CN104458169A - High-and-low-frequency compound drive parallel two-dimensional rotating platform - Google Patents
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Abstract
The invention provides a high-and-low-frequency compound drive parallel two-dimensional rotating platform. The high-and-low-frequency compound drive parallel two-dimensional rotating platform mainly comprises a target moving table, a base installing rack, a restraint branch and two high-and-low-frequency compound drive branches with the same structure, wherein the target moving table and the base installing rack are connected through the restraint branch. One end of the restraint branch is fixedly connected with the base installing rack, the other end of the restraint branch is connected with the target moving table through a second universal hinge, the two high-and-low-frequency compound drive branches with the same structure are symmetrically installed on the two sides of the base installing rack, the planes where two branch compound drive units are located are parallel in the vertical direction, the two branch compound drive units and the restraint branch are arranged in a triangle, the two high-and-low-frequency compound drive branches comprise the compound drive units and drive fulcrum bars, one end of each compound drive unit is fixedly connected with the base installing rack, the other end of each compound drive unit is connected with one end of the corresponding drive fulcrum bar through a first universal hinge, and the other end of each drive fulcrum bar is connected with the target moving table through a spherical hinge. By the adoption of the high-and-low-frequency compound drive parallel two-dimensional rotating platform, dual drive is separated, and low-frequency large-range and high-frequency small-range two-axis rotating compound motion output can be achieved.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly a kind of two-dimension rotating platform in parallel.
Background technology
Along with the development of Aero-Space and defence and military cause, requirements at the higher level are proposed to the equipment such as spaceborne, carrier-borne, vehicle-mounted.Serial mechanism limits by size and mechanism's inherent characteristic and is difficult to realize high precision posture adjustment and vibration isolation.Parallel institution takies smaller because of it, drives and to exert oneself homogenising, and rigidity is large, easilier in driving, introduces the features such as vibration isolation link, is more suitable for as following carrier posture adjustment isolation mounting.In high-end instrument and equipment manufacture and R&D process, dynamic environment testing need be carried out, imitation specimen and the working condition of equipment under true external field environment, the reliability of inspection product, wherein vibration environment simulation test is a main aspect, realize mainly through shaking table, but true external field environment is a complicated comprehensive dynamic environment, for target device, generally be in conventional low-frequency high-amplitude motion with the environment of dither phase compound, the testing equipment of this compound motion environment of simulation more can truly can reflect the operating characteristic of target device.
Existing pose adjusting gear generally only gives prominence to single pose adjustment or vibration isolation function, and all kinds of shaking table can only provide the vibration in particular frequency range, can not carry out conventional grand movement simulation.Along with instrument and equipment is to accurately pointing to the raising required, pose adjusting gear should have pose adjustment and isolating technique function concurrently, and dynamics environment test needs more multi-form movement output, could adapt to science and technology and produce the needs with research and development.Above two aspect application demands are a kind of apparatus that can carry out frequency low-amplitude motion simultaneously and move with low-frequency high-amplitude of desired design in essence.
There are many similar invention achievements at present, Chinese patent CN101281088A proposes a kind of three-axis six-freedom degree vibration test apparatus, can X, Y, Z Triaxiality and six degrees of freedom compound vibration environment under Reality simulation environment, this invention is the vibrating device only possessing single exciting function, can not carry out spatial movement on a large scale in specific degree of freedom; Chinese patent CN1587739A proposes a kind of six freedom super magnetostrictive active vibration control platform, and realize micro-frequency 6 freedom degree active vibration isolation by a narrow margin, effectiveness in vibration suppression about 98%, but limit by driver stroke, adjusting range does not reach pose adjustment rank; Chinese patent CN102865328A proposes a kind of five dimension vibration-isolating platforms based on hybrid mechanism, and this mechanism moves and rotates full decoupled, and be easy to control, anti-vibration performance is good, but hybrid mechanism makes top layer mechanism become the load of bottom mechanism, increases and drives burden; Chinese patent CN101476611A proposes a kind of six-freedom large-amplitude vibration active isolation platform, realize six degree of freedom high frequency large amplitude active vibration isolation, but pose adjustment is limited in one's ability; Chinese patent CN102601794A proposes a kind of high rigidity four-freedom parallel mechanism with posture adjustment ability, and this mechanism can realize fast feed, but work space is less, and mechanism does not have vibration isolation function; Chinese patent CN1614376A proposes a kind of environmental experimental platform for mechanical vibration with three freedom degrees, is applicable to do Three Degree Of Freedom vibration environment test in laboratory, but also only has vibration simulation function.Chinese patent CN102601786A, CN102350697A, CN102825600A, CN102601784A proposes containing RPRPR closed-loop subchain respectively, 5R closed-loop subchain, the two-degree-of-freedom parallel mechanism of RRRR closed-loop subchain and RRR closed-loop subchain, these mechanisms solve the multiple driving of side chain of conventional parallel mechanism can not be connected to shortcoming in frame simultaneously, all driving levers are all connected in frame, dynamic performance is good, above four invention essence are all introduce a planar five-bar mechanism in branch, but this five-rod place planar horizontal, limit the load-bearing capacity of mechanism, and mechanism's input number equals to export number of degrees of freedom, still belong to single driving mechanism, generally can only realize the one in high frequency or low frequency movement.Chinese patent CN103495973A invents the planar three-freedom-degree parallel mechanism proposing a kind of three linear drives, this mechanism design is ingenious, easy for installation, but this mechanism input number still equals to export number of degrees of freedom, so mechanism is still single driving mechanism, can only realize a kind of movement output of character.Chinese patent CN102825597A proposes a kind of three rotation parallel connection motion devices with location resolution normal solution, and this three rotate shunting means structure simply, and be convenient to real-time control, this mechanism is single driving mechanism equally.
In sum, existing equipment generally can only realize the one in the vibration of frequency low-amplitude or the regular motion of low-frequency high-amplitude; The mechanism that branch introduces closed-loop subchain does not reduce the constraint number of branch to mechanism, and required driving input number equals the institution freedom number of degrees, belongs to single driving mechanism.
Summary of the invention
The invention provides the low-and high-frequency composite flooding two-dimension rotating platform in parallel that a kind of double drive was separated from each other, can realizes the adjustment of pose on a large scale and low-and high-frequency movement output.
Technical scheme of the present invention is as follows:
The present invention mainly comprises target travel platform, basis erecting frame and connect their bound branch low-and high-frequency composite flooding branch identical with two-strip structure, wherein, one end and the basic erecting frame of bound branch are connected, the other end of this bound branch is connected with target travel platform by the second universal hinge, article two, low-and high-frequency composite flooding branch symmetry is installed on basic erecting frame both sides, two branch's compound drive unit place planes vertically and be parallel to each other, and be triangularly arranged with bound branch, above-mentioned two low-and high-frequency composite flooding branches comprise compound drive unit and transmission pole, they have four kinds of structures:
The first structure: the guiding mount pad in compound drive unit is fixed on basic erecting frame, the outer end of this guiding mount pad is provided with longitudinal leadscrew, one end of this leading screw is connected with motor, one end of low frequency drive link is connected with the slide block be located on leading screw by revolute pair, and said structure forms low frequency driving; Be provided with linear electric motors in the horizontal direction in the inner of above-mentioned guiding mount pad, the stator of these linear electric motors and this guiding mount pad are connected, and one end of compound take-off lever is connected with the mover of these linear electric motors by revolute pair, and said structure forms high-frequency drive; The other end of above-mentioned compound take-off lever is connected with one end of transmission pole by the first universal hinge, the other end of this transmission pole is connected with target travel platform by ball pivot, one position of above-mentioned compound take-off lever is provided with long through-hole, and the other end of above-mentioned low frequency drive link is connected with compound take-off lever by revolute pair in long through-hole;
The second structure: the guiding mount pad in compound drive unit is fixed on basic erecting frame, the inner of this guiding mount pad is provided with linear electric motors in the horizontal direction, this linear motor stator electric is connected with guiding mount pad, one end of compound take-off lever is connected with the mover of these linear electric motors by revolute pair, and said structure forms high-frequency drive; The other end of above-mentioned compound take-off lever is connected with one end of transmission pole by the first universal hinge, and the other end of this transmission pole is connected with target travel platform by ball pivot; Be connected by the end of revolute pair with electric cylinder cylinder sleeve in the outer end of above-mentioned guiding mount pad, one position of above-mentioned compound take-off lever is provided with long through-hole, the end of the piston rod of this electric cylinder is connected with compound take-off lever by revolute pair in long through-hole, and above-mentioned electric cylinder forms low frequency displacement and drives;
The third structure: the guiding mount pad in compound drive unit is fixed on basic erecting frame, the inner of this guiding mount pad is provided with vertically arranged linear electric motors, this linear motor stator electric is connected with guiding mount pad, one end of compound take-off lever is connected with the mover of these linear electric motors by revolute pair, and said structure forms high frequency displacement and drives; Other parts are identical with the second structure with annexation;
4th kind of structure: the guiding mount pad in compound drive unit is fixed on basic erecting frame, the inner of this guiding mount pad, linear motor stator electric is connected with guiding mount pad by revolute pair, and compound take-off lever one end and linear motor rotor are connected, and said structure forms high-frequency drive; Other parts are identical with the second structure with annexation.
Electric cylinder described in above-mentioned four kinds of structures can replace with straight line module and drive or hydraulic cylinder; Described linear electric motors can replace with voice coil motor or electromagnetic actuator or piezoelectric ceramics or magnetostrictive actuator.
The frequency low-amplitude drive operation of each driving branch, in dither frequencies scope, drives stroke less, is mainly used in vibration isolation and exciting; Low-frequency high-amplitude drive operation is large in general motion frequency range, driving stroke, is mainly used to the adjustment of implementation platform pose or carrier regular motion analog functuion; By designed branch type of belt drive, two kinds of motions can be delivered to target travel platform jointly, implementation platform low-and high-frequency, height by a narrow margin motion synthesis export.
The present invention has three kinds of mode of operations, regular motion pattern, oscillating movement pattern and compound motion pattern.During regular motion, frequency low-amplitude driver locks, and only has low-frequency high-amplitude drive operation; During oscillating movement, low-frequency high-amplitude driver locks, and only has frequency low-amplitude drive operation; Compound motion pattern, double drive coordinates coupling work simultaneously.
The present invention compared with prior art tool has the following advantages:
1, adopt double drive form, increase system output band width and amplitude range, by the different input form combination of Dual Drive, can obtain the various ways output by a narrow margin of low-and high-frequency, height, application space is broader;
2, driver weight major part is born by basis, does not increase extra load, Dual Drive shared useful load, enlarging mechanism integrated carrying ability between driving;
3, mechanism has three kinds of mode of operations, can switch according to operating mode, and enlarging mechanism uses dirigibility.
4, mechanism's input number is more than output number of degrees of freedom, has more possibilities, improve mechanism's adaptability when realizing a certain motion.
Accompanying drawing explanation
Fig. 1 is the structural representation sketch of the embodiment of the present invention 1;
Fig. 2 is compound drive unit simplified schematic diagram in embodiments of the invention 1;
Fig. 3 is the structural representation sketch of the embodiment of the present invention 2;
Fig. 4 is compound drive unit simplified schematic diagram in embodiments of the invention 2;
Fig. 5 is the structural representation sketch of the embodiment of the present invention 3;
Fig. 6 is compound drive unit simplified schematic diagram in embodiments of the invention 3;
Fig. 7 is the structural representation sketch of the embodiment of the present invention 4;
Fig. 8 is compound drive unit simplified schematic diagram in embodiments of the invention 4.
Embodiment
Embodiment 1:
In the two-dimension rotating platform schematic diagram in parallel of the low-and high-frequency composite flooding shown in Fig. 1 and Fig. 2, one end and the basic erecting frame 5 of bound branch 6 are connected, the other end of this bound branch is connected with target travel platform 1 by the second universal hinge 7, the low-and high-frequency composite flooding branch symmetry that two-strip structure is identical is installed on basic erecting frame both sides, two branch's compound drive unit place planes vertically and be parallel to each other, and be triangularly arranged with bound branch, guiding mount pad 12 in compound drive unit is fixed on basic erecting frame, this guiding mount pad is provided with longitudinal leadscrew 13, one end of this leading screw is connected with motor 15, one end of low frequency drive link 17 is connected with the slide block 14 be located on leading screw by revolute pair 16, said structure forms low frequency driving, be provided with linear electric motors in the horizontal direction in above-mentioned guiding mount pad the inner, this linear motor stator electric 11 is connected with guiding mount pad, and one end of compound take-off lever 8 is connected with the mover 10 of these linear electric motors by revolute pair 9, and said structure forms high-frequency drive, the other end of above-mentioned compound take-off lever is connected with one end of transmission pole 3 by the first universal hinge 4, the other end of this transmission pole is connected with target travel platform by ball pivot 2, one position of above-mentioned compound take-off lever is provided with long through-hole, and the other end of above-mentioned low frequency drive link is connected with compound take-off lever by revolute pair 18 in long through-hole.
Embodiment 2:
As shown in Figure 3 and Figure 4, one end and the basic erecting frame 5 of bound branch 6 are connected, the other end of this bound branch is connected with target travel platform 1 by the second universal hinge 7, the low-and high-frequency composite flooding branch symmetry that two-strip structure is identical is installed on basic erecting frame both sides, two branch's compound drive unit place planes vertically and be parallel to each other, and be triangularly arranged with bound branch, guiding mount pad 12 in compound drive unit is fixed on basic erecting frame, the inner of this guiding mount pad is provided with linear electric motors in the horizontal direction, this linear motor stator electric 11 is connected with guiding mount pad, one end of compound take-off lever 8 is connected with the mover 10 of these linear electric motors by revolute pair 9, said structure forms high-frequency drive, the other end of above-mentioned compound take-off lever is connected with one end of transmission pole 3 by the first universal hinge 4, and the other end of this transmission pole is connected with target travel platform by ball pivot 2, be connected with one end of electric cylinder cylinder sleeve 20 by revolute pair 19 at the other end of above-mentioned guiding mount pad, one position of above-mentioned compound take-off lever is provided with long through-hole, the end of this electric cylinder piston rod 21 is connected with compound take-off lever by revolute pair 22 in long through-hole, and above-mentioned driving cylinder body forms low frequency driving.
Embodiment 3:
As shown in Figure 5 and Figure 6, one end and the basic erecting frame 5 of bound branch 6 are connected, the other end of this bound branch is connected with target travel platform 1 by the second universal hinge 7, the low-and high-frequency composite flooding branch symmetry that two-strip structure is identical is installed on basic erecting frame both sides, two branch's compound drive unit place planes vertically and be parallel to each other, and be triangularly arranged with bound branch, guiding mount pad 12 in compound drive unit is fixed on basic erecting frame, the inner of this guiding mount pad is provided with vertically arranged linear electric motors, this linear motor stator electric 11 is connected with guiding mount pad, one end of compound take-off lever 8 is connected with the mover 10 of these linear electric motors by revolute pair 9, said structure forms high-frequency drive, other parts are identical with embodiment 2 with annexation.
Embodiment 4:
As shown in Figure 7 and Figure 8, one end and the basic erecting frame 5 of bound branch 6 are connected, the other end of this bound branch is connected with target travel platform 1 by the second universal hinge 7, the low-and high-frequency composite flooding branch symmetry that two-strip structure is identical is installed on basic erecting frame both sides, two branch's compound drive unit place planes vertically and be parallel to each other, and be triangularly arranged with bound branch, guiding mount pad 12 in compound drive unit is fixed on basic erecting frame, in the inner of this guiding mount pad, linear motor stator electric 11 is connected with guiding mount pad by revolute pair 23, compound take-off lever 8 one end and linear motor rotor 10 are connected, said structure forms high-frequency drive, other parts are identical with embodiment 2 with annexation.
Claims (2)
1. a low-and high-frequency composite flooding two-dimension rotating platform in parallel, it is characterized in that: it mainly comprises target travel platform, basis erecting frame and connect their bound branch low-and high-frequency composite flooding branch identical with two-strip structure, wherein, one end and the basic erecting frame of bound branch are connected, the other end of this bound branch is connected with target travel platform by the second universal hinge, article two, low-and high-frequency composite flooding branch symmetry is installed on basic erecting frame both sides, two branch's compound drive unit place planes vertically and be parallel to each other, and be triangularly arranged with bound branch, above-mentioned two low-and high-frequency composite flooding branches comprise compound drive unit and transmission pole, they have four kinds of structures:
The first structure: the guiding mount pad in compound drive unit is fixed on basic erecting frame, the outer end of this guiding mount pad is provided with longitudinal leadscrew, one end of this leading screw is connected with motor, one end of low frequency drive link is connected with the slide block be located on leading screw by revolute pair, and said structure forms low frequency driving; Be provided with linear electric motors in the horizontal direction in the inner of above-mentioned guiding mount pad, the stator of these linear electric motors and this guiding mount pad are connected, and one end of compound take-off lever is connected with the mover of these linear electric motors by revolute pair, and said structure forms high-frequency drive; The other end of above-mentioned compound take-off lever is connected with one end of transmission pole by the first universal hinge, the other end of this transmission pole is connected with target travel platform by ball pivot, one position of above-mentioned compound take-off lever is provided with long through-hole, and the other end of above-mentioned low frequency drive link is connected with compound take-off lever by revolute pair in long through-hole;
The second structure: the guiding mount pad in compound drive unit is fixed on basic erecting frame, the inner of this guiding mount pad is provided with linear electric motors in the horizontal direction, this linear motor stator electric is connected with guiding mount pad, one end of compound take-off lever is connected with the mover of these linear electric motors by revolute pair, and said structure forms high-frequency drive; The other end of above-mentioned compound take-off lever is connected with one end of transmission pole by the first universal hinge, and the other end of this transmission pole is connected with target travel platform by ball pivot; Be connected by the end of revolute pair with electric cylinder cylinder sleeve in the outer end of above-mentioned guiding mount pad, one position of above-mentioned compound take-off lever is provided with long through-hole, the end of the piston rod of this electric cylinder is connected with compound take-off lever by revolute pair in long through-hole, and above-mentioned electric cylinder forms low frequency driving;
The third structure: the guiding mount pad in compound drive unit is fixed on basic erecting frame, the inner of this guiding mount pad is provided with vertically arranged linear electric motors, this linear motor stator electric is connected with guiding mount pad, one end of compound take-off lever is connected with the mover of these linear electric motors by revolute pair, and said structure forms high-frequency drive; Other parts are identical with the second structure with annexation;
4th kind of structure: the guiding mount pad in compound drive unit is fixed on basic erecting frame, the inner of this guiding mount pad, linear motor stator electric is connected with guiding mount pad by revolute pair, and compound take-off lever one end and linear motor rotor are connected, and said structure forms high-frequency drive; Other parts are identical with the second structure with annexation.
2. low-and high-frequency composite flooding according to claim 1 two-dimension rotating platform in parallel, is characterized in that: the electric cylinder described in above-mentioned four kinds of structures can replace with straight line module and drive or hydraulic cylinder; Described linear electric motors can replace with voice coil motor or electromagnetic actuator or piezoelectric ceramics or magnetostrictive actuator.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2594462C1 (en) * | 2015-05-14 | 2016-08-20 | Федеральное государственное унитарное предприятие "Центральный аэрогидродинамический институт имени профессора Н.Е. Жуковского" (ФГУП "ЦАГИ") | Vibration exciter of oscillations of mechanical structures |
| CN107575518A (en) * | 2017-10-16 | 2018-01-12 | 河北建筑工程学院 | One kind master passively inputs posture adjustment vibration-isolating platform in parallel parallel |
| CN110076755A (en) * | 2019-05-06 | 2019-08-02 | 燕山大学 | Three freedom degree motion simulator |
| CN111421524A (en) * | 2020-04-10 | 2020-07-17 | 燕山大学 | Five-degree-of-freedom industrial mechanical arm |
| CN112067187A (en) * | 2020-08-26 | 2020-12-11 | 东北电力大学 | Coupling type three-dimensional decoupling wireless passive sensor |
| CN113188738A (en) * | 2021-04-13 | 2021-07-30 | 西安航天动力技术研究所 | Self-returning low-frequency horizontal cycloidal vibrating table |
| CN113386111A (en) * | 2021-07-16 | 2021-09-14 | 燕山大学 | Three-translation redundant drive parallel mechanism with closed-loop unit |
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| RU2594462C1 (en) * | 2015-05-14 | 2016-08-20 | Федеральное государственное унитарное предприятие "Центральный аэрогидродинамический институт имени профессора Н.Е. Жуковского" (ФГУП "ЦАГИ") | Vibration exciter of oscillations of mechanical structures |
| CN107575518A (en) * | 2017-10-16 | 2018-01-12 | 河北建筑工程学院 | One kind master passively inputs posture adjustment vibration-isolating platform in parallel parallel |
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| CN112067187A (en) * | 2020-08-26 | 2020-12-11 | 东北电力大学 | Coupling type three-dimensional decoupling wireless passive sensor |
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| CN113188738A (en) * | 2021-04-13 | 2021-07-30 | 西安航天动力技术研究所 | Self-returning low-frequency horizontal cycloidal vibrating table |
| CN113188738B (en) * | 2021-04-13 | 2022-09-02 | 西安航天动力技术研究所 | Self-returning low-frequency horizontal cycloidal vibrating table |
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