CN101916520A - Parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulator - Google Patents
Parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulator Download PDFInfo
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Abstract
The invention relates to a parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulator which comprises a working platform, three panels, four four-input single-output redundant driving mechanisms and two six-input single-output redundant driving mechanisms. The three panels are mutually perpendicular pairwise, one end of each four-input single-output redundant driving mechanism is fixed on a panel, the other end of each four-input single-output redundant driving mechanism is fixed on the working platform, one end of either six-input single-output redundant driving mechanism is fixed on the panel, and the other end of either six-input single-output redundant driving mechanism is fixed on the working platform. The invention has simple structure and easy control, can obtain greater power by utilizing parallel input, and each interface has the redundance of 4-6 redundant motors so that each motor has lowered power requirements and can differentially output to reach great power and multiple redundant interfaces. Because of adopting the modularized design, the extendibility is strong.
Description
Technical field
What the present invention relates to is the device of a mechanical engineering technical field, specifically is a kind of parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulator.
Background technology
Multiple degrees of freedom redundant fault-tolerant driving simulator particularly six-freedom-degree parallel connection simulator is mainly used in the manufacturing of large-scale analog machine, as sea wave simulation system, earthquake simulator and nuclear power station etc.Parallel redundant input Driving technique is the technology that a plurality of drive sources of a kind of usefulness are shared a total driving force, parallel connection by enter drive, can produce bigger driving force by pure mechanical electric system, and not need to adopt huge hydraulic system, the risk of avoided the cost height, easily polluting.
In the parallel institution field, redundant input is meant that the number of mechanism kinematic input is greater than its structure degree of freedom number.Characteristics such as parallel robot has rigidity height, precision height, inertia is little, dynamic perfromance is good, but aspect geometrical property, also has very big shortcoming,, very flexible little as work space and workspace memory add redundance and can improve its geometrical property unusual position shape etc.Since redundancy robots in work space, dirigibility, keep away aspects such as barrier ability and kinematic behavior and have advantage, thereby be subjected to increasing attention.Compare with general parallel institution, parallel redundant input mechanism has the feature of higher rigidity, bigger bearing capacity, bigger acceleration and more excellent many distinctnesses such as performance, and can optimize input power, reduce mechanism's joint internal force, thereby improve its power transmission capacity, improve dynamic performance etc.
Existing input redundant drive simulator redundance in parallel is less, and the power that can reach is less, mainly adopts lead screw transmission, adopts the double link coordinated movement of various economic factors.What generally use at present is to obtain six output degree of freedom by six inputs.
Through existing literature search is found, Chinese patent application number is: 03122951.4, and name is called: a kind of redundant input parallel connection simulator.The interface module of this simulator comprises guide rail, slide unit, connecting rod, motor, by being connected of interface module and panel, realizes the operation of simulator.But the motor number that the redundant input simulator of this technology can be redundant is less, so it is less to reach peak power, each motor requires power very big, and cost is very high; And can not differentially export, harmony is bad, and it is low relatively to operate tonnage, can not adapt to the user demand of heavy duty equipments such as sea wave simulation system, earthquake simulator and nuclear power station.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulator is provided.The present invention is simple in structure, and control utilizes input in parallel can obtain bigger power easily, redundant 4～6 motors of each interface energy, the power demand of each motor is reduced, and the differential output of energy is so it is big to reach power, redundant interface is many, owing to adopt modular design, so extensibility is strong.
The present invention is achieved by the following technical solutions:
The present invention includes: workbench, three panels, four the four single port redundancy driving mechanisms of input and two the six single port redundancy driving mechanisms of input, wherein: three panels are vertical mutually in twos, one end of the single port redundancy driving mechanism of the one or six input is fixed on first panel, the other end of the single port redundancy driving mechanism of the one or six input is fixed on the workbench, one end of the single port redundancy driving mechanism of the two or six input is fixed on the 3rd panel, the other end of the single port redundancy driving mechanism of the two or six input is fixed on the workbench, one end of the single port redundancy driving mechanism of the one or four input is fixed on the 3rd panel, the other end of the single port redundancy driving mechanism of the one or four input is fixed on the workbench, one end of the single port redundancy driving mechanism of the two or four input is fixed on the 3rd panel, the other end of the single port redundancy driving mechanism of the two or four input is fixed on the workbench, one end of the single port redundancy driving mechanism of the three or four input is fixed on second panel, the other end of the single port redundancy driving mechanism of the three or four input is fixed on the workbench, one end of the single port redundancy driving mechanism of the four or four input is fixed on second panel, and the other end of the single port redundancy driving mechanism of the four or four input is fixed on the workbench.
The single port redundancy driving mechanism of described four inputs comprises: first slide unit, four drive units, three conditioning units, five actuated lever assemblies and two interface arrangements, wherein: an end of drive unit is fixed on the panel, the other end and the first interface device of first drive unit are connected, the other end and the first interface device of second drive unit are connected, the other end of the 3rd drive unit links to each other with second interface arrangement, the other end of four-drive device links to each other with second interface arrangement, first conditioning unit is fixed on the first interface device, second conditioning unit is fixed on second interface arrangement, one end of first actuated lever assemblies and an end of second actuated lever assemblies are separately fixed on first conditioning unit, one end of the 3rd actuated lever assemblies and an end of the 4th actuated lever assemblies are separately fixed on second conditioning unit, the other end of first actuated lever assemblies, the other end of second actuated lever assemblies, the other end of the other end of the 3rd actuated lever assemblies and the 4th actuated lever assemblies is separately fixed at the lower surface of first slide unit, the 3rd conditioning unit is fixed on the upper surface of first slide unit, one end of the 5th actuated lever assemblies is fixed on the 3rd conditioning unit, and the other end and the workbench of the 5th actuated lever assemblies are connected.
The single port redundancy driving mechanism of described four inputs comprises: first slide unit, four drive units, three conditioning units, three actuated lever assemblies and two interface arrangements, wherein: an end of drive unit is fixed on the panel, the other end and the first interface device of first drive unit are connected, the other end and the first interface device of second drive unit are connected, the other end of the 3rd drive unit links to each other with second interface arrangement, the other end of four-drive device links to each other with second interface arrangement, first conditioning unit is fixed on the first interface device, second conditioning unit is fixed on second interface arrangement, one end of first actuated lever assemblies is fixed on first conditioning unit, one end of second actuated lever assemblies is fixed on second conditioning unit, the other end of the other end of first actuated lever assemblies and second actuated lever assemblies is separately fixed at the lower surface of first slide unit, the 3rd conditioning unit is fixed on the upper surface of first slide unit, one end of the 5th actuated lever assemblies is fixed on the 3rd conditioning unit, and the other end and the workbench of the 5th actuated lever assemblies are connected.
The single port redundancy driving mechanism of described six inputs comprises: second slide unit, six drive units, four conditioning units, seven actuated lever assemblies and three interface arrangements, wherein: an end of drive unit is fixed on the panel, the other end of the 5th drive unit and the 3rd interface arrangement are connected, the other end of the 6th drive unit and the 3rd interface arrangement are connected, the other end of the 7th drive unit and the 4th interface arrangement are connected, the other end of the 8th drive unit and the 4th interface arrangement are connected, the other end of the 9th drive unit and the 5th interface arrangement are connected, the other end of the tenth drive unit and the 5th interface arrangement are connected, the 4th conditioning unit is fixed on the 3rd interface arrangement, the 5th conditioning unit is fixed on the 4th interface arrangement, the 6th conditioning unit is fixed on the 5th interface arrangement, one end of the 6th actuated lever assemblies and an end of the 11 actuated lever assemblies are separately fixed on the 4th conditioning unit, one end of the 7th actuated lever assemblies and an end of the 12 actuated lever assemblies are separately fixed on the 5th conditioning unit, one end of the 8th actuated lever assemblies and an end of the 12 actuated lever assemblies are separately fixed on the 6th conditioning unit, the other end of the 6th actuated lever assemblies, the other end of the 7th actuated lever assemblies, the other end of the 8th actuated lever assemblies, the other end of the tenth actuated lever assemblies, the other end of the 11 actuated lever assemblies and the other end of the 12 actuated lever assemblies are separately fixed at the lower surface of second slide unit, the 7th conditioning unit is fixed on the upper surface of second slide unit, one end of the 9th actuated lever assemblies is fixed on the 7th conditioning unit, and the other end and the workbench of the 9th actuated lever assemblies are connected.
The single port redundancy driving mechanism of described six inputs comprises: second slide unit, six drive units, four conditioning units, four actuated lever assemblies and three interface arrangements, wherein: an end of drive unit is fixed on the panel, the other end of the 5th drive unit and the 3rd interface arrangement are connected, the other end of the 6th drive unit and the 3rd interface arrangement are connected, the other end of the 7th drive unit and the 4th interface arrangement are connected, the other end of the 8th drive unit and the 4th interface arrangement are connected, the other end of the 9th drive unit and the 5th interface arrangement are connected, the other end of the tenth drive unit and the 5th interface arrangement are connected, the 4th conditioning unit is fixed on the 3rd interface arrangement, the 5th conditioning unit is fixed on the 4th interface arrangement, the 6th conditioning unit is fixed on the 5th interface arrangement, one end of the 6th actuated lever assemblies is fixed on the 4th conditioning unit, one end of the 7th actuated lever assemblies is fixed on the 5th conditioning unit, one end of the 8th actuated lever assemblies is fixed on the 6th conditioning unit, the other end of the 6th actuated lever assemblies, the other end of the other end of the 7th actuated lever assemblies and the 8th actuated lever assemblies is separately fixed at the lower surface of second slide unit, the 7th conditioning unit is fixed on the upper surface of second slide unit, one end of the 9th actuated lever assemblies is fixed on the 7th conditioning unit, and the other end and the workbench of the 9th actuated lever assemblies are connected.
Described actuated lever assemblies comprises: a connecting rod and two ball strands, and wherein: an end of connecting rod links to each other with first ball strand, and the other end of connecting rod links to each other with second ball strand.
Described conditioning unit is a pulley, or gear, or cam.
Described drive unit comprises: motor, motor shaft and speed reduction unit, and wherein: an end of motor is fixed on the panel, and the other end of motor links to each other with an end of motor shaft, and the other end of motor shaft links to each other with speed reduction unit, and speed reduction unit links to each other with interface arrangement.
Described motor is a servomotor, or stepper motor.
Described interface arrangement comprises: guide rail, the 3rd slide unit and two leading screws, and wherein: an end and the drive unit of leading screw are connected, and the other end and the guide rail of leading screw are connected, and leading screw passes the 3rd slide unit, and conditioning unit is fixed on the upper surface of the 3rd slide unit.
Compared with prior art, the invention has the beneficial effects as follows:
1, adopts the mariages thick stick to drive, can reduce the mean stress of single leading screw, increase the service life.Because the machine driven system such as the life-span of leading screw and the cube of axial force are inversely proportional to, so the adding of counterweight can improve 5～8 times of life-spans.And the mariages thick stick drives and to share driving force and make that machine driven system is stressed to have reduced half, can improve 8 times of life-spans.Like this, parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulator of the present invention can improve the life-span of machine driven system more than 40 times, can fully satisfy the life requirements of the actual use of equipment.
2, coordinate transmission by conditioning unit, two rhizoid thick sticks are kept synchronously, improved the coordination ability of device.
3, owing to adopted multi-redundant type of drive in parallel, do not need the power of single motor too big, so the single motor cost is lower, simple in structure, device fabrication is easy, reduces cost.
4, owing to input in parallel, and there is redundance, therefore can passes through accessory drive, it is imported at times, thereby controlled the output of each degree of freedom, formed differential input, output, therefore control can be observed motion, the situation of single degree of freedom flexibly.
The present invention can well adapt to the user demand of heavy duty equipments such as sea wave simulation system, earthquake simulator and nuclear power station.
Description of drawings
Fig. 1 is the device one-piece construction synoptic diagram of embodiment;
Wherein: A-first panel, B-second panel, C-the 3rd panel, 1-workbench, the single port redundancy driving mechanism of 2-the one or four input, the single port redundancy driving mechanism of 3-the one or six input, the single port redundancy driving mechanism of 4-the two or four input, the single port redundancy driving mechanism of 5-the two or six input, the single port redundancy driving mechanism of 6-the three or four input, the single port redundancy driving mechanism of 7-the four or four input.
Fig. 2 is the structural representation of the single port redundancy driving mechanism of the one or four input among the embodiment;
Wherein: 8-first drive unit, 9-second drive unit, 10-the 3rd drive unit, the 11-four-drive device, 12-the 3rd leading screw, 13-the 4th leading screw, 14-second guide rail, 15-the 4th slide unit, 16-second conditioning unit, 17-the 7th ball strand, 18-the 5th ball strand, the 19-third connecting rod, 20-the 4th connecting rod, 21-the 8th ball strand, 22-the 6th ball strand, 23-first slide unit, 24-the 3rd conditioning unit, 25-the 9th ball strand, 26-the 5th connecting rod, 27-the tenth ball strand, 28-the 4th ball strand, 29-second ball strand, the 30-first connecting rod, the 31-second connecting rod, 32-the 3rd ball strand, 33-first ball strand, 34-first guide rail, 35-first conditioning unit, 36-the 3rd slide unit, 37-first leading screw, 38-second leading screw.
Fig. 3 is the structural representation of the single port redundancy driving mechanism of the one or six input among the embodiment;
Wherein: 39-the 5th drive unit, 40-the 6th drive unit, 41-the 7th drive unit, 42-the 8th drive unit, 43-the 9th drive unit, 44-the tenth drive unit, 45-the 9th leading screw, 46-the tenth leading screw, 47-the 7th leading screw, 48-the 8th leading screw, 49-the 7th slide unit, 50-the 6th conditioning unit, 51-the 15 ball strand, 52-the 8th connecting rod, 53-the 6th slide unit, 54-the 5th conditioning unit, 55-the 16 ball strand, 56-the 13 ball strand, the 57-seven-link assembly, 58-the 14 ball strand, 59-the 18 ball strand, 60-the 9th connecting rod, 61-the 17 ball strand, 62-the 7th conditioning unit, 63-second slide unit, 64-the 12 ball strand, 65-the 3rd guide rail, 66-the 6th connecting rod, 67-the 11 ball strand, 68-the 4th conditioning unit, 69-the 5th slide unit, 70-the 5th leading screw, 71-the 6th leading screw, 72-the 4th guide rail, 73-the 5th guide rail.
Embodiment
Below in conjunction with accompanying drawing device of the present invention is further described: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment
As shown in Figure 1, present embodiment comprises: the first panel A, the second panel B, the 3rd panel C, workbench 1, the single port redundancy driving mechanism 2 of the one or four input, the single port redundancy driving mechanism 3 of the one or six input, the single port redundancy driving mechanism 4 of the two or four input, the single port redundancy driving mechanism 5 of the two or six input, the three or four single port redundancy driving mechanism 6 of input and the single port redundancy driving mechanism 7 of the four or four input, wherein: an end of the single port redundancy driving mechanism 2 of the one or four input, one end of one end of the single port redundancy driving mechanism 3 of the one or six input and the single port redundancy driving mechanism 4 of the two or four input is separately fixed on the 3rd panel C, the other end of the single port redundancy driving mechanism 2 of the one or four input, the other end of the other end of the single port redundancy driving mechanism 3 of the one or six input and the single port redundancy driving mechanism 4 of the two or four input is separately fixed on the lower surface of workbench 1, one end of the single port redundancy driving mechanism 5 of the two or six input is fixed on the first panel A, the other end of the single port redundancy driving mechanism 5 of the two or six input is fixed on the side surface of workbench 1, one end of one end of the single port redundancy driving mechanism 6 of the three or four input and the single port redundancy driving mechanism 7 of the four or four input is separately fixed on the second panel B, and the other end of the other end of the single port redundancy driving mechanism 6 of the three or four input and the single port redundancy driving mechanism 7 of the four or four input is separately fixed on another side surface of workbench 1.
The structure of described four the four single port redundancy driving mechanisms of input is identical.
The structure of described two the six single port redundancy driving mechanisms of input is identical.
As shown in Figure 2, the single port redundancy driving mechanism 2 of described the one or four input comprises: first slide unit 23, first drive unit 8, second drive unit 9, the 3rd drive unit 10, four-drive device 11, first conditioning unit 35, second conditioning unit 16, the 3rd conditioning unit 24, five actuated lever assemblies and two interface arrangements, wherein: an end of drive unit is fixed on the 3rd panel C, the other end and the first interface device of first drive unit 8 are connected, the other end and the first interface device of second drive unit 9 are connected, the other end of the 3rd drive unit 10 links to each other with second interface arrangement, the other end of four-drive device 11 links to each other with second interface arrangement, first conditioning unit 35 is fixed on the first interface device, second conditioning unit 16 is fixed on second interface arrangement, one end of first actuated lever assemblies and an end of second actuated lever assemblies are separately fixed on first conditioning unit 35, one end of the 3rd actuated lever assemblies and an end of the 4th actuated lever assemblies are separately fixed on second conditioning unit 16, the other end of first actuated lever assemblies, the other end of second actuated lever assemblies, the other end of the other end of the 3rd actuated lever assemblies and the 4th actuated lever assemblies is separately fixed at the lower surface of first slide unit 23, the 3rd conditioning unit 24 is fixed on the upper surface of first slide unit 23, one end of the 5th actuated lever assemblies is fixed on the 3rd conditioning unit 24, and the lower surface of the other end of the 5th actuated lever assemblies and workbench 1 is connected.
Described four drive units are identical, all comprise: motor, motor shaft and speed reduction unit, wherein: an end of motor is fixed on the 3rd panel C, and the other end of motor links to each other with an end of motor shaft, the other end of motor shaft links to each other with speed reduction unit, and speed reduction unit links to each other with interface arrangement.This motor is a servomotor, uses stepper motor instead and is applicable to described four drive units too.
Described first interface device comprises: first guide rail 34, the 3rd slide unit 36, first leading screw 37 and second leading screw 38, wherein: an end of first leading screw 37 and first drive unit 8 are connected, the other end of first leading screw 37 and first guide rail 34 are connected, one end of second leading screw 38 and second drive unit 9 are connected, the other end of second leading screw 38 and first guide rail 34 are connected, first leading screw 37 and second leading screw 38 all pass the upper surface that the 3rd slide unit 36, the first conditioning units 35 are fixed on the 3rd slide unit 36.
Described second interface arrangement comprises: second guide rail 14, the 4th slide unit 15, the 3rd leading screw 12 and the 4th leading screw 13, wherein: an end of the 3rd leading screw 12 and the 3rd drive unit 10 are connected, the other end of the 3rd leading screw 12 and second guide rail 14 are connected, one end and the four-drive device 11 of the 4th leading screw 13 are connected, the other end of the 4th leading screw 13 and second guide rail 14 are connected, the 3rd leading screw 12 and the 4th leading screw 13 all pass the upper surface that the 4th slide unit 15, the second conditioning units 16 are fixed on the 4th slide unit 15.
Described first actuated lever assemblies comprises: first connecting rod 30, first ball strand, 33 and second ball strand 29, wherein: an end of first connecting rod 30 links to each other with first ball strand 33, the other end of first connecting rod 30 links to each other with second ball strand 29, first ball strand 33 is fixed on first conditioning unit 35, and second ball strand 29 is fixed on the lower surface of first slide unit 23.
Described second actuated lever assemblies comprises: second connecting rod 31, the 3rd ball strand the 32 and the 4th ball strand 28, wherein: an end of second connecting rod 31 links to each other with the 3rd ball strand 32, the other end of second connecting rod 31 links to each other with the 4th ball strand 28, the 3rd ball strand 32 is fixed on first conditioning unit 35, and the 4th ball strand 28 is fixed on the lower surface of first slide unit 23.
Described the 3rd actuated lever assemblies comprises: third connecting rod 19, the 5th ball strand the 18 and the 6th ball strand 22, wherein: an end of third connecting rod 19 links to each other with the 5th ball strand 18, the other end of third connecting rod 19 links to each other with the 6th ball strand 22, the 5th ball strand 18 is fixed on second conditioning unit 16, and the 6th ball strand 22 is fixed on the lower surface of first slide unit 23.
Described the 4th actuated lever assemblies comprises: the 4th connecting rod 20, the 7th ball strand the 17 and the 8th ball strand 21, wherein: an end of the 4th connecting rod 20 links to each other with the 7th ball strand 17, the other end of the 4th connecting rod 20 links to each other with the 8th ball strand 21, the 7th ball strand 17 is fixed on second conditioning unit 16, and the 8th ball strand 21 is fixed on the lower surface of first slide unit 23.
Described the 5th actuated lever assemblies comprises: the 5th connecting rod 26, the 9th ball strand the 25 and the tenth ball strand 27, wherein: an end of the 5th connecting rod 26 links to each other with the 9th ball strand 25, the other end of the 5th connecting rod 26 links to each other with the tenth ball strand 27, the 9th ball strand 25 is fixed on the 3rd conditioning unit 24, and the tenth ball strand 27 is connected with workbench 1.
As shown in Figure 3, the single port redundancy driving mechanism 3 of described the one or six input comprises: second slide unit 63, the 5th drive unit 39, the 6th drive unit 40, the 7th drive unit 41, the 8th drive unit 42, the 9th drive unit 43, the tenth drive unit 44, the 4th conditioning unit 68, the 5th conditioning unit 54, the 6th conditioning unit 50, the 7th conditioning unit 62, four actuated lever assemblies and three interface arrangements, wherein: an end of drive unit is fixed on the 3rd panel C, the other end of the 5th drive unit 39 and the 3rd interface arrangement are connected, the other end of the 6th drive unit 40 and the 3rd interface arrangement are connected, the other end of the 7th drive unit 41 and the 4th interface arrangement are connected, the other end of the 8th drive unit 42 and the 4th interface arrangement are connected, the other end of the 9th drive unit 43 and the 5th interface arrangement are connected, the other end of the tenth drive unit 44 and the 5th interface arrangement are connected, the 4th conditioning unit 68 is fixed on the 3rd interface arrangement, the 5th conditioning unit 54 is fixed on the 4th interface arrangement, the 6th conditioning unit 50 is fixed on the 5th interface arrangement, one end of the 6th actuated lever assemblies is fixed on the 4th conditioning unit 68, one end of the 7th actuated lever assemblies is fixed on the 5th conditioning unit 54, one end of the 8th actuated lever assemblies is fixed on the 6th conditioning unit 50, the other end of the 6th actuated lever assemblies, the other end of the other end of the 7th actuated lever assemblies and the 8th actuated lever assemblies is separately fixed at the lower surface of second slide unit 63, the 7th conditioning unit 62 is fixed on the upper surface of second slide unit 63, one end of the 9th actuated lever assemblies is fixed on the 7th conditioning unit 62, and the other end of the 9th actuated lever assemblies and workbench 1 are connected.
Described six drive units are identical, all comprise: motor, motor shaft and speed reduction unit, wherein: an end of motor is fixed on the 3rd panel C, and the other end of motor links to each other with an end of motor shaft, the other end of motor shaft links to each other with speed reduction unit, and speed reduction unit links to each other with interface arrangement.This motor is a servomotor, uses stepper motor instead and is applicable to described six drive units too.
Described the 3rd interface arrangement comprises: the 3rd guide rail 65, the 5th slide unit 69, the 5th leading screw 70 and the 6th leading screw 71, wherein: an end of the 5th leading screw 70 and the 5th drive unit 39 are connected, the other end of the 5th leading screw 70 and the 3rd guide rail 65 are connected, one end of the 6th leading screw 71 and the 6th drive unit 40 are connected, the other end of the 6th leading screw 71 and the 3rd guide rail 65 are connected, the 5th leading screw 70 and the 6th leading screw 71 all pass the upper surface that the 5th slide unit 69, the four conditioning units 68 are fixed on the 5th slide unit 69.
Described the 4th interface arrangement comprises: the 4th guide rail 72, the 6th slide unit 53, the 7th leading screw 47 and the 8th leading screw 48, wherein: an end of the 7th leading screw 47 and the 7th drive unit 41 are connected, the other end of the 7th leading screw 47 and the 4th guide rail 72 are connected, one end of the 8th leading screw 48 and the 8th drive unit 42 are connected, the other end of the 8th leading screw 48 and the 4th guide rail 72 are connected, the 7th leading screw 47 and the 8th leading screw 48 all pass the upper surface that the 6th slide unit 53, the five conditioning units 54 are fixed on the 6th slide unit 53.
Described the 5th interface arrangement comprises: the 5th guide rail 73, the 7th slide unit 49, the 9th leading screw 45 and the tenth leading screw 46, wherein: an end of the 9th leading screw 45 and the 9th drive unit 43 are connected, the other end of the 9th leading screw 45 and the 5th guide rail 73 are connected, one end of the tenth leading screw 46 and the tenth drive unit 44 are connected, the other end of the tenth leading screw 46 and the 5th guide rail 73 are connected, the 9th leading screw 45 and the tenth leading screw 46 all pass the upper surface that the 7th slide unit 49, the six conditioning units 50 are fixed on the 7th slide unit 49.
Described the 6th actuated lever assemblies comprises: the 6th connecting rod 66, the 11 ball strand the 67 and the 12 ball strand 64, wherein: an end of the 6th connecting rod 66 links to each other with the 11 ball strand 67, the other end of the 6th connecting rod 66 links to each other with the 12 ball strand 64, the 11 ball strand 67 is fixed on the 4th conditioning unit 68, and the 12 ball strand 64 is fixed on the lower surface of the 5th slide unit 36.
Described the 7th actuated lever assemblies comprises: seven-link assembly 57, the 13 ball strand the 56 and the 14 ball strand 58, wherein: an end of seven-link assembly 57 links to each other with the 13 ball strand 56, the other end of seven-link assembly 57 links to each other with the 14 ball strand 58, the 13 ball strand 56 is fixed on the 5th conditioning unit 54, and the 14 ball strand 58 is fixed on the lower surface of the 6th slide unit 53.
Described the 8th actuated lever assemblies comprises: the 8th connecting rod 52, the 15 ball strand the 51 and the 16 ball strand 55, wherein: an end of the 8th connecting rod 52 links to each other with the 15 ball strand 51, the other end of the 8th connecting rod 52 links to each other with the 16 ball strand 55, the 15 ball strand 51 is fixed on the 6th conditioning unit 50, and the 16 ball strand 55 is fixed on the lower surface of the 7th slide unit 49.
Described the 9th actuated lever assemblies comprises: the 9th connecting rod 60, the 17 ball strand the 61 and the 18 ball strand 59, wherein: an end of the 9th connecting rod 60 links to each other with the 17 ball strand 61, the other end of the 9th connecting rod 60 links to each other with the 18 ball strand 59, the 17 ball strand 61 is fixed on the 7th conditioning unit 62, and the 18 ball strand 59 is fixed on the workbench 1.
Described conditioning unit is a pulley, uses gear or cam instead and is applicable to described four four single port redundancy driving mechanisms of input and described two the six single port redundancy driving mechanisms of input too.
The parameter of leading screw all is in the present embodiment: length is 800mm, and diameter is 60mm; The parameter of first connecting rod 30, second connecting rod 31, third connecting rod 19, the 4th connecting rod 20, the 6th connecting rod 66, seven-link assembly 57 and the 8th connecting rod 52 all is: length is 1000mm, and diameter is 110mm; The parameter of the 5th connecting rod 26 and the 9th connecting rod 45 all is: length is 1200mm, and diameter is 150mm.
The course of work of present embodiment: workbench 1 can be realized the motion of six dimensions, by the single port redundancy driving mechanism 2 of the one or four input, the coordination control of the one or six single port redundancy driving mechanism 3 of input and the single port redundancy driving mechanism 4 of the two or four input realizes the motion of two degree of freedom up and down, motion by two degree of freedom about the coordination control realization of the single port redundancy driving mechanism 5 of the two or six input realizes the motion of former and later two degree of freedom by the coordination control of the three or four single port redundancy driving mechanism 6 of input and the single port redundancy driving mechanism 7 of the four or four input.
Present embodiment do not need the power of single motor too big, so the single motor cost is lower, simple in structure owing to adopted multi-redundant type of drive in parallel, and device fabrication is easy, reduces cost; Adopt the mariages thick stick to drive, improved the serviceable life of device; Can pass through accessory drive, it be imported at times, thereby controlled the output of each degree of freedom, form differential input, output, therefore control flexibly.
Claims (10)
1. parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulator, comprise: workbench, panel, it is characterized in that, also comprise: four the four single port redundancy driving mechanisms of input and two the six single port redundancy driving mechanisms of input, described panel is three, wherein: three panels are vertical mutually in twos, one end of the single port redundancy driving mechanism of the one or six input is fixed on first panel, the other end of the single port redundancy driving mechanism of the one or six input is fixed on the workbench, one end of the single port redundancy driving mechanism of the two or six input is fixed on the 3rd panel, the other end of the single port redundancy driving mechanism of the two or six input is fixed on the workbench, one end of the single port redundancy driving mechanism of the one or four input is fixed on the 3rd panel, the other end of the single port redundancy driving mechanism of the one or four input is fixed on the workbench, one end of the single port redundancy driving mechanism of the two or four input is fixed on the 3rd panel, the other end of the single port redundancy driving mechanism of the two or four input is fixed on the workbench, one end of the single port redundancy driving mechanism of the three or four input is fixed on second panel, the other end of the single port redundancy driving mechanism of the three or four input is fixed on the workbench, one end of the single port redundancy driving mechanism of the four or four input is fixed on second panel, and the other end of the single port redundancy driving mechanism of the four or four input is fixed on the workbench.
2. parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulator according to claim 1, it is characterized in that, the single port redundancy driving mechanism of described four inputs comprises: first slide unit, four drive units, three conditioning units, five actuated lever assemblies and two interface arrangements, wherein: an end of drive unit is fixed on the panel, the other end and the first interface device of first drive unit are connected, the other end and the first interface device of second drive unit are connected, the other end of the 3rd drive unit links to each other with second interface arrangement, the other end of four-drive device links to each other with second interface arrangement, first conditioning unit is fixed on the first interface device, second conditioning unit is fixed on second interface arrangement, one end of first actuated lever assemblies and an end of second actuated lever assemblies are separately fixed on first conditioning unit, one end of the 3rd actuated lever assemblies and an end of the 4th actuated lever assemblies are separately fixed on second conditioning unit, the other end of first actuated lever assemblies, the other end of second actuated lever assemblies, the other end of the other end of the 3rd actuated lever assemblies and the 4th actuated lever assemblies is separately fixed at the lower surface of first slide unit, the 3rd conditioning unit is fixed on the upper surface of first slide unit, one end of the 5th actuated lever assemblies is fixed on the 3rd conditioning unit, and the other end and the workbench of the 5th actuated lever assemblies are connected.
3. parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulator according to claim 1, it is characterized in that, the single port redundancy driving mechanism of described four inputs comprises: first slide unit, four drive units, three conditioning units, three actuated lever assemblies and two interface arrangements, wherein: an end of drive unit is fixed on the panel, the other end and the first interface device of first drive unit are connected, the other end and the first interface device of second drive unit are connected, the other end of the 3rd drive unit links to each other with second interface arrangement, the other end of four-drive device links to each other with second interface arrangement, first conditioning unit is fixed on the first interface device, second conditioning unit is fixed on second interface arrangement, one end of first actuated lever assemblies is fixed on first conditioning unit, one end of second actuated lever assemblies is fixed on second conditioning unit, the other end of the other end of first actuated lever assemblies and second actuated lever assemblies is separately fixed at the lower surface of first slide unit, the 3rd conditioning unit is fixed on the upper surface of first slide unit, one end of the 5th actuated lever assemblies is fixed on the 3rd conditioning unit, and the other end and the workbench of the 5th actuated lever assemblies are connected.
4. parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulator according to claim 1, it is characterized in that, the single port redundancy driving mechanism of described six inputs comprises: second slide unit, six drive units, four conditioning units, seven actuated lever assemblies and three interface arrangements, wherein: an end of drive unit is fixed on the panel, the other end of the 5th drive unit and the 3rd interface arrangement are connected, the other end of the 6th drive unit and the 3rd interface arrangement are connected, the other end of the 7th drive unit and the 4th interface arrangement are connected, the other end of the 8th drive unit and the 4th interface arrangement are connected, the other end of the 9th drive unit and the 5th interface arrangement are connected, the other end of the tenth drive unit and the 5th interface arrangement are connected, the 4th conditioning unit is fixed on the 3rd interface arrangement, the 5th conditioning unit is fixed on the 4th interface arrangement, the 6th conditioning unit is fixed on the 5th interface arrangement, one end of the 6th actuated lever assemblies and an end of the 11 actuated lever assemblies are separately fixed on the 4th conditioning unit, one end of the 7th actuated lever assemblies and an end of the 12 actuated lever assemblies are separately fixed on the 5th conditioning unit, one end of the 8th actuated lever assemblies and an end of the 12 actuated lever assemblies are separately fixed on the 6th conditioning unit, the other end of the 6th actuated lever assemblies, the other end of the 7th actuated lever assemblies, the other end of the 8th actuated lever assemblies, the other end of the tenth actuated lever assemblies, the other end of the 11 actuated lever assemblies and the other end of the 12 actuated lever assemblies are separately fixed at the lower surface of second slide unit, the 7th conditioning unit is fixed on the upper surface of second slide unit, one end of the 9th actuated lever assemblies is fixed on the 7th conditioning unit, and the other end and the workbench of the 9th actuated lever assemblies are connected.
5. parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulator according to claim 1, it is characterized in that, the single port redundancy driving mechanism of described six inputs comprises: second slide unit, six drive units, four conditioning units, four actuated lever assemblies and three interface arrangements, wherein: an end of drive unit is fixed on the panel, the other end of the 5th drive unit and the 3rd interface arrangement are connected, the other end of the 6th drive unit and the 3rd interface arrangement are connected, the other end of the 7th drive unit and the 4th interface arrangement are connected, the other end of the 8th drive unit and the 4th interface arrangement are connected, the other end of the 9th drive unit and the 5th interface arrangement are connected, the other end of the tenth drive unit and the 5th interface arrangement are connected, the 4th conditioning unit is fixed on the 3rd interface arrangement, the 5th conditioning unit is fixed on the 4th interface arrangement, the 6th conditioning unit is fixed on the 5th interface arrangement, one end of the 6th actuated lever assemblies is fixed on the 4th conditioning unit, one end of the 7th actuated lever assemblies is fixed on the 5th conditioning unit, one end of the 8th actuated lever assemblies is fixed on the 6th conditioning unit, the other end of the 6th actuated lever assemblies, the other end of the other end of the 7th actuated lever assemblies and the 8th actuated lever assemblies is separately fixed at the lower surface of second slide unit, the 7th conditioning unit is fixed on the upper surface of second slide unit, one end of the 9th actuated lever assemblies is fixed on the 7th conditioning unit, and the other end and the workbench of the 9th actuated lever assemblies are connected.
6. according to claim 2 or 3 or 4 or 5 described parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulators, it is characterized in that, described actuated lever assemblies comprises: a connecting rod and two ball strands, wherein: an end of connecting rod links to each other with first ball strand, and the other end of connecting rod links to each other with second ball strand.
7. according to claim 2 or 3 or 4 or 5 described parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulators, it is characterized in that described conditioning unit is a pulley, or gear, or cam.
8. according to claim 2 or 3 or 4 or 5 described parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulators, it is characterized in that, described interface arrangement comprises: guide rail, the 3rd slide unit and two leading screws, wherein: an end and the drive unit of leading screw are connected, the other end and the guide rail of leading screw are connected, leading screw passes the 3rd slide unit, and conditioning unit is fixed on the upper surface of the 3rd slide unit.
9. according to claim 2 or 3 or 4 or 5 described parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulators, it is characterized in that, described drive unit comprises: motor, motor shaft and speed reduction unit, wherein: an end of motor is fixed on the panel, the other end of motor links to each other with an end of motor shaft, the other end of motor shaft links to each other with speed reduction unit, and speed reduction unit links to each other with interface arrangement.
10. parallel-type six-dimensional-output twenty-eight-input redundant fault-tolerant driving simulator according to claim 9 is characterized in that described motor is a servomotor, or stepper motor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103236214A (en) * | 2013-04-12 | 2013-08-07 | 上海交通大学 | Parallel six-dimensional-output 36-input redundant fault-tolerant drive simulator |
| CN103247217A (en) * | 2013-04-25 | 2013-08-14 | 上海交通大学 | Parallel connection type six-dimensional output and thirty-two input redundancy fault-tolerant drive simulator |
| CN108133657A (en) * | 2017-12-26 | 2018-06-08 | 安徽新视野科教文化股份有限公司 | A kind of wardrobe vibrations apparatus for demonstrating based on home scenarios simulated training |
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| CN103236214A (en) * | 2013-04-12 | 2013-08-07 | 上海交通大学 | Parallel six-dimensional-output 36-input redundant fault-tolerant drive simulator |
| CN103247217A (en) * | 2013-04-25 | 2013-08-14 | 上海交通大学 | Parallel connection type six-dimensional output and thirty-two input redundancy fault-tolerant drive simulator |
| CN108133657A (en) * | 2017-12-26 | 2018-06-08 | 安徽新视野科教文化股份有限公司 | A kind of wardrobe vibrations apparatus for demonstrating based on home scenarios simulated training |
| CN108133657B (en) * | 2017-12-26 | 2023-10-13 | 安徽新视野科教文化股份有限公司 | Wardrobe vibrations presentation device based on family scene simulation training |
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| CN101916520B (en) | 2012-05-30 |
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