CN205343114U - Contain flexible three ramose degrees of freedom of turriform and uniting and adjustment appearance vibration isolation platform - Google Patents
Contain flexible three ramose degrees of freedom of turriform and uniting and adjustment appearance vibration isolation platform Download PDFInfo
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- CN205343114U CN205343114U CN201620089086.4U CN201620089086U CN205343114U CN 205343114 U CN205343114 U CN 205343114U CN 201620089086 U CN201620089086 U CN 201620089086U CN 205343114 U CN205343114 U CN 205343114U
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- plane
- shape telescopic
- tower shape
- mounting seat
- bilinear module
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Abstract
The utility model provides a contain flexible three ramose degrees of freedom of turriform and uniting and adjustment appearance vibration isolation platform, it includes base, three mount pad, the sharp drive unit of three groups, three turriforms flexible branch, three isolator, helping hand springs and moves the platform. The mount pad links firmly on the base, bilinear module among the straight line drive unit links firmly on the mount pad, driving motor drive bilinear module, the flexible branch of turriform comprises two closed loop connecting rods and plane scissors mechanism, and two column foots of the flexible ramose plane of this turriform scissors mechanism lower extreme are connected with two sliders of bilinear module through first, second pair respectively, and this turriform is stretched out and drawn back ramose upper end and is the revolute pair of two closed loop connecting rods of connection, and the pivot of this revolute pair is passed through the 3rd universal hinge and is connected with the one end of isolator, the other end of this isolator and move the platform and link firmly, helping hand spring lower extreme links firmly on the base, and its upper end is the free end. The utility model discloses rigidity is high, and bearing capacity is strong, and working space is big.
Description
Technical field
This utility model relates to a kind of parallel institution, particularly a kind of posture adjustment vibration-isolating platform in parallel.
Background technology
Vehicle, in the process of moving by the impact of road roughness, can produce that vehicle body is vertical, roll and the compound of the various dimensions such as pitching is jolted.If vehicle carried article is directly connected with rigidity of vehicle body, vehicle travels the multi-dimensional vibration of generation under road conditions poor condition can on the transport of frangible, precise article with need the mobile unit of posture adjustment to cause serious impact.Additionally, when naval vessel rides the sea, owing to being subject to weather and wave impact, the motion of six degree of freedom can be caused: rolling, pitching, yawing, swaying, surging, hang down swing, naval vessel is had the greatest impact by wherein rolling, pitching and the disturbance swinging three degree of freedom direction of hanging down, bring to many-sides such as warship equipment on board trouble free service, arm discharge precision, helicopter landing safety and crewman's Working Lifes have a strong impact on simultaneously because the impact of wave or self diesel engine can produce vibration, these unnecessary motions and vibration meeting.
For these problems above-mentioned, it is proposed to a kind of platform possessing posture adjustment vibration isolation function seems particularly necessary.In recent years, stabilized platform and multidimensional vibration-isolating platform had been started to study widely by Chinese scholars.Chinese patent 201510324022.8 proposes a kind of 3PRS+6SPS parallel connection posture adjustment vibration isolation compound platform, it is made up of three identical main side chains between moving platform, frame and connection moving platform and frame and six identical elastic side chains, this invention has adjustment work platforms attitude and multidimensional isolation two kinds of functions of vibration concurrently, but work space is little.Chinese patent 201310210861.8 proposes a kind of collapsible five degree of freedom parallel connection posture adjustment platform, by upper mounting plate, five of two platforms of lower platform and connection drive branches and a constraint branch group to become, it is little that this invention takies volume, posture adjustment space is bigger, but bearing capacity is poor, rigidity is low, does not possess vibration isolation function, simultaneously drive number many, control loaded down with trivial details.Chinese patent 201420687868.9 proposes a kind of Three Degree Of Freedom mobile hoistable platform, the movement in three directions is realized by front and back sliding platform, left and right sliding platform and scissors fork elevating mechanism, this invention has bigger bearing capacity, but its structure is in-line, complex.
Utility model content
The purpose of this utility model is in that to provide a kind of work space big, takies volume little, and bearing capacity is strong, has the freedom degree parallel connection posture adjustment vibration-isolating platform containing tower shape telescopic branch of greater stiffness simultaneously.
The technical solution of the utility model is as follows:
This utility model mainly includes pedestal, three mounting seats, straight spur unit that three groups of structures are identical, tower shape telescopic branch that three structures are identical, three vibration isolators, power assistant spring and moving platform；Described three mounting seats are connected on pedestal, and described straight spur unit is made up of bilinear module and the drive motor with two slide blocks, and bilinear module is connected in mounting seat, and the output shaft end of drive motor is connected with the input shaft end of bilinear module；Described tower shape telescopic branch is made up of two closed-loop link and plane scissors mechanism, two column foots of the plane scissors mechanism lower end of this tower shape telescopic branch are connected with two slide blocks of bilinear module respectively through first, second kinematic pair, the upper end of this tower shape telescopic branch is the revolute pair connecting two closed-loop link, the rotating shaft of this revolute pair is connected with one end of vibration isolator by the 3rd universal hinge, and the other end of this vibration isolator is connected with moving platform；Described power assistant spring lower end is connected on pedestal, and its upper end is free end.
Scissor connecting rod is divided in lower length short two parts by the scissor rotating shaft of described plane scissors mechanism, one end of said two closed-loop link is connected respectively through the short end of revolute pair with scissor connecting rod, its other end is linked together by revolute pair, on two scissor connecting rods, part and two closed-loop link constitute rhombus, above-mentioned revolute pair axis and scissor shaft parallel.It is less that scissor linkage short in this lower length ensure that branch inputs power when power output is very big, thus alleviating driving load so that integrated carrying ability increases, and rigidity improves.Tower shape telescopic branch is the output of dual input list simultaneously, is different from the scissors mechanism of the single-input single-output slided in fixing one end, traditional bipod one end.The tower shape telescopic mechanism of dual input list output is long due to the short stroke of branch, has good application prospect in the parallel institution of limited space.
Described first, second kinematic pair is first, second universal hinge or first, second ball pivot, first pivot center conllinear of described first, second universal hinge and parallel with base plane, the second pivot center of first, second universal hinge is vertical with the first pivot center and vertical with variable dihedral branch plane.
The described bilinear module with two slide blocks is driven by drive motor, and two slide blocks of bilinear module are close to each other with identical speed along slip centrage or are located remotely from each other.
Described mounting seat and straight spur unit have four kinds of arrangements:
The first arrangement: described mounting seat cross section is rectangle, the bilinear module often organizing straight spur unit is connected in same mounting seat, and the slip centerline collineation of two slide blocks of bilinear module.
When arranging in first way, two slide blocks of bilinear module by the same screw drive with left-right rotary screw thread, can be capable of two slide blocks close to each other with identical speed or be located remotely from each other equally.
The second arrangement: described mounting seat cross section is isosceles trapezoid, the bilinear module often organizing straight spur unit is connected on two inclined-planes of same mounting seat, and the slip centrage of two slide blocks of bilinear module in the same plane in.
The third arrangement: described mounting seat cross section is right-angled trapezium, its bottom surface, place of going to the bottom is fixedly connected with the base, waist place, right angle facade is positioned at inner side, inclined-plane, oblique waist place is positioned at outside, the bilinear module often organizing straight spur unit is connected on the inclined-plane of adjacent two mounting seats, and the slip centerline parallel of bilinear module slide block adjacent in same mounting seat.
4th kind of arrangement: described mounting seat cross section is right-angled trapezium, its bottom surface, place of going to the bottom is fixedly connected with the base, waist place, right angle facade is positioned at inner side, inclined-plane, oblique waist place is positioned at outside, the bilinear module often organizing straight spur unit is connected on the inclined-plane of same mounting seat, and the slip centerline parallel of two slide blocks of bilinear module is in mounting seat inclined-plane, and become 25～75 ° of angles of lower aperture.
This utility model has the advantage that compared with existing correlation technique
1, tower shape telescopic branch can make moving platform drop to very low position when not working, and decreases the volume that takies of entirety, and this mechanism has very big posture adjustment space simultaneously, compensate for the problem that existing parallel institution work space is little.
2, under scissor connecting rod long short feature to ensure that branch inputs power when power output is very big less, so not only alleviate the load of driving, and improve bearing capacity, add the integral rigidity of mechanism.
3, by the vibration isolation effect of vibration isolator, it is possible to reduce the vibration passing to moving platform from pedestal, make moving platform from the interference of vibration.
4, when moving platform is in low level, power assistant spring free end contacts generation elastic force with moving platform, counteracts the deadweight of moving platform part, just can start so that this platform has only to less driving force in moment of starting working, depart from power assistant spring during work, not by power-assisted spring constraint.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of this utility model embodiment 1.
Fig. 2 is the simplified schematic diagram that this utility model embodiment 1 moving platform is preferably minimized position.
Fig. 3 is the three-dimensional simplified schematic diagram of this utility model embodiment 2.
Fig. 4 is the three-dimensional simplified schematic diagram of this utility model embodiment 3.
Fig. 5 is the three-dimensional simplified schematic diagram of this utility model embodiment 4.
Fig. 6 is the three-dimensional simplified schematic diagram of this utility model embodiment 5.
In figure: 1, pedestal；2, mounting seat；3, bilinear module；4, drive motor；5, slide block；6, the first universal hinge (the first ball pivot)；7, the second universal hinge (the second ball pivot)；8, tower shape telescopic branch；9, the 3rd universal hinge；10, vibration isolator；11, power assistant spring；12, moving platform.
Detailed description of the invention
Embodiment 1:
In the freedom degree parallel connection posture adjustment vibration-isolating platform schematic diagram containing tower shape telescopic branch shown in Fig. 1, the mounting seat 2 that three cross sections are rectangle is uniformly connected on pedestal 1, the bilinear module 3 often organizing straight spur unit is connected in mounting seat, and the slip centerline collineation of two slide blocks 5 of bilinear module, the output shaft end of drive motor 4 is connected with the input shaft end of bilinear module；Article three, the tower shape telescopic branch 8 that structure is identical is made up of two closed-loop link and plane scissors mechanism, scissor connecting rod is divided in lower length short two parts by the scissor rotating shaft of plane scissors mechanism, one end of two closed-loop link is connected respectively through the short end of revolute pair with scissor connecting rod, its other end is linked together by revolute pair, part and two closed-loop link structure diamondwises on two scissor connecting rods, above-mentioned revolute pair axis and scissor shaft parallel, two column foots of the plane scissors mechanism lower end of this tower shape telescopic branch are respectively through the first universal hinge 6, second universal hinge 7 is connected with two slide blocks 5 of bilinear module, first, first pivot center conllinear of the second universal hinge and parallel with base plane, first, second pivot center of the second universal hinge is vertical with the first pivot center and vertical with tower shape telescopic branch plane, the upper end of this tower shape telescopic branch is connected the rotating shaft of the revolute pair of two closed-loop link and is connected with one end of vibration isolator 10 by the 3rd universal hinge 9, the other end of this vibration isolator is connected with moving platform 12；Power assistant spring 11 lower end is connected on pedestal, and its upper end is free end.
As in figure 2 it is shown, moving platform 12 can drop to very low when not working, now power assistant spring 11 is compressed.
Embodiment 2:
As it is shown on figure 3, bilinear module 3 is connected in mounting seat, and the slip centerline collineation of the two of bilinear module slide blocks, the screw rod of this bilinear module has left-right rotary screw thread, and the output shaft end of drive motor 4 is connected with the input shaft end of bilinear module.Other component is identical with embodiment 1 with connected mode.
Embodiment 3:
As shown in Figure 4, the mounting seat 2 that three cross sections are isosceles trapezoid is uniformly connected on pedestal 1, and the bilinear module 3 often organizing straight spur unit is connected on two inclined-planes of same mounting seat, and the slip centrage of two slide blocks of bilinear module is within the same plane.Other component is identical with embodiment 1 with connected mode.
Embodiment 4:
As shown in Figure 5, three mounting seat 2 cross sections are right-angled trapezium, its bottom surface, place of going to the bottom is connected with pedestal 1, waist place, right angle facade is positioned at inner side, inclined-plane, oblique waist place is positioned at outside, the bilinear module 3 often organizing straight spur unit is connected on the inclined-plane of adjacent two mounting seats, and the slip centerline parallel of bilinear module slide block adjacent in same mounting seat.Other component is identical with embodiment 1 with connected mode.
Embodiment 5:
As shown in Figure 6, three mounting seat 2 cross sections are right-angled trapezium, its bottom surface, place of going to the bottom is connected with pedestal 1, its waist place, right angle facade is positioned at inner side, inclined-plane, oblique waist place is positioned at outside, the bilinear module 3 often organizing straight spur unit is connected on the inclined-plane of same mounting seat, and the slip centerline parallel of two slide blocks of bilinear module is in mounting seat inclined-plane, and 30 ° of angles of one-tenth lower aperture, two column foots of the plane scissors mechanism lower end of tower shape telescopic branch are connected with two slide blocks 5 of bilinear module respectively through first ball pivot the 6, second ball pivot 7.Other component is identical with embodiment 1 with connected mode.
Claims (9)
1. the freedom degree parallel connection posture adjustment vibration-isolating platform containing tower shape telescopic branch, it includes pedestal, moving platform, it is characterised in that: the tower shape telescopic branch that it also includes three mounting seats, three groups of structures are identical straight spur unit, three structures are identical, three vibration isolators and power assistant spring；Described three mounting seats are connected on pedestal, and described straight spur unit is made up of bilinear module and the drive motor with two slide blocks, and bilinear module is connected in mounting seat, and the output shaft end of drive motor is connected with the input shaft end of bilinear module；Described tower shape telescopic branch is made up of two closed-loop link and plane scissors mechanism, two column foots of the plane scissors mechanism lower end of this tower shape telescopic branch are connected with two slide blocks of bilinear module respectively through first, second kinematic pair, the upper end of this tower shape telescopic branch is the revolute pair connecting two closed-loop link, the rotating shaft of this revolute pair is connected with one end of vibration isolator by the 3rd universal hinge, and the other end of this vibration isolator is connected with moving platform；Described power assistant spring lower end is connected on pedestal, and its upper end is free end.
2. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing tower shape telescopic branch according to claim 1, it is characterized in that: scissor connecting rod is divided in lower length short two parts by the scissor rotating shaft of described plane scissors mechanism, one end of said two closed-loop link is connected respectively through the short end of revolute pair with scissor connecting rod, its other end is linked together by revolute pair, on two scissor connecting rods, part and two closed-loop link constitute rhombus, above-mentioned revolute pair axis and scissor shaft parallel.
3. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing tower shape telescopic branch according to claim 1, it is characterised in that: described first, second kinematic pair is first, second universal hinge or first, second ball pivot.
4. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing tower shape telescopic branch according to claim 3, it is characterized in that: the first pivot center conllinear of described first, second universal hinge and parallel with base plane, the second pivot center of first, second universal hinge is vertical with the first pivot center and vertical with tower shape telescopic branch plane.
5. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing tower shape telescopic branch according to claim 1, it is characterized in that: described mounting seat cross section is rectangle, the bilinear module often organizing straight spur unit is connected in same mounting seat, and the slip centerline collineation of two slide blocks of bilinear module.
6. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing tower shape telescopic branch according to claim 5, it is characterised in that: the slip centerline collineation of described two slide blocks of bilinear module, two slide blocks are by the same screw drive with left-right rotary screw thread.
7. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing tower shape telescopic branch according to claim 1, it is characterized in that: described mounting seat cross section is isosceles trapezoid, the bilinear module often organizing straight spur unit is connected on two inclined-planes of same mounting seat, and the slip centrage of two slide blocks of bilinear module in the same plane in.
8. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing tower shape telescopic branch according to claim 1, it is characterized in that: described mounting seat cross section is right-angled trapezium, its bottom surface, place of going to the bottom is fixedly connected with the base, waist place, right angle facade is positioned at inner side, inclined-plane, oblique waist place is positioned at outside, the bilinear module often organizing straight spur unit is connected on the inclined-plane of adjacent two mounting seats, and the slip centerline parallel of bilinear module slide block adjacent in same mounting seat.
9. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing tower shape telescopic branch according to claim 1, it is characterized in that: described mounting seat cross section is right-angled trapezium, its bottom surface, place of going to the bottom is fixedly connected with the base, waist place, right angle facade is positioned at inner side, inclined-plane, oblique waist place is positioned at outside, the bilinear module often organizing straight spur unit is connected on the inclined-plane of same mounting seat, and the slip centerline parallel of two slide blocks of bilinear module is in mounting seat inclined-plane, and become 25～75 ° of angles of lower aperture.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620089086.4U CN205343114U (en) | 2016-01-28 | 2016-01-28 | Contain flexible three ramose degrees of freedom of turriform and uniting and adjustment appearance vibration isolation platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620089086.4U CN205343114U (en) | 2016-01-28 | 2016-01-28 | Contain flexible three ramose degrees of freedom of turriform and uniting and adjustment appearance vibration isolation platform |
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| CN205343114U true CN205343114U (en) | 2016-06-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563466A (en) * | 2016-01-28 | 2016-05-11 | 燕山大学 | Three-degree-of-freedom parallel attitude-adjusting and vibration-isolating platform comprising tower-shaped telescopic branches |
| CN109773754A (en) * | 2018-12-11 | 2019-05-21 | 燕山大学 | The freedom degree parallel connection motion platform of the sub- closed loop collapse branch of double leval jib containing plane |
-
2016
- 2016-01-28 CN CN201620089086.4U patent/CN205343114U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563466A (en) * | 2016-01-28 | 2016-05-11 | 燕山大学 | Three-degree-of-freedom parallel attitude-adjusting and vibration-isolating platform comprising tower-shaped telescopic branches |
| CN109773754A (en) * | 2018-12-11 | 2019-05-21 | 燕山大学 | The freedom degree parallel connection motion platform of the sub- closed loop collapse branch of double leval jib containing plane |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160629 Termination date: 20220128 |