CN116100531A - Parallel self-balancing mechanism - Google Patents
Parallel self-balancing mechanism Download PDFInfo
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- CN116100531A CN116100531A CN202310128959.2A CN202310128959A CN116100531A CN 116100531 A CN116100531 A CN 116100531A CN 202310128959 A CN202310128959 A CN 202310128959A CN 116100531 A CN116100531 A CN 116100531A
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- branched chain
- bottom plate
- upper plate
- balancing mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 29
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 6
- 230000007547 defect Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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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
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- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Mirrors, Picture Frames, Photograph Stands, And Related Fastening Devices (AREA)
Abstract
The invention provides a parallel self-balancing mechanism, comprising: a bottom plate as a fixed end; the upper plate is positioned above the bottom plate and is connected with the bottom plate through an upper connecting branched chain and a lower connecting branched chain; the upper end and the lower end of the driving branched chain are respectively hinged with the upper plate and the bottom plate and are positioned at one side of the upper connecting branched chain and the lower connecting branched chain, and a first power assembly is arranged to enable the driving branched chain to extend or shorten so as to drive one side of the upper plate to rise or lower; and the upper end and the lower end of the passive branched chain are respectively hinged with the upper plate and the bottom plate and are positioned on the other side of the upper and lower connecting branched chains, and an elastic component is configured, so that when one side of the upper plate is lifted or lowered, the other side of the upper plate is lowered or raised so as to enable the elastic component to be adaptively shortened or lengthened. The invention can be applied to more scenes, and the bottom plate and the upper plate are connected through the Hooke hinge, so that the requirement on the precision of the active branched chain is low, the manufacture is easy, the manufacture cost is reduced, and the practicability is strong.
Description
Technical Field
The invention relates to the technical field of self-balancing vibration reduction, in particular to a parallel self-balancing mechanism.
Background
Compared with a serial mechanism, the parallel mechanism has the advantages of strong bearing capacity, high precision and the like, and is suitable for multiple fields of motion simulation, and the like. With the continuous development of equipment such as ships, automobiles and the like, higher requirements are put on the bearing capacity, dynamic response and motion precision of parallel motion.
Two-degree-of-freedom self-balancing mechanisms are mostly serial mechanisms. Under certain environments, the defects of small bearing, small mechanical rigidity and the like of the two-degree-of-freedom serial self-balancing mechanism can not be applied to many scenes, and the practicability of equipment is greatly reduced, so that the two-degree-of-freedom serial self-balancing mechanism with a parallel structure needs to be designed to solve the defects.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a parallel self-balancing mechanism.
According to the invention, a parallel self-balancing mechanism is provided, comprising:
a bottom plate as a fixed end;
the upper plate is connected with the bottom plate through an upper connecting branched chain and a lower connecting branched chain and is positioned above the bottom plate, and the upper connecting branched chain and the lower connecting branched chain can adjust the height of the upper plate;
the upper end and the lower end of the driving branched chain are respectively hinged with the upper plate and the bottom plate and are positioned at one side of the upper connecting branched chain and the lower connecting branched chain, and a first power assembly is arranged to enable the driving branched chain to extend or shorten so as to drive one side of the upper plate to rise or lower;
and the upper end and the lower end of the passive branched chain are respectively hinged with the upper plate and the bottom plate and are positioned on the other side of the upper and lower connecting branched chains, and an elastic component is configured, so that when one side of the upper plate is lifted or lowered, the other side of the upper plate is lowered or raised so as to enable the elastic component to be adaptively shortened or lengthened.
Preferably, the first power component adopts an electric cylinder, an air cylinder or an oil cylinder.
Preferably, the first power component adopts an active branched chain electric cylinder, and two ends of the active branched chain electric cylinder are respectively connected with the upper plate and the bottom plate through an active branched chain Hooke hinge.
Preferably, the elastic component adopts a spring damper, and two ends of the spring damper are respectively connected with the upper plate and the bottom plate through a passive branched chain Hooke hinge.
Preferably, the number of the active branched chains and the passive branched chains is two, and the two active branched chains are arranged at 90 degrees relative to the upper and lower connecting branched chains.
Preferably, the two passive branches are symmetrically arranged with respect to the upper and lower connecting branches and the two active branches.
Preferably, the upper and lower connecting branched chains comprise a second power assembly, the bottom end of the second power assembly is fixed on the bottom plate, and the top end of the second power assembly is in movable fit with the upper plate.
Preferably, the second power assembly adopts an electric cylinder, an air cylinder or an oil cylinder.
Preferably, the second power assembly adopts an upper and lower connecting branched chain electric cylinder, and the upper and lower connecting branched chain electric cylinder is movably matched with the upper plate through an upper and lower connecting branched chain hook joint.
Preferably, the bottoms of the upper and lower connecting branches are vertically fixed on the bottom plate 1 and fixed by reinforcing ribs.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a two-degree-of-freedom parallel self-balancing mechanism capable of being at different heights, which solves the problems of small bearing and small mechanical rigidity of the two-degree-of-freedom serial self-balancing mechanism, can be applied to more scenes by using the parallel self-balancing mechanism, has low requirement on the precision of an active branched chain, is easy to manufacture, reduces the manufacturing cost and has strong practicability, and a bottom plate and an upper plate are connected through a Hooke hinge.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of the structure of an upper plate in a horizontal state;
FIG. 2 is a schematic view of the structure of the invention in pitch and roll motions;
FIG. 3 is a schematic view of the structure of the upper plate when the upper plate is adjusted up and down;
fig. 4 is a schematic view of the structure of the upper plate in a one-side inclined state.
The figure shows:
Active branched chain 3
Active branched chain Hooke's joint 31
Active branched chain electric cylinder 32
Passive branched chain 4
Passive branched chain Hooke's joint 41
Upper and lower connecting branched chain 5
Up-down connection branched chain electric cylinder 51
Hooke's joint 52 with upper and lower connecting branched chains
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The invention provides a parallel self-balancing mechanism, which comprises a bottom plate 1, an upper plate 2, an active branched chain 3, a passive branched chain 4 and an upper and lower connecting branched chain 5, wherein the parallel self-balancing mechanism can be realized by two degrees of freedom of the upper plate 2 at different heights, the bottom plate 1 is used as a fixed end, the balancing mechanism can be fixed on a vehicle bottom plate or a ship deck through the bottom plate 1, the upper plate 2 is positioned above the bottom plate 1 and is connected with the bottom plate 1 through the upper and lower connecting branched chain 5, and the height of the upper plate 2 can be regulated through the upper and lower connecting branched chain 5.
Specifically, the upper end and the lower end of the active branched chain 3 are respectively hinged on the upper plate 2 and the bottom plate 1 and are positioned at one side of the upper and lower connecting branched chains 5, and the active branched chain 3 is provided with a first power component so that the active branched chain 3 can extend or shorten to drive one side of the upper plate 2 to rise or lower; the upper end and the lower end of the passive branched chain 4 are respectively hinged on the upper plate 2 and the bottom plate 1 and are positioned on the other side of the upper connecting branched chain 5 and the lower connecting branched chain 5, the number of the active branched chain 3 and the number of the passive branched chain 4 are two, the two active branched chains 3 are arranged at 90 degrees relative to the upper connecting branched chain 5 and the lower connecting branched chain 5, the two passive branched chains 4 are symmetrically arranged relative to the upper connecting branched chain 5 and the lower connecting branched chain 5, the passive branched chain 4 is provided with an elastic component, and when one side of the upper plate 2 is lifted or lowered, the other side of the upper plate 2 is lowered or lifted so that the elastic component is adaptively shortened or lengthened, and the stable adjustment of the pose of the upper plate 2 is realized.
The upper and lower connecting branched chain 5 comprises a second power component, the bottom end of the second power component is fixed on the bottom plate 1, the top end of the second power component is movably matched with the upper plate 2, and in practical application, the first power component and the second power component can all adopt various power forms, such as an electric cylinder, an air cylinder or an oil cylinder. In one possible embodiment, the first power component adopts an active branched chain electric cylinder 32, the second power component adopts an up-and-down connection branched chain electric cylinder 51, two ends of the active branched chain electric cylinder 32 are respectively connected with the upper plate 2 and the bottom plate 1 through an active branched chain Hooke joint 31, and the up-and-down connection branched chain electric cylinder 51 is movably matched with the upper plate 2 through an up-and-down connection branched chain Hooke joint 52.
The upper and lower connecting branched chains 5 are used as main supporting structures of the upper plate 2, the bottoms of the upper and lower connecting branched chains 5 are vertically fixed on the bottom plate 1, and the bottoms of the upper and lower connecting branched chains 5 are reinforced and fixed through reinforcing ribs in order to increase the supporting strength of the upper and lower connecting branched chains.
In the invention, the elastic component preferably adopts the spring damper 42, two ends of the spring damper 42 are respectively connected with the upper plate 2 and the bottom plate 1 through the passive branched chain Hooke hinge 41, and the spring damper 42 is provided with springs, so that the elastic extension of the spring damper 42 can be realized, and the elastic shortening of the spring damper 42 can be realized, preferably, the springs in the spring damper 42 are in a natural state when the upper plate 2 is in a horizontal state, when the height of the side, which is connected with the passive branched chain 4, of the upper plate 2 is lower than the horizontal height, the springs are in a compressed and shortened state, and when the height of the side, which is connected with the passive branched chain 4, of the upper plate 2 is higher than the horizontal height, the springs are in a stretched and lengthened state.
The passive branched chains 4 and the active branched chains 3 are symmetrically distributed, and the passive branched chains 4 are preferably spring dampers 42, so that high-frequency vibration is absorbed in real time, and the pitching and rolling motions can be more stable.
When the upper plate 2 is parallel to the bottom plate 1, the axes of the passive branched chain 4, the active branched chain 3 and the upper and lower connecting branched chains 5 are all in a parallel state. When the bottom plate 1 is pitching and rolling, the upper and lower connecting branched chains 5 are locked up and down, and the upper plate 2 is kept in a certain height. The driving branched chains 3 move to enable two sides of the upper plate 2 to move oppositely, the two driving branched chains 3 move to enable the upper plate 2 to move reversely around the central point of the hook hinge 52 of the upper and lower connecting branched chains, and the driven branched chains 4 follow up to provide damping and elastic force so as to absorb high-frequency vibration.
In one possible embodiment, the active branches 3 constitute UPU kinematic branches. In another possible embodiment, the active branch 3 may also be a UPS, SPS kinematic branch, and the passive branch 4 may be in the form of a kinematic branch formed by the active branch 3, where U represents a universal joint, P represents a kinematic pair, and S represents a ball pair.
Specifically, when the upper plate 2 performs pitching and rolling motions, the upper and lower connecting branched chain electric cylinders 51 are locked, and when the whole mechanism stops moving, the upper and lower connecting branched chain electric cylinders 51 can adjust the height between the upper plate 2 and the bottom plate 1, so that the self-balancing of the upper plate 2 at different heights is facilitated.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. A parallel self-balancing mechanism, comprising:
a bottom plate (1) as a fixed end;
the upper plate (2) is connected with the bottom plate (1) through an upper connecting branched chain (5) and is positioned above the bottom plate (1), and the upper connecting branched chain (5) and the lower connecting branched chain (5) can adjust the height of the upper plate (2);
the upper end and the lower end of the driving branched chain (3) are respectively hinged with the upper plate (2) and the bottom plate (1) and are positioned on one side of the upper connecting branched chain (5) and the lower connecting branched chain (5), and a first power assembly is arranged to enable the driving branched chain (3) to extend or shorten so as to drive one side of the upper plate (2) to rise or lower;
and the upper end and the lower end of the passive branched chain (4) are respectively hinged with the upper plate (2) and the bottom plate (1) and are positioned on the other side of the upper and lower connecting branched chains (5), and an elastic component is configured, so that when one side of the upper plate (2) is lifted or lowered, the other side of the upper plate (2) is lowered or raised so as to enable the elastic component to be adaptively shortened or lengthened.
2. The parallel self-balancing mechanism of claim 1, wherein the first power assembly employs an electric cylinder, an air cylinder, or an oil cylinder.
3. The parallel self-balancing mechanism according to claim 1, wherein the first power component adopts an active branched chain electric cylinder (32), and two ends of the active branched chain electric cylinder (32) are respectively connected with the upper plate (2) and the bottom plate (1) through an active branched chain hook hinge (31).
4. The parallel self-balancing mechanism according to claim 1, wherein the elastic component adopts a spring damper (42), and two ends of the spring damper (42) are respectively connected with the upper plate (2) and the bottom plate (1) through a passive branched chain Hooke hinge (41).
5. The parallel self-balancing mechanism according to claim 1, wherein the number of the active branched chains (3) and the passive branched chains (4) is two, and the two active branched chains (3) are arranged at 90 degrees relative to the upper and lower connecting branched chains (5).
6. Parallel self-balancing mechanism according to claim 5, characterized in that two passive branches (4) are symmetrically arranged with respect to the upper and lower connecting branches (5) with two active branches (3).
7. The parallel self-balancing mechanism according to claim 1, wherein the upper and lower connecting branched chains (5) comprise a second power assembly, the bottom end of the second power assembly is fixed on the bottom plate (1), and the top end of the second power assembly is in movable fit with the upper plate (2).
8. The parallel self-balancing mechanism of claim 7, wherein the second power assembly employs an electric cylinder, an air cylinder, or an oil cylinder.
9. The parallel self-balancing mechanism according to claim 7, wherein the second power assembly adopts an upper and lower connection branched chain electric cylinder (51), and the upper and lower connection branched chain electric cylinder (51) is movably matched with the upper plate (2) through an upper and lower connection branched chain hook hinge (52).
10. Parallel self-balancing mechanism according to claim 1, characterized in that the bottom of the upper and lower connecting branches (5) is fixed vertically on the bottom plate (1) and by means of reinforcing bars.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310128959.2A CN116100531A (en) | 2023-02-16 | 2023-02-16 | Parallel self-balancing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310128959.2A CN116100531A (en) | 2023-02-16 | 2023-02-16 | Parallel self-balancing mechanism |
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| Publication Number | Publication Date |
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| CN116100531A true CN116100531A (en) | 2023-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310128959.2A Pending CN116100531A (en) | 2023-02-16 | 2023-02-16 | Parallel self-balancing mechanism |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110034989A (en) * | 2009-09-29 | 2011-04-06 | 한양대학교 산학협력단 | 4-dof parallel mechanism and needle insertion device using 4-dof parallel mechanism |
| KR20120073828A (en) * | 2010-12-27 | 2012-07-05 | 한국기계연구원 | Parallel manipulator with spring-damper for restraining vibration |
| CN106002956A (en) * | 2016-07-14 | 2016-10-12 | 燕山大学 | Over-constrained self-balancing three-degree-of-freedom parallel-connection platform |
| CN109605333A (en) * | 2018-12-28 | 2019-04-12 | 汕头大学 | A kind of spring-rope combination drive branch and three-rotational DOF parallel robot |
| CN111059431A (en) * | 2019-12-24 | 2020-04-24 | 燕山大学 | Two-degree-of-freedom parallel rotating platform with eccentric torque unloading device |
| CN112123323A (en) * | 2020-10-19 | 2020-12-25 | 东南大学 | 4UPU-UP redundant drive parallel robot |
-
2023
- 2023-02-16 CN CN202310128959.2A patent/CN116100531A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110034989A (en) * | 2009-09-29 | 2011-04-06 | 한양대학교 산학협력단 | 4-dof parallel mechanism and needle insertion device using 4-dof parallel mechanism |
| KR20120073828A (en) * | 2010-12-27 | 2012-07-05 | 한국기계연구원 | Parallel manipulator with spring-damper for restraining vibration |
| CN106002956A (en) * | 2016-07-14 | 2016-10-12 | 燕山大学 | Over-constrained self-balancing three-degree-of-freedom parallel-connection platform |
| CN109605333A (en) * | 2018-12-28 | 2019-04-12 | 汕头大学 | A kind of spring-rope combination drive branch and three-rotational DOF parallel robot |
| CN111059431A (en) * | 2019-12-24 | 2020-04-24 | 燕山大学 | Two-degree-of-freedom parallel rotating platform with eccentric torque unloading device |
| CN112123323A (en) * | 2020-10-19 | 2020-12-25 | 东南大学 | 4UPU-UP redundant drive parallel robot |
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