CN101813156B - Flexible high-precision spacial vibration damping platform - Google Patents
Flexible high-precision spacial vibration damping platform Download PDFInfo
- Publication number
- CN101813156B CN101813156B CN2010101519883A CN201010151988A CN101813156B CN 101813156 B CN101813156 B CN 101813156B CN 2010101519883 A CN2010101519883 A CN 2010101519883A CN 201010151988 A CN201010151988 A CN 201010151988A CN 101813156 B CN101813156 B CN 101813156B
- Authority
- CN
- China
- Prior art keywords
- flexible
- connecting rod
- vibration damping
- single shaft
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a flexible high-precision spacial vibration damping platform, and relates to the field of multi-dimensional vibration damping and multi-dimensional vibration isolating system manufacture. The flexible high-precision spacial vibration damping platform consists of three flexible branch chains with the same structure, a lower static platform (5) and an upper moving platform (1), wherein the flexible branch chains are positioned between the lower static platform (5) and the upper moving platform (1), and are parallelogram flexible mechanisms (2); and each parallelogram flexible mechanism (2) consists of a first connecting rod (G), a second connecting rod (H), a third connecting rod (I) and a fourth connecting rod (J) which are connected through four single-shaft flexible hinges. The flexible high-precision spacial vibration damping platform eliminates residual oscillation, can realize active vibration damping or vibration isolation on high-precision occasions, has simple and compact structure, and can meet the requirements on different dimensional vibration damping.
Description
Technical field
The present invention relates to multidimensional vibration reduction, multidimensional vibrating isolation system manufacturing field, is a kind of flexible high-precision spacial vibration damping platform concretely.
Background technique
Engineering structure mostly is complicated multi degree of freedom system now, and is mostly the wide band excitation, thereby multi-dimensional vibration is prevalent in every field.Traditional multidimensional vibration reduction device adopts multilayer single-degree-of-freedom device to carry out vibration damping usually; For example the patent No. is 99123143.0; Name is called the patent of " Shockproof rack for ambulance "; Be respectively the top to bottom, left and right, front and rear direction of Shockproof rack to be implemented vibration damping through three-decker, but its complex structure, vibration damping is unreliable.
Because that paralleling mechanism has is simple in structure, validity is high and can realize characteristics such as multi-direction motion, progressively is used widely in the multidimensional vibration reduction field.The multidimensional vibration reduction structure adopts paralleling mechanism as the vibration damping main body mechanism, adopts the elastic damping system as damping actuator, and is simple in structure, practical; Obtained satisfied effect, but because the paralleling mechanism joint is very many, unavoidable machining error causes each joint all to have either large or small gap; The existence in these gaps makes vibration damping table more serious residual oscillation under the high frequency motion situation, occur; Had a strong impact on the damping property of vibration damping table, even increased the Oscillation Amplitude of indivedual directions, the frictional force that exists in the joint also reduction vibration damping precision; And; Rigid rod in the mechanism is not yielding, can't absorb the vibrational energy of automatic platform, has influenced the effectiveness in vibration suppression of vibration damping table.Therefore, urgent need is a kind of in the engineering both can realize multidimensional vibration reduction, had the vibration damping equipment of degree of precision again.
Summary of the invention
Basic ideas of the present invention are: the movement characteristic that keeps original paralleling mechanism; Secondary with the secondary alternative original rigid motion of compliant motion; Substitute original rigid bar with rods; So both can keep the required vibration damping dimension of vibration damping table, can eliminate the gap and the frictional force that exist in the rigidity joint again; For vibration damping table can be realized the function of active damping having adopted the driving source of small-sized magnetorheological damping device as vibration damper.
The technological scheme that the present invention adopted is: the three translation flexible parallel connection mechanisms that are made up of three identical flexible side chain, silent flatform and last moving platforms of structure.Flexible side chain is the parallelogram compliant mechanism, is linked to each other through four single shaft flexible hinges respectively and is constituted by first connecting rod, second connecting rod, the 3rd connecting rod, the 4th connecting rod; The 3rd connecting rod links to each other with moving platform through the single shaft flexible hinge of a pair of coaxial line; First member links to each other with the single shaft flexible hinge of first connecting rod through a pair of coaxial line, and the two ends of second member are connected with first member and the 3rd member respectively, and the 3rd member links to each other with silent flatform through the single shaft flexible hinge of a pair of coaxial line; Small-sized MR damper is installed between second member and the silent flatform, and small-sized MR damper one end is installed in the mid point of second member, and the other end is fixed on down on the silent flatform, and makes MR damper keep vertical with the initial position of second member.The lower bolster of this mechanism is fixed on the vibration source, and upper mounting plate then can be settled precision type instrument, makes instrument can reduce or eliminate the multi-dimensional vibration that vibration source produces.
The outstanding feature of this device is to have eliminated residual oscillation, can realize active damping or vibration isolation under the highi degree of accuracy occasion, and it is simple and compact for structure, the vibration damping demand that can satisfy multiple different dimensions, be prone to realize seriation.
The invention has the beneficial effects as follows:
(1) the secondary conventional rigid kinematic pair that replaces of compliant motion; The compliant motion pair is the kinematic pair of a kind of resiliently deformable of leaning on material motion output of realizing expecting; Can wholely make, compare the conventional motion pair and have advantages such as no gap, nothing friction, thereby form a kind of complete flexible three-translation parallel mechanism; With the main body mechanism of this mechanism, form a kind of brand-new three-degree of freedom flexible vibration damping table as vibration damping table.
(2) can realize three-dimensional vibration damping, and main load direction adopts the small-sized MR damper of adaptive damping, strengthened the adaptivity of this device active damping;
(3) can eliminate vibration at short notice fast, more passive vibration damping equipment is quicker, efficient is higher;
(4) can also can be applicable to the vibration isolation occasion as the vibration damping table of the higher precision type instrument of required precision.
Description of drawings
Fig. 1 is a mechanism principle figure of the present invention
Fig. 2 is the schematic representation of branched structure among the present invention
Among the figure, 1, moving platform; 2, the parallelogram compliant mechanism; 3, the second members; 4, small-sized MR damper; 5, silent flatform; E, first member; G, first connecting rod; H, second connecting rod; I, the 3rd connecting rod; J, the 4th connecting rod.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further explain.
Fig. 1 is a mechanism principle figure of the present invention; Its main body is made up of structure identical three flexible side chains, silent flatform 5 and moving platform 1; Fig. 2 is the branched structure schematic representation that the present invention implements; Article three, flexible side chain is down between silent flatform 5 and the last moving platform 1; Article three, the be projected as 120 ° angles of side chain on silent flatform 5 evenly distribute, and flexible branched structure is as shown in Figure 2, and first connecting rod G, second connecting rod H, the 3rd connecting rod I, the 4th connecting rod J are linked to each other by four single shaft flexible hinges respectively and constitute parallelogram compliant mechanism 2; The 3rd connecting rod I links to each other with moving platform 1 through the single shaft flexible hinge of a pair of coaxial line; The first member E also links to each other through the single shaft flexible hinge of a pair of coaxial line with first connecting rod G, and the two ends of second member 3 are connected with the first member E and the 3rd member F respectively, and the 3rd member F links to each other with following silent flatform 5 through the single shaft flexible hinge of a pair of coaxial line.The shaft axis of one group of four single shaft flexible hinge in the parallelogram compliant mechanism 2 is parallel to each other; Single shaft flexible hinge between single shaft flexible hinge between single shaft flexible hinge between moving platform 1 and the parallelogram compliant mechanism 2, parallelogram compliant mechanism 2 and the first member E, the 3rd member F and the following silent flatform 5; The shaft axis of three single shaft flexible hinges of this group is parallel to each other, and the shaft axis of above-mentioned two groups of single shaft flexible hinges is vertical each other.Can know according to the motion of mechanism decoupling, when moving under second effect of member 3, then go up moving platform and can realize three translational motions output at driving source.
As shown in Figure 1, small-sized MR damper 4 is installed on second member 3 in the side chain, then be equivalent to apply a driving force that stops its motion to second member 3.If will descend silent flatform 5 to place on the vibration source; According to the contrary motion principle of paralleling mechanism, under the effect of three side chains, last moving platform 1 can produce less relatively motion; And can be according to the motion conditions of moving platform; Initiatively adjust the driving force of small-sized MR damper, make moving platform 1 steady as early as possible, thereby reach the purpose of three-dimensional vibration damping.
Claims (1)
1. a flexible high-precision spacial vibration damping platform is characterized in that, is made up of three identical flexible side chain, following silent flatform (5) and last moving platforms (1) of structure; Said three flexible side chains are positioned between following silent flatform (5) and the last moving platform (1); Flexible side chain is parallelogram compliant mechanism (2), and being linked to each other through four single shaft flexible hinges respectively by first connecting rod (G), second connecting rod (H), the 3rd connecting rod (I), the 4th connecting rod (J) constitutes; Said the 3rd connecting rod (I) links to each other with last moving platform (1) through the single shaft flexible hinge of a pair of coaxial line; First member (E) links to each other with the single shaft flexible hinge of first connecting rod (G) through a pair of coaxial line; The two ends of second member (3) are connected with first member (E) and the 3rd member (F) respectively, and said the 3rd member (F) links to each other with following silent flatform (5) through the single shaft flexible hinge of a pair of coaxial line; Also comprise small-sized MR damper (4); Said small-sized MR damper (4) is installed between second member (3) and the following silent flatform (5); Small-sized MR damper (4) one ends are installed in the mid point of second member (3); The other end is fixed on down on the silent flatform (5), and small-sized MR damper (4) keeps vertical with the initial position of second member (3); The shaft axis of one group of four single shaft flexible hinge in the said parallelogram compliant mechanism (2) is parallel to each other; Single shaft flexible hinge between single shaft flexible hinge, the 3rd member (F) and the following silent flatform (5) between said single shaft flexible hinge, parallelogram compliant mechanism (2) and first member of going up between moving platform (1) and the parallelogram compliant mechanism (2) (E); The shaft axis of three single shaft flexible hinges of this group is parallel to each other, and the shaft axis of above-mentioned two groups of single shaft flexible hinges is vertical each other; The be projected as 120 ° angles of said three flexible side chains on following silent flatform (5) evenly distribute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101519883A CN101813156B (en) | 2010-04-20 | 2010-04-20 | Flexible high-precision spacial vibration damping platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101519883A CN101813156B (en) | 2010-04-20 | 2010-04-20 | Flexible high-precision spacial vibration damping platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101813156A CN101813156A (en) | 2010-08-25 |
| CN101813156B true CN101813156B (en) | 2012-07-04 |
Family
ID=42620486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101519883A Active CN101813156B (en) | 2010-04-20 | 2010-04-20 | Flexible high-precision spacial vibration damping platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101813156B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102494073B (en) * | 2011-11-16 | 2013-06-19 | 南京航空航天大学 | Undercarriage buffer |
| CN104308639B (en) * | 2014-10-14 | 2016-07-06 | 青岛理工大学 | The non-obstruction vibration damping and noise reducing device of flexible constraint of movement |
| CN106128512B (en) * | 2016-07-04 | 2020-06-09 | 北京航空航天大学 | Spherical three-freedom-degree rotation flexible mechanism |
| CN109681576B (en) * | 2019-01-15 | 2020-12-22 | 广东工业大学 | Be used for high frequency and low frequency absorbing unmanned aerial vehicle deflection device |
| CN110081111A (en) * | 2019-05-29 | 2019-08-02 | 北京林业大学 | A kind of more ligament chiral structures containing flexible hinge |
| CN111677810B (en) * | 2020-05-27 | 2021-09-21 | 哈尔滨工业大学 | Passive vibration isolation system for optical payload |
| CN112659099B (en) * | 2020-11-17 | 2022-07-29 | 燕山大学 | Local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint |
| CN114145598B (en) * | 2021-11-17 | 2022-10-14 | 徐州恒远高新技术有限公司 | Self-control element protection type movable display device and using method thereof |
| CN113997272B (en) * | 2021-11-25 | 2022-12-20 | 中国核动力研究设计院 | Space six-degree-of-freedom vibration reduction platform |
| CN114800443A (en) * | 2022-03-22 | 2022-07-29 | 湖北工业大学 | Novel precise flexible parallel directional mechanism |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2470922Y (en) * | 2001-02-23 | 2002-01-09 | 北京远泰通达科技开发有限责任公司 | Three-freedom super-precision-positioning and micro operation platform |
| US6671975B2 (en) * | 2001-12-10 | 2004-01-06 | C. William Hennessey | Parallel kinematic micromanipulator |
| CN1289836C (en) * | 2004-02-18 | 2006-12-13 | 江苏大学 | Elastic multidimensional damping platform based mixed combined moving assisted parallel mechanism |
| CN100393484C (en) * | 2006-06-09 | 2008-06-11 | 北京工业大学 | Three-translation and one-rotation parallel mechanism |
| CN101319700A (en) * | 2008-06-03 | 2008-12-10 | 江苏工业学院 | Magneto-rheological semi-active multi-freedom parallel connection shock-absorbing device |
| CN101417424B (en) * | 2008-11-22 | 2010-10-27 | 燕山大学 | Three-dimensional translation micro-operation hand |
-
2010
- 2010-04-20 CN CN2010101519883A patent/CN101813156B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN101813156A (en) | 2010-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101813156B (en) | Flexible high-precision spacial vibration damping platform | |
| US11255406B2 (en) | Multi-dimensional magnetic negative-stiffness mechanism and multi-dimensional magnetic negative-stiffness vibration isolation system composed thereof | |
| CN103225728B (en) | Two-dimensional parallel micromotion platform driven by piezoceramic | |
| CN101887761B (en) | Two-degree-of-freedom micro-positioning platform | |
| CN100340378C (en) | Precision positioning table with six degrees of freedom | |
| CN107575518B (en) | Active and passive parallel input parallel posture adjustment vibration isolation platform | |
| US10281356B2 (en) | Oscillating device, electrodynamic actuator, cross guideway, linear guideway and vibrating table | |
| CN104308838B (en) | Low-and high-frequency composite flooding six-freedom parallel sports platform | |
| CN102865985B (en) | A kind of space three translation based on flexible joint exciting vibrating device in parallel | |
| CN103423558A (en) | Coupled four-freedom-degree parallel connection vibration isolation platform | |
| CN101733754B (en) | Three-dimensionally moved decoupling micro-manipulating robot | |
| KR101164378B1 (en) | Parallel manipulator | |
| CN102446563A (en) | Three-degree-of-freedom microoperation orthogonal parallel operating platform used for ultraprecise location | |
| CN104900573B (en) | A kind of differential lever micro-displacement amplifying device of symmetrical expression | |
| CN105953039B (en) | A kind of submissive mini positioning platform in parallel of Novel long-stroke | |
| CN109129494B (en) | Parallel micro-compensation device | |
| CN105904443A (en) | Two-degree-of-freedom flexible parallel mechanism for motion decoupling | |
| CN102380788A (en) | Double-parallel-flexible-hinge-based tool rest driving platform of super-precision machining lathe | |
| CN104458169A (en) | High-and-low-frequency compound drive parallel two-dimensional rotating platform | |
| CN103302661B (en) | Fully-decoupled one-movement two-rotation and three-degree-of-freedom parallel mechanism | |
| CN103273481A (en) | Parallel mechanism with two-degree-of-free translation function | |
| CN108262629A (en) | A kind of large stroke and high precision two-freedom fast tool servo | |
| CN102445319A (en) | Parallel workbench for realizing space three-translation high-frequency excitation | |
| JP6249178B2 (en) | Vibration control structure | |
| CN2782326Y (en) | Six freedom precision positioning working table |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: Gehu Lake Road Wujin District 213164 Jiangsu city of Changzhou province No. 1 Patentee after: Jiangsu Polytechnic University Address before: 213016 Baiyun District, Changzhou, Jiangsu Patentee before: Jiangsu Polytechnic University |
|
| ASS | Succession or assignment of patent right |
Owner name: LIYANG CHANGDA TECHNOLOGY TRANSFER CENTER CO., LTD Free format text: FORMER OWNER: JIANGSU POLYTECHNIC UNIVERSITY Effective date: 20141204 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 213164 CHANGZHOU, JIANGSU PROVINCE TO: 213311 CHANGZHOU, JIANGSU PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20141204 Address after: Daitou town of Liyang City Ferry Street 213311 Jiangsu city of Changzhou province 8-2 No. 7 Patentee after: Liyang Chang Technology Transfer Center Co., Ltd. Address before: Gehu Lake Road Wujin District 213164 Jiangsu city of Changzhou province No. 1 Patentee before: Jiangsu Polytechnic University |