CN105563467A - Four-degree-of-freedom posture leveling mechanism - Google Patents
Four-degree-of-freedom posture leveling mechanism Download PDFInfo
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- CN105563467A CN105563467A CN201610072188.XA CN201610072188A CN105563467A CN 105563467 A CN105563467 A CN 105563467A CN 201610072188 A CN201610072188 A CN 201610072188A CN 105563467 A CN105563467 A CN 105563467A
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Apparatuses For Generation Of Mechanical Vibrations (AREA)
Abstract
The invention relates to a four-degree-of-freedom posture leveling mechanism which comprises a movable platform, a fixed platform and four branch chains. The first branch chain comprises a ball pair, a first connecting rod, a first hook pair, a first driving block, a first moving pair and a first square column which are sequentially connected. Or the first branch chain comprises the ball pair, the first connecting rod, a first revolute pair, the first driving block, a cylinder pair and a cylinder which are sequentially connected. The second branch chain comprises a second hook pair, a second connecting rod, a second revolute pair, a second driving block, a second moving pair and a second square column which are sequentially connected. The first branch chain and the third branch chain are of the same structure and are arranged at opposite corners. The second branch chain and the fourth branch chain are of the same structure and are arranged at opposite corners. The four-degree-of-freedom posture leveling mechanism has the beneficial effects that the structure is simple, motion is simple comparatively, and control is concise comparatively; a novel machine type is provided for parallel motion equipment such as small-degree-of-freedom multi-dimensional vibration absorption, flight simulation, grabbing mechanisms, and the development and functionization of the parallel motion equipment are made possible.
Description
Technical field
The invention belongs to parallel robot technical field, relate to a kind of four-degree-of-freedom attitude levelling gear.
Background technology
Along with the development of society, the process of trade globalization, energy-saving and emission-reduction in the urgent need to, sea transport industry is more next flourishing with its distinctive economize energy.But crewman's is seasick, inefficiency.The protection of precision instrument is also in the raising of supervising steamer vibration insulating system.Along with the development of the market demand, traditional vibration insulating system is widely used, but its exist effectiveness in vibration suppression more and more can not meet crewman's life and work needs; At this, a kind of parallel institution that can be applicable to steamer vibration insulating system is proposed.
Parallel institution is made up of the some side chains between moving platform, silent flatform and two platforms usually, has the advantage that rigidity is large, speed is fast, precision is high, is used widely in fields such as industrial robot, motion simulator, parallel machines.In recent years, parallel institution is applied to the extensive concern that posture adjustment vibration insulating system is subject to Chinese scholars, and has started relevant application study.Parallel institution is applied to vibration damping, can realize multidimensional, the motion of high-precision control moving platform, to keep its stable pose.
Summary of the invention
The technical problem to be solved in the present invention is: based on the problems referred to above, the invention provides a kind of four-degree-of-freedom attitude levelling gear.
The present invention solves the technical scheme that its technical problem adopts: a kind of four-degree-of-freedom attitude levelling gear, comprises a quadrangle moving platform, four side chains of a quadrangle fixed platform and connection moving platform and fixed platform corresponding angles, it is secondary that the first side chain comprises the ball connected successively, first connecting rod, first Hooke is secondary, first drive block, first moving sets and the first square column, or the first side chain comprises the ball pair connected successively, first connecting rod, first revolute pair, first drive block, cylindrical pair and cylinder, it is secondary that the second side chain comprises the second Hooke connected successively, second connecting rod, second revolute pair, second drive block, second moving sets and the second square column, the first square column, cylinder and the second square column are separately fixed on the angle of fixed platform upper surface, ball is secondary to be connected with an angle of moving platform respectively with the second Hooke pair, first side chain and diagonal angle identical with the 3rd branched structure is arranged, second side chain and diagonal angle identical with the 4th branched structure is arranged, the length of side of fixed platform and the length of side of moving platform not etc., the first side chain, second side chain, 3rd side chain and the 4th side chain respectively with moving platform, fixed platform is connected to form a Spatial Parallel close loop mechanism, drives moving platform motion, realize two translational degree of freedom and two rotational freedoms by four input motions.
Further, fixed platform and moving platform are all in square, and the length of side of fixed platform is greater than the length of side of moving platform.
Further, the second revolute pair of the second side chain, the 4th side chain is connected to the inner side of the second square column.
Further, the first revolute pair of the first side chain, the 3rd side chain is connected to the inner side of cylinder.
Further, the first moving sets, cylindrical pair and the second moving sets are active drive.
The invention has the beneficial effects as follows: drive moving platform motion, the bidimensional translational motion in implementation space and bidimensional rotary motion by the moving movement pair of four active drive; This mechanism has the advantages that structure is simple and clear, kinematics is relatively simple, control is relatively succinct; For the parallel kinematic equipments such as multidimensional vibration reduction, flight simulator, lower-mobility grasping mechanism structure provide new architecture, for its exploitation provides possibility with practical.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further described.
Fig. 1 is the structural representation of the embodiment of the present invention 1;
Fig. 2 is the structural representation of the embodiment of the present invention 2.
Wherein: 1. the first side chain, 2. the second side chain, 3. the 3rd side chain, 4. the 4th side chain, 5. moving platform, 6. fixed platform, 11. balls are secondary, 12. first connecting rods, 13. first Hookes are secondary, 14. first drive blocks, 15. first moving sets, 16. first square columns, 17. first revolute pairs, 18. cylindrical pairs, 19. cylinders, 21. second Hookes are secondary, 22. second connecting rods, 23. second revolute pairs, 24. second drive blocks, 25. second moving sets, 26. second square columns.
Detailed description of the invention
The invention will be further described in conjunction with specific embodiments now, and following examples are intended to the present invention instead of limitation of the invention further are described.
Embodiment 1
As a kind of four-degree-of-freedom attitude levelling gear that Fig. 1 shows, comprise a quadrangle moving platform 5, four side chains of a quadrangle fixed platform 6 and connection moving platform 5 and fixed platform 6 corresponding angles, first side chain 1 comprises the ball pair 11 connected successively, first connecting rod 12, first Hooke pair 13, first drive block 14, first moving sets 15 and the first square column 16, second side chain 2 comprises the second Hooke pair 21 connected successively, second connecting rod 22, second revolute pair 23, second drive block 24, second moving sets 25 and the second square column 26, first square column 16, cylinder 19 and the second square column 25 are separately fixed on the angle of fixed platform 6 upper surface, ball secondary 11 is connected with an angle of moving platform 5 respectively with the second Hooke pair 21, first side chain 1 and diagonal angle identical with the 3rd side chain 3 structure is arranged, second side chain 2 and diagonal angle identical with the 4th side chain 4 structure is arranged.
When parallel institution be applied to steamer need to realize vibration-damping function time, four moving sets in mechanism are active drive, and employing hydraulic cylinder is type of drive, need the operating room of vibration damping to be arranged on moving platform.For the first side chain, when institution staff, Driven by Hydraulic Cylinder moving sets realizes drive block and moves up and down.
When wave is come from hull front-back, the rotation of the movement of steamer Z axis and X-axis can be caused (to set the line of the second square column of the second side chain and the 4th side chain as X-axis, the line of the first square column of the first side chain and the 3rd side chain is Y-axis, X-direction is before and after hull), at this moment four hydraulic cylinders drive moving sets to move up and down simultaneously, mechanism realizes the movement of Z-direction this moment, achieves the mobile vibration damping of Z-direction; Adjust the second side chain different with the 4th side chain moving sets speed simultaneously, moving platform can be realized and rotate in the X-axis direction, achieve the rotation vibration damping of X-direction.
When wave is come from the hull left and right sides, can cause the movement of steamer Z axis and the rotation of Y-axis, at this moment four hydraulic cylinders drive moving sets to move up and down simultaneously, and mechanism realizes the movement of Z-direction this moment, achieve the mobile vibration damping of Z-direction; Adjust the first side chain different with the 3rd side chain moving sets speed simultaneously, moving platform can be realized and rotate in the Y-axis direction, achieve the rotation vibration damping of Y direction.
When hull needs acceleration-deceleration, adjust the moving sets position of the second side chain and the 4th side chain, speed is to reach the mobile vibration damping of X-axis.
Embodiment 2
As a kind of four-degree-of-freedom attitude levelling gear that Fig. 2 shows, comprise a quadrangle moving platform 5, four side chains of a quadrangle fixed platform 6 and connection moving platform 5 and fixed platform 6 corresponding angles, first side chain 1 comprises the ball pair 11 connected successively, first connecting rod 12, first revolute pair 17, first drive block 14, cylindrical pair 18 and cylinder 19, second side chain 2 comprises the second Hooke pair 21 connected successively, second connecting rod 22, second revolute pair 23, second drive block 24, second moving sets 25 and the second square column 26, first square column 16, cylinder 19 and the second square column 25 are separately fixed on the angle of fixed platform 6 upper surface, ball secondary 11 is connected with an angle of moving platform 5 respectively with the second Hooke pair 21, first side chain 1 and diagonal angle identical with the 3rd side chain 3 structure is arranged, second side chain 2 and diagonal angle identical with the 4th side chain 4 structure is arranged.First moving sets 15, first Hooke's hinge 13 of the first side chain, the 3rd side chain is replaced with cylindrical pair 18 and the first revolute pair 17 respectively, principle is by the first Hooke's hinge 13 comprise double rotation freedom degrees and extract one and be merged on the first moving sets 15 of the first drive block 14.
Parallel institution is when realizing flight simulation, and moving platform lays cabin.
When simulated aircraft takes off, the moving sets of the second side chain upwards drives slightly at a high speed, and the lower slightly speed of moving sets of the 4th side chain upwards drives, and now mechanism's moving platform realizes the rotation of X-axis and the adjoint mobile of Y-axis.People is allowed to realize the upwards overweight sensation of acceleration (set the line of the cylinder of the first side chain and the 3rd side chain as X-axis, the line of the second square column of the second side chain and the 4th side chain is Y-axis) forward.
When simulated aircraft smooth flight is turned, the cylindrical pair of the first side chain and the 3rd side chain drives vertically on the contrary, realizes the rotation of X-axis, allows people realize the overweight impression of angular acceleration simultaneously.
Only need when simulated aircraft lands according to the contrary program of simulated take-off.
The working space of this parallel institution reduces, and precision improves, and can be applicable to multidimensional vibration reduction device, the moving sets in mechanism and cylindrical pair can be magnetic current rheostat.In the application of flight simulation mechanism, two translations of mechanism are respectively front and back and upper and lower translation, and can be modeled as the front and back of aircraft and upper and lower acceleration, two rotations of mechanism can simulate aircraft turn.Four free degree actings in conjunction can reach sensation on the spot in person.
With above-mentioned according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on description, must determine its technical scope according to right.
Claims (5)
1. a four-degree-of-freedom attitude levelling gear, is characterized in that: comprise a quadrangle moving platform, four side chains of a quadrangle fixed platform and connection moving platform and fixed platform corresponding angles, it is secondary that the first side chain comprises the ball connected successively, first connecting rod, first Hooke is secondary, first drive block, first moving sets and the first square column, or the first side chain comprises the ball pair connected successively, first connecting rod, first revolute pair, first drive block, cylindrical pair and cylinder, it is secondary that the second side chain comprises the second Hooke connected successively, second connecting rod, second revolute pair, second drive block, second moving sets and the second square column, the first square column, cylinder and the second square column are separately fixed on the angle of fixed platform upper surface, ball is secondary to be connected with an angle of moving platform respectively with the second Hooke pair, first side chain and diagonal angle identical with the 3rd branched structure is arranged, second side chain and diagonal angle identical with the 4th branched structure is arranged, the length of side of fixed platform and the length of side of moving platform not etc., the first side chain, second side chain, 3rd side chain and the 4th side chain respectively with moving platform, fixed platform is connected to form a Spatial Parallel close loop mechanism, drives moving platform motion, realize two translational degree of freedom and two rotational freedoms by four input motions.
2. a kind of four-degree-of-freedom attitude levelling gear according to claim 1, is characterized in that: described fixed platform and moving platform are all in square, and the length of side of fixed platform is greater than the length of side of moving platform.
3. a kind of four-degree-of-freedom attitude levelling gear according to claim 1, is characterized in that: the second revolute pair of the second described side chain, the 4th side chain is connected to the inner side of the second square column.
4. a kind of four-degree-of-freedom attitude levelling gear according to claim 1, is characterized in that: the first revolute pair of the first described side chain, the 3rd side chain is connected to the inner side of cylinder.
5. a kind of four-degree-of-freedom attitude levelling gear according to claim 1, is characterized in that: the first described moving sets, cylindrical pair and the second moving sets are active drive.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610072188.XA CN105563467A (en) | 2016-02-02 | 2016-02-02 | Four-degree-of-freedom posture leveling mechanism |
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| CN201610072188.XA CN105563467A (en) | 2016-02-02 | 2016-02-02 | Four-degree-of-freedom posture leveling mechanism |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105834620A (en) * | 2016-05-23 | 2016-08-10 | 丁士林 | Intelligent welding robot based on series-parallel structure |
| CN105834621A (en) * | 2016-05-23 | 2016-08-10 | 丁士林 | Welding manipulator of welding robot based on symmetric redundant parallel mechanism |
| CN105904441A (en) * | 2016-06-07 | 2016-08-31 | 浙江理工大学 | Two-movement two-rotation four-degree-of-freedom full-symmetrical parallel mechanism |
| CN106002922A (en) * | 2016-07-14 | 2016-10-12 | 安庆里外里工业产品设计有限公司 | Moving wheel for intelligent transfer robot at construction site |
| CN106742043A (en) * | 2017-01-19 | 2017-05-31 | 陕西理工学院 | A kind of undercarriage installs car |
| CN106863282A (en) * | 2017-04-18 | 2017-06-20 | 常州大学 | A kind of big corner intelligent solar tracking device |
| CN108815741A (en) * | 2016-06-28 | 2018-11-16 | 殷红平 | A kind of Novel Communication wire and cable unmanned plane and fire-extinguishing |
| CN108972509A (en) * | 2018-08-07 | 2018-12-11 | 浙江理工大学 | A kind of 3-freedom parallel mechanism with multiple operation modes |
| CN110142741A (en) * | 2019-05-17 | 2019-08-20 | 燕山大学 | Mixed connection frame-type moves shelter |
| CN111843724A (en) * | 2020-07-28 | 2020-10-30 | 郁海荣 | Floating table-board type full-automatic automobile luggage rack rapid polishing bed |
| CN112222795A (en) * | 2020-09-21 | 2021-01-15 | 上海航天设备制造总厂有限公司 | Rocket barrel section automatic assembly system based on plane 3-PRR parallel configuration |
| CN112454337A (en) * | 2020-12-07 | 2021-03-09 | 中国民航大学 | Four-degree-of-freedom parallel mechanism with large-angle twisting platform and composite branched chain |
| CN112555325A (en) * | 2020-10-28 | 2021-03-26 | 中国船舶重工集团公司第七0九研究所 | Multidirectional damping controllable magneto-rheological shock absorber |
| WO2022088508A1 (en) * | 2020-10-26 | 2022-05-05 | 浙江理工大学 | Constrained redundant parallel mechanism with four degrees of freedom including two rotational and two translational degrees of freedom |
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Cited By (19)
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| CN105834621A (en) * | 2016-05-23 | 2016-08-10 | 丁士林 | Welding manipulator of welding robot based on symmetric redundant parallel mechanism |
| CN105834620A (en) * | 2016-05-23 | 2016-08-10 | 丁士林 | Intelligent welding robot based on series-parallel structure |
| CN105834621B (en) * | 2016-05-23 | 2017-11-24 | 嵊州北航投星空众创科技有限公司 | A kind of welding robot welding manipulator based on symmetrical redundancy parallel mechanism |
| CN105904441A (en) * | 2016-06-07 | 2016-08-31 | 浙江理工大学 | Two-movement two-rotation four-degree-of-freedom full-symmetrical parallel mechanism |
| CN105904441B (en) * | 2016-06-07 | 2017-11-17 | 浙江理工大学 | The movement of one kind two two rotates four-degree-of-freedom holohedral symmetry parallel institution |
| CN108815741A (en) * | 2016-06-28 | 2018-11-16 | 殷红平 | A kind of Novel Communication wire and cable unmanned plane and fire-extinguishing |
| CN106002922B (en) * | 2016-07-14 | 2018-08-14 | 安徽艾塔智能科技有限公司 | A kind of building site carrying intelligent robot movable pulley |
| CN106002922A (en) * | 2016-07-14 | 2016-10-12 | 安庆里外里工业产品设计有限公司 | Moving wheel for intelligent transfer robot at construction site |
| CN106742043A (en) * | 2017-01-19 | 2017-05-31 | 陕西理工学院 | A kind of undercarriage installs car |
| CN106863282A (en) * | 2017-04-18 | 2017-06-20 | 常州大学 | A kind of big corner intelligent solar tracking device |
| CN108972509A (en) * | 2018-08-07 | 2018-12-11 | 浙江理工大学 | A kind of 3-freedom parallel mechanism with multiple operation modes |
| CN108972509B (en) * | 2018-08-07 | 2024-03-29 | 浙江理工大学 | Three-degree-of-freedom parallel mechanism with multiple operation modes |
| CN110142741A (en) * | 2019-05-17 | 2019-08-20 | 燕山大学 | Mixed connection frame-type moves shelter |
| CN111843724A (en) * | 2020-07-28 | 2020-10-30 | 郁海荣 | Floating table-board type full-automatic automobile luggage rack rapid polishing bed |
| CN112222795A (en) * | 2020-09-21 | 2021-01-15 | 上海航天设备制造总厂有限公司 | Rocket barrel section automatic assembly system based on plane 3-PRR parallel configuration |
| WO2022088508A1 (en) * | 2020-10-26 | 2022-05-05 | 浙江理工大学 | Constrained redundant parallel mechanism with four degrees of freedom including two rotational and two translational degrees of freedom |
| CN112555325A (en) * | 2020-10-28 | 2021-03-26 | 中国船舶重工集团公司第七0九研究所 | Multidirectional damping controllable magneto-rheological shock absorber |
| CN112454337A (en) * | 2020-12-07 | 2021-03-09 | 中国民航大学 | Four-degree-of-freedom parallel mechanism with large-angle twisting platform and composite branched chain |
| CN112454337B (en) * | 2020-12-07 | 2022-08-05 | 中国民航大学 | Four-degree-of-freedom parallel mechanism with large-angle twisting platform and composite branched chain |
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