CN106426107B - A kind of tensioning integral vibration isolation mechanism - Google Patents
A kind of tensioning integral vibration isolation mechanism Download PDFInfo
- Publication number
- CN106426107B CN106426107B CN201611002397.3A CN201611002397A CN106426107B CN 106426107 B CN106426107 B CN 106426107B CN 201611002397 A CN201611002397 A CN 201611002397A CN 106426107 B CN106426107 B CN 106426107B
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- China
- Prior art keywords
- workbench
- spring
- fixed platform
- vibration isolation
- fixed
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- 238000002955 isolation Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 title claims abstract description 16
- 239000007787 solid Substances 0.000 claims 1
- 238000013016 damping Methods 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000003351 stiffener Substances 0.000 abstract 1
- 238000000034 method Methods 0.000 description 3
- 239000006096 absorbing agent Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011176 pooling Methods 0.000 description 2
- 241000628997 Flos Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002929 anti-fatigue Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Classifications
-
- 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
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The present invention relates to a kind of tensioning integral vibration isolation mechanisms, including the flexible branch of workbench, fixed platform, four hard and soft mixing branches being connected between workbench and fixed platform and four；Hard and soft mixing branch is made of stiffener hydraulic unit driver and flexible original part spring, and wherein the upper part of hydraulic unit driver piston rod is connected in series to workbench with spring；Flexible branch is made of the rope that the spring series connection for being located at top half is located at lower half portion.The beneficial effects of the present invention are: the vibration isolator that the whole vibration isolating mechanism in parallel of tensioning is more traditional, not only may be implemented the vibration damping in any six orientation in space, but also have many advantages, such as that low quality, foldable, moving link inertia force is low, applied widely.
Description
Technical field
The present invention relates to vibration damping fields, are applied to precision instrument platform every vibration damping or various micro- vibrations more particularly to one kind
It moves every vibration damping environment every vibration absorber.
Background technique
In recent years, with the rapid development of science and technology and the continuous improvement of up-to-dateness, in aerospace, precision
The fields such as instrument and meter, science and techniques of defence, for vibration and noise reducing, safety and comfort, antifatigue damage, improves service life and information is quasi-
True property etc. requires higher and higher.The anisotropy of general vibration absorber can only meet the requirement of precision instrument one direction vibration damping, such as
Vibration isolation silk floss, vibration isolation foam, vibration isolation air cushion or isolation spring etc. is added.This mode reduces under the effect of extraneous random vibration
The precision of precision instrument, What is more will lead to the damage of instrument.
In order to solve the problems, such as multidimensional vibration reduction, in recent years, the multi-degree-of-freedom vibration isolation device based on parallel institution becomes state
The hot spot of inside and outside research, and achieve certain effectiveness in vibration suppression.But vibration-isolating platform strut in parallel is mostly rigid member, quality compared with
Greatly.It is easy to produce biggish inertia force in high speed, heavy duty, big working space motion process, is also easy to produce this kind of device secondary
High-frequency vibration or resonance reduce the anti-vibration performance of isolation mounting in parallel.Therefore, it is slim and graceful, free to propose quality for this patent
Degree is big, adaptive ability is strong, moving link inertia force is low, vibration isolation effect apparent tensioning integral vibration isolation mechanism.By driving simultaneously
Hydrodynamic pressure driver and flexible branch, workbench can get the steady operation posture of any position, to meet multidimensional every vibration damping.
Summary of the invention
The purpose of the present invention is be easy to produce larger inertia force during vibration damping for existing damper mechanism in parallel and be total to
Vibration problem proposes a kind of tensioning integral vibration isolation mechanism.
For achieving the above object, the technical scheme adopted by the invention is as follows: a kind of tensioning integral vibration isolation mechanism, including work
Make platform and fixed platform, four hard and soft mixing branches and four are evenly arranged between the workbench and the fixed platform
Item flexibility branch.
In above scheme, the hard and soft mixing branch includes hydraulic unit driver and little spring, and the hydraulic unit driver includes
The lower end of piston rod and cylinder body, piston rod and little spring welds together, and the upper end of the little spring and workbench pass through ball
Hinge one is fixed, and piston rod and fixed platform are fixed by flexural pivot two.
In above scheme, it is described flexibility branch be composed in series by big spring and non-telescoping rope, the upper end of spring with
Workbench is fixed by flexural pivot one, the lower end of rope and is fixed on cylinder body.
In above scheme, the workbench and fixed platform are all squares, and the area of the workbench is slightly less than
The area of the fixed platform.
In above scheme, the little spring on four hard and soft mixing branches is identical, the big spring on four flexible branches
It is identical.
In above scheme, the big spring in four flexible branches is at tension.
In above scheme, the workbench is located at right above the fixed platform, and position is opposite flat along the fixation
Platform rotates horizontally 45 °.
The beneficial effects of the present invention are: (1) tensioning integral vibration isolation mechanism can realize multidimensional pooling feature, workbench is reduced
It is hit；(2) compact-sized, it can be realized foldable, be applicable in the occasion of frequency of impact wider range.
Detailed description of the invention
The following further describes the present invention with reference to the drawings.
Fig. 1 is structural schematic diagram of the invention.
Wherein: 1. workbenches, 2. flexural pivots one, 3. little springs, 4. pads, 5. piston rods, 6. cylinder bodies, 8.
Fixed platform, 9. flexural pivots two, 10. ropes, 12. big springs.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
A kind of tensioning integral vibration isolation mechanism as shown in Figure 1, including workbench 1, fixed platform 8, be located at two platforms it
Between four hard and soft mixing branches and four flexible branches.
Hard and soft mixing branch is hydraulically operated device and little spring 3 is composed in series, 5 upper end of piston rod of hydraulic unit driver with it is small
The lower end of spring 3 is by being welded together.The upper part of spring 3 is fixedly connected with workbench 1 by flexural pivot 1.
The lower end of the cylinder body 6 of hydraulic unit driver is fixedly connected with fixed platform 8 by flexural pivot 29.Bullet in four hard and soft mixing branches
Spring rigidity is identical and is respectively distributed on four angles of square, and when workbench 1 is by extraneous load, spring can be played centainly
Buffer function, workbench can be made to be quickly returning to stable state under the pulling force of flexible branch.Workbench can buffer more
Shock loading is tieed up, realizes multidimensional pooling feature.
Flexible branch is made of big spring 12 and non-telescoping rope 10, and the upper end of big spring 12 and workbench 1 are logical
It is fixed to cross flexural pivot 1.The lower end of rope 10 is fixed on cylinder body 6.Big spring equal stiffness in four flexible branches and always
In tension, primary stress is provided for entire mechanism.
Workbench 1 and fixed platform 8 are all squares, but two areas are not congruent.In big spring 12
Under initial tensile force, workbench 1 occurs 45 compared with fixed platform 8Deflection.
Claims (5)
1. a kind of tensioning integral vibration isolation mechanism, which is characterized in that including workbench (1) and fixed platform (8), the work is flat
Four hard and soft mixing branches and four flexible branches are evenly arranged between platform (1) and the fixed platform (8)；It is described hard and soft mixed
It closes branch and flexible branch is arranged at an angle, and do not intersect, the hard and soft mixing branch includes hydraulic unit driver and small
Spring (3), the hydraulic unit driver include piston rod (5) and cylinder body (6), and piston rod (5) and the lower end of little spring (3) are welded on
Together, the upper end Yu workbench (1) of the little spring (3) are fixed by flexural pivot one (2), piston rod (5) and fixed platform (8)
It is fixed by flexural pivot two (9)；The flexibility branch is composed in series by big spring (12) and non-telescoping rope (10), big spring
(12) upper end and workbench (1) is fixed by flexural pivot one (2), and the lower end of rope (10) is fixed on cylinder body (6).
2. a kind of tensioning integral vibration isolation mechanism according to claim 1, which is characterized in that the workbench (1) and solid
Fixed platform (8) is all square, and the area of the workbench (1) is slightly less than the area of the fixed platform (8).
3. a kind of tensioning integral vibration isolation mechanism according to claim 2, which is characterized in that on four hard and soft mixing branches
Little spring (3) is identical, and the big spring (12) on four flexible branches is identical.
4. a kind of tensioning integral vibration isolation mechanism according to claim 2, which is characterized in that the big bullet in four flexible branches
Spring (12) is at tension.
5. a kind of tensioning integral vibration isolation mechanism according to Claims 2 or 3 or 4, which is characterized in that the workbench
(1) it is located at right above the fixed platform (8), and rotates horizontally 45 ° along the fixed platform (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611002397.3A CN106426107B (en) | 2016-11-15 | 2016-11-15 | A kind of tensioning integral vibration isolation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611002397.3A CN106426107B (en) | 2016-11-15 | 2016-11-15 | A kind of tensioning integral vibration isolation mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426107A CN106426107A (en) | 2017-02-22 |
| CN106426107B true CN106426107B (en) | 2019-01-25 |
Family
ID=58208107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611002397.3A Active CN106426107B (en) | 2016-11-15 | 2016-11-15 | A kind of tensioning integral vibration isolation mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426107B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109649226B (en) * | 2018-12-20 | 2021-04-02 | 西安航空学院 | Car safety seat based on topology parallel structure |
| CN109605333B (en) * | 2018-12-28 | 2020-11-20 | 汕头大学 | Spring and rope hybrid drive branched chain and three-rotational-freedom parallel robot |
| CN109590993A (en) * | 2019-01-08 | 2019-04-09 | 华南理工大学 | A kind of passive flexible constant force mechanisms |
| CN110056602B (en) * | 2019-04-19 | 2020-03-17 | 北京科技大学 | Frequency-adjustable stretching integral vibration isolator |
| CN110388535A (en) * | 2019-07-05 | 2019-10-29 | 常州大学 | A kind of tensioning integrated piping robot |
| CN110861071B (en) * | 2019-10-30 | 2021-01-08 | 北京交通大学 | Two-rotation parallel mechanism with virtual rotation center |
| CN111765189B (en) * | 2020-06-03 | 2021-07-02 | 北京科技大学 | Prism-shaped tension integral quasi-zero stiffness vibration isolator |
| CN111496840B (en) * | 2020-06-11 | 2021-09-24 | 山东大学 | Multi-degree-of-freedom variable-rigidity robot joint based on integral tensioning structure and working method thereof |
| CN111720663B (en) * | 2020-06-17 | 2022-05-17 | 山东大学 | Modularized pipeline robot based on tension entirety |
| CN113606288B (en) * | 2021-08-09 | 2022-08-02 | 中南大学 | Tensioning supporting device |
| CN114147690B (en) * | 2021-12-07 | 2023-05-19 | 长春工业大学 | Two-degree-of-freedom parallel adjustment platform mechanism based on four-bar tensioning integral structure |
| CN118188755B (en) * | 2024-05-17 | 2024-07-12 | 上海海事大学 | Vibration reduction structure of ship tail gas treatment device and installation method |
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| CN1687612A (en) * | 2005-03-31 | 2005-10-26 | 浙江大学 | Hydraulic buffer of complex vibration with mechanism in six degree of freedom based on parallel connection |
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| CN103624774A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Six-degree-of-freedom series-parallel connection robot |
| CN105522562A (en) * | 2016-01-12 | 2016-04-27 | 常州大学 | Four-freedom degree single-action platform parallel mechanism capable of realizing grabbing motion |
| CN105914844A (en) * | 2016-06-28 | 2016-08-31 | 安庆市佰斯特电子科技有限公司 | Multi-dimensional shock-absorbing unmanned aerial vehicle charging station |
| CN105922239A (en) * | 2016-05-17 | 2016-09-07 | 包凤丹 | Building cleaning supporting robot with rigid lifting adjusting function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110048159A1 (en) * | 2008-01-18 | 2011-03-03 | Fundacion Fatronik | Two degree-of-freedom parallel manipulator |
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2016
- 2016-11-15 CN CN201611002397.3A patent/CN106426107B/en active Active
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|---|---|---|---|---|
| CN1687612A (en) * | 2005-03-31 | 2005-10-26 | 浙江大学 | Hydraulic buffer of complex vibration with mechanism in six degree of freedom based on parallel connection |
| CN101487510A (en) * | 2009-02-24 | 2009-07-22 | 江苏大学 | Multidimensional vibration-isolating apparatus |
| CN102865328A (en) * | 2012-09-04 | 2013-01-09 | 哈尔滨工业大学深圳研究生院 | Hybrid mechanism-based five-dimensional vibration isolation platform |
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|---|---|
| CN106426107A (en) | 2017-02-22 |
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Application publication date: 20170222 Assignee: Senbiao Technology Services (Shandong) Co.,Ltd. Assignor: CHANGZHOU University Contract record no.: X2023980051006 Denomination of invention: A Tensioning Integrated Vibration Isolation Mechanism Granted publication date: 20190125 License type: Common License Record date: 20231209 |
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