CN106976069B - Four-rope traction three-degree-of-freedom parallel hydraulic platform based on ten-bar mechanism - Google Patents
Four-rope traction three-degree-of-freedom parallel hydraulic platform based on ten-bar mechanism Download PDFInfo
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- CN106976069B CN106976069B CN201710364019.8A CN201710364019A CN106976069B CN 106976069 B CN106976069 B CN 106976069B CN 201710364019 A CN201710364019 A CN 201710364019A CN 106976069 B CN106976069 B CN 106976069B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Robotics (AREA)
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Abstract
The present invention relates to a kind of four hydraulic moving platforms of wire saws freedom degree parallel connection based on ten bars mechanism, outer case is housed before cabinet, there are two the hinges of connection rope for two sides dress, upper boxboard rear end and box back are rotatablely connected, hydraulic cylinder is housed between upper boxboard and the bottom plate of cabinet, cabinet is built-in by six-bar mechanism, intermediate connecting rod, upper boxboard, the ten bars mechanism of hydraulic mechanism composition, six-bar mechanism connects boxboard with bracket by intermediate connecting rod, traction mechanism is also equipped in cabinet, traction mechanism towing pin installation in the outer case the moving platform by four wire saws, both it can pass through the onboard object of upper box, object can be drawn by subsequent traction device again.When moving platform reaches setting position or specific speed, sensor is triggered, and to the control by single-chip microcontroller, upper boxboard can rise automatically to be unloaded object or traction device and trailed object are disengaged and drawn；The platform there is dead point to invert self-locking characteristic, it is possible to reduce power supply in mechanical structure simultaneously.
Description
Technical field
The present invention relates to a kind of moving platform mechanism, especially a kind of hydraulic moving platform of freedom degree parallel connection belongs to hydraulic dynamic
Platform technology field.
Background technique
Currently, domestic in configuration design, kinematics analysis and the analysis in synthetic operation space and determining stiffness analysis and machine
The aspect of the system dynamics research of structure all obtains many theory achievements.Present rope traction and parallel-connection mechanism in haptic device and
The device for force feedback of virtual reality, large-scale motion simulator, construction robot, large-scale radio telescope ultrahigh speed and extra space
There is vast potential for future development in the field of lightweight robotic and wind tunnel experiment.Existing wire saws mechanism generallys use redundancy drive
Dynamic, structure is complicated, at high cost and operation not easy to control, and moves that not flexible, rotary space is small, and runs unstable be easy
It shakes, it is desirable to provide a large amount of power, to cause energy waste.It is investigated and is found by lot of examples, for absolutely mostly
The existing moving platform of number, job insecurity, controllability is not high, and wire saws mechanism generallys use redundant drive, and structure is complicated, cost
Operation high and not easy to control, and move that not flexible, rotary space is small, and run and unstable be easy to happen shaking, it is desirable to provide
A large amount of power, to cause energy waste.
Summary of the invention
The present invention provides a kind of four wire saws three based on ten bars mechanism for the above-mentioned insufficient and defect of the prior art
Freedom degree parallel hydraulic moving platform, the moving platform have stable working, controllability height, movement flexibly and the spies such as rotary space is big
Point.
The present invention is achieved by the following technical solutions:
A kind of four hydraulic moving platforms of wire saws freedom degree parallel connection based on ten bars mechanism, including upper boxboard, six-bar mechanism,
Traction mechanism, outer case, cabinet, hydraulic cylinder, by six-bar mechanism, intermediate connecting rod, upper boxboard and hydraulic mechanism collectively constitute one
Ten bars mechanism, the cabinet front end are equipped with outer case, and two sides are respectively filled there are two hinge, and hinge connects rope, and You Sigen rope is led
Drawing four hinges makes moving platform realize the movement in horizontal plane；The upper boxboard rear end and box back are rotatablely connected, described
Hydraulic cylinder is housed between upper boxboard and the bottom plate of cabinet, is moved up and down by boxboard realization on Hydraulic Cylinder；In the cabinet
Equipped with six-bar mechanism, six-bar mechanism connects boxboard with bracket by intermediate connecting rod, drives intermediate connecting rod to make by six-bar mechanism
Upper boxboard realizes elevating movement, to play the role of assisting that boxboard is made to fall and on upper boxboard when effect of increasing and backhaul
Mechanism is promoted to enter dead point state during elevator is dynamic；Traction mechanism is also equipped in the cabinet, the towing pin of traction mechanism is mounted on
In outer case, traction mechanism is retracted in outer case by towing pin, is removed cargo.
The traction mechanism includes upper slide unit, ball-screw, nut, big connecting rod, small rod, towing pin, slide bar；On described
Slide unit connects ball-screw below by nut, and ball-screw connects servo motor, and upper slide unit is provided with slide bar, and slide bar front end is worn
Hinged big connecting rod after support plate, the hinged small rod of big connecting rod are crossed, the hinged towing pin of small rod drives ball-screw by servo motor
Driving nut drives upper slide unit and slide bar realization to move left and right, to drive towing pin to make cargo quilt by big connecting rod and small rod
It unloads.
The six-bar mechanism includes connecting rod, sliding block, rail rods, motor rack, small pulley, big belt wheel, rocking bar, driving canine tooth
Wheel, transmission gear wheel, drive pinion, input shaft, support frame, pin shaft, motor, axis, driving pinion, connecting rod set, the drive
Dynamic gear wheel is mounted on the bottom plate of cabinet by support, and engages connection driving pinion, driving pinion and transmission canine tooth
Wheel is mounted on an axle, and transmission gear wheel engagement connection drive pinion, drive pinion and big belt wheel are mounted on input shaft, greatly
Belt wheel is mounted on motor output shaft by transmission band connection small pulley, small pulley, and motor is mounted on cabinet by motor rack
On bottom plate, drive gear wheel side covers connection rocking bar by connecting rod, and connecting rod set can be rotated along drive gear wheel side, Yi Jilian
Be slidably connected between rod set and rocking bar, rocker front end by connecting rod connection sliding block, sliding block be fixed on it is perpendicular on the bottom plate of cabinet
Vertical rail rods cooperation is slidably connected, and rocking bar rear end is fastened on the support frame on the bottom plate of cabinet by pin shaft；On sliding block
Hinged intermediate connecting rod.
Universal wheel is housed below the cabinet.
Sensor, single-chip microcontroller are housed on the moving platform, when moving platform reaches setting position or speed, sensor hair
Trigger signal is to single-chip microcontroller out, and single-chip microcontroller exports control signal to hydraulic cylinder and six-bar mechanism, in driving boxboard can automatically on
Liter unloads object or single-chip microcontroller exports control signal to traction mechanism, disengages traction mechanism with trailed object and leads
Draw.
The beneficial effects of the present invention are:
The four hydraulic moving platforms of wire saws freedom degree parallel connection based on ten bars mechanism of the invention, for ball screw assembly,
For the traction mechanism of core；Moving platform is designed based on proe and SolidWorks on the basis of engineer, three
Tie up modeling and simulation；Computer Aided Design and analytical calculation and movement have been carried out based on dimensional parameters of the MATLAB for ten bars mechanism
Emulation, and to by six-bar mechanism, intermediate connecting rod and top box board group at the partial component of eight-linkage mechanism design is optimized.It is right
Moving platform movement whole under wire saws has been carried out the calculating of position and posture to it using Matlab and has applied MATLAB pairs
Trolley has carried out space motion emulation, and when having found out different tracks, and the rope length of each rope is with space (position) and time
Variation is emulated simultaneously for the moving platform movement under other tracks.By ansys software to wire saws platform exterior
Cabinet and other stressed members have carried out stiffness analysis.Calculate the platform by designing above and can complete following functions: this is dynamic
Platform, not only can be by the onboard object of upper box by four wire saws, but also can draw object by subsequent traction device.When
When moving platform reaches setting position or specific speed, sensor is triggered, and to the control by single-chip microcontroller, upper boxboard can be with
Object is unloaded in automatic rising or traction device is disengaged with trailed object and drawn；Simultaneously the platform in mechanical structure,
Self-locking characteristic is inverted with dead point, it is possible to reduce power supply.
Detailed description of the invention
Fig. 1 is the hydraulic moving platform structural upright schematic diagram of four wire saws freedom degree parallel connections based on ten bars mechanism；
Fig. 2 is the hydraulic moving platform structural front view of four wire saws freedom degree parallel connections based on ten bars mechanism；
Fig. 3 is in Fig. 2 along B-B cross-sectional view；
Fig. 4 is the 1005 structural upright schematic diagram of six-bar mechanism in ten bars mechanism；
Fig. 5 is that 1005 structure of six-bar mechanism in ten bars mechanism is bowed cross-sectional view；
Fig. 6 is 1005 the structure left view of six-bar mechanism in ten bars mechanism；
Fig. 7 is the extreme position schematic diagram of sliding block and rocking bar in six-bar mechanism 1005；
Fig. 8 is traction mechanism stereoscopic schematic diagram；
Fig. 9 is traction mechanism main sectional view；
Figure 10 is traction mechanism left view；
Figure 11 is traction mechanism top view；
Figure 12 is showing when the four hydraulic moving platforms of wire saws freedom degree parallel connection based on ten bars mechanism are in dead-centre position
It is intended to；
Figure 13 is that moving platform of the invention is hauled goods and loading schematic diagram；
Figure 14 is the top view of Figure 13；
Figure 15 is schematic diagram of unloading when moving platform of the invention draws cargo；
Figure 16 is the top view of Figure 15；
Figure 17 is hinge arrangement main view；
Figure 18 is the left view of Figure 17；
Figure 19 is the top view of Figure 17.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
As shown in Figures 1 to 12, the four hydraulic moving platforms of wire saws freedom degree parallel connection of the invention based on ten bars mechanism,
It is made of upper boxboard 1003, six-bar mechanism 1005, traction mechanism 1006, outer case 8, cabinet 54, hydraulic cylinder 1004 etc..
54 front end of cabinet is equipped with outer case 8, and two sides respectively fills there are two hinge 1049(Figure 17, and 18,19), the connection of hinge 1049
Rope, You Sigen rope, which draws four hinges 1049, makes moving platform realize the movement in horizontal plane；Upper 1003 rear end of boxboard with
54 rear end of cabinet is rotatablely connected by upper boxboard sliding seat 1053, cabinet fixing seat 1053 and pin shaft, upper boxboard 1003 and cabinet
Hydraulic cylinder 1004 is housed between 54 bottom plate, pushes the upper realization of boxboard 1003 to move up and down by hydraulic cylinder 1004；In cabinet 54
Equipped with six-bar mechanism 1005, six-bar mechanism 1005 connects upper boxboard 1003 by intermediate connecting rod 1001 and bracket 1002, passes through six
Linkage 1005 drives intermediate connecting rod 1001 that boxboard 1003 is made to realize elevating movement, to play auxiliary effect of increasing and backhaul
When make boxboard 1003 fall effect and promote mechanism to enter dead point state in upper 1003 ascending motion of boxboard；In cabinet 54
It is also equipped with traction mechanism 1006, the towing pin 129 of traction mechanism 1006 is mounted in outer case 8, and traction mechanism 1006 is by leading
Drawing pin 129 and being retracted in outer case 8 is removed cargo.
It is when being unloaded cargo by traction mechanism 1006 when drawing object, You Sigen rope, which draws four hinges, to be made
Platform realizes elevating movement, and moving platform bottom end is equipped with universal wheel 104, and universal wheel 104 is identical ten groups, and is evenly distributed on dynamic
The bottom of platform.Sensor, single-chip microcontroller are housed on the moving platform, when moving platform reaches setting position or speed, sensing
Device issues trigger signal to single-chip microcontroller, and single-chip microcontroller exports control signal to hydraulic cylinder 1004 and six-bar mechanism 1005, drives top box
Plate 1003 can rise automatically by object unload or single-chip microcontroller export control signal to traction mechanism 1006, make traction mechanism
1006 disengage traction with trailed object.
As shown in Figures 4 to 7, the six-bar mechanism 1005 in ten bars mechanism, including connecting rod 1, sliding block 2, rail rods 3, motor
Frame 4, small pulley 5, big belt wheel 6, rocking bar 7, drive gear wheel 9, transmission gear wheel 20, drive pinion 22, input shaft 24, support
Frame 28, pin shaft 29, motor 31, axis 33, driving pinion 35, connecting rod set 36, the drive gear wheel 9 is mounted on case by support
On the bottom plate of body 54, and connection driving pinion 35 is engaged, driving pinion 35 and transmission gear wheel 20 are mounted on axis 33, are passed
The dynamic engagement of gear wheel 20 connection drive pinion 22, drive pinion 22 and big belt wheel 6 are mounted on input shaft 24, big belt wheel 6
By transmitting band connection small pulley 5, small pulley 5 is mounted on 31 output shaft of motor, and motor 31 is mounted on cabinet by motor rack 4
On 54 bottom plate, 9 side of drive gear wheel is by 36 connection rocking bar 7 of connecting rod set, and connecting rod set 36 can be along 9 side of drive gear wheel
It is slidably connected between rotation and connecting rod set 36 and rocking bar 7,7 front end of rocking bar is by 1 connection sliding block 2 of connecting rod, sliding block 2 and fixed
The cooperation of rail rods 3 of setting on the bottom plate of cabinet 54 is slidably connected, and 7 rear end of rocking bar is fastened on cabinet by pin shaft 29
Support frame 28 on 54 bottom plate；Hinged intermediate connecting rod 1001 on sliding block 2.It is driven by six-bar mechanism 1005 and six-bar mechanism
1005 connected intermediate connecting rods 1001 work, and are connected by the movement drive of intermediate connecting rod 1001 with 1001 other end of intermediate connecting rod
Upper boxboard 1003 realizes elevating movement, unloads cargo finally by the rising of upper boxboard 1003.
As shown in Figs. 8 to 11, traction mechanism 1006 includes upper slide unit 105, ball-screw 118, nut 120, big connecting rod
127, small rod 128, towing pin 129, slide bar 133；The upper slide unit 105 connects ball-screw 118 below by nut 120,
Ball-screw 118 connects servo motor, and upper slide unit 105 is provided with slide bar 133, and 133 front end of slide bar is hinged after support plate 115
Big connecting rod 127, the hinged small rod 128 of big connecting rod 127, the hinged towing pin 129 of small rod 128 drive ball wire by servo motor
Thick stick 118 drives nut 120 that upper slide unit 105 and the realization of slide bar 133 is driven to move left and right, to pass through big connecting rod 127 and small rod
128 drive towing pins 129 are removed cargo.
Small pulley 5 is driven to rotate by motor 31 when the invention works, small pulley 5 drives 6 turns of big belt wheel by conveyer belt
It is dynamic, it is rotated by big belt wheel 6 and the input shaft 24 of 6 inner cavity of big belt wheel is driven to rotate, the rotation of input shaft 24 again can be with driven input shaft
The drive pinion 22 that 24 outer wall is equipped with rotates, and the rotation of drive pinion 22 drives and 22 phase external toothing of drive pinion
It is driven gear wheel 20 to rotate, the transmission rotation of gear wheel 20 drives the axis 33 of transmission 20 inner cavity of gear wheel to rotate, and the rotation of axis 33 again can
To drive the driving pinion 35 for being socketed in 33 outer wall bottom of axis to rotate, is driven finally by driving pinion 35 and drive small tooth
The drive gear wheel 9 for taking turns 35 phase external toothings rotates, and can drive 36 work of connecting rod set by drive gear wheel 9, then pass through connecting rod
36 drive connecting rod of set covers the rocking bar 7 that 36 inner cavities are equipped with and moves, and is driven by rocking bar 7 and is moved with the connecting rod 1 connected on the left of rocking bar 7,
It drives the sliding block 2 being connected with 1 other end of connecting rod mobile by connecting rod 1 again, is driven and 2 other end of sliding block by the way that sliding block 2 is mobile
The intermediate connecting rod 1001 that is connected rotates, and makes to be connected with 1001 other end of intermediate connecting rod by the rotation of intermediate connecting rod 1001
Bracket 1002 lifts, and finally lifts the upper boxboard 1003 being connected with 1002 other end of bracket realization, to play in auxiliary
Rise effect.When rising, mainly hydraulic cylinder 1004 pushes the upper realization of boxboard 1003 to move up and down, and ten bars mechanism 1005 is similar to ox head
Planer six-bar mechanism.Traction mechanism includes servo motor, drives ball-screw 118 to work by servo motor, ball-screw 118
Work drives the realization of upper slide unit 105 to move left and right further through nut 120, moves left and right band moving slide-bar 133 by upper slide unit 105
Realization moves left and right, and the big connecting rod 127 being connected with 133 other end of slide bar can be realized finally by moving left and right for slide bar 133
Realization moves left and right, and moving left and right for big connecting rod 127 can drive the small rod 128 being connected with 127 other end of big connecting rod to move
It is dynamic, cargo is removed finally by the towing pin 129 being connected with 128 other end of small rod.Moving platform includes in ten bars mechanism
Six-bar mechanism 1005, by six-bar mechanism 1005 drive be connected with six-bar mechanism 1005 connecting rod 1001 work, pass through centre
The movement of connecting rod 1001 drives the upper boxboard 1003 being connected with 1001 other end of intermediate connecting rod to realize elevating movement, finally by top box
Cargo is unloaded in the rising of plate 1003.It is when being unloaded cargo by traction mechanism 1006 when drawing object, You Sigen rope is led
Drawing four hinges makes moving platform realize elevating movement, and moving platform bottom end is equipped with universal wheel 104, and universal wheel 104 is identical ten
Group, and it is evenly distributed on the bottom of moving platform, position drawn by dotted line is extreme position in Fig. 7.
Wherein wire saws hinge is arranged in the front and back two sides of cabinet, is pressed on rope when preventing from unloading cargo.In cabinet
Bottom be disposed with universal wheel to allow to move along all directions.When crank ab and x-axis are at 23.333333333333
It is zero degree when spending, using a kind of ten bars mechanism, similar to shaping machine mechanism, but unlike shaping machine, in six bar machines
The movement output ends of structure, and added a second level bar group, and added the rocker slider machine of hydraulic cylinder in the end of second level bar group
Structure makes it have both the stability of shaping machine using gear wheel, and crank angle between two limit positions is set as, and has quick return when backhaul.And
It is found by calculating, the crank AB which envisions in advance can not complete 360 degree of rotary motion, therefore be referred to as shaking
Bar has shown that the operating angle of rocking bar is 279 degree to 336 degree, has been emulated and found by MATLAB, in its operating angle by calculating
Degree can complete required movement just, and be optimized by trying number method.Regulation only makes motor in the setting row of gear wheel
(or gear is made into ratchet) is rotated in journey, to guarantee the movement needed for it is completed.And define: motor rotates forward, ox head
It moves upwards, by proe three-dimensional software to hydraulic cylinder to the discovery emulation discovery of the support process of boxboard, when hydraulic cylinder is power,
Boxboard moves upwards, and is to be not up to dead-centre position when hydraulic cylinder is power.Therefore eight-linkage mechanism is needed to play a role.
Such as Figure 13, shown in 14, moving platform of the invention is for carrying 3 carried objects above moving platform when hauling goods with loading
Body 2003, before moving platform traction by traction object 2002, towing pin 129 and the binding site 2001 by traction object 2002.
Such as Figure 15, shown in 16, when moving platform of the invention is for drawing cargo unloading, towing pin 129 and cargo are detached from position
3005 are set, towing pin 129 and cargo are detached from upper slide unit and are moved to right end position 3006 at this time.
Claims (5)
1. a kind of four hydraulic moving platforms of wire saws freedom degree parallel connection based on ten bars mechanism, including upper boxboard (1003), six bars
Mechanism (1005), traction mechanism (1006), outer case (8), cabinet (54), hydraulic cylinder (1004), by six-bar mechanism (1005), in
Between connecting rod (1001), upper boxboard (1003) and hydraulic cylinder (1004) collectively constitute a ten bars mechanism, it is characterised in that: the case
Body (54) front end is equipped with outer case (8), and two sides are respectively filled there are two hinge (1049), and hinge (1049) connects rope, is restricted by four
Son, which draws four hinges, makes moving platform realize the movement in horizontal plane；Upper boxboard (1003) rear end and cabinet (54) rear end
Rotation connection is equipped with hydraulic cylinder (1004) between the upper boxboard (1003) and the bottom plate of cabinet (54), passes through hydraulic cylinder
(1004) boxboard (1003) realization moves up and down in promotion；The cabinet (54) is provided with six-bar mechanism (1005), six-bar mechanism
(1005) by boxboard (1003) in intermediate connecting rod (1001) and bracket (1002) connection, by six-bar mechanism (1005) drive
Between connecting rod (1001) so that boxboard (1003) is realized elevating movement, so that playing auxiliary effect of increasing and when backhaul makes boxboard
(1003) fall effect and promote mechanism to enter dead point state in upper boxboard (1003) ascending motion；In the cabinet (54)
It is also equipped with traction mechanism (1006), the towing pin (129) of traction mechanism (1006) is mounted in outer case (8), traction mechanism
(1006) it is retracted in outer case (8) by towing pin (129), is removed cargo.
2. the four hydraulic moving platforms of wire saws freedom degree parallel connection according to claim 1 based on ten bars mechanism, feature
Be: the traction mechanism (1006) includes upper slide unit (105), ball-screw (118), nut (120), big connecting rod (127), small
Connecting rod (128), towing pin (129), slide bar (133)；The upper slide unit (105) connects ball-screw below by nut (120)
(118), ball-screw (118) connects servo motor, and upper slide unit (105) is provided with slide bar (133), and slide bar (133) front end passes through
Support plate (115) hinged big connecting rod (127) afterwards, the hinged small rod (128) of big connecting rod (127), small rod (128) hinged towing pin
(129), drive ball-screw (118) driving nut (120) that upper slide unit (105) and slide bar (133) is driven to realize by servo motor
It moves left and right, to drive towing pin (129) to be removed cargo by big connecting rod (127) and small rod (128).
3. the four hydraulic moving platforms of wire saws freedom degree parallel connection according to claim 1 based on ten bars mechanism, feature
Be: the six-bar mechanism (1005) includes connecting rod (1), sliding block (2), rail rods (3), motor rack (4), small pulley (5), big band
Take turns (6), rocking bar (7), drive gear wheel (9), transmission gear wheel (20), drive pinion (22), input shaft (24), support frame
(28), pin shaft (29), motor (31), axis (33), driving pinion (35), connecting rod set (36), the drive gear wheel (9) pass through
Support is mounted on the bottom plate of cabinet (54), and engages connection driving pinion (35), driving pinion (35) and transmission canine tooth
Wheel (20) be mounted on axis (33), transmission gear wheel (20) engagement connection drive pinion (22), drive pinion (22) and greatly
Belt wheel (6) is mounted on input shaft (24), and big belt wheel (6) is mounted on electricity by transmission band connection small pulley (5), small pulley (5)
On machine (31) output shaft, motor (31) is mounted on the bottom plate of cabinet (54) by motor rack 4, and drive gear wheel (9) side is logical
Connecting rod set (36) connection rocking bar (7) is crossed, and connecting rod set (36) can be rotated along drive gear wheel (9) side and connecting rod set (36)
It is slidably connected between rocking bar (7), rocking bar (7) front end sliding block (2) and is fixed on cabinet by connecting rod (1) connection sliding block (2)
(54) rail rods (3) cooperation of the setting on bottom plate is slidably connected, and rocking bar (7) rear end is fastened on case by pin shaft (29)
Support frame (28) on the bottom plate of body (54)；Hinged intermediate connecting rod (1001) on sliding block (2).
4. the four hydraulic moving platforms of wire saws freedom degree parallel connection according to claim 1 based on ten bars mechanism, feature
Be: the cabinet (54) is below equipped with universal wheel (104).
5. the four hydraulic moving platforms of wire saws freedom degree parallel connection according to claim 1 to 4 based on ten bars mechanism,
It is characterized by: sensor, single-chip microcontroller are housed on the moving platform, and when moving platform reaches setting position or speed, sensing
Device issues trigger signal to single-chip microcontroller, and single-chip microcontroller exports control signal to hydraulic cylinder (1004) and six-bar mechanism (1005), driving
Upper boxboard (1003) can rise automatically by object unload or single-chip microcontroller export control signal give traction mechanism (1006), make
Traction mechanism (1006) and trailed object, which disengage, to be drawn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710364019.8A CN106976069B (en) | 2017-05-22 | 2017-05-22 | Four-rope traction three-degree-of-freedom parallel hydraulic platform based on ten-bar mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710364019.8A CN106976069B (en) | 2017-05-22 | 2017-05-22 | Four-rope traction three-degree-of-freedom parallel hydraulic platform based on ten-bar mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN106976069A CN106976069A (en) | 2017-07-25 |
| CN106976069B true CN106976069B (en) | 2019-04-19 |
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| CN201710364019.8A Active CN106976069B (en) | 2017-05-22 | 2017-05-22 | Four-rope traction three-degree-of-freedom parallel hydraulic platform based on ten-bar mechanism |
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|---|---|---|---|---|
| CN112123322B (en) * | 2020-09-23 | 2021-11-16 | 江南大学 | Combination palm manipulator with cross guide rod mechanism and dual-drive five-bar slider parallel mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101767647A (en) * | 2010-03-02 | 2010-07-07 | 北京航空航天大学 | Self-locking 90-degree full-wing variable sweepback transmission mechanism |
| ES1079904U (en) * | 2013-02-19 | 2013-05-23 | Remolcar Juan Barreiro, S.L. | Towing for vehicle (Machine-translation by Google Translate, not legally binding) |
| CN203679677U (en) * | 2013-11-29 | 2014-07-02 | 中国北车集团大连机车车辆有限公司 | Engine draw bar mounting lifting table |
| CN105946686A (en) * | 2016-06-13 | 2016-09-21 | 金陵科技学院 | Lifting dumper |
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2017
- 2017-05-22 CN CN201710364019.8A patent/CN106976069B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101767647A (en) * | 2010-03-02 | 2010-07-07 | 北京航空航天大学 | Self-locking 90-degree full-wing variable sweepback transmission mechanism |
| ES1079904U (en) * | 2013-02-19 | 2013-05-23 | Remolcar Juan Barreiro, S.L. | Towing for vehicle (Machine-translation by Google Translate, not legally binding) |
| CN203679677U (en) * | 2013-11-29 | 2014-07-02 | 中国北车集团大连机车车辆有限公司 | Engine draw bar mounting lifting table |
| CN105946686A (en) * | 2016-06-13 | 2016-09-21 | 金陵科技学院 | Lifting dumper |
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| CN106976069A (en) | 2017-07-25 |
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