CN105082110B - Actuation redundancy formula Three Degree Of Freedom stabilized platform - Google Patents
Actuation redundancy formula Three Degree Of Freedom stabilized platform Download PDFInfo
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- CN105082110B CN105082110B CN201510555613.6A CN201510555613A CN105082110B CN 105082110 B CN105082110 B CN 105082110B CN 201510555613 A CN201510555613 A CN 201510555613A CN 105082110 B CN105082110 B CN 105082110B
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Abstract
The invention discloses a kind of actuation redundancy formula Three Degree Of Freedom stabilized platform, which includes fixed platform, moving platform, first branched chain, second branched chain, 3rd branched chain, 4th branched chain and quintafurcation chain, change the bearing length of respective branches chain and form 2 dimensions of the redundancy to realize moving platform each other by correspondence retractable driving device and rotate and 1 dimension movement, first branched chain, second branched chain, quintafurcation chain is in the first plane, and the upper end of the quintafurcation chain is connected on the moving platform by ball pair, the other end of the quintafurcation chain is connected on the fixed platform by moving sets.Present invention redundancy is avoided mechanism singularity position shape and improves mixing real-time control, achievable space two-freedom rotation and the movement of single degree of freedom that dynamic properties of mechanism, its compact conformation, activity space realize greatly, easily position and power, being particularly suited for the delivery such as car, ship needs real-time stabilization platform, can bear larger mobile deflection load.
Description
Technical field
The present invention relates to the technical field of multi-DOF platform mechanism design, more particularly to a kind of actuation redundancy formula three is freely
Degree stabilized platform.
Background technology
The Platform Designing of multiple degrees of freedom or lower-mobility is more using the parallel institution of six degree of freedom and Three Degree Of Freedom as support
And drive mechanism, realize the driving of platform six degree of freedom or Three Degree Of Freedom.Relative to six-degree-of-freedom parallel connection mechanism, with Three Degree Of Freedom
Parallel institution be the minority carrier generation lifetime of representative have that simple structure, rigidity are big, automaticity is good, work space is big, control
Easily, the advantages of low cost.
By retrieval, it has been found that in existing patent application, the patent application of existing various degree of freedom platform mechanism designs.
Chinese utility model patent the 200420102722.Xth, discloses a kind of two-dimensional shift and two-dimensional and rotates parallel kinematic
Platform, its basic structure are made up of fixed platform, moving platform and five branches, and the moving platform that can place processing workpiece passes through four
Completely identical in structure branch and a bound branch are connected with fixed platform, and four completely identical in structure branches are located to be moved
It is arranged symmetrically around platform, bound branch is located at the middle position of moving platform and there is bidimensional movement x, y and bidimensional to rotate certainly
By degree α, β.
Chinese invention patent application the 201410848479.4th, discloses a kind of Three Degree Of Freedom based on parallel institution and shakes
Set a table, tilter be based on parallel institution, including fixed platform, moving platform and connect the two platforms driving branch and
Static balance device；Drive branch to be three, its structure is identical, be symmetrically arranged between fixed platform and moving platform, lead to
Cross rolling, pitching and elevating movement that moving platform is realized in linkage；Static balance device is arranged in three driving branches
The heart, while connect the center of fixed platform and moving platform, for balancing moving platform and loading section gravity.
Chinese invention patent application the 201510155500.7th, discloses a kind of parallel institution of Three Degree Of Freedom, including
Fixed platform, moving platform and the first branched chain between the fixed platform and the moving platform, the second branched chain, the 3rd point
Side chain and the 4th branched chain, first branched chain is relative along the first direction of level with the 3rd branched chain and puts, described
Second branched chain and the 4th branched chain are relative along the second direction vertical with the first direction and put, wherein, described the
One branched chain and the 3rd branched chain are respectively provided with two and rotate a secondary and Hooke hinge, second branched chain and the described 4th
Branched chain is respectively provided with two and rotates a secondary and Three Degree Of Freedom rotational structure.
Applicants have discovered that (being also Singularity, special configuration, singular form position, unusual when platform mechanism has singular point
Bit-type) when, its rigidity and precision characteristic deteriorate rapidly, and above-mentioned patent application is not directed to how to avoid or reduce singular point impact
Technical scheme.And the intrinsic property that Singularity is mechanism is also a highly important kinesiology spy of robot mechanism
The performance of the aspects such as property, the motion of robot, stress, control and precision is all closely related with the Singularity of mechanism.Cause
This be necessary to do the Singularity of parallel institution deeper into research, to reduce and eliminate the impact of Singularity, further
The performance of parallel institution is improved, promotes the development of the practical and commercialization of parallel institution.Based on above-mentioned purpose, the application is again
The retrieval of existing patent is done.
Chinese invention patent application the 200410069388.7th, discloses one kind and can be used as axial parallel machine tool structure and realize two
The three freedom redundancy parallel mechanism of dimension translation and one-dimensional rotation is made up of moving platform, silent flatform and four single-degree-of-freedom side chains.
Wherein three side chain two ends connect dynamic and static platform by ball pivot, and another side chain two ends are flat using the secondary connection two of parallel rotation
Platform.The mechanism can realize bidimensional translation and one-dimensional rotation, not exist non-with four inputs, three output campaigns, moving platform
Desired output is moved.Redundant drive can improve the rigidity and precision of parallel institution, and eliminating machine is unusual, expand configuration space,
Improve mechanical property.
Chinese invention patent application the 200910242687.9th, discloses the five of a kind of three-degree-of-freedom parallel mechanism type
Axle lathe Double swing head and control method, its dual head for five-axis machine tools are by silent flatform, moving platform and connection four of two platforms
Chain is constituted；Its control method has seven big steps:First, its Jacobian matrix is solved by the anti-solution formula of symmetrical structure and set up corresponding
Model；2nd, its Jacobian matrix is solved by the anti-solution formula of unsymmetric structure and set up corresponding model:3rd, design corresponding change
Structure controller；4th, the pursuit path and external applied load of Double swing head are given, and sets the interior force value threshold value of each side chain；Five:Obtain each
On nonredundancy side chain, the force feedback value of force transducer, which is compared with given threshold；Six:Each electricity is calculated by one Jacobian matrix
The driving force of machine, is controlled using power to nonredundancy side chain, adopts Position Tracking Control to redundancy branched chain；Seven:By two Jacobi
The driving force of each motor of matrix calculus, adopts Position Tracking Control to nonredundancy side chain of the force feedback value more than threshold value, to redundancy
Side chain and two other nonredundancy side chains are controlled using power.
Applicants have discovered that, not yet have in prior art and can avoid singular form position, can effectively reduce hinge again
The kinematic error that gap causes, realizes the actuation redundancy formula Three Degree Of Freedom stabilized platform that 2 dimensions are rotated, 1 dimension is mobile.
The content of the invention
The purpose of the present invention, exactly proposes that one kind can avoid singular form position, can effectively reduce hinge gap again
The kinematic error for causing, realizes the actuation redundancy formula Three Degree Of Freedom stabilized platform that 2 dimensions are rotated, 1 dimension is mobile.
The present invention is solution above-mentioned technical problem, there is provided a kind of actuation redundancy formula Three Degree Of Freedom stabilized platform, which includes
Fixed platform, moving platform, the first branched chain, the second branched chain, the 3rd branched chain, the 4th branched chain and quintafurcation chain, described
One branched chain, the second branched chain, the 3rd branched chain, the 4th branched chain and quintafurcation chain are arranged in parallel in the fixed platform and move
Between platform, in first branched chain, the second branched chain, the 3rd branched chain and the 4th branched chain, a telescopic drive is each provided with
Device, the bottom of first branched chain, the second branched chain, the 3rd branched chain and the 4th branched chain are hinged on described allocating
On platform, the upper end of first branched chain, the second branched chain, the 3rd branched chain and the 4th branched chain is hinged on described moving and puts down
On platform, change the bearing length of respective branches chain and form redundancy each other by correspondence retractable driving device and put down to realize moving
2 dimensions of platform are rotated and 1 dimension movement.
Wherein, first branched chain and the second branched chain be in the first plane, the 3rd branched chain and the 4th point
In the second plane, to be oppositely arranged, the quintafurcation chain is in institute to side chain for first plane and second plane
State in the first plane, and the upper end of the quintafurcation chain is connected on the moving platform by ball pair, the quintafurcation
The other end of chain is connected on the fixed platform by moving sets.
By four retractable driving device redundant drive moving platforms on four parallel branch chains, the present invention realizes that 2 dimensions are rotated
With 1 dimension movement：By the use of a unnecessary branched chain as actuation redundancy, the moving sets for biasing side with reference to quintafurcation chain set
Put, mechanism singularity bit-type is avoided in realization, increase system stiffness, reduce driving force, reduce the parallel institution caused because of hinge gap
Kinematic error, improve parallel institution precision, rigidity and dynamic response capability, and deflection load, moving platform large inertia
The purpose of bearing capacity.
Present invention redundancy avoid mechanism singularity position shape and improve dynamic properties of mechanism, its compact conformation, activity space it is big,
Mixing real-time control, the Three Degree Of Freedom that achievable space two-freedom is rotated and single degree of freedom is moved of position and power are realized easily
Stabilized platform in parallel, being particularly suited for the delivery such as car, ship needs real-time stabilization platform, can bear x-axis inclined more than what 120mm was moved
To load.
Preferably, first branched chain is identical with second branch chain structure, and it is in phase in first plane
Mutually it is arranged symmetrically, the spacing between the upper end of the upper end of first branched chain and second branched chain is more than described the
Spacing between the bottom of the bottom of one branched chain and second branched chain.
The quintafurcation chain is in and is arranged on the position between first branched chain and second branched chain.
3rd branched chain is identical with the 4th branch's chain structure, and is in symmetrical cloth in second plane
Put, between the upper end of the 3rd branched chain and the upper end of the 4th branched chain, be smaller than the 3rd branched chain
Bottom and the bottom of the 4th branched chain between spacing.
It is identical and be in symmetrically that first branched chain and second branched chain are further set to structure by the present invention
Herringbone arranges, and by the quintafurcation chain in being arranged between first branched chain and second branched chain
On position, the 3rd branched chain and the 4th branched chain is coordinated to be set to structure identical and symmetrically in splayed arrangement, this
The parallel connection of five branched chains of sample encloses structure, has both improve the given rigidity of structure, can more efficiently overcome dynamic flat again
Platform rotates impact of the large inertia to mechanism.
Preferably, projection of the 3rd branched chain in first plane is intersected with first branched chain, it is described
Projection of 4th branched chain in first plane is intersected with second branched chain.
The present invention further arranges first branched chain, second branched chain and the 3rd branched chain, described
4th branched chain is intersected in X layouts, further improves platform rigidity and kinetic stability, reliability.
Preferably, the side of first branched chain is provided with first connecting rod mechanism, the first connecting rod mechanism includes
One connecting rod and second connecting rod, the bottom of the first connecting rod are hinged on the fixed platform, the upper end of the second connecting rod
It is hinged on the moving platform, the first connecting rod and the second connecting rod hinges connect.
Preferably, the side of second branched chain is provided with second connecting rod mechanism, the second connecting rod mechanism includes
Three connecting rods and fourth link, the bottom of the third connecting rod are hinged on the fixed platform, the upper end of the fourth link
It is hinged on the moving platform, the third connecting rod and the fourth link hinges connect.
The present invention arranges 2 linkages in the side of first branched chain and/or the second branched chain and is supported, and increases
Platform rigidity, improves the large rotating inertia that platform overcomes vertical direction, it is ensured that the stationarity of platform motion.
Preferably, the retractable driving device is cylinder or electronic screw body or linear electric motors.
Preferably, the quintafurcation chain is made up of sliding seat and sliding bar, the sliding seat is consolidated with the fixed platform,
One end of the sliding bar is connected with the sliding seat moving sets, and the other end of the sliding bar is secondary with the moving platform ball even
Connect.
Preferably, the upper end of first branched chain is connected with the moving platform by compound hinge body, described first
The bottom of branched chain is connected with the fixed platform by hinges.
Institute's compound hinge body is ball pivot, and which includes the first connecting shaft, the second jointed shaft and the 3rd rotary shaft, described first
One end of connecting shaft is connected with the first branched chain cylindrical pair, and the other end of first connecting shaft rotates pivot hinge with the described 3rd
Secondary connection, one end of second jointed shaft and moving platform hinges connection, the other end of second jointed shaft and institute
State the connection of the 3rd rotary shaft hinges.
The present invention further have developed a kind of as above new compound hinge body, can realize the by the compound hinge body
The upper end of one branched chain is connected with moving platform ball pivot, is capable of achieving the swing and rotation of multi-angle, is especially suitable for applying at this
In the connection of the first bright branched chain or the second branched chain upper end and moving platform, of course, on other platforms or mechanism
Effective popularization and application can be carried out.
Preferably, first connecting shaft is U-shaped connector, first connecting shaft is for being connected with first branched chain
One end is bottom, and first connecting shaft is peristome for the other end being connected with the 3rd rotary shaft, and first connecting shaft is in institute
State peristome side and the first side connecting hole is set, opposite side arranges the second side connecting hole, and the 3rd rotary shaft wears logical successively
Cross first side connecting hole, the second jointed shaft and second side connecting hole..
First connecting shaft is further set to U-shaped connector by the present invention, and is as above worn, and is further increased compound
The structural compactness and stable movement reliability standard of hinge body.
Preferably, the upper end of second branched chain is connected with the moving platform by another compound hinge body, it is described
Another compound hinge body is identical with the structure of the compound hinge body adopted by first branched chain, under second branched chain
End is connected with the fixed platform by rotation is secondary.
The upper end of the 3rd branched chain is secondary by ball or Hooke's hinge is connected with the moving platform, the 3rd branched chain
Bottom be connected with the fixed platform by Hooke's hinge.
The upper end of the 4th branched chain is secondary by ball or Hooke's hinge is connected with the moving platform, the 4th branched chain
Bottom be connected with the fixed platform by Hooke's hinge.
In sum, actuation redundancy formula Three Degree Of Freedom stabilized platform of the present invention includes but is not limited to point below or several points has
Beneficial effect：
1st, the present invention using multiple-limb chain formation, 2 tie up and rotate and 1 dimension movement drive moving platform each other by redundancy, real
Mechanism singularity bit-type is now avoided, increases system stiffness, reduce driving force, improve the beneficial effect of platform dynamic driving performance.
2nd, the parallel institution of quintafurcation chain of the invention composition, is reduced because hinge gap causes simultaneously using its redundant drive
The kinematic error of online structure improving precision in parallel and rigidity, with reference to quintafurcation chain structure form and position, further
Improve deflection load, the bearing capacity of moving platform large inertia of platform.
3rd, stabilized platform of the invention has compact conformation, high rigidity and high precision, the advantage of high dynamic response.
4th, the compound hinge body that the present invention is further researched and developed and used, realizes 3 between branched chain upper end and moving platform
Being hinged for individual rotational freedom and 1 one-movement-freedom-degree, is especially suitable for applying the first branched chain or the second branch in the present invention
In the connection of chain upper end and moving platform so that overall structure is compacter, reliable.
5th, stabilized platform of the invention can be used as the delivery such as car, ship needs real-time stabilization platform, can bear the shifting of x-axis 120mm
Dynamic deflection load, and play active damping effect.
Description of the drawings
With reference to the accompanying drawings and detailed description the present invention is described in further detail：
Structure principle charts of the Fig. 1 for specific embodiment actuation redundancy formula Three Degree Of Freedom stabilized platform.
Motion state diagrams one of the Fig. 2 for specific embodiment actuation redundancy formula Three Degree Of Freedom stabilized platform.
Motion state diagrams two of the Fig. 3 for specific embodiment actuation redundancy formula Three Degree Of Freedom stabilized platform.
Motion state diagrams three of the Fig. 4 for specific embodiment actuation redundancy formula Three Degree Of Freedom stabilized platform.
Structural perspectives of the Fig. 5 for specific embodiment actuation redundancy formula Three Degree Of Freedom stabilized platform.
Structural front views of the Fig. 6 for specific embodiment actuation redundancy formula Three Degree Of Freedom stabilized platform.
Structure left views of the Fig. 7 for specific embodiment actuation redundancy formula Three Degree Of Freedom stabilized platform.
Structure top views of the Fig. 8 for specific embodiment actuation redundancy formula Three Degree Of Freedom stabilized platform.
Structure sectional views of the Fig. 9 for specific embodiment actuation redundancy formula Three Degree Of Freedom stabilized platform.
Figure 10 is schematic enlarged-scale view at the A of Fig. 9.
Figure 11 is the structural perspective for not installing the stabilized platform under moving platform state.
Drawing reference numeral explanation：
Fixed platform 10, moving platform 20, the first branched chain 30, the second branched chain 40, the 3rd branched chain 50, the 4th branched chain
60, quintafurcation chain 70, sliding seat 71, sliding bar 72, first connecting rod mechanism 80, first connecting rod 81, second connecting rod 82, second connects
Linkage 90, third connecting rod 91, fourth link 92, retractable driving device 100, the first plane 200, the second plane 300, composite hinge
Mechanism 400, the first connecting shaft 410, bottom 411, peristome 412, the second jointed shaft 420, insertion end 421, outfan 422, through hole
423, the 3rd rotary shaft 430, fixed connecting base 500, jack 510.
Specific embodiment
Embodiment one
As shown in figure 1, present embodiment discloses a kind of actuation redundancy formula Three Degree Of Freedom stabilized platform, which includes fixed platform
10th, moving platform 20, the first branched chain 30, the second branched chain 40, the 3rd branched chain 50, the 4th branched chain 60, quintafurcation chain 70,
First connecting rod mechanism 80 and second connecting rod mechanism 90.
First branched chain 30 of the present embodiment, the second branched chain 40, the 3rd branched chain 50, the 4th branched chain 60 and the 5th point
Side chain 70 is arranged in parallel between fixed platform 10 and moving platform 20, the first branched chain 30, the second branched chain 40, the 3rd branched chain 50
With a retractable driving device 100 is each provided with the 4th branched chain 60.
As shown in figure 1, first branched chain 30 of the present embodiment, the second branched chain 40, the 3rd branched chain 50 and the 4th branch
The bottom of chain 60 is hinged on fixed platform 10, the first branched chain 30, the second branched chain 40, the 3rd branched chain 50 and the 4th point
The upper end of side chain 60 is hinged on moving platform 20, changes the support of respective branches chain by correspondence retractable driving device 100
Length and formed each other redundancy come realize moving platform 20 as shown by the arrows in Figure 21 dimension oscilaltion movement and as Fig. 3,
2 dimension left and right, rotation (quintafurcation chain not shown in Fig. 2 to Fig. 4) in front and back in Fig. 4 shown in arrow.
Specifically, in the present embodiment, as shown in figure 4, first branched chain 30 of the present embodiment, the second branched chain 40,
Quintafurcation chain 70, first connecting rod mechanism 80 and second connecting rod mechanism 90 are in the first plane 200, the 3rd branched chain 50 and
In the second plane 300, the first plane 200 and the second plane 300 are to be oppositely arranged to four branched chains 60.
With reference to shown in Fig. 1, the quintafurcation chain 70 of the present embodiment is on 200 centre position of the first plane, quintafurcation
The upper end of chain 70 is connected on moving platform 20 by ball pair, and the other end of quintafurcation chain 70 is connected to by moving sets determines
On platform 10.
Exemplary, first branched chain of the present embodiment and first connecting rod mechanism are with quintafurcation chain as axis of symmetry and second
Branched chain and second connecting rod mechanism are arranged symmetrically.
The first connecting rod mechanism 80 of the present embodiment includes first connecting rod 81 and second connecting rod 82, the bottom of first connecting rod 81
It is hinged on fixed platform 10, the upper end of second connecting rod 82 is hinged on moving platform 20, and first connecting rod 81 and second connecting rod 82 cut with scissors
The secondary connection of chain.Specifically as shown in figure 1, the upper end of first connecting rod 81 is connected by a cylindrical pair with the bottom of second connecting rod 82
Connect.
The second connecting rod mechanism 90 of the present embodiment includes third connecting rod 91 and fourth link 92, the bottom of third connecting rod 91
It is hinged on fixed platform 10, the upper end of fourth link 92 is hinged on moving platform 20, and third connecting rod 91 and fourth link 92 are cut with scissors
The secondary connection of chain.Specifically as shown in figure 1, the upper end of third connecting rod 91 is connected by a cylindrical pair with the bottom of fourth link 92
Connect.
Exemplary, as shown in figure 1, the present embodiment is with 10 width of fixed platform as X-axis, with 10 length direction of fixed platform
For Y-axis, with perpendicular to 10 direction of fixed platform as Z axis, the first branched chain 30, the second branched chain 40, the 3rd branched chain 50, the 4th point
The both ends of side chain 60, quintafurcation chain 70, first connecting rod mechanism 80 and second connecting rod mechanism 90 are connected to as shown in Figure 1
On fixed platform 10 and moving platform 20 so that the first branched chain 30, quintafurcation chain 70, the second branched chain 40, first connecting rod mechanism
80th, the 3rd branched chain 50, the 4th branched chain 60 and second connecting rod mechanism 90 are parallel to fixed as shown in Figure 1 in arranging successively clockwise
On platform 10 and moving platform 20.
In the present embodiment, as shown in figure 1, the first branched chain 30 is identical with 40 structure of the second branched chain, and with the 5th point
It is in symmetrically to be arranged in the first plane 200 that side chain 70 is axis of symmetry, upper end and second branched chain of the first branched chain 30
Spacing between 40 upper end is more than the spacing between the bottom and the bottom of the second branched chain 40 of the first branched chain 30,
First branched chain 30 and the second branched chain 40 are in herringbone as shown in Figure 1 to Figure 3.
3rd branched chain 50 of the present embodiment is identical with 60 structure of the 4th branched chain, and in mutual in the second plane 300
It is arranged symmetrically, between the upper end of the 3rd branched chain 50 and the upper end of the 4th branched chain 60, is smaller than the 3rd branched chain 50
Bottom and the bottom of the 4th branched chain 60 between spacing, the 3rd branched chain 50 and the 4th branched chain 60 in such as Fig. 1 extremely
Splayed shown in Fig. 3.
And further, the 3rd branched chain 50 of the present embodiment projection and the first branched chain 30 in the first plane 200
Intersecting, projection of the 4th branched chain in the first plane 200 is intersected with the second branched chain 40.As Fig. 2 and Fig. 3 are presented, along X
Direction of principal axis sees that the first branched chain 30 is intersected in X layouts with the 3rd branched chain 50, and the second branched chain 40 is intersected with the 4th branched chain 60
In X layouts.
In the present embodiment, as shown in figure 1, the first branched chain 30, the second branched chain 40, first connecting rod mechanism 80 and second
The bottom of linkage 90 respectively rotates pair by one and is connected on fixed platform 10, the 3rd branched chain 50 and the 4th branched chain 60
Respectively be hinged and connected on fixed platform 10 by a Hooke, quintafurcation chain 70 by a sliding seat being connected to for vertical sliding motion allocate
On platform 10.Each rotation is secondary, hinges and Hooke's hinge are arranged as shown in Figure 1, each pivot center for rotating secondary, hinges and Hooke's hinge
X-direction arrangement is each other parallel to.
In other specific embodiments, the fixed platform of the present embodiment, moving platform, the first branched chain, the second branched chain, the 3rd
Concrete size and the connection side of branched chain, the 4th branched chain, quintafurcation chain, first connecting rod mechanism and/or second connecting rod mechanism
Formula, can also be adjusted according to actual needs and realize that redundant drive moving platform realizes predetermined action, it is also possible to reference to such as this Shen
The known technology means adopted by prior art that please be involved in background technology field etc., first connecting rod mechanism and/or second
Linkage can also select whether to arrange according to actual needs, and adjust concrete structure and set location, and here is omitted.
Exemplary, will be the motion conditions of the present embodiment actuation redundancy formula Three Degree Of Freedom stabilized platform as follows：
In the platform preparatory stage, moving platform 20 as shown in Fig. 2 parallel with fixed platform 10, by retractable driving device 100
Driving can adjust moving platform 20 along Z-direction oscilaltion campaign, 20 height of adjustment moving platform.
In platform action phase, moving platform 20 can as shown in Figure 3 around X-axis left-right rotation, also can as shown in Figure 4 before Y-axis
Rotate afterwards, or lifting moving, left-right rotation and rotation three degree of freedom co-operating simultaneously in front and back.
Embodiment two
In place of the present embodiment and the main difference of embodiment one it is, first branched chain 30 of the present embodiment and the second branch
40 respective upper end of chain is connected with moving platform 20 by a compound hinge body 400 respectively, other and one same section of embodiment
Can direct reference implementation example one, the present embodiment is with regard to no longer carrying out repeated description.
The present embodiment further have developed a kind of new compound hinge body 400, be the present embodiment the shown in Figure 10
Sectional view at one branched chain, 30 upper end and 400 link position of compound hinge body.
As shown in Figure 10, the compound hinge body 400 of the present embodiment is ball pivot, and which includes the first connecting shaft 410, the second jointed shaft
420 and the 3rd rotary shaft 430, one end of the first connecting shaft 410 is connected with 30 cylindrical pair of the first branched chain, the first connecting shaft 410 it is another
One end is connected with 430 hinges of the 3rd rotary shaft, and one end of the second jointed shaft 420 and 20 hinges of moving platform connect, the second hinge
The other end of spindle 420 and the connection of 430 hinges of the 3rd rotary shaft.
Exemplary, the present embodiment arranges a fixed connecting base 500 on 20 bottom surface relevant position of moving platform, is fixedly connected
It is used to plug the jack 510 of the second jointed shaft 420 with one on seat 500, the insertion end 421 of the second jointed shaft 420 can be along its axle
Formed and be connected with the hinges of moving platform 20 during what line was rotated be plugged in jack 510, and in the outfan of the second jointed shaft 420
422 have been formed radially a through hole 423, the 3rd rotary shaft 430 being located in through hole 423 around its axial rotation, the first branch
The upper end of chain 30 being connected on one end of the first connecting shaft 410 around its axial rotation, the other end of the first connecting shaft 410 can turn
It is dynamic to be hinged in the 3rd rotary shaft 430.
Specifically, Figure 11 shows the stereochemical structure for not installing the stabilized platform under moving platform state.With reference to shown in Figure 11,
The first connecting shaft 410 that the compound hinge body 400 of the present embodiment is adopted for U-shaped connector, the first connecting shaft 410 for first point
One end of the connection of side chain 30 is bottom 411, and the first connecting shaft 410 is peristome for the other end being connected with the 3rd rotary shaft 430
412, the first connecting shaft 410 412 side of peristome arrange the first side connecting hole, opposite side arrange the second side connecting hole, the 3rd turn
Moving axis 430 is worn successively by first side connecting hole, the through hole 423 of the second jointed shaft 420 and second side connecting hole.
Exemplary, 90 concrete as shown in figure 11 the carrying out of first connecting rod mechanism 80 and second connecting rod mechanism of the present embodiment
Arrange, i.e., first connecting rod 81, second connecting rod 82, third connecting rod 91, fourth link 92 adopt two long plate shape connecting rod assembly structures,
First connecting rod 81 is hinged and is clamped on the outside of first side connecting hole and second side connecting hole two for stretching out the first connecting shaft 410
430 end of the 3rd rotary shaft on.
Fig. 9 is the structural representation that stabilized platform is cut open along the first plane 200 shown in Fig. 8.As shown in figures 9 and 11,
The upper end of second branched chain 40 of the present embodiment is connected with moving platform 20 by another compound hinge body, another composite hinge
Mechanism is identical with the structure of the compound hinge body 400 adopted by first branched chain, and the bottom of the second branched chain 40 passes through
Rotate pair to be connected with fixed platform 10.As shown in figure 9, the same composite hinge that the upper end of second branched chain 40 of the present embodiment is arranged
Mechanism, is arranged symmetrically with the compound hinge body 400 of 30 upper end of the first branched chain.
As shown in Fig. 5 to Figure 11, the upper end of the 3rd branched chain 50 of the present embodiment is hinged and connected to moving platform 20 by Hooke
Side on, the bottom of the 3rd branched chain 50 is hinged and connected on the side of fixed platform 10 by Hooke, the 3rd branched chain 50
One shaft end of the Hooke's hinge of upper end can be plugged on the side of moving platform 20 around what its axis rotated as depicted, and the 3rd
One shaft end of the Hooke's hinge of the bottom of branched chain 50 can be plugged in fixed platform 10 around what its axis rotated as depicted
On side.
The set-up mode of the upper and lower end of the 4th branched chain 60 of the present embodiment is identical with the 3rd branched chain 50, passes through
Hooke's hinge is rotated with 20 side of moving platform and is connected, and is rotated with 10 side of fixed platform by another Hooke's hinge and is connected.
In other specific embodiment modes, the company of the 3rd branched chain and the 4th branched chain and moving platform and fixed platform
The mode of connecing can also be that ball is secondary or other modes are hinged, and concrete set location can also be the opposite table of fixed platform and moving platform
Face is first-class.
With reference to shown in Fig. 5 and Figure 11, the present embodiment is by being combined hinge body 400, it is possible to achieve the first branched chain 30 or the
The upper end of two branched chains 40 forms ball pivot by respective compound hinge body and moving platform and is connected, realize the swing of multi-angle with
Rotation.
Specifically, the retractable driving device 100 of the present embodiment selects electronic screw body, by Motor drive screw body
Stretching motion, realizes the length change of respective branch chain then.
In other specific embodiments, retractable driving device can also be no longer gone to live in the household of one's in-laws on getting married herein from cylinder, linear electric motors etc.
State.
Specifically, as shown in Fig. 6 and Figure 11, the quintafurcation chain 70 that the present embodiment is selected is by sliding seat 71 and sliding bar 72
Composition, sliding seat 71 are consolidated with fixed platform 10, and one end of sliding bar 72 is connected i.e. sliding bar 72 with 71 moving sets of sliding seat and can hang down
What is directly slided up and down is plugged in sliding seat 71, and the other end of sliding bar 72 is connected with 20 ball of moving platform pair.
Exemplary, 72 axis of sliding bar of the present embodiment, 30 axis of the first branched chain, 40 axis of the second branched chain
Line, compound 400 axis of hinge body, 80 axis of first connecting rod mechanism and 90 axis of second connecting rod mechanism are in and allocate
Platform 10 is vertically and along the same plane that Y-axis extends.
Specifically, the present embodiment actuation redundancy formula Three Degree Of Freedom stabilized platform is arranged on automobile bodies, by compartment
Inertial sensor gathers signal so that stabilized platform performs the motion contrary with compartment attitude, so as to ensure the relative water of moving platform
It is flat, so as to play active damping effect, you can real vehicle-mounted low frequency active damping, its concrete motor process refer to embodiment one
Motion conditions.Left and right is realized by four retractable driving device redundant drive moving platforms on four parallel branch chains, in front and back 2
Dimension is rotated and upper and lower 1 dimension lifting moving：By the use of a unnecessary branched chain as actuation redundancy, with reference to quintafurcation chain biasing one
The moving sets of side are arranged, and mechanism singularity bit-type is avoided in realization, increase system stiffness, reduce driving force, are reduced because hinge gap draws
The kinematic error of the parallel institution for rising, improves parallel institution precision, rigidity and dynamic response capability, and deflection is loaded, moved
The purpose of the bearing capacity of platform large inertia.
With it is above-mentioned be only the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications should also be regarded
For protection scope of the present invention.
Claims (9)
1. a kind of actuation redundancy formula Three Degree Of Freedom stabilized platform, including fixed platform, moving platform, the first branched chain, the second branched chain,
3rd branched chain, the 4th branched chain and quintafurcation chain, first branched chain, the second branched chain, the 3rd branched chain, the 4th point
Side chain and quintafurcation chain are arranged in parallel between the fixed platform and moving platform, first branched chain, the second branched chain,
Be each provided with a retractable driving device in three branched chains and the 4th branched chain, first branched chain, the second branched chain, the 3rd point
The bottom of side chain and the 4th branched chain is hinged on the fixed platform, first branched chain, the second branched chain, the 3rd point
The upper end of side chain and the 4th branched chain is hinged on the moving platform, changes respective branches by correspondence retractable driving device
The bearing length of chain simultaneously forms 2 dimensions of the redundancy to realize moving platform each other and rotates and 1 dimension movement, it is characterised in that：It is described
, in the first plane, the 3rd branched chain and the 4th branched chain are in the second plane for first branched chain and the second branched chain
On, to be oppositely arranged, the quintafurcation chain is in first plane, and institute for first plane and second plane
The upper end for stating quintafurcation chain is connected on the moving platform by ball pair, and the other end of the quintafurcation chain is by moving
Dynamic pair is connected on the fixed platform；
First branched chain is identical with second branch chain structure, and in symmetrically arrangement in first plane,
Spacing between the upper end of the upper end of first branched chain and second branched chain is more than first branched chain
Spacing between the bottom of bottom and second branched chain；
The quintafurcation chain is in and is arranged on the position between first branched chain and second branched chain；
3rd branched chain is identical with the 4th branch's chain structure, and in symmetrically arrangement in second plane,
The 3rd branched chain is smaller than between the upper end of the 3rd branched chain and the upper end of the 4th branched chain
Spacing between the bottom of bottom and the 4th branched chain.
2. actuation redundancy formula Three Degree Of Freedom stabilized platform as claimed in claim 1, it is characterised in that：3rd branched chain exists
Projection in first plane is intersected with first branched chain, projection of the 4th branched chain in first plane
Intersect with second branched chain.
3. actuation redundancy formula Three Degree Of Freedom stabilized platform as claimed in claim 1, it is characterised in that：First branched chain
Side is provided with first connecting rod mechanism, and the first connecting rod mechanism includes first connecting rod and second connecting rod, the first connecting rod
Bottom is hinged on the fixed platform, and the upper end of the second connecting rod is hinged on the moving platform, the first connecting rod
Connect with the second connecting rod hinges.
4. actuation redundancy formula Three Degree Of Freedom stabilized platform as claimed in claim 3, it is characterised in that：Second branched chain
Side is provided with second connecting rod mechanism, and the second connecting rod mechanism includes third connecting rod and fourth link, the third connecting rod
Bottom is hinged on the fixed platform, and the upper end of the fourth link is hinged on the moving platform, the third connecting rod
Connect with the fourth link hinges.
5. actuation redundancy formula Three Degree Of Freedom stabilized platform as claimed in claim 1, it is characterised in that：The retractable driving device
For cylinder or electronic screw body or linear electric motors.
6. actuation redundancy formula Three Degree Of Freedom stabilized platform as claimed in claim 1, it is characterised in that：The quintafurcation chain by
Sliding seat and sliding bar composition, the sliding seat are consolidated with the fixed platform, and one end of the sliding bar is moved with the sliding seat
Dynamic secondary connection, the other end of the sliding bar are connected with moving platform ball pair.
7. the actuation redundancy formula Three Degree Of Freedom stabilized platform as described in any one of claim 1 to 6, it is characterised in that：Described
The upper end of one branched chain is connected with the moving platform by compound hinge body, and the bottom of first branched chain passes through hinge
It is secondary to be connected with the fixed platform；
The compound hinge body is ball pivot, and which includes the first connecting shaft, the second jointed shaft and the 3rd rotary shaft, first connecting shaft
One end is connected with the first branched chain cylindrical pair, and the other end of first connecting shaft is connected with the 3rd rotary shaft hinges
Connect, one end of second jointed shaft and moving platform hinges connection, the other end of second jointed shaft and described the
Three rotary shaft hinges connect.
8. actuation redundancy formula Three Degree Of Freedom stabilized platform as claimed in claim 7, it is characterised in that：First connecting shaft is U
Shape connector, first connecting shaft are bottom for one end for being connected with first branched chain, first connecting shaft for
3rd rotary shaft connection the other end be peristome, first connecting shaft the peristome side arrange the first side connecting hole,
Opposite side arranges the second side connecting hole, and the 3rd rotary shaft is worn successively by first side connecting hole, the second jointed shaft
With second side connecting hole.
9. actuation redundancy formula Three Degree Of Freedom stabilized platform as claimed in claim 7, it is characterised in that：
The upper end of second branched chain is connected with the moving platform by another compound hinge body, another composite hinge machine
Structure is identical with the structure of the compound hinge body adopted by first branched chain, and the bottom of second branched chain is by rotating
It is secondary to be connected with the fixed platform；
The upper end of the 3rd branched chain is secondary by ball or Hooke's hinge is connected with the moving platform, under the 3rd branched chain
End is connected with the fixed platform by Hooke's hinge；
The upper end of the 4th branched chain is secondary by ball or Hooke's hinge is connected with the moving platform, under the 4th branched chain
End is connected with the fixed platform by Hooke's hinge.
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| CN106683710B (en) * | 2017-03-20 | 2023-01-10 | 歌尔股份有限公司 | Three-degree-of-freedom motion platform |
| CN109333508B (en) * | 2018-11-08 | 2021-08-06 | 天津大学 | Weak symmetry one-translation two-rotating-sphere coordinate type zero-coupling parallel mechanism |
| CN109812287A (en) * | 2019-03-08 | 2019-05-28 | 安徽理工大学 | A kind of freedom degree parallel connection hydraulic support of redundant drive |
| CN109895138A (en) * | 2019-03-19 | 2019-06-18 | 珠海心怡科技有限公司 | Indoor engineering intelligent robot it is horizontal from steady platform and robot |
| CN111002019B (en) * | 2019-12-09 | 2021-12-31 | 清华大学 | Intelligent tightening equipment |
| CN112809410A (en) * | 2020-12-25 | 2021-05-18 | 珠海格力智能装备有限公司 | Control platform and machine tool |
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