CN101830272B - Spatial redundant drive swinging experiment table with two degrees of freedom - Google Patents
Spatial redundant drive swinging experiment table with two degrees of freedom Download PDFInfo
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- CN101830272B CN101830272B CN2010101711356A CN201010171135A CN101830272B CN 101830272 B CN101830272 B CN 101830272B CN 2010101711356 A CN2010101711356 A CN 2010101711356A CN 201010171135 A CN201010171135 A CN 201010171135A CN 101830272 B CN101830272 B CN 101830272B
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Abstract
The invention discloses a spatial redundant drive swinging experiment table with two degrees of freedom, which comprises a static platform at the bottom, wherein an upright post is fixed at the center of the static platform; the upright post is connected with a movable platform through a first Hooke joint; two second Hooke joints are arranged at one end below the movable platform in symmetrical positions and are respectively connected with a first drive hydraulic cylinder; the lower end of each first drive hydraulic cylinder is connected with the static platform through a third Hooke joint; the center line of the other end below the movable platform is connected with a second drive hydraulic cylinder through a fourth Hooke joint; the distance between the center of the fourth Hooke joint and the movable platform is equal to the distance between the center of the first Hooke joint and the movable platform; the lower surface of the second drive hydraulic cylinder is connected with the static platform through a fifth Hooke joint; each first drive hydraulic cylinder drives the swinging experiment table to swing transversely and longitudinally; and the second drive hydraulic cylinder cooperates with each first drive hydraulic cylinder to drive the swinging experiment table to swing transversely and longitudinally. By innovation of a mechanism and a drive method, the invention can meet the requirements of heavy load and high accuracy for the swinging experiment table in a ship simulation process and has the advantages of simple mechanism and convenient operation.
Description
Technical field
The present invention relates to a kind of swinging experiment table, particularly a kind of spatial redundant drive swinging experiment table with two degrees of freedom.
Background technology
Swinging experiment table is the large-scale high-precision emulator that integrates technology such as mechanical, electric, hydraulic pressure, control instrument instrument, sensing detection.At present; The tilter of various degree of freedom all has extensive studies and application at home and abroad; It can simulate various locus and attitude; Thereby the training simulators that are widely used in various functions, like the motion simulator of boats and ships, aircraft flight simulator, automobile driving simulator etc., even follow the tracks of with space articulation, the radar signal of spacecraft, the missile launching platform simulation.In view of its vast market prospect, research institutions have carried out research extensively and profoundly to tilter both at home and abroad in recent years, wherein in the research of having done comparison system aspect the driving of tilter and the control, but fewer to the research of heavy swinging experiment table.The naval vessel simulation experiment platform can be realized the oscillating motion of simulation boats and ships in wave under the carrying condition, and the value of attitude angle can be provided exactly, thereby accomplishes the test experiments of some instrument and equipments.Characteristics such as it is large-scale, heavily loaded, high precision directly influence tilter basic machine structure Design and control, thereby influence the serviceability and the measuring accuracy of tilter.
Summary of the invention
The present invention provides a kind of space two-freedom redundant drive swinging test cell of suitable large ship athletic posture simulation for solving the technical matters that exists in the known technology; It has good serviceability and measuring accuracy, satisfies large-scale, heavily loaded and high-precision requirement.
The technical scheme that the present invention takes for the technical matters that exists in the solution known technology is: a kind of spatial redundant drive swinging experiment table with two degrees of freedom; Comprise the silent flatform that is positioned at the bottom; Said silent flatform central authorities are fixed with column; Connect moving platform with first Hooke's hinge on the said column; A following end of said moving platform has two second Hooke's hinges respectively to be connected with one first in symmetric position to drive hydraulic actuating cylinder, said first drive hydraulic actuating cylinder the lower end be connected on the said silent flatform with the 3rd Hooke's hinge, the other end midline below the said moving platform is connected with the second driving hydraulic actuating cylinder with the 4th Hooke's hinge; The center of the center of said the 4th Hooke's hinge and said first Hooke's hinge and said moving platform equidistance; Following usefulness the 5th Hooke's hinge of the said second driving hydraulic actuating cylinder is connected on the said silent flatform, and said first drives this swinging experiment table roll and pitch of Driven by Hydraulic Cylinder, and said second drives hydraulic actuating cylinder collaborative said first drives this swinging experiment table roll and pitch of Driven by Hydraulic Cylinder.
Advantage and good effect that the present invention has are: the swinging experiment table of two-freedom is three redundancy actuating mechanism through the driving input structure number that adopts motion; Can remove the singular point of swinging experiment table; Enlarged the working space of swinging experiment table; Improve mechanism's rigidity, realized the optimum allocation of propulsive effort, obviously reduced maximum driving force; The present invention innovates through mechanism and driving method, can satisfy in the naval vessel simulation process heavy duty and high-precision requirement to swinging experiment table, and mechanism is simple, and is easy to operate.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a front view of the present invention;
Fig. 3 is a left view of the present invention;
Fig. 4 is the structural representation of column of the present invention;
Fig. 5 is the structural representation of silent flatform of the present invention;
Fig. 6 is the structural representation of moving platform of the present invention;
Fig. 7 is the scheme drawing of bearing seat of the present invention;
Fig. 8 is the scheme drawing of center cross of the present invention.
Among the figure: 1, moving platform, the 2, the 4th Hooke's hinge, 3, second drives hydraulic actuating cylinder, and 4, column, the 5, the 5th Hooke's hinge, 6, silent flatform, the 7, the 3rd Hooke's hinge, 8,9, first drives hydraulic actuating cylinder, 10, second Hooke's hinge, 11, bearing seat, 12, center cross.
The specific embodiment
For further understanding summary of the invention of the present invention, characteristics and effect, the following examples of giving an example now, and conjunction with figs. specifies as follows:
See also Fig. 1～Fig. 8; A kind of spatial redundant drive swinging experiment table with two degrees of freedom comprises the silent flatform 6 that is positioned at the bottom, and silent flatform 6 central authorities are fixed with column 4; Connect moving platform 1 with first Hooke's hinge on the column 4; First Hooke's hinge comprises bearing seat 11, center cross 12 and bearing, and four ends of center cross 12 are equipped with bearing respectively, and each bearing is installed in the bearing seat 11 cooresponding with it.A following wherein end of moving platform 1 has two second Hooke's hinges 10 respectively to connect one first driving hydraulic actuating cylinder 8,9 in symmetric position; The lower end of the first driving hydraulic actuating cylinder 8,9 is connected on the silent flatform 6 with the 3rd Hooke's hinge 7 respectively; The following other end midline of moving platform 1 connects second with the 4th Hooke's hinge 2 and drives hydraulic actuating cylinder 3; The center of first Hooke's hinge on the center of the 4th Hooke's hinge 2 and the column 4 and moving platform 1 equidistance, second drives hydraulic actuating cylinder 3 usefulness the 5th Hooke's hinge 5 is connected on the silent flatform 6.
Above-mentioned swinging experiment table drives hydraulic actuating cylinder 8,9 by first and drives the roll and pitch that can realize swinging experiment table; Second drives hydraulic actuating cylinder 3 helps out; Collaborative first drives hydraulic actuating cylinder 8,9 realizes redundant drive; Can make this swinging experiment table have good serviceability and measuring accuracy, satisfy large-scale, heavily loaded and high-precision requirement.
Above-mentioned swinging experiment table relates to parallel institution and redundant drive technology thereof; Relate in particular to the space motion parallel institution and the redundant drive technology of the simulation of Ship Motion configuration space; Above-mentioned swinging experiment table is a two-freedom; And the driving of motion input structure number is three, so this mechanism is a redundancy actuating mechanism.This redundant drive structure has the singular point that can remove swinging experiment table, enlarges the working space of swinging experiment table, improves mechanism's rigidity, realizes the optimum allocation of propulsive effort, obviously reduces the advantage of maximum driving force.
Although combine accompanying drawing that the preferred embodiments of the present invention are described above; But the present invention is not limited to the above-mentioned specific embodiment, and the above-mentioned specific embodiment only is schematically, is not restrictive; Those of ordinary skill in the art is under enlightenment of the present invention; Not breaking away under the scope situation that aim of the present invention and claim protect, can also make a lot of forms, these all belong within protection scope of the present invention.
Claims (1)
1. spatial redundant drive swinging experiment table with two degrees of freedom; It is characterized in that; Comprise the silent flatform that is positioned at the bottom; Said silent flatform central authorities are fixed with column, connect moving platform with first Hooke's hinge on the said column, and the end below the said moving platform has two second Hooke's hinges respectively to be connected with one first in symmetric position to drive hydraulic actuating cylinder; The lower end of the said first driving hydraulic actuating cylinder is connected on the said silent flatform with the 3rd Hooke's hinge; Other end midline below the said moving platform is connected with second with the 4th Hooke's hinge and drives hydraulic actuating cylinder, the center of the center of said the 4th Hooke's hinge and said first Hooke's hinge and said moving platform equidistance, and following usefulness the 5th Hooke's hinge of the said second driving hydraulic actuating cylinder is connected on the said silent flatform; Said first drives this swinging experiment table roll and pitch of Driven by Hydraulic Cylinder, and said second drives hydraulic actuating cylinder collaborative said first drives this swinging experiment table roll and pitch of Driven by Hydraulic Cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101711356A CN101830272B (en) | 2010-05-13 | 2010-05-13 | Spatial redundant drive swinging experiment table with two degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101711356A CN101830272B (en) | 2010-05-13 | 2010-05-13 | Spatial redundant drive swinging experiment table with two degrees of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101830272A CN101830272A (en) | 2010-09-15 |
| CN101830272B true CN101830272B (en) | 2012-07-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101711356A Expired - Fee Related CN101830272B (en) | 2010-05-13 | 2010-05-13 | Spatial redundant drive swinging experiment table with two degrees of freedom |
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| Country | Link |
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| CN (1) | CN101830272B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102889467B (en) * | 2012-09-28 | 2015-12-16 | 天津鼎成高新技术产业有限公司 | A kind of anti-tipping method for security protection of center of gravity high-position placed tilter |
| CN103192377B (en) * | 2013-03-18 | 2015-11-04 | 安科智慧城市技术（中国）有限公司 | Freely-movable device |
| CN104240550B (en) * | 2013-06-06 | 2018-03-27 | 福建科德电子科技有限公司 | A kind of vivid platform device |
| CN104875848B (en) * | 2015-05-29 | 2017-11-14 | 上海船舶运输科学研究所 | Seaworthiness performance test system |
| CN106477477A (en) * | 2015-08-31 | 2017-03-08 | 广西大学 | A kind of tiltable double freedom lowering or hoisting gear |
| CN106017928B (en) * | 2016-05-25 | 2018-03-06 | 湘潭大学 | Bearing swinging test device |
| CN106409115B (en) * | 2016-10-20 | 2017-09-12 | 江苏科技大学 | A kind of experimental provision and experimental method for measuring catamaran transverse bending moment |
| CN107796615B (en) * | 2017-12-08 | 2020-01-07 | 广州中臣碧阳船舶科技有限公司 | Swing test platform |
| CN108089599B (en) * | 2017-12-22 | 2020-10-16 | 安徽仁信电子工程有限公司 | Sea surface radar detection direction control device and application method thereof |
| CN108825941A (en) * | 2018-05-03 | 2018-11-16 | 长春工业大学 | A kind of Airborne Camera ground motion test device of multiaxis cooperative motion |
| CN109186936B (en) * | 2018-09-13 | 2020-10-13 | 大连海事大学 | Simulation test platform for hydraulic lifting and semi-active heave compensation in sunken ship salvage |
| CN109341738B (en) * | 2018-12-07 | 2024-03-29 | 苏州世力源科技有限公司 | Tilting and swinging test bed with changeable swinging center |
| CN113465966B (en) * | 2021-06-16 | 2022-06-07 | 天津大学 | Concrete column type swing test device of offshore high-rise tower |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1537704A (en) * | 2003-10-24 | 2004-10-20 | 清华大学 | Paralel robot mechanism with bidimension rotating mono-dimension moving |
| CN1739926A (en) * | 2005-09-15 | 2006-03-01 | 天津大学 | Multi-coordinate serioparallel robot with redundant freedom |
| CN1944001A (en) * | 2006-10-13 | 2007-04-11 | 燕山大学 | Spacial non-symmetric two freedom rotary parallel mechanism |
-
2010
- 2010-05-13 CN CN2010101711356A patent/CN101830272B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1537704A (en) * | 2003-10-24 | 2004-10-20 | 清华大学 | Paralel robot mechanism with bidimension rotating mono-dimension moving |
| CN1739926A (en) * | 2005-09-15 | 2006-03-01 | 天津大学 | Multi-coordinate serioparallel robot with redundant freedom |
| CN1944001A (en) * | 2006-10-13 | 2007-04-11 | 燕山大学 | Spacial non-symmetric two freedom rotary parallel mechanism |
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| CN101830272A (en) | 2010-09-15 |
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