CN106737571B - A kind of multidimensional vibration reduction tensioning entirety parallel institution - Google Patents
A kind of multidimensional vibration reduction tensioning entirety parallel institution Download PDFInfo
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- CN106737571B CN106737571B CN201611002361.5A CN201611002361A CN106737571B CN 106737571 B CN106737571 B CN 106737571B CN 201611002361 A CN201611002361 A CN 201611002361A CN 106737571 B CN106737571 B CN 106737571B
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- workbench
- fixed platform
- branch
- vibration reduction
- parallel institution
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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
- B25J9/0054—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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The present invention relates to a kind of multidimensional vibration reduction tensioning entirety parallel institutions, fixed platform including workbench and below workbench, four identical support branches are evenly arranged between the workbench and the fixed platform, four identical support branches are in that rotational symmetry is arranged each other, a flexible branch is provided between per adjacent two supports branch, every flexible branch is connected between workbench and fixed platform, and four identical flexible branches are in that rotational symmetry is arranged each other.The beneficial effects of the present invention are: can realize multidimensional vibration reduction when transport Large-Scale Equipment, workbench vibration is reduced, mechanism workbench has the movement output of full freedom degree, can adjust workbench to any stable location and pose；Carrying is big, and good rigidity, low quality, motional inertia is small, and structure is simple, higher suitable for damping requirements, and the occasion of multi-dimensional vibration complexity.
Description
Technical field
The present invention relates to a kind of for transporting the multidimensional vibration reduction tensioning entirety parallel institution of Large-Scale Equipment.
Background technique
Large-scale precision equipment usually requires to implement by rolling stock, delivery ship or airfreighter long-range defeated over long distances
It send, jolting and rocking for occurring in all kinds of delivery vehicle strokes can generate biggish impact and vibration to equipment, to lead
Cause damage or failure.Currently, the vibration reducing measure that relevant industries generally use is by the way that vibration isolation silk floss, vibration isolation foam, vibration isolation gas is added
The easy means such as pad or isolation spring, the vibration of reduction electronic product, mechanical equipment and some fragile articles, however these vibration isolation
Measure is mainly used for weakening the vibration of vertical direction, little to other directions and the effect of waving.For such as litho machine, electronic display
Some large special precision instruments such as micro mirror, transport requirement is harsher, to horizontal direction acceleration and waves angular speed, angle
Acceleration suffers from strict requirements.Therefore, carry out high-precision, lightweight, the delivery vibrating isolation system of heavy load and its branch in time
Support mechanism design studies have a very important significance to damage of the delivery vibration to precision equipment is reduced.
In order to solve the problems, such as multi-degree-of-freedom vibration isolation, nearly ten years, multi-degree-of-freedom vibration isolation device based on parallel institution at
For the hot spot studied both at home and abroad, this structure, which takes full advantage of parallel institution, can realize D translation, rolling, pitching or multi-direction
The function of hybrid motion has many advantages, such as carrying big, good rigidity, simple and compact for structure.But vibration-isolating platform strut in parallel is mostly rigid
Property component, quality is larger, is easy to produce biggish inertia force in high speed, heavy duty, big working space motion process, makes this kind of dress
It sets and is also easy to produce secondary high-frequency vibration or resonance, reduce the anti-vibration performance of isolation mounting in parallel.
Tensioning entirety parallel institution is usually by several flexible branches and liquid between workbench, fixed platform and two platforms
Cylinder pressure branch composition, have good appearance, quality is slim and graceful, freedom degree is big, adaptive ability is strong, moving link inertia force is low, every
The advantages that effect of shaking is obvious.In recent years, extensive concern of the tensioning integral vibration isolation mechanism by domestic and foreign scholars, and have begun
Relevant application study.Its working principle is that workbench can not only have more by driving hydraulic unit driver and flexible branch
The effect of dimension mixing vibration damping, converts soft impulse for rigid shock, also can get relatively stable work pose.Therefore, originally
Patent proposes to design hard and soft mixed high-performance delivery support vibration insulating system using tensioning entirety parallel institution, to China's delivery skill
The development of art has realistic meaning.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of multidimensional to overcome the technological deficiency mentioned in background technique
Vibration damping tensioning entirety parallel institution.
The technical solution adopted by the present invention to solve the technical problems is: a kind of multidimensional vibration reduction tensioning entirety parallel institution,
Fixed platform including workbench and below workbench is evenly arranged between the workbench and the fixed platform
Four identical support branches, four identical support branches are in that rotational symmetry is arranged each other, the branch per adjacent two supports
A flexible branch is provided between chain, every flexible branch is connected between workbench and fixed platform, and four identical soft
Property branch each other be in rotational symmetry be arranged.
In above scheme, every support branch includes piston rod and cylinder body, and piston rod is flat by ball pair one and work
Platform connection, cylinder body are connect by ball pair two with fixed platform；Every flexible branch includes spring and rope, spring and rope it
Between be fixedly connected, spring upper end one is connect by ball pair with workbench, and rope lower end passes through pulley and connect with fixed platform.
In above scheme, it is mutually between every adjacent two supports branchArrangement.
In above scheme, workbench is regular quadrangle, and fixed platform is octagon.
In above scheme, the spring on four flexible branches is identical, and is at tension.
In above scheme, the pulley is driven by motor.
The beneficial effects of the present invention are: (1) can realize multidimensional vibration reduction when transporting Large-Scale Equipment, it is vibrated to reduce workbench institute
It is dynamic；(2) mechanism workbench has the movement output of full freedom degree, and adjustable workbench holds position；(3) carrying is big,
Good rigidity, low quality, motional inertia is small, and structure and control are simple, higher suitable for damping requirements, and the field of multi-dimensional vibration complexity
It closes.
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. ball pairs one, 3. springs, 4. ropes, 5. pulleys, 6. piston rods, 7. cylinder bodies, 8. is quiet flat
Platform, 9. ball pairs two.
Specific embodiment
Presently in connection with specific embodiment, the invention will be further described, following embodiment be intended to illustrate invention rather than
Limitation of the invention further.
A kind of multidimensional vibration reduction tensioning entirety parallel institution as shown in Figure 1, including workbench 1, be located at workbench 1 under
Side fixed platform 8, be connected between workbench 1 and fixed platform 8 in rotational symmetry setting four identical support branches with
And it is connected to four identical flexible branches between workbench 1 and fixed platform 8 in rotational symmetry setting；
Support branch includes the piston rod 6 and cylinder body 7 being vertically connected with, piston rod 6 and cylinder body 7 by piston and cylinder body 7 it
Between clearance fit connection, 6 upper end of piston rod one 2 connect by ball pair with workbench 1,7 lower end of cylinder body by ball secondary 29 and
Fixed platform 8 connects；
Flexible branch includes the spring 3 and rope 4 being vertically connected with, and is connected between spring 3 and rope 4,3 upper end of spring passes through
Ball pair 1 is connect with workbench 1, and 4 lower end of rope is connect by pulley 5 with fixed platform 8.
Workbench 1 is regular quadrangle, and fixed platform 8 is octagon, and four identical support branches are mutuallyRotation pair
Claim the lower surface for being distributed in workbench 1 and the upper surface of fixed platform 8.So that the workbench 1 of top can not only realize three-dimensional
Translational motion is also equipped with the function of rolling, pitching or many-sided hybrid motion.
Four identical flexible links are to be connected to form by spring 3 and rope 4, and every flexible link passes through spring and support branch
Upper end intersects at ball pair 1, is connected by rope with the pulley 5 for being distributed in fixed platform 8.The use of spring 3 and rope 4 reduces
The quality of mechanism, thus inertia when reducing mechanism kinematic, spring 3 also largely improves the multidimensional vibration reduction of mechanism
And cushion performance.
Support branch is hydraulic-driven, and pulley 5 is driven by motor.Double drive is more conducive to mechanism and is adjusted to workbench 1
Advantageous pose has greatly reinforced the damping efficiency of mechanism.
Large-Scale Equipment is transported, equipment is placed in 1 top of workbench, when jolting in carry process, in support rod
Under the synergy of flexible link, workbench 1 can buffer the impact of the multidimensional from fixed platform 8 in time, pass through the characteristic of spring 3
It converts rigid shock suffered by fixed platform 1 to after soft impulse and passes to workbench 1 again, realize multidimensional vibration reduction and buffering
Function.
The workbench 1 of multidimensional vibration reduction tensioning entirety parallel institution can realize D translation movement, Three dimensional rotation movement；It is logical
It overdrives hydraulic cylinder and pulley 5, can adjust workbench 1, it is made to obtain relatively stable work pose；Occur in carry process
When jolting, the characteristic of spring 3 not only can use, mitigate workbench 1 and be hit, can also pass through driving hydraulic cylinder and cunning
Wheel 5 makes workbench 1 in required work pose, greatly improve the damping property of mechanism always.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (5)
1. a kind of multidimensional vibration reduction tensioning entirety parallel institution, which is characterized in that including workbench (1) and be located at workbench
(1) fixed platform (8) below, is evenly arranged with four identical supports between the workbench (1) and the fixed platform (8)
Branch, four identical support branches are in that rotational symmetry is arranged each other, are provided with one between every adjacent two supports branch
Item flexibility branch, every flexible branch are connected between workbench (1) and fixed platform (8), four identical flexibility branches that
It is arranged between this in rotational symmetry；Every support branch includes piston rod (6) and cylinder body (7), and piston rod (6) passes through ball pair
One (2) are connect with workbench (1), and cylinder body (7) is connect by ball pair two (9) with fixed platform (8)；The every flexible branch packet
Spring (3) and rope (4) are included, is fixedly connected between spring (3) and rope (4), spring (3) upper end passes through ball pair one (2) and work
Make platform (1) connection, rope (4) lower end is connect by pulley (5) with fixed platform (8).
2. a kind of multidimensional vibration reduction tensioning entirety parallel institution according to claim 1, which is characterized in that per adjacent two branch
It is mutually between support branchArrangement.
3. a kind of multidimensional vibration reduction tensioning entirety parallel institution according to claim 2, which is characterized in that workbench (1)
For regular quadrangle, fixed platform (8) is octagon.
4. a kind of multidimensional vibration reduction tensioning entirety parallel institution according to claim 3, which is characterized in that four flexible branches
On spring (3) it is identical, and be at tension.
5. a kind of multidimensional vibration reduction tensioning entirety parallel institution according to claim 1, which is characterized in that the pulley (5)
It is driven by motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611002361.5A CN106737571B (en) | 2016-11-15 | 2016-11-15 | A kind of multidimensional vibration reduction tensioning entirety parallel institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611002361.5A CN106737571B (en) | 2016-11-15 | 2016-11-15 | A kind of multidimensional vibration reduction tensioning entirety parallel institution |
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| CN106737571A CN106737571A (en) | 2017-05-31 |
| CN106737571B true CN106737571B (en) | 2019-02-12 |
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Families Citing this family (7)
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| CN110388535A (en) * | 2019-07-05 | 2019-10-29 | 常州大学 | A kind of tensioning integrated piping robot |
| CN110497390B (en) * | 2019-08-30 | 2022-06-14 | 上海大学 | Rope spring driven three-degree-of-freedom parallel binocular focusing bionic eye actuating mechanism |
| CN110497389B (en) * | 2019-08-30 | 2022-06-10 | 上海大学 | Three-degree-of-freedom parallel bionic eye actuating mechanism driven by rope spring |
| CN110715157B (en) * | 2019-10-29 | 2021-01-19 | 河北行知机电科技有限公司 | Shock absorption installation device for positioning and navigation of coal mine heading machine |
| CN110836242A (en) * | 2019-12-14 | 2020-02-25 | 恩平市炫音电子科技有限公司 | Balanced damping device |
| 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE19636100A1 (en) * | 1996-09-05 | 1998-03-12 | Fraunhofer Ges Forschung | Hexapod machining center |
| JP3932449B2 (en) * | 2002-06-19 | 2007-06-20 | 財団法人大阪産業振興機構 | Robot and robot operation system |
| CN102357882A (en) * | 2011-09-30 | 2012-02-22 | 汕头大学 | Rope and rod hybrid-driven six-degree-of-freedom parallel robot with few branched chains |
| CN202292761U (en) * | 2011-10-14 | 2012-07-04 | 北华航天工业学院 | Symmetrical parallel robot mechanism with three degrees of freedom of redundant driven plane |
| CN103586864A (en) * | 2013-11-21 | 2014-02-19 | 北华航天工业学院 | Planar three degree-of-freedom drive redundancy parallel robot mechanism formed by four PRR branched chains |
| CN106041889B (en) * | 2016-06-23 | 2017-12-29 | 乐清市华尊电气有限公司 | A kind of six rotor electric-power deicing unmanned planes of flexibility |
| CN105914844B (en) * | 2016-06-28 | 2018-08-24 | 哈工大机器人集团（广州）知识产权投资控股有限公司哈尔滨分公司 | A kind of multidimensional damping type unmanned plane charging station |
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