CN105500348A - Six-degree-of-freedom parallel posture adjustment and vibration isolation platform containing tower-shaped telescopic branches - Google Patents
Six-degree-of-freedom parallel posture adjustment and vibration isolation platform containing tower-shaped telescopic branches Download PDFInfo
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- CN105500348A CN105500348A CN201610060702.8A CN201610060702A CN105500348A CN 105500348 A CN105500348 A CN 105500348A CN 201610060702 A CN201610060702 A CN 201610060702A CN 105500348 A CN105500348 A CN 105500348A
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- shape telescopic
- tower shape
- telescopic branch
- posture adjustment
- straight spur
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a six-degree-of-freedom parallel posture adjustment and vibration isolation platform containing tower-shaped telescopic branches. The six-degree-of-freedom parallel posture adjustment and vibration isolation platform mainly comprises a base, three mounting seats, six linear driving units with the same structure, three tower-shaped telescopic branches with the same structure, three vibration isolators, a power-assisted spring and a movable platform, wherein the three mounting seats are arranged on the base; each mounting seat is fixedly connected with two linear driving units; each of the tower-shaped telescopic branches consists of two closed-loop connection rods and a planar shear fork mechanism; two tower legs at the lower end of the planar shear fork mechanism of each tower-shaped telescopic branch are respectively connected with sliding blocks of two adjacent linear driving units through ball hinges, and the upper end of the tower-shaped telescopic branch is a rotation pair connected with the two closed-loop connection rods; the rotating shaft of the rotating pair is connected with one end of the vibration isolator through a universal hinge; the other end of the vibration isolator is fixedly connected with the movable platform; the lower end of the power-assisted spring is fixedly connected to the base, and the upper end of the power-assisted spring is a free end. The six-degree-of-freedom parallel posture adjustment and vibration isolation platform occupies a small volume and is high in rigidity and high in bearing capacity and large in working space.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly a kind of posture adjustment vibration-isolating platform in parallel.
Background technology
Vehicle in the process of moving by the impact of road roughness, can produce vehicle body vertical, to roll and the compound of the various dimensions such as pitching is jolted.If vehicle carried article is directly connected with rigidity of vehicle body, the multi-dimensional vibration that vehicle travels generation under road conditions poor condition and can need the mobile unit of posture adjustment to cause serious impact on the transport of frangible, precise article.In addition, when naval vessel rides the sea, owing to being subject to weather and wave impact, the motion of six degree of freedom can be caused: rolling, pitching, yawing, swaying, surging, hang down swing, simultaneously because the impact of wave or self diesel engine can produce vibration, these unnecessary motions and vibration can bring to many-sides such as device security work on naval vessel, arm discharge precision, helicopter landing safety and crewman's Working Lifes and have a strong impact on.
For these problems above-mentioned, propose a kind of platform possessing posture adjustment vibration isolation function and seem particularly necessary.In recent years, Chinese scholars started stabilized platform and multidimensional vibration-isolating platform and studied widely.Chinese patent 201210154506.9 proposes a kind of 6PSS parallel movement simulative platform, by moving platform, pedestal and connect moving platform and the identical PSS of six between the pedestal branch that moves and form, this invention take volume little, can heavy duty be born, but there is no multidimensional vibration isolation function, and its working space is less.Chinese patent 201510324022.8 proposes a kind of 3PRS+6SPS posture adjustment vibration isolation in parallel compound platform, be made up of with the elasticity side chain that identical main side chain is identical with six of three between frame moving platform, frame and connection moving platform, this invention has adjustment workbench attitude and multidimensional separating vibration two kinds of functions concurrently, but it is Three Degree Of Freedom and working space is little.Chinese patent 201420687868.9 proposes a kind of Three Degree Of Freedom mobile hoistable platform, the movement in three directions is realized by front and back sliding platform, left and right sliding platform and scissors fork elevating mechanism, this invention has larger bearing capacity, but it does not possess rotational freedom and does not have multidimensional vibration isolation function.
Summary of the invention
The object of the present invention is to provide a kind of working space large, take volume little, bearing capacity is strong, has a kind of six-freedom parallel posture adjustment vibration-isolating platform containing tower shape telescopic branch compared with large rigidity simultaneously.
Technical scheme of the present invention is as follows:
The present invention mainly comprises pedestal, three mount pads, straight spur unit that six structures are identical, the tower shape telescopic branch that three structures are identical, three vibration isolators, power assistant spring and moving platforms; Described three mount pads are arranged on pedestal, and each mount pad is connected two straight spur unit; Described tower shape telescopic branch is made up of two closed-loop link and plane scissors mechanism, two column foots of this tower shape telescopic branch plane scissors mechanism lower end are connected respectively by the slide block of the ball pivot straight spur unit adjacent with two, the upper end of this tower shape telescopic branch is the revolute pair of connection two closed-loop link, the rotating shaft of this revolute pair is connected with one end of vibration isolator by universal hinge, and the other end and the moving platform of this vibration isolator are connected; Described power assistant spring lower end is connected on pedestal, and its upper end is free end.
Scissor connecting rod is divided into short two parts in lower length by the scissor rotating shaft of described tower shape telescopic branch midplane scissors mechanism, one end of two closed-loop link is connected respectively by the short end of revolute pair with scissor connecting rod, its other end is linked together by revolute pair, two scissor connecting rod upper part and two closed-loop link form rhombus, above-mentioned revolute pair axis and scissor shaft parallel.Scissor linkage short in this lower length ensure that branch's Input Forces when power output is very large is less, thus alleviates driving load, and integrated carrying ability is increased, and rigidity improves.Tower shape telescopic branch is that dual input list exports simultaneously, is different from the scissors mechanism that the single-input single-output slided in one end is fixed in traditional bipod one end.Dual input list export tower shape telescopic mechanism due to branch's short stroke long, have good application prospect at the parallel institution of limited space.
Described six straight spur unit have four kinds of different modes:
The first arrangement: described mount pad cross section is rectangle, two straight spur unit be connected with same tower shape telescopic branch are arranged on same mount pad, and the centerline collineation of two straight spur unit; Six straight spur unit center lines form equilateral triangle in same plane.
The second arrangement: described mount pad cross section is isosceles triangle, two straight spur unit be connected with same tower shape telescopic branch are connected on two inclined-planes of same mount pad, and the center line of two straight spur unit is in same plane.
The third arrangement: described mount pad cross section is right angled triangle, one right-angle side place facade is positioned at inner side, another bottom surface, right-angle side place and pedestal are connected, inclined-plane, hypotenuse place is positioned at outside, and two straight spur unit be connected with same tower shape telescopic branch are connected on the inclined-plane of adjacent two mount pads respectively.
4th kind of arrangement: described mount pad cross section is right angled triangle, one right-angle side place facade is positioned at inner side, another bottom surface, right-angle side place and pedestal are connected, inclined-plane, hypotenuse place is positioned at outside, and two straight spur unit be connected with same tower shape telescopic branch are connected on the inclined-plane of same mount pad.
The present invention's tool compared with existing correlation technique has the following advantages:
1, tower shape telescopic branch can make moving platform drop to very low position when not working, and decreases entirety and takies volume, and this mechanism has very large posture adjustment space simultaneously, compensate for the problem of existing parallel institution working space deficiency.
2, tower shape telescopic branch ensure that branch's Input Forces when power output is very large is less, so not only alleviates the load of driving, and adds the integral rigidity of mechanism, improve bearing capacity.
3, by the vibration isolation effect of vibration isolator, the vibration of passing to moving platform from pedestal can be reduced, make moving platform from the interference of vibration.
4, when moving platform is in low level, power assistant spring free end contacts with moving platform and produces elastic force, counteracts the deadweight of moving platform part, thus makes platform only need less driving force just can start in moment of starting working, during work, moving platform and power assistant spring depart from, not by power-assisted spring constraint.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 1.
Fig. 2 is the simplified schematic diagram that the embodiment of the present invention 1 moving platform drops to lowest order.
Fig. 3 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 2.
Fig. 4 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 3.
Fig. 5 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 4.
In figure: 1, pedestal; 2, mount pad; 3, straight spur unit; 4, slide block; 5, ball pivot; 6, tower shape telescopic branch; 7, universal hinge; 8, vibration isolator; 9, moving platform; 10, power assistant spring.
Detailed description of the invention
Embodiment 1:
Shown in Fig. 1 containing tower shape telescopic branch six-freedom parallel posture adjustment vibration-isolating platform schematic diagram in, three cross sections are that the mount pad 2 of rectangle is evenly arranged on pedestal 1, each mount pad is connected two straight spur unit 3, and the centerline collineation of two straight spur unit, six straight spur unit center lines form equilateral triangle in same plane, article three, the tower shape telescopic branch 6 that structure is identical is made up of two closed-loop link and plane scissors mechanism, scissor connecting rod is divided into short two parts in lower length by the scissor rotating shaft of plane scissors mechanism, one end of two closed-loop link is connected respectively by the short end of revolute pair with scissor connecting rod, its other end is linked together by revolute pair, two scissor connecting rod upper part and two closed-loop link form rhombus, above-mentioned revolute pair axis and scissor shaft parallel, two column foots of this tower shape telescopic branch plane scissors mechanism lower end are connected respectively by the slide block 4 of ball pivot 5 with the straight spur unit of two on same mount pad, the upper end of this tower shape telescopic branch is the revolute pair of connection two closed-loop link, the rotating shaft of this revolute pair is connected with one end of vibration isolator 8 by universal hinge 7, the other end and the moving platform 9 of this vibration isolator are connected, power assistant spring 10 lower end is connected on pedestal, and its upper end is free end.
As shown in Figure 2, moving platform can drop to very low position when not working, and now power assistant spring is compressed.
Embodiment 2:
As shown in Figure 3, mount pad 2 cross section is isosceles triangle, two straight spur unit 3 be connected with same tower shape telescopic branch 6 are connected on two inclined-planes of same mount pad, and the center line of two straight spur unit is in same plane, and other component is identical with embodiment 1 with connected mode.
Embodiment 3:
As shown in Figure 4, mount pad 2 cross section is right angled triangle, one right-angle side place facade is positioned at inner side, another bottom surface, right-angle side place and pedestal 1 are connected, inclined-plane, hypotenuse place is positioned at outside, two straight spur unit 3 be connected with same tower shape telescopic branch 6 are connected on the inclined-plane of adjacent two mount pads respectively, and other component is identical with embodiment 1 with connected mode.
Embodiment 4:
As shown in Figure 5, mount pad 2 cross section is right angled triangle, one right-angle side place facade is positioned at inner side, another bottom surface, right-angle side place and pedestal 1 are connected, inclined-plane, hypotenuse place is positioned at outside, two straight spur unit 3 be connected with same tower shape telescopic branch 6 are connected on the inclined-plane of same mount pad, and other component is identical with embodiment 1 with connected mode.
Claims (6)
1. the six-freedom parallel posture adjustment vibration-isolating platform containing tower shape telescopic branch, it mainly comprises the identical straight spur unit of pedestal, six structures and moving platform, it is characterized in that: it also comprises three mount pads, the tower shape telescopic branch that three structures are identical, three vibration isolators, power assistant spring; Described three mount pads are arranged on pedestal, and each mount pad is connected two straight spur unit; Described tower shape telescopic branch is made up of two closed-loop link and plane scissors mechanism, two column foots of this tower shape telescopic branch plane scissors mechanism lower end are connected respectively by the slide block of the ball pivot straight spur unit adjacent with two, the upper end of this tower shape telescopic branch is the revolute pair of connection two closed-loop link, the rotating shaft of this revolute pair is connected with one end of vibration isolator by universal hinge, and the other end and the moving platform of this vibration isolator are connected; Described power assistant spring lower end is connected on pedestal, and its upper end is free end.
2. a kind of six-freedom parallel posture adjustment vibration-isolating platform containing tower shape telescopic branch according to claim 1, it is characterized in that: scissor connecting rod is divided into short two parts in lower length by the scissor rotating shaft of described tower shape telescopic branch midplane scissors mechanism, one end of described two closed-loop link is connected respectively by the short end of revolute pair with scissor connecting rod, its other end is linked together by revolute pair, two scissor connecting rod upper part and two closed-loop link form rhombus, above-mentioned revolute pair axis and scissor shaft parallel.
3. a kind of six-freedom parallel posture adjustment vibration-isolating platform containing tower shape telescopic branch according to claim 1, it is characterized in that: described mount pad cross section is rectangle, two straight spur unit be connected with same tower shape telescopic branch are arranged on same mount pad, and the centerline collineation of two straight spur unit; Six straight spur unit center lines form equilateral triangle in same plane.
4. a kind of six-freedom parallel posture adjustment vibration-isolating platform containing tower shape telescopic branch according to claim 1, it is characterized in that: described mount pad cross section is isosceles triangle, two straight spur unit be connected with same tower shape telescopic branch are connected on two inclined-planes of same mount pad, and the center line of two straight spur unit is in same plane.
5. a kind of six-freedom parallel posture adjustment vibration-isolating platform containing tower shape telescopic branch according to claim 1, it is characterized in that: described mount pad cross section is right angled triangle, one right-angle side place facade is positioned at inner side, another bottom surface, right-angle side place and pedestal are connected, inclined-plane, hypotenuse place is positioned at outside, and two straight spur unit be connected with same tower shape telescopic branch are connected on the inclined-plane of adjacent two mount pads respectively.
6. a kind of six-freedom parallel posture adjustment vibration-isolating platform containing tower shape telescopic branch according to claim 1, it is characterized in that: described mount pad cross section is right angled triangle, one right-angle side place facade is positioned at inner side, another bottom surface, right-angle side place and pedestal are connected, inclined-plane, hypotenuse place is positioned at outside, and two straight spur unit be connected with same tower shape telescopic branch are connected on the inclined-plane of same mount pad.
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| CN201610060702.8A CN105500348A (en) | 2016-01-28 | 2016-01-28 | Six-degree-of-freedom parallel posture adjustment and vibration isolation platform containing tower-shaped telescopic branches |
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| CN105702117A (en) * | 2016-04-29 | 2016-06-22 | 燕山大学 | Six-axis-driven three-degree-of-freedom static load balancing large parallel movement simulation platform |
| CN105965458A (en) * | 2016-07-04 | 2016-09-28 | 黄莉 | Product appearance detection workbench equipment |
| CN106002884A (en) * | 2016-07-04 | 2016-10-12 | 黄莉 | Angle-adjustable worktable device for product detection |
| CN106078629A (en) * | 2016-07-04 | 2016-11-09 | 黄莉 | A kind of detection table device of adjustable angle |
| CN106112932A (en) * | 2016-07-04 | 2016-11-16 | 黄莉 | A kind of table device with instruction function |
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| CN111992880A (en) * | 2020-09-29 | 2020-11-27 | 华中科技大学 | Flexible device for laser welding of curved track |
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| CN111872916B (en) * | 2020-07-22 | 2021-12-21 | 燕山大学 | Posture-adjustable three-degree-of-freedom parallel rescue robot |
| CN111992880A (en) * | 2020-09-29 | 2020-11-27 | 华中科技大学 | Flexible device for laser welding of curved track |
| CN111992880B (en) * | 2020-09-29 | 2021-07-27 | 华中科技大学 | Flexible device for laser welding of curved track |
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Inventor after: Zhao Tieshi Inventor after: Guo Chaohui Inventor after: Zhao Xinqi Inventor after: Song Xiaoxin Inventor after: Yang Yong Inventor after: Zhao Jialiang Inventor before: Zhao Tieshi Inventor before: Song Xiaoxin Inventor before: Yang Yong Inventor before: Zhao Jialiang |
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Application publication date: 20160420 |