CN113997272B - Space six-degree-of-freedom vibration reduction platform - Google Patents
Space six-degree-of-freedom vibration reduction platform Download PDFInfo
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- CN113997272B CN113997272B CN202111411426.2A CN202111411426A CN113997272B CN 113997272 B CN113997272 B CN 113997272B CN 202111411426 A CN202111411426 A CN 202111411426A CN 113997272 B CN113997272 B CN 113997272B
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- outer sleeve
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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Abstract
The invention discloses a spatial six-degree-of-freedom vibration reduction platform which comprises a rack, a movable platform and a parallel kinematic chain group, wherein the movable platform is arranged above an installation plane in parallel, the parallel kinematic chain group comprises three parallel kinematic chains, three lower connecting pieces and three upper connecting pieces, the lower ends of the three parallel kinematic chains are respectively and rotatably connected with the rack through the three lower connecting pieces, and the upper ends of the three parallel kinematic chains are respectively and rotatably connected with the movable platform through the three upper connecting pieces; the invention supports the movable platform through the parallel kinematic chains which are arranged in a triangular distribution, and has the advantages of improving the rigidity and the bearing capacity, eliminating the hinge clearance, effectively improving the rigidity and the bearing capacity, eliminating the hinge clearance and improving the precision by arranging a plurality of revolute pairs with single degree of freedom.
Description
Technical Field
The invention relates to the technical field of mechanical vibration, in particular to a spatial six-degree-of-freedom vibration reduction platform.
Background
In the fields of ships, aerospace and the like, an engineering structure often generates unfavorable vibration under the action of dynamic excitation (such as power device operation, strong impact and the like), such as fatigue damage of a stressed member, failure of a sensitive element and the like, so that the research of vibration reduction and isolation technology is always a hotspot and difficulty in academia and industry. The existing vibration reduction and isolation technologies mostly adopt single-freedom vibration reduction and isolation as a main part, however, with the continuous improvement of the requirement on the stability of equipment, the spatial six-freedom-degree vibration of the equipment needs to be controlled simultaneously, so the design and research of the six-freedom-degree vibration reduction and isolation device have important practical value and wide application prospect.
However, the six-degree-of-freedom shock absorber at the present stage has the problems of large hinge gap and limited rotation angle range due to the adoption of the spherical hinge, so that the working space, the bearing capacity, the positioning precision and the like are influenced.
Disclosure of Invention
The invention aims to provide a spatial six-degree-of-freedom vibration reduction platform, which solves the technical problems of insufficient working space, bearing capacity and positioning accuracy of a six-degree-of-freedom vibration reducer.
The invention is realized by the following technical scheme:
a spatial six-degree-of-freedom vibration-damping platform comprising:
a frame provided with a mounting plane;
the movable platform is provided with an upper side surface and a lower side surface and is arranged above the mounting plane in parallel;
the lower end of the parallel kinematic chain group is connected with the mounting plane, and the upper end of the parallel kinematic chain group is connected with the lower side surface of the movable platform;
the parallel kinematic chain set includes:
three parallel kinematic chains which are circumferentially and three-symmetrically distributed;
the three lower connecting pieces are rotatably connected with the rack;
the three upper connecting pieces are rotatably connected with the movable platform;
the lower ends of the three parallel kinematic chains are respectively connected with the rack in a rotatable manner through the three lower connecting pieces, and the upper ends of the three parallel kinematic chains are respectively connected with the movable platform in a rotatable manner through the three upper connecting pieces.
Specifically, the lower connector includes:
a lower rotating frame having a first end and a second end, the lower rotating frame being disposed parallel to the mounting plane;
the bearing block is fixedly connected with the rack, two ends of the lower rotating frame are rotatably connected with the bearing block, and the axis of a rotating pair connected with the lower rotating frame and the bearing block is set as a first axis;
the three first axes are arranged in parallel with the mounting plane, and the three first axes are in a triangular structure.
Specifically, the upper connector includes:
the upper end of the vertical rod is rotatably connected with the lower side surface of the movable platform, the axis of a revolute pair connected with the vertical rod and the movable platform is set to be a second axis, and the second axis is superposed with the central axis of the vertical rod;
the horizontal pole, its axis with the coplane of first axis sets up, just the middle-end of horizontal pole with the lower extreme rotatable coupling of montant sets for the horizontal pole with the axis of the revolute pair that the montant is connected is the third axis, the third axis with the axis coincidence of horizontal pole, the third axis with the second axis sets up perpendicularly.
Specifically, the parallel kinematic chain comprises:
the lower end of the first vibration damping rod is rotatably connected with the first end of the lower rotating frame, the upper end of the first vibration damping rod is rotatably connected with the first end of the cross rod, the axis of a rotating pair of the first vibration damping rod and the lower rotating frame is set to be a fourth axis, and the axis of the rotating pair of the first vibration damping rod and the cross rod is set to be a fifth axis;
the lower end of the second vibration damping rod is rotatably connected with the second end of the lower rotating frame, the upper end of the second vibration damping rod is rotatably connected with the second end of the cross rod, the axis of a rotating pair of the second vibration damping rod and the lower rotating frame is set to be a sixth axis, and the axis of the rotating pair of the second vibration damping rod and the cross rod is set to be a seventh axis;
wherein the fourth axis, the fifth axis, the sixth axis and the seventh axis are arranged in parallel, and the fourth axis is arranged perpendicular to the first axis.
Preferably, a distance between an upper end of the first damper rod and an upper end of the second damper rod is smaller than a distance between a lower end of the first damper rod and a lower end of the second damper rod;
the three parallel kinematic chains are circumferentially and trisymmetrically distributed, and the area of a triangular structure formed by the upper ends of the parallel kinematic chains is smaller than that of a triangular structure formed by the lower ends of the parallel kinematic chains.
In particular, the first/second damping lever comprises:
the lower end of the outer sleeve is rotatably connected with the lower rotating frame;
the upper and lower telescopic components are provided with fixed ends and moving ends, the moving ends of the upper and lower telescopic components are arranged in the outer sleeve, and the fixed ends of the upper and lower telescopic components are fixedly connected with the lower end of the outer sleeve;
the lower end of the push rod is arranged in the outer sleeve and connected with the moving end of the upper telescopic assembly and the lower telescopic assembly, the upper end of the push rod is rotatably connected with the cross rod, the outer side face of the push rod is slidably connected with the inner side face of the outer sleeve, and the sliding direction is parallel to the axis of the outer sleeve.
As an embodiment, the upper and lower telescoping assemblies comprise:
the motor base is fixedly connected with the lower end of the outer sleeve;
the screw rod is coaxially arranged in the outer sleeve, the screw rod is rotatably connected with the outer sleeve, the rotating axis of the screw rod is superposed with the axis of the outer sleeve,
the servo motor is fixedly arranged on the motor base, and a torque output shaft of the servo motor is in power connection with the lower end of the lead screw and drives the lead screw to rotate;
the nut is arranged between the screw rod and the outer sleeve, is in threaded connection with the screw rod through threads, and is fixedly connected with the lower end of the push rod;
the lower end of the push rod is provided with a hollow cavity with the diameter larger than that of the lead screw, and the upper end of the lead screw extends into the hollow cavity.
Specifically, a key groove along the axial direction of the outer sleeve is formed in the outer side surface of the push rod, and a guide key matched with the key groove is formed in the inner side surface of the outer sleeve.
Preferably, the push rod includes:
the lower push rod is arranged in the outer sleeve, and the lower end of the lower push rod is connected with the nut;
the shock absorber is arranged in the outer sleeve, and the lower end of the shock absorber is connected with the upper end of the lower push rod;
and the lower half section of the upper push rod is arranged in the outer sleeve, the lower end of the upper push rod is connected with the upper end of the shock absorber, and the upper end of the upper push rod is connected with the cross rod.
As another embodiment, the upper and lower telescopic assemblies are one or more of hydraulic telescopic rods, pneumatic telescopic rods and electric telescopic rods.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention supports the movable platform through the parallel kinematic chains which are arranged in three circumferential symmetric distributions, improves the bearing capacity of the movable platform, and can effectively improve the rigidity, eliminate the clearance, increase the corner capacity, improve the bearing capacity and enlarge the working space by arranging a plurality of revolute pairs with single degree of freedom.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the principles of the invention.
Fig. 1 is a structural schematic diagram of a spatial six-degree-of-freedom vibration reduction platform according to the invention.
Fig. 2 is another structural schematic diagram of a spatial six-degree-of-freedom vibration reduction platform according to the invention.
Fig. 3 is a schematic structural view of a parallel kinematic chain according to the present invention.
Fig. 4 is a schematic view of the structure of the upper connection member according to the present invention.
Fig. 5 is a schematic view of the first/second damping rod according to the present invention.
Reference numerals: 1-a frame, 2-a movable platform, 3-a parallel kinematic chain, 4-an upper connecting piece and 5-a lower connecting piece;
21-inclined boss, 31-first damping rod, 32-second damping rod, 41-vertical rod, 42-cross rod, 51-bearing seat and 52-lower rotating frame;
310-outer sleeve, 311-push rod, 312-up and down telescopic component, 313-guide key and 314-key slot;
3121-servo motor, 3122-motor seat, 3123-nut, 3124-screw rod, 3125-driving wheel, 3126-driven wheel, 3111-lower push rod, 3112-vibration damper, 3113-upper push rod;
a first axis: axis-a, second axis: axis-f, third axis: axis-g, fourth axis: axis-b, fifth axis: axis-c, sixth axis: axis-d, seventh axis: axis-e.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the invention.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
In the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
When the six-degree-of-freedom vibration reduction platform at the present stage is used, the vibration reduction platform at the present stage is found to have smaller working space and poorer bearing capacity and precision, and further research is carried out on the vibration reduction platform, the vibration reduction platform at the present stage is found to be connected by adopting a spherical hinge, so that the multi-degree-of-freedom vibration reduction platform is realized, but because the spherical hinge realizes the multi-degree-of-freedom through the rotation of a ball head in a half shell, in order to prevent inflexibility, the low friction between the ball head and the half shell needs to be ensured, and further the problem of hinge clearance exists, so that the defects of poorer bearing capacity and precision are caused, and the range of a rotating angle is limited, and the defect is deeply researched, so that the six-degree-of-freedom vibration reduction platform at the present stage is obtained.
Example one
A space six-freedom-degree vibration reduction platform comprises a frame 1, a movable platform 2 and a parallel kinematic chain group
The frame 1 is provided with a mounting plane, which is generally horizontally arranged, and other structures of the frame 1 are not limited.
The movable platform 2 is provided with an upper side face and a lower side face, the movable platform 2 is arranged above the mounting plane in parallel, the movable platform 2 is of a flat plate structure, and the upper side face is used for mounting equipment to be subjected to vibration reduction.
The lower end of the parallel moving chain group is connected with the mounting plane, and the upper end of the parallel moving chain group is connected with the lower side surface of the movable platform 2; the aim of vibration reduction is achieved through the parallel kinematic chain group between the frame 1 and the movable platform 2.
The parallel kinematic chain group comprises three parallel kinematic chains 3, three lower connecting pieces 5 and three upper connecting pieces 4, the three parallel kinematic chains 3 are circumferentially and trisymmetrically distributed, the three lower connecting pieces 5 are all connected with the frame 1, and the three upper connecting pieces 4 are all connected with the movable platform 2;
the lower ends of the three parallel kinematic chains 3 are respectively and rotatably connected with the frame 1 through three lower connecting pieces 5, and the upper ends of the three parallel kinematic chains 3 are respectively and rotatably connected with the movable platform 2 through three upper connecting pieces 4.
The three-dimensional symmetrical distribution can meet the stability of a triangle and the requirement of six degrees of freedom.
The area of the triangular structure formed by the upper ends of the parallel kinematics chains 3 is smaller than the area of the triangular structure formed by the lower ends of the parallel kinematics chains 3. The structure can effectively avoid the condition of heavy head and light feet.
In the prior art, the parallel kinematic chain 3 is connected with the frame 1 and the movable platform 2 by adopting a spherical hinge, which has defects, in the embodiment, the lower connecting piece 5 is connected with the upper connecting piece 4, the purpose is realized by adopting a single-degree-of-freedom revolute pair, and the specific structure of the parallel kinematic chain is explained.
It should be noted in advance that the rotational connection of the invention is a single-degree-of-freedom revolute pair, which facilitates the adoption of bearings with linear contact characteristics, such as tapered roller bearings, to realize the mechanical structure design, and further through axial pre-tightening, the clearance can be eliminated, and the rigidity of the contact interface can be effectively improved.
The lower link 5 includes a lower rotating frame 52 and a bearing housing 51.
The lower rotating frame 52 has a first end and a second end, and the lower rotating frame 52 is disposed parallel to the mounting plane, the bearing seat 51 is fixedly connected with the frame 1, and two ends of the lower rotating frame 52 are rotatably connected with the bearing seat 51.
The number of the bearing seats 51 is two, the lower rotating frame 52 is suspended and fixed above the installation plane, so that the lower rotating frame 52 can rotate freely, and for convenience of subsequent description, the axis of a rotating pair connected between the lower rotating frame 52 and the bearing seats 51 is set as a first axis-a;
because the number of the lower connecting members 5 is three, the three first axes axis-a are all arranged in parallel with the installation plane, the three first axes axis-a are triangular structures, and for stable connection, the triangular structures are arranged into equilateral triangles, that is, the included angle between two adjacent parallel kinematic chains 3 is 60 degrees.
The upper connecting piece 4 comprises a vertical rod 41 and a cross rod 42, and the vertical rod 41 and the cross rod 42 form a T-shaped structure.
The upper end of the vertical rod 41 is rotatably connected with the lower side surface of the movable platform 2, in this embodiment, a circular hole may be arranged on the lower side surface of the movable platform 2, the upper end of the vertical rod 41 is rotatably connected with the circular hole through a bearing, and for convenience of description, the axis of the revolute pair connecting the vertical rod 41 and the movable platform 2 is set to be a second axis-f, and the second axis-f coincides with the central axis of the vertical rod 41;
in addition, because of the positional relationship between the upper end and the lower end of the parallel kinematic chain 3 in this embodiment, in order to make the connection of the vertical bar 41 with the movable platform 2 more stable, an inclined boss 21 is provided on the lower side surface of the movable platform 2, the inclined surface of the inclined boss 21 faces the position of the lower connecting member 5, and the upper end of the vertical bar 41 is rotatably connected with the inclined boss 21.
The central axis of the cross rod 42 is parallel to the first axis-a, and the middle end of the cross rod 42 is rotatably connected with the lower end of the vertical rod 41, in this embodiment, a sleeve may be disposed at the lower end of the vertical rod 41, and the middle end of the cross rod 42 is rotatably connected with the sleeve through a bearing.
Example two
The above-mentioned embodiment realizes the single degree of freedom revolute pair of the upper link 4 and the lower link 5, and in order to realize the single degree of freedom in connection between the parallel kinematic chain 3 and the upper link 4 and the lower link 5, the present embodiment provides the structure of the parallel kinematic chain 3, including the first damping rod 31 and the second damping rod 32, and in order to avoid the heavy foot condition, the distance between the upper end of the first damping rod 31 and the upper end of the second damping rod 32 is smaller than the distance between the lower end of the first damping rod 31 and the lower end of the second damping rod 32.
The lower end of the first vibration damping rod 31 is rotatably connected with the first end of the lower rotating frame 52, the upper end of the first vibration damping rod 31 is rotatably connected with the first end of the cross rod 42, and for convenience of description, the axis of the rotating pair of the first vibration damping rod 31 and the lower rotating frame 52 is set as a fourth axis-b, and the axis of the rotating pair of the first vibration damping rod 31 and the cross rod 42 is set as a fifth axis-c;
the lower end of the second vibration damping rod 32 is rotatably connected with the second end of the lower rotating frame 52, the upper end of the second vibration damping rod 32 is rotatably connected with the second end of the cross rod 42, and for convenience of description, the axis of the rotating pair of the second vibration damping rod 32 and the lower rotating frame 52 is set as a sixth axis-d, and the axis of the rotating pair of the second vibration damping rod 32 and the cross rod 42 is set as a seventh axis-e;
by integrating the axes of all the revolute pairs of the first embodiment and the second embodiment, the following requirements are met:
the fourth axis axi-b, the fifth axis axi-c, the sixth axis axi-d and the seventh axis axi-e are arranged in parallel, the first axis axi-a and the second axis axi-f are arranged in parallel,
the fourth axis-b, the first axis-a and the third axis-g are mutually and vertically arranged.
The damping platform in the embodiment does not contain a spherical hinge, and the total number of degrees of freedom of the driven hinge in the system is 21. In the existing space six-degree-of-freedom vibration reduction platform based on the Stewart structure, the total number of degrees of freedom of the driven hinge is 30 or 36. Therefore, the total number of the degrees of freedom of the hinge is effectively reduced on the premise of ensuring that the movable platform 2 realizes spatial six-degree-of-freedom motion/vibration reduction.
Driven hinges in the vibration reduction platform are single-degree-of-freedom revolute pairs, so that bearings with linear contact characteristics such as tapered roller bearings and the like can be conveniently adopted to realize the mechanical structure design, and further, through axial pre-tightening, not only can the gap be eliminated, but also the rigidity of a contact interface can be effectively improved. In the existing space six-degree-of-freedom vibration reduction platform based on the Stewart platform, the driven hinges are mostly spherical hinges, so that the problems that gaps are difficult to eliminate, rigidity is low and the like exist. Therefore, compared with the prior art, the spatial six-degree-of-freedom vibration reduction platform has the advantages of high rigidity, high bearing capacity and the like theoretically.
EXAMPLE III
In order to change the position and attitude angle of the movable platform 2 and realize six-degree-of-freedom vibration reduction in different poses, and further adapt to different application occasions, the embodiment provides a specific structure of the vibration reduction rod, and the first vibration reduction rod 31 and the second vibration reduction rod 32 have the same structure.
The first damper rod 31/second damper rod 32 includes an outer sleeve 310, an upper and lower telescoping assembly 312, and a push rod 311.
The lower end of the outer sleeve 310 is rotatably connected with the lower rotating frame 52;
the upper and lower telescopic assembly 312 has a fixed end and a movable end, the movable end of the upper and lower telescopic assembly 312 is disposed in the outer sleeve 310, and the fixed end of the upper and lower telescopic assembly 312 is fixedly connected with the lower end of the outer sleeve 310;
the lower end of the push rod 311 is arranged in the outer sleeve 310 and connected with the moving end of the up-down telescopic assembly 312, the upper end of the push rod 311 is rotatably connected with the cross bar 42, the outer side surface of the push rod 311 is slidably connected with the inner side surface of the outer sleeve 310, and the sliding direction is parallel to the axis of the outer sleeve 310.
The length of the upper and lower telescopic assembly 312 is changed to enable the push rod 311 to slide along the axis of the outer sleeve 310, so as to achieve the purpose of changing the distance between the movable platform 2 and the frame 1, and in order to avoid the relative rotation of the push rod 311 when moving in the outer sleeve 310, the following structure is provided:
the outer side surface of the push rod 311 is provided with a key groove 314 along the axial direction of the outer sleeve 310, and the inner side surface of the outer sleeve 310 is provided with a guide key 313 matched with the key groove 314.
The key groove 314 and the guide key 313 are matched to prevent the push rod 311 and the outer sleeve 310 from rotating relatively, so that the push rod and the outer sleeve can only slide relatively.
Example four
The structure of the upper and lower telescopic assemblies 312 is illustrated in this embodiment, in which the upper and lower telescopic assemblies 312 include a motor base 3122, a lead screw 3124, a servo motor 3121, and a nut 3123.
The motor 3122 is fixedly connected to the lower end of the outer sleeve 310, and may be fixedly disposed inside the outer sleeve 310 or disposed outside the outer sleeve 310, but in general, the servo motor 3121 has a large size and is not suitable for being disposed inside the outer sleeve 310, so the motor 3122 is disposed outside the outer sleeve 310.
The lead screw 3124 is coaxially disposed within the outer sleeve 310, and the lead screw 3124 is rotatably connected to the outer sleeve 310 with its rotational axis coinciding with the axis of the outer sleeve 310.
The nut 3123 is arranged between the lead screw 3124 and the outer sleeve 310, the nut 3123 is in threaded connection with the lead screw 3124 through threads, and the nut 3123 is fixedly connected with the lower end of the push rod 311;
the screw 3124 and the nut 3123 form a threaded screw 3124 structure, which converts the rotary motion into linear motion, and the position of the nut 3123 on the screw 3124 is changed by rotating the screw 3124, thereby realizing the linear motion.
The servo motor 3121 is fixedly arranged on the motor base 3122, the torque output shaft of the servo motor 3121 is in power connection with the lower end of the lead screw 3124 and drives the lead screw 3124 to rotate;
In addition, since the nut 3123 slides out of the lead screw 3124, in order to realize the connection between the push rod 311 and the nut 3123, in the present embodiment, the lower end of the push rod 311 is provided with a hollow cavity larger than the diameter of the lead screw 3124, and the upper end of the lead screw 3124 penetrates into the hollow cavity.
Of course, the connection to the nut 3123 can also be realized by disposing the push rod 311 at one side of the lead screw 3124.
As another embodiment, the upper and lower telescopic assemblies 312 may also adopt one or more of a hydraulic telescopic rod, a pneumatic telescopic rod, and an electric telescopic rod to achieve the telescopic function.
EXAMPLE five
The present embodiment optimizes the structure of the push rod 311, and the push rod 311 includes a lower push rod 3111, a shock absorber 3112 and an upper push rod 3113.
The push-down lever 3111 is disposed in the outer sleeve 310, and a lower end of the push-down lever 3111 is coupled to a nut 3123, and the key groove 314 is also disposed on the push-down lever 3111.
The lower half of the push-up lever 3113 is disposed in the outer sleeve 310, the lower end of the push-up lever 3113 is connected to the upper end of the shock absorber 3112, and the upper end of the push-up lever 3113 is connected to the cross bar 42.
The lower push-rod 3111, the shock absorber 3112 and the upper push-rod 3113 are coaxially disposed and coincide with a central axis of the outer sleeve 310.
In the description of the present specification, reference to the description of "one embodiment/mode", "some embodiments/modes", "example", "specific example", or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the present application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples and features of the various embodiments/modes or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of description and are not intended to limit the scope of the invention. It will be apparent to those skilled in the art that other variations or modifications may be made on the above invention and still be within the scope of the invention.
Claims (7)
1. A spatial six-degree-of-freedom vibration reduction platform is characterized by comprising:
a frame provided with a mounting plane;
the movable platform is provided with an upper side surface and a lower side surface and is arranged above the mounting plane in parallel;
the lower end of the parallel kinematic chain group is connected with the mounting plane, and the upper end of the parallel kinematic chain group is connected with the lower side surface of the movable platform;
the parallel kinematic chain set includes:
three parallel kinematic chains which are circumferentially and trisymmetrically distributed;
the three lower connecting pieces are connected with the rack;
the three upper connecting pieces are connected with the movable platform;
the lower ends of the three parallel kinematic chains are respectively and rotatably connected with the rack through the three lower connecting pieces, and the upper ends of the three parallel kinematic chains are respectively and rotatably connected with the movable platform through the three upper connecting pieces;
the lower connecting member includes:
a lower rotating frame having a first end and a second end, the lower rotating frame being disposed parallel to the mounting plane;
the bearing block is fixedly connected with the rack, two ends of the lower rotating frame are rotatably connected with the bearing block, and the axis of a rotating pair connected with the lower rotating frame and the bearing block is set as a first axis;
the three first axes are all arranged in parallel to the mounting plane and are in a triangular structure;
the upper connecting member includes:
the upper end of the vertical rod is rotatably connected with the lower side surface of the movable platform, the axis of a revolute pair connected with the vertical rod and the movable platform is set to be a second axis, and the second axis is superposed with the central axis of the vertical rod;
the central axis of the cross rod is coplanar with the first axis, the middle end of the cross rod is rotatably connected with the lower end of the vertical rod, the axis of a revolute pair connected with the cross rod and the vertical rod is set to be a third axis, the third axis is overlapped with the central axis of the cross rod, and the third axis is perpendicular to the second axis;
the parallel kinematic chain includes:
the lower end of the first vibration damping rod is rotatably connected with the first end of the lower rotating frame, the upper end of the first vibration damping rod is rotatably connected with the first end of the cross rod, the axis of a rotating pair of the first vibration damping rod and the lower rotating frame is set to be a fourth axis, and the axis of the rotating pair of the first vibration damping rod and the cross rod is set to be a fifth axis;
the lower end of the second vibration damping rod is rotatably connected with the second end of the lower rotating frame, the upper end of the second vibration damping rod is rotatably connected with the second end of the cross rod, the axis of a rotating pair of the second vibration damping rod and the lower rotating frame is set to be a sixth axis, and the axis of the rotating pair of the second vibration damping rod and the cross rod is set to be a seventh axis;
the first vibration damping rod and the second vibration damping rod comprise outer sleeves, upper and lower telescopic assemblies, push rods and vibration dampers;
wherein the fourth axis, the fifth axis, the sixth axis and the seventh axis are arranged in parallel, and the fourth axis is arranged perpendicular to the first axis.
2. A spatial six degree of freedom vibration platform according to claim 1 wherein the distance between the upper end of said first vibration damper rod and the upper end of said second vibration damper rod is less than the distance between the lower end of said first vibration damper rod and the lower end of said second vibration damper rod;
the three parallel kinematic chains are circumferentially and three-symmetrically distributed, and the area of a triangular structure formed by the upper ends of the parallel kinematic chains is smaller than that of a triangular structure formed by the lower ends of the parallel kinematic chains.
3. A spatial six degree of freedom vibration platform according to claim 1 or 2 wherein the first and second vibration damping rods comprise:
the lower end of the outer sleeve is rotatably connected with the lower rotating frame;
the upper and lower telescopic components are provided with fixed ends and moving ends, the moving ends of the upper and lower telescopic components are arranged in the outer sleeve, and the fixed ends of the upper and lower telescopic components are fixedly connected with the lower end of the outer sleeve;
the lower end of the push rod is arranged in the outer sleeve and is connected with the moving end of the upper telescopic assembly and the lower telescopic assembly, the upper end of the push rod is rotatably connected with the cross rod, the outer side face of the push rod is slidably connected with the inner side face of the outer sleeve, and the sliding direction of the push rod is parallel to the axis of the outer sleeve.
4. A spatial six degree of freedom vibration platform according to claim 3 wherein said upper and lower telescopic assemblies comprise:
the motor base is fixedly connected with the lower end of the outer sleeve;
the screw rod is coaxially arranged in the outer sleeve, the screw rod is rotatably connected with the outer sleeve, the rotating axis of the screw rod is superposed with the axis of the outer sleeve,
the servo motor is fixedly arranged on the motor base, and a torque output shaft of the servo motor is in power connection with the lower end of the lead screw and drives the lead screw to rotate;
the nut is arranged between the screw rod and the outer sleeve, is in threaded connection with the screw rod through threads, and is fixedly connected with the lower end of the push rod;
the lower end of the push rod is provided with a hollow cavity with the diameter larger than that of the lead screw, and the upper end of the lead screw extends into the hollow cavity.
5. A spatial six-degree-of-freedom vibration damping platform according to claim 3, wherein the outer side of the push rod is provided with a key groove along the axial direction of the outer sleeve, and the inner side of the outer sleeve is provided with a guide key matched with the key groove.
6. A spatial six degree of freedom vibration attenuation platform according to claim 4 wherein said push rod includes:
the lower push rod is arranged in the outer sleeve, and the lower end of the lower push rod is connected with the nut;
the shock absorber is arranged in the outer sleeve, and the lower end of the shock absorber is connected with the upper end of the lower push rod;
and the lower half section of the upper push rod is arranged in the outer sleeve, the lower end of the upper push rod is connected with the upper end of the shock absorber, and the upper end of the upper push rod is connected with the cross rod.
7. The spatial six-degree-of-freedom vibration damping platform according to claim 3, wherein the upper and lower telescopic assemblies are one or more of hydraulic telescopic rods, pneumatic telescopic rods and electric telescopic rods.
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