CN206426085U - A kind of freedom degree parallel connection stabilized platform with symmetrical series-parallel connection branch - Google Patents
A kind of freedom degree parallel connection stabilized platform with symmetrical series-parallel connection branch Download PDFInfo
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- CN206426085U CN206426085U CN201621361692.3U CN201621361692U CN206426085U CN 206426085 U CN206426085 U CN 206426085U CN 201621361692 U CN201621361692 U CN 201621361692U CN 206426085 U CN206426085 U CN 206426085U
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- China
- Prior art keywords
- mounting plate
- parallel connection
- upper mounting
- lower platform
- sliding block
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Abstract
A kind of freedom degree parallel connection stabilized platform with symmetrical series-parallel connection branch, including lower platform, upper mounting plate, bound branch and three completely identical in structure driving branches are provided between the lower platform and upper mounting plate, the driving branch includes two electric cylinders in parallel, two first universal hinges, two ball pivots, sliding block, two drifts and rigidity equal compression spring, and guide rail, the electric cylinder afterbody is hinged by the first universal hinge with lower platform, electric cylinder upper end is hinged by ball pivot with sliding block, above-mentioned two compression spring is respectively arranged between guide rail left end and sliding block left end, between guide rail right-hand member and sliding block right-hand member, the guide rail is connected with upper mounting plate, after two electric cylinders are in parallel again with sliding block, guide rail is composed in series serial-parallel mirror structure drive branches；The bound branch includes the second universal hinge, the second linear joint, described second it is universal be hinged upper mounting plate, the second linear joint connection lower platform.Strong, the rapid dynamic response speed with bearing capacity, control is simple, the characteristics of in the absence of active Planar Mechanisms, can meet the steady demand of carrier-borne large scale equipment.
Description
Technical field
The utility model is related to a kind of freedom degree parallel connection stabilized platform with symmetrical series-parallel connection branch.
Background technology
Naval vessel at sea in running, is influenceed that rolling, pitching, yawing, swaying, surging, heaving etc. can be produced by wave
The disturbance of six-freedom degree, wherein rolling, pitching, these three disturbances of heaving are maximum on on-board equipment and personnel's influence.Isolation sea
Disturbed caused by unrestrained, be that on-board equipment and personnel provide stable working environment, on the one hand can be stable flat using six degree of freedom
Platform is isolated to all disturbances, on the other hand equipment and personnel can be influenceed the most using the isolation of lower-mobility stabilized platform
Serious portion disturbances.Compared with six degree of freedom stabilized platform, lower-mobility stabilized platform structure is simple, manufactures and designs and controls
Advantage of lower cost, on-board equipment and personnel are to there is certain adaptability compared with microvariations in addition, so using having two turn one
Rolling, pitching, the heaving on the stabilized platform isolation naval vessel of shift three degrees of freedom are relatively reasonable.Compared to serial mechanism, parallel machine
Structure bearing capacity is strong, and rigidity is big, available for stabilized platform.Compared with six-degree-of-freedom parallel connection mechanism, the reduction of driving element causes
The bearing capacity and dynamic property of minority carrier generation lifetime can be affected, and limit its answering in terms of large scale equipment stabilization
With.Therefore improving the bearing capacity of minority carrier generation lifetime turns into a pass for expanding minority carrier generation lifetime application
Key problem.
Chinese invention patent application 2010101373708.6 discloses a kind of six-cylinder driven tri-axial rotary platform, the platform
For parallel-connection structure, including upper mounting plate, lower platform, driving branch and intermediate restraint branch, with space three-dimensional rotational freedom.By
Structural representation understands that the driving distribution form of the platform is similar with tradition Stewart platforms, exists which results in the platform
Initial pose is unusual, and in the case of driving branch is symmetrical, platform can have unusual bit-type.Chinese invention patent
Application 201510155500.7 discloses a kind of parallel institution of Three Degree Of Freedom, including fixed platform, moving platform and connection fixed and moving two
The first branched chain, the second branched chain, the 3rd branched chain and the 4th branched chain of individual platform, wherein the first branched chain and the 3rd branch
Chain is RRU structures, and the second branched chain and the 4th branched chain are RRS structures.First branched chain and the 3rd branched chain are along the of level
One direction is positioned opposite, and the second branched chain is arranged with the 4th branched chain along the second direction vertical with first direction.The platform is
Unsymmetric structure, and equally exist the problem of bit-type is unusual.Chinese invention patent application 201510555613.6 discloses one kind
Actuation redundancy formula Three Degree Of Freedom stabilized platform, the platform is parallel-connection structure, including fixed platform, moving platform and connects fixed and moving platform
First branched chain, the second branched chain, the 3rd branched chain, the 4th branched chain and quintafurcation chain, wherein the first branched chain, second point
Side chain and quintafurcation chain are distributed in the first plane, the 3rd branched chain, the distribution of the 4th branched chain and the second plane.The stabilized platform
The unusual bit-type and hinge gap of platform are eliminated using the method for actuation redundancy.But this drive form needs the mixing of power position
Control mode, control system is complicated, and control difficulty is big, and there is the risk of the excessive broken circulation layer part of internal force.
Utility model content
Its purpose of the utility model is that a kind of freedom degree parallel connection stabilized platform with symmetrical series-parallel connection branch of offer,
Upper mounting plate is driven to realize two turn of one shift three degrees of freedom motion using six electric cylinders, and driving is nonredundancy, with carrying energy
Power is strong, rapid dynamic response speed, and control is simple, the characteristics of in the absence of active Planar Mechanisms, can meet the stabilization of carrier-borne large scale equipment
Demand.
The technical scheme realized above-mentioned purpose and taken, including lower platform, upper mounting plate, between the lower platform and upper mounting plate
Provided with bound branch and three completely identical in structure driving branches, the driving branch includes two electric cylinders in parallel, two
Individual first universal hinge, two ball pivots, sliding block, two drifts and rigidity equal compression spring and guide rail, it is described electronic
Cylinder afterbody is hinged by the first universal hinge with lower platform, and electric cylinder upper end is hinged by ball pivot with sliding block, above-mentioned two compression
Spring is respectively arranged between guide rail left end and sliding block left end, between guide rail right-hand member and sliding block right-hand member, the guide rail and upper mounting plate
It is connected, serial-parallel mirror structure drive branches is composed in series with sliding block, guide rail again after two electric cylinders are in parallel；The bound branch bag
Include the second universal hinge, the second linear joint, described second it is universal be hinged upper mounting plate, the second linear joint connection lower platform.
Beneficial effect
The utility model has advantages below compared with prior art.
1st, drive upper mounting plate to realize two turn of one shift three degrees of freedom motion using six electric cylinders, improve holding for stabilized platform
Loading capability and dynamic are corresponding, and type of drive is nonredundancy, control simple and convenient；
2nd, when error occurs in electric cylinder motion, sliding block drives compression spring movement, can discharge internal system stress, play
The effect of fault-tolerant and safeguard protection；
3rd, the hinge circular diameter where central point universal not less than first of circular diameter where ball pivot central point ensures lower platform with warship
The tilting moment that load is produced during ship run-off the straight is smaller, can further improve the bearing capacity of stabilized platform；
4th, three driving branches are evenly arranged, the first universal hinge in same driving branch, the first ball pivot central point line
Rectangle is constituted, the angle of two electric cylinders in same driving branch can be reduced as far as possible so that the input utilization rate of electric cylinder is carried
Height, and make stabilized platform that there is good isotropism.
Brief description of the drawings
The utility model is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is structural representation front view of the present utility model；
Fig. 2 is structural representation upward view of the present utility model；
Fig. 3 is the structural representation of embodiment 2 of the present utility model.
Embodiment
The present apparatus includes lower platform 1, upper mounting plate 2, as shown in Figure 1 and Figure 2, is provided between the lower platform 1 and upper mounting plate 2
Bound branch and three completely identical in structure driving branches, the driving branch include two electric cylinders 7 in parallel, two the
One universal hinge 8, two ball pivot 6, sliding block 5, two drifts and rigidity equal compression spring 4 and guide rail 3, the electricity
The dynamic afterbody of cylinder 7 is hinged by the first universal hinge 8 with lower platform 1, and the upper end of electric cylinder 7 is hinged by ball pivot 6 with sliding block 5, above-mentioned
Two compression springs 4 are respectively arranged between the left end of guide rail 3 and the left end of sliding block 5, between the right-hand member of guide rail 3 and the right-hand member of sliding block 5, described
Guide rail 3 is connected with upper mounting plate 2, is composed in series the driving point of serial-parallel mirror structure after two parallel connections of electric cylinder 7 with sliding block 5, guide rail 3 again
Branch；The bound branch includes second the 10, second linear joint 9 of universal hinge, and the second universal hinge 10 connects upper mounting plate 2, the
Two linear joints 9 connect lower platform 1.
Provided with three driving branches between the lower platform 1 and upper mounting plate 2, three driving branches are equal around lower platform 2
Even distribution, the hinge circular diameter where 8 central points universal not less than first of circular diameter where the central point of ball pivot 6, described three are led
The center line of rail 3 intersects two-by-two, and three intersection point lines constitute equilateral triangle.
Upper mounting plate 2 be in initial position when it is described it is same driving branch in it is adjacent first it is universal hinge, ball pivot central point line
Constitute rectangle.
Second 10 centers of universal hinge and the line of centres of upper mounting plate 2 are perpendicular to the surface of upper mounting plate 2, the described second universal hinge
10 centers are with the line of centres of lower platform 1 perpendicular to the surface of lower platform 1, and the mobile axis of second linear joint 9 are under
The surface of platform 1.
Embodiment 1
Shown as shown in Figure 1, Figure 2, the afterbody of electric cylinder 7 is hinged by the first universal hinge 8 with lower platform 1, the electric cylinder upper end
It is hinged by ball pivot 6 with sliding block 5；Two compression springs 4 are respectively arranged between the left end of guide rail 3 and sliding block left end, guide rail right-hand member
Between sliding block right-hand member；Above-mentioned guide rail is connected with upper mounting plate 2.Two electric cylinder parallel connections, then connected with sliding block, guide rail, composition string
And series-parallel connection (2UPS) Pe structure drive branches.Three driving branches are uniformly distributed around lower platform, circle where ball pivot central point
Diameter is more than circular diameter where the first universal hinge central point.Upper mounting plate is in adjacent in above-mentioned same driving branch during initial position
First universal hinge, ball pivot central point line constitute rectangle.Second universal hinge 10 of bound branch connects upper mounting plate, and the second movement is closed
Section 9 connects lower platform.Above-mentioned second universal hinge center is with the upper mounting plate line of centres perpendicular to upper mounting plate surface；Above-mentioned second is universal
Hinge center is with the lower platform line of centres perpendicular to lower platform surface；The mobile axis that second movement is closed are perpendicular to lower platform table
Face.
Embodiment 2
As shown in figure 3, the structure of the present embodiment and the structure of embodiment 1 are essentially identical, difference is the central point of ball pivot 3
Place circular diameter is equal to circular diameter where the first 8 central points of universal hinge.
Claims (4)
1. a kind of freedom degree parallel connection stabilized platform with symmetrical series-parallel connection branch, including lower platform (1), upper mounting plate（2）, it is special
Levy and be, the lower platform (1) and upper mounting plate（2）Between be provided with bound branch and three completely identical in structure driving branches,
The driving branch includes two electric cylinders in parallel（7）, two the first universal hinges（8）, two ball pivots（6）, sliding block（5）, two
Individual drift and rigidity equal compression spring（4）And guide rail（3）, the electric cylinder（7）Afterbody passes through the first universal hinge
（8）With lower platform（1）It is hinged, electric cylinder（7）Upper end passes through ball pivot（6）With sliding block（5）It is hinged, above-mentioned two compression spring
（4）It is respectively arranged in guide rail（3）Left end and sliding block（5）Between left end, guide rail（3）Right-hand member and sliding block（5）It is described to lead between right-hand member
Rail（3）With upper mounting plate（2）It is connected, two electric cylinders（7）After parallel connection again with sliding block（5）, guide rail（3）It is composed in series serial-parallel mirror knot
Structure drives branch；The bound branch includes the second universal hinge（10）, the second linear joint（9）, the described second universal hinge（10）
Connect upper mounting plate（2）, the second linear joint（9）Connect lower platform（1）.
2. a kind of freedom degree parallel connection stabilized platform with symmetrical series-parallel connection branch according to claim 1, its feature exists
In the lower platform (1) and upper mounting plate（2）Between provided with three driving branches, three driving branches in lower platform（2）Surrounding is
Even distribution, the ball pivot（6）Circular diameter is not less than the first universal hinge where central point（8）Circular diameter where central point, described three
Individual guide rail（3）Center line intersects two-by-two, and three intersection point lines constitute equilateral triangle.
3. a kind of freedom degree parallel connection stabilized platform with symmetrical series-parallel connection branch according to claim 1 or 2, its feature
It is, upper mounting plate（2）During in initial position it is described it is same driving branch in it is adjacent first it is universal hinge, ball pivot central point line structure
It is rectangular.
4. a kind of freedom degree parallel connection stabilized platform with symmetrical series-parallel connection branch according to claim 1, its feature exists
In the described second universal hinge（10）Center and upper mounting plate（2）The line of centres is perpendicular to upper mounting plate（2）Surface, described second is universal
Hinge（10）Center and lower platform（1）The line of centres is perpendicular to lower platform（1）Surface, second linear joint（9）Shifting axle
Line is perpendicular to lower platform（1）Surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621361692.3U CN206426085U (en) | 2016-12-13 | 2016-12-13 | A kind of freedom degree parallel connection stabilized platform with symmetrical series-parallel connection branch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621361692.3U CN206426085U (en) | 2016-12-13 | 2016-12-13 | A kind of freedom degree parallel connection stabilized platform with symmetrical series-parallel connection branch |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206426085U true CN206426085U (en) | 2017-08-22 |
Family
ID=59586364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621361692.3U Expired - Fee Related CN206426085U (en) | 2016-12-13 | 2016-12-13 | A kind of freedom degree parallel connection stabilized platform with symmetrical series-parallel connection branch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206426085U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450136A (en) * | 2019-07-31 | 2019-11-15 | 燕山大学 | Driven in parallel four-freedom hybrid formula mechanical wrist wobble heads |
| CN112540534A (en) * | 2019-09-20 | 2021-03-23 | 九江精密测试技术研究所 | Control method of ship-borne large-load parallel stable platform |
-
2016
- 2016-12-13 CN CN201621361692.3U patent/CN206426085U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450136A (en) * | 2019-07-31 | 2019-11-15 | 燕山大学 | Driven in parallel four-freedom hybrid formula mechanical wrist wobble heads |
| CN112540534A (en) * | 2019-09-20 | 2021-03-23 | 九江精密测试技术研究所 | Control method of ship-borne large-load parallel stable platform |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170822 Termination date: 20171213 |