six-bar linkage mechanism more flexible and its application scenarios more extensive. Attached Figure Description
[0022] Fig. 1 This is a schematic diagram of the telescopic frame of the six-bar linkage provided in this embodiment of the present invention when it is in the retracted state;
[0023] Fig. 2 This is a schematic diagram of the telescopic frame of the six-bar linkage provided in this embodiment of the present invention when it is in the extended state;
[0024] Fig. 3 This is a schematic diagram of the telescopic mechanism involved in the embodiment of this utility model.
[0025] In the picture:
[0026] 1. Six-bar linkage platform; 11. Fixed plate; 12. Moving plate; 13. Second telescopic component;
[0027] 2. Connecting frame; 21. Connecting rod;
[0028] 3. Telescopic frame; 31. Output frame; 311. Square frame; 312. Connecting column; 32. Telescopic mechanism; 321. Telescopic assembly; 3211. First telescopic component; 3212. Mounting housing; 3213. First hinge rod; 3214. Second hinge rod; 322. Sliding assembly; 3221. Guide rail; 3222. Slider. Detailed Implementation
[0029] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.
[0030] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0031] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0032] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.
[0033] like Figs. 1-3 As shown, this embodiment of the present invention provides a six-bar linkage mechanism, which includes a six-bar platform 1, a connecting frame 2, and a telescopic frame 3. The connecting frame 2 is mounted on the movable plate 12 of the six-bar platform 1, and the six-bar platform 1 can drive the connecting frame 2 to reciprocate along a first direction. The telescopic frame 3 includes an output frame 31 and a telescopic mechanism 32. The telescopic mechanism 32 is connected between the connecting frame 2 and the output frame 31, and its telescopic end can extend and retract along the first direction to drive the output frame 31 to reciprocate along the first direction.
[0034] This six-bar linkage connects the output frame 31 to the connecting frame 2 via a telescopic mechanism 32, so that when the six-bar platform 1 drives the connecting frame 2 to reciprocate along the first direction, it can drive the output frame 31 to reciprocate along the first direction. After the six-bar platform 1 drives the output frame 31 to move to its maximum stroke along the first direction, the telescopic end of the telescopic mechanism 32 can extend along the first direction to allow the output frame 31 to continue moving along the first direction, thereby increasing the stroke of the output frame 31 along the first direction. In addition, this six-bar linkage avoids setting the six-bar platform 1 on the existing lifting platform, reducing the space occupied, and does not affect the stability of the six-bar platform 1.
[0035] Optionally, the telescopic mechanism 32 includes at least one telescopic component 321. The telescopic component 321 includes a first telescopic member 3211 and a mounting housing 3212. The first telescopic member 3211 is installed inside the mounting housing 3212. A second hinge rod 3214 is provided inside the mounting housing 3212, and the fixed end of the first telescopic member 3211 is hinged to the second hinge rod 3214 to achieve hinge connection with the mounting housing 3212.
[0036] When the telescopic mechanism 32 includes a telescopic component 321, the mounting housing 3212 is slidably connected to the connecting frame 2, and the mounting housing 3212 is fixedly connected to the output frame 31. The telescopic end of the first telescopic member 3211 is hinged to the connecting frame 2. In this structure, when the telescopic end of the first telescopic member 3211 is extended, it can drive the mounting housing 3212 to move relative to the connecting frame 2 in the first direction, and at the same time drive the output frame 31 to move in the first direction, so as to increase the stroke of the output frame 31 in the first direction.
[0037] When the telescopic mechanism 32 includes multiple telescopic components 321, refer to Figs. 2-3Multiple mounting housings 3212 are slidably connected in sequence along the second direction. The mounting housing 3212 near the connecting frame 2 is slidably connected to the connecting frame 2, and the mounting housing 3212 near the output frame 31 is fixedly connected to the output frame 31. The telescopic end of the first telescopic member 3211 in the mounting housing 3212 slidably connected to the connecting frame 2 is hinged to the connecting frame 2. The telescopic ends of the remaining first telescopic members 3211 are sequentially hinged to the adjacent mounting housings 3212. When the telescopic ends of the multiple first telescopic members 3211 extend, they can drive the multiple mounting housings 3212 to move along the first direction, and at the same time drive the output frame 31 to move along the first direction, so as to increase the stroke of the output frame 31 along the first direction. When the telescopic ends of the multiple first telescopic members 3211 retract, the two ends of the multiple mounting housings 3212 are flush along the first direction, and at the same time, the end of the mounting housing 3212 near the connecting frame 2 along the first direction is basically flush with the connecting frame 2. The end faces of the connecting frame 2 and the output frame 31 are also basically flush along the first direction. It should be explained that in this embodiment, the basic alignment means that the relative distance is controlled within ±60mm.
[0038] By setting the telescopic mechanism 32 to include at least one telescopic component 321, and the telescopic component 321 is disposed between the connecting frame 2 and the output frame 31, the telescopic component 321 can not occupy space in the first direction, and after the telescopic end of the first telescopic component 3211 is retracted, the output frame 31 and the connecting frame 2 can be basically aligned in the first direction, which is not limited by the occasion.
[0039] Optionally, the connecting frame 2 and the mounting housing 3212, as well as any adjacent mounting housings 3212, are connected by sliding components 322. In this embodiment, the telescopic mechanism 32 includes three telescopic components 321. Taking three telescopic components 321 as an example, specifically, the sliding component 322 includes a guide rail 3221 and a slider 3222. The guide rail 3221 is disposed on the connecting frame 2. The first mounting housing 3212, which is slidably connected to the connecting frame 2, has a slider 3222 disposed on the side facing the connecting frame 2. The side of the first mounting housing 3212 away from the connecting frame 2 also has a guide rail 3221. The second mounting housing 3212, which is adjacent to the first mounting housing 3212, has a slider 3222 disposed on the side facing the connecting frame 2. The side of the second mounting housing 3212 away from the connecting frame 2 also has a guide rail 3221. The third mounting housing 3212 has a slider 3222 disposed on the side facing the connecting frame 2. The third mounting housing 3212 is also connected to the output frame 31. The relative arrangement of slider 3222 and guide rail 3221 improves the smoothness of sliding.
[0040] To facilitate the installation of guide rail 3221 on the connecting frame 2, the connecting frame 2 is provided with connecting rod 21 extending in the first direction, and guide rail 3221 is fixedly installed on connecting rod 21 and extends in the first direction.
[0041] Specifically, the end of the connecting rod 21 furthest from the connecting frame 2 along the first direction is provided with a first hinge rod 3213. Except for the mounting housing 3212 connected to the output frame 31, the third mounting housing 3212 does not have a first hinge rod 3213. Both the first and second mounting housings have a first hinge rod 3213. The telescopic end of the first telescopic member 3211 in the first mounting housing 3212 is hinged to the first hinge rod 3213 on the connecting rod 21. The telescopic end of the first telescopic member 3211 in the second mounting housing 3212 is hinged to the first hinge rod 3213 on the first mounting housing 3212. The telescopic end of the first telescopic member 3211 in the third mounting housing 3212 is hinged to the first hinge rod 3213 on the second mounting housing 3212. This structure allows the mounting housing 3212 to move along the first direction whenever the telescopic end of any one of the first telescopic members 3211 extends.
[0042] To improve the structural strength of the output frame 31 and the connection strength of the third mounting housing 3212, the output frame 31 includes two square frames 311 spaced apart along the first direction. The four corners of the two square frames 311 are welded together by connecting posts 312. The third mounting housing 3212 is fixedly connected to both square frames 311, thereby increasing the connection strength of the third mounting housing 3212.
[0043] Optionally, the first telescopic member 3211 has an actuator, which can be an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder. In this embodiment, the actuator of the first telescopic member 3211 is an electric cylinder, which has the advantages of high adjustment accuracy and controllable telescopic speed.
[0044] In this embodiment, four telescopic mechanisms 32 are provided. The four telescopic mechanisms 32 are arranged in pairs and distributed at intervals along the second direction. The two telescopic mechanisms 32 in each pair are distributed at intervals along the third direction. That is, the four telescopic mechanisms 32 are located at the four corners of the output frame 31 and the connecting frame 2 respectively. The output frame 31 is driven to move back and forth along the first direction by the four telescopic mechanisms 32 at the same time, which improves the movement stability of the output frame 31.
[0045] The first direction, the second direction, and the third direction are perpendicular to each other.
[0046] In this embodiment, the six-bar linkage platform 1 includes a fixed plate 11, a movable plate 12, and six second telescopic members 13 hinged between the fixed plate 11 and the movable plate 12 (the second telescopic members 13 also have actuators, which can be electric cylinders, pneumatic cylinders, or hydraulic cylinders). The connecting frame 2 is fixedly connected to the movable plate 12. The fixed plate 11 is provided with three sets of first hinge positions evenly distributed around the circumference of the first direction. Each first hinge position includes a first hinge part. The movable plate 12 is provided with three sets of second hinge positions evenly distributed around the circumference of the first direction. Each set of second hinge positions includes two second hinge parts. The projections of the three sets of second hinge positions and the three sets of first hinge positions in the first direction are intersected. Each second telescopic member 13 is hinged between adjacent distributed first hinge parts and second hinge parts. When the telescopic end of the first telescopic member 3211 or the telescopic end of the second telescopic member 13 of the six-bar linkage platform 1 extends or retracts, the moving plate 12 and the connecting frame 2 can reciprocate together along the first direction, and the moving plate 12 can also drive the connecting frame 2 to rotate or translate, which is highly flexible.
[0047] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.
Claims
1. A six-bar linkage, characterized in that, include: The six-bar linkage platform (1) includes a fixed plate (11), a movable plate (12), and six second telescopic members (13) hinged between the fixed plate (11) and the movable plate (12); A connecting frame (2) is disposed on the movable plate (12). The six-bar linkage platform (1) can drive the connecting frame (2) to reciprocate along the first direction by driving the movable plate (12). The connecting frame (2) is provided with a connecting rod (21) extending along the first direction. The telescopic frame (3) includes an output frame (31) and a telescopic mechanism (32). The telescopic mechanism (32) is connected between the connecting frame (2) and the output frame (31). The telescopic mechanism (32) can drive the output frame (31) to reciprocate along the first direction. The telescopic mechanism (32) includes at least one telescopic component (321). The telescopic component (321) includes a first telescopic member (3211) and a mounting housing (3212). The first telescopic member (3211) is mounted on the mounting housing (3212). 2) Inside, the fixed end of the first telescopic member (3211) is hinged to the mounting housing (3212); the moving plate (12), connecting rod (21), telescopic mechanism (32) and output frame (31) are arranged sequentially from the inside to the outside along the second direction, and the first direction and the second direction are perpendicular; when the telescopic end of the second telescopic member (13) extends or retracts, the moving plate (12) drives the connecting frame (2) to move back and forth along the first direction, and the moving plate (12) also drives the connecting frame (2) to rotate or translate.
2. The six-bar linkage according to claim 1, characterized in that, When the telescopic mechanism (32) includes only one telescopic component (321), the mounting housing (3212) is slidably connected to the connecting frame (2), and the mounting housing (3212) is fixedly connected to the output frame (31), and the telescopic end of the first telescopic component (3211) is hinged to the connecting frame (2); When the telescopic mechanism (32) includes a plurality of telescopic components (321), the plurality of mounting housings (3212) are sequentially slidably connected along the second direction, and the mounting housing (3212) near the connecting frame (2) is slidably connected to the connecting frame (2), the mounting housing (3212) near the output frame (31) is fixedly connected to the output frame (31), the telescopic end of the first telescopic member (3211) in the mounting housing (3212) slidably connected to the connecting frame (2) is hinged to the connecting frame (2), and the telescopic ends of the remaining first telescopic members (3211) are sequentially hinged to the adjacent mounting housing (3212); The first direction and the second direction are perpendicular.
3. The six-bar linkage according to claim 2, characterized in that, The connecting frame (2) and the mounting housing (3212), as well as any two adjacent mounting housings (3212), are connected by a sliding assembly (322).
4. The six-bar linkage according to claim 3, characterized in that, The sliding assembly (322) is disposed between the mounting housing (3212) and the connecting rod (21).
5. The six-bar linkage according to claim 3, characterized in that, The connecting frame (2) and a plurality of mounting housings (3212) other than the mounting housing (3212) fixedly connected to the output frame (31) are provided with a first hinge rod (3213), and the telescopic end of the first telescopic member (3211) is hinged to the first hinge rod (3213).
6. The six-bar linkage according to claim 2, characterized in that, The output frame (31) includes two square frames (311) spaced apart along the first direction. The two square frames (311) are fixedly connected by a connecting column (312). The mounting housing (3212) is fixedly connected to both square frames (311).
7. The six-bar linkage according to claim 2, characterized in that, The telescopic mechanism (32) includes three telescopic components (321) that are slidably connected in sequence along the second direction.
8. The six-bar linkage according to claim 2, characterized in that, The first telescopic member (3211) has an actuator, which is an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.
9. The six-bar linkage according to claim 1, characterized in that, The telescopic mechanism (32) is provided in four pairs, and the four telescopic mechanisms (32) are distributed in pairs along the second direction. The two telescopic mechanisms (32) in each pair are distributed in the third direction. The first direction, the second direction and the third direction are perpendicular.
10. The six-bar linkage according to any one of claims 1-9, characterized in that, The fixed plate (11) is provided with three sets of first hinge positions evenly distributed around the first direction. Each set of first hinge positions includes two first hinge parts. The movable plate (12) is provided with three sets of second hinge positions evenly distributed around the first direction. Each set of second hinge positions includes two second hinge parts. The projections of the three sets of second hinge positions and the three sets of first hinge positions in the first direction are intersected. Each second telescopic member (13) is hinged between adjacent first hinge parts and second hinge parts.