CN103383827A - Three-transfer-one-shift four-degree-of-freedom heavy-load static-balance parallel motion simulation stand mechanism - Google Patents
Three-transfer-one-shift four-degree-of-freedom heavy-load static-balance parallel motion simulation stand mechanism Download PDFInfo
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Abstract
A three-transfer-one-shift four-degree-of-freedom heavy-load static-balance parallel motion simulation stand mechanism mainly comprises a basic platform, a motion platform, a load-bearing platform, four driving branches in identical structures and three balancing branches in identical structures. The four driving branches are connected with the motion platform and the basic platform to form a parallel driving mechanism. The three balancing branches are connected with the load-bearing platform and the basic platform to form a parallel balancing mechanism. The four driving branches are in uninterrupted power supply (UPS) structures and are composed of electric cylinders, first spherical hinges and universal hinges. The balancing branches are in RPS structures and are composed of balancing hydraulic cylinders or balancing air cylinders, first revolving pairs and second spherical hinges. The motion platform is connected with the load-bearing platform through a second revolving pair. The mechanism is high in bearing capacity, fast in dynamic response speed, simple to control, capable of preventing the three balancing branches from generating moments of rotation around a shaft and reducing the inertia force (moment) of a parallel load-bearing mechanism simultaneously and applicable to motion simulation of large devices, and the mechanism can be used indoors or in a field environment.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly a kind of parallel movement simulative platform mechanism.
Background technology
Common parallel movement simulative platform is six degree of freedom, can be with the 6 DOF motion of dynamic load implementation space.But generally the equipment such as automobile, aircraft, naval vessel are in motion process, the pitching of ground, air-flow or these equipment of wave major effect, inclination, orientation and four degree of freedom motions of lifting are not so need six-freedom degree completely to the motion simulation of these equipment.Compare with six-degree-of-freedom parallel connection mechanism, lower-mobility parallel institution driving element is few, and easily decoupling zero is simple in structure, manufacture and design and the cost controlled relatively low.The at present correlative study of lower-mobility parallel institution is relatively less, especially four, the five-freedom parallel structure, and mainly concentrates on the configuration of mechanism for the research of lower-mobility parallel institution.Due to the minimizing of driving element, the load-bearing capacity of lower-mobility parallel institution and dynamic property can be affected, and have limited its application aspect the main equipment motion simulation.Therefore the load-bearing capacity that improves the lower-mobility parallel institution becomes a key issue expanding lower-mobility parallel institution range of application.
Chinese patent 200910096797.9 has been announced a kind of three-rotation one-movement four-freedom parallel mechanism, its structure is 3UPS/RPU, upper lower platform hinge point is arranged as quadrilateral, and the upper mounting plate length of side drives and adopts electric rotating machine to make the P by-product give birth to relative displacement less than the lower platform length of side.Its weak point is: the driving branch that structure is not identical can increase the difficulty of operation planning, and load-bearing capacity is relatively poor, and dynamic response is slower.Chinese patent 200510052260.4 has been announced a kind of four-freedom parallel connection robot mechanism with passive bound branch, its structure is 4-UPS/PS, upper lower platform hinge point is arranged and is respectively square or rectangle, driver employing hydraulic linear mobile drive deivce or screw pair axis drives device.Its weak point is: the driver dynamic response is slower, and the characteristics that hinge point is arranged cause mechanism to have unusual bit-type.Chinese patent 200310115539.3 has been announced a kind of space five-freedom parallel robot mechanism, this mechanism will rotate with mobile by motion platform and belly board and separate, wherein motion platform connects fixed platform by four UPS branches, can realize two-dimensional rotary, belly board connects fixed platform by three parallel UPS branches, can realize three-dimensional mobile.Its weak point is that motion platform has two degree of freedom but has four drivings, controls complicatedly, and three UPS branches that connect belly board and fixed platform need keeping parallelism, assembling and to control difficulty large.
Summary of the invention
The object of the present invention is to provide a kind of simple in structure, load-bearing capacity is high, dynamic response is fast, the static load balance, control simple, be applicable to three of heavy duty and turn and move four-degree-of-freedom heavy duty static equilibrium parallel movement simulative platform mechanism.
Technical scheme of the present invention is as follows:
The present invention mainly comprises basic platform, motion platform, bearing platform, four structure identical driving branches and three identical Bifurcation of The Equilibriums of structure.Four drive branch and connect motion platform and basic platform, consist of parallel drive mechanism.Three Bifurcation of The Equilibriums connect bearing platform and basic platform, consist of balanced controls in parallel.Above-mentioned four drive branch and are the UPS structure, formed by electric cylinder, the first ball pivot and universal hinge, wherein the expansion link end of electric cylinder is connected with motion platform by the first ball pivot, the afterbody of this electric cylinder is connected with basic platform by universal hinge, above-mentioned four the first ball pivot central point lines consist of square, and above-mentioned four universal hinge central point lines consist of isosceles trapezoid.Above-mentioned three Bifurcation of The Equilibriums are the RPS structure, formed by balance hydraulic cylinder or balance cylinder, the first revolute pair and the second ball pivot, wherein the afterbody of balance hydraulic cylinder or balance cylinder is connected with basic platform by the first revolute pair, the expansion link end of this balance hydraulic cylinder or balance cylinder is connected with bearing platform by the second ball pivot, this bearing platform is connected with motion platform by the second revolute pair, the second revolute pair axis and bearing platform and motion platform normal parallel.Above-mentioned three Bifurcation of The Equilibriums evenly distribute around bearing platform.
Electric cylinder is mainly used to the actuation movement platform and load realizes desired motion, and balance hydraulic cylinder or balance cylinder are used for the part or all of gravity of balance exercise platform and load.By the thrust of adjustment hydraulic cylinder or balance cylinder, bearing platform provides straight up acting force to motion platform, with the part or all of gravity of balance exercise platform and load.In the course of work, the thrust of balance hydraulic cylinder or balance cylinder is kept by accumulator, does not need it is controlled, and control mode is simple.Electric cylinder only needs less power can realize desired motion.When motion platform rotated around its surface normal, the existence of the second revolute pair made balanced controls in parallel keep static, had eliminated the inertial force (moment) of balanced controls in parallel and to the moment of axis of movement.
The present invention compared with prior art has following advantage:
1, in parallel drive mechanism, the hinge point on motion platform and basic platform is arranged as respectively square and isosceles trapezoid, has avoided the unusual bit-type of mechanism.
2, support mechanism in parallel can the balance exercise platform and the part gravity of load play again the effect of safeguard protection.
3, overload capacity and the dynamic responding speed of motion simulation platform mechanism have been improved by electric cylinder.
4, bearing platform is connected by revolute pair with motion platform, guaranteed that motion platform is when its surface normal rotates, support mechanism in parallel keeps motionless, avoids three Bifurcation of The Equilibriums to produce the moment of rotating around this axle, has also reduced the inertial force (moment) of support mechanism in parallel simultaneously.
5, the thrust of balance hydraulic cylinder or balance cylinder keeps by accumulator, does not need in the course of work to control, and has reduced the difficulty of controlling, and the situation that internal force increases sharply can not occur.
6, during variation of ambient temperature, the variation among a small circle of balance hydraulic cylinder or balance cylinder pressure can not affect kinematic accuracy, and high-precision motion all can be realized in indoor field.
Description of drawings
Fig. 1 is front view of the present invention.
Fig. 2 is vertical view of the present invention.
Fig. 3 is motion platform of the present invention and bearing platform connection diagram.
Fig. 4 is the vertical view of the present invention's balanced controls in parallel.
Embodiment
Turn illustrated in figures 1 and 2 three and move four-degree-of-freedom heavy duty static equilibrium parallel movement simulative platform structural scheme of mechanism, the expansion link end of the electric cylinder 3 in the identical driving of four structures branch is connected with motion platform 5 by the first ball pivot 4, the afterbody of this electric cylinder is connected with basic platform 1 by universal hinge 2, above-mentioned four the first ball pivot central point lines consist of square, and above-mentioned four universal hinge central point lines consist of isosceles trapezoid.The afterbody of the balance hydraulic cylinder 8 in Bifurcation of The Equilibrium is connected with basic platform by the first revolute pair 9, the expansion link end of this balance hydraulic cylinder is connected with bearing platform 6 by the second ball pivot 7, this bearing platform is connected (as shown in Figure 3) by the second revolute pair 10 with motion platform, the second revolute pair axis and bearing platform and motion platform normal parallel, above-mentioned three Bifurcation of The Equilibriums evenly distribute (as shown in Figure 4) around bearing platform.
Claims (1)
1. one kind three turns and moves four-degree-of-freedom heavy duty static equilibrium parallel movement simulative platform mechanism, it mainly comprises basic platform, motion platform, bearing platform, four the identical driving of structure branches, three identical Bifurcation of The Equilibriums of structure, it is characterized in that: above-mentioned four drive branch's connection motion platform and basic platform, formation parallel drive mechanism, three Bifurcation of The Equilibriums connect bearing platform and basic platform, consist of balanced controls in parallel; Above-mentioned four expansion link ends that drive electric cylinder in branch are connected with motion platform by the first ball pivot, and the afterbody of this electric cylinder is connected with basic platform by universal hinge; Above-mentioned four the first ball pivot central point lines consist of square, and four universal hinge central point lines consist of isosceles trapezoid; Balance hydraulic cylinder in above-mentioned Bifurcation of The Equilibrium or the afterbody of balance cylinder are connected with basic platform by the first revolute pair, and the expansion link end of this balance hydraulic cylinder or balance cylinder is passed through the second ball pivot and is connected with bearing platform; This bearing platform is connected with motion platform by the second revolute pair; Above-mentioned the second revolute pair axis and bearing platform and motion platform normal parallel; Three Bifurcation of The Equilibriums evenly distribute around bearing platform.
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| CN201310283551.9A CN103383827B (en) | 2013-07-05 | 2013-07-05 | Three-transfer-one-shift four-degree-of-freedom heavy-load static-balance parallel motion simulation stand mechanism |
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| CN201310283551.9A CN103383827B (en) | 2013-07-05 | 2013-07-05 | Three-transfer-one-shift four-degree-of-freedom heavy-load static-balance parallel motion simulation stand mechanism |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104154175A (en) * | 2014-08-29 | 2014-11-19 | 北京航空航天大学 | Method for reducing power of parallel motion simulator through vibration system |
| CN105108734A (en) * | 2015-09-06 | 2015-12-02 | 江南大学 | Three-rotation one-movement fully-isotropic parallel robot mechanism |
| CN105364913A (en) * | 2015-11-25 | 2016-03-02 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| CN105632322A (en) * | 2016-04-05 | 2016-06-01 | 刘鸿飞 | Parallel motion simulation platform on the basis of virtual reality technology |
| CN105798884A (en) * | 2016-05-16 | 2016-07-27 | 中国地质大学（武汉） | Heavy-load parallel movement stabilization platform for offshore drilling |
| CN106078688A (en) * | 2016-07-07 | 2016-11-09 | 燕山大学 | A kind of heavy duty self-balancing 3-freedom parallel mechanism |
| CN106425450A (en) * | 2016-10-25 | 2017-02-22 | 上海交通大学 | Automatic assembly equipment with wheel type locating combined with space motion posture adjusting |
| CN106541256A (en) * | 2016-10-25 | 2017-03-29 | 上海交通大学 | Running fix is equipped with the assembling docking for combining of dynamic adjustment |
| CN106671244A (en) * | 2016-12-05 | 2017-05-17 | 河北工业大学 | Ceramic 3D printer based on Delta structure |
| CN106774447A (en) * | 2016-12-14 | 2017-05-31 | 西安可视可觉网络科技有限公司 | Achievable rotation based on support load-bearing and the motion platform for freely waving |
| CN107378441A (en) * | 2017-08-31 | 2017-11-24 | 中国重型机械研究院股份公司 | A kind of high-precision motion platform and movement technique |
| WO2018120606A1 (en) * | 2016-12-31 | 2018-07-05 | 广东恒聚医疗科技有限公司 | Dual parallel positioning mechanism for seated radiotherapy |
| CN109925167A (en) * | 2019-04-03 | 2019-06-25 | 燕山大学 | Three turn one is transfered from one place to another under escort coupling robot for rehabilitation of anklebone |
| CN114175129A (en) * | 2019-05-15 | 2022-03-11 | 迪尼斯玛有限公司 | Motion generator |
| CN115126817A (en) * | 2022-07-12 | 2022-09-30 | 上海新纪元机器人有限公司 | Self-balancing vibration reduction mechanism and transportation tool |
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| ES2154143B1 (en) * | 1998-05-06 | 2001-11-16 | Sanmartin Vicente Ra Hernandez | ANDROID MULTIFUNCTION ROBOT. |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104154175B (en) * | 2014-08-29 | 2016-10-05 | 北京航空航天大学 | A kind of method utilizing vibrational system to reduce parallel kinematic simulator power |
| CN104154175A (en) * | 2014-08-29 | 2014-11-19 | 北京航空航天大学 | Method for reducing power of parallel motion simulator through vibration system |
| CN105108734A (en) * | 2015-09-06 | 2015-12-02 | 江南大学 | Three-rotation one-movement fully-isotropic parallel robot mechanism |
| CN105364913B (en) * | 2015-11-25 | 2017-03-22 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| CN105364913A (en) * | 2015-11-25 | 2016-03-02 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| CN105632322A (en) * | 2016-04-05 | 2016-06-01 | 刘鸿飞 | Parallel motion simulation platform on the basis of virtual reality technology |
| CN105632322B (en) * | 2016-04-05 | 2019-01-01 | 刘鸿飞 | A kind of parallel kinematic analog platform based on virtual reality technology |
| CN105798884A (en) * | 2016-05-16 | 2016-07-27 | 中国地质大学（武汉） | Heavy-load parallel movement stabilization platform for offshore drilling |
| CN106078688B (en) * | 2016-07-07 | 2019-02-22 | 燕山大学 | A kind of heavy duty self-balancing 3-freedom parallel mechanism |
| CN106078688A (en) * | 2016-07-07 | 2016-11-09 | 燕山大学 | A kind of heavy duty self-balancing 3-freedom parallel mechanism |
| CN106541256A (en) * | 2016-10-25 | 2017-03-29 | 上海交通大学 | Running fix is equipped with the assembling docking for combining of dynamic adjustment |
| CN106425450A (en) * | 2016-10-25 | 2017-02-22 | 上海交通大学 | Automatic assembly equipment with wheel type locating combined with space motion posture adjusting |
| CN106671244A (en) * | 2016-12-05 | 2017-05-17 | 河北工业大学 | Ceramic 3D printer based on Delta structure |
| CN106774447A (en) * | 2016-12-14 | 2017-05-31 | 西安可视可觉网络科技有限公司 | Achievable rotation based on support load-bearing and the motion platform for freely waving |
| CN106774447B (en) * | 2016-12-14 | 2019-09-03 | 西安可视可觉网络科技有限公司 | Achievable rotation based on bracket load-bearing and the motion platform freely waved |
| WO2018120606A1 (en) * | 2016-12-31 | 2018-07-05 | 广东恒聚医疗科技有限公司 | Dual parallel positioning mechanism for seated radiotherapy |
| CN107378441A (en) * | 2017-08-31 | 2017-11-24 | 中国重型机械研究院股份公司 | A kind of high-precision motion platform and movement technique |
| CN109925167A (en) * | 2019-04-03 | 2019-06-25 | 燕山大学 | Three turn one is transfered from one place to another under escort coupling robot for rehabilitation of anklebone |
| CN114175129A (en) * | 2019-05-15 | 2022-03-11 | 迪尼斯玛有限公司 | Motion generator |
| CN114175129B (en) * | 2019-05-15 | 2024-04-30 | 迪尼斯玛有限公司 | Motion generator |
| CN115126817A (en) * | 2022-07-12 | 2022-09-30 | 上海新纪元机器人有限公司 | Self-balancing vibration reduction mechanism and transportation tool |
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