CN104002302A - Two and three freedom-degree swing table with virtual rotating axis - Google Patents
Two and three freedom-degree swing table with virtual rotating axis Download PDFInfo
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- CN104002302A CN104002302A CN201410189158.8A CN201410189158A CN104002302A CN 104002302 A CN104002302 A CN 104002302A CN 201410189158 A CN201410189158 A CN 201410189158A CN 104002302 A CN104002302 A CN 104002302A
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Abstract
Disclosed is a two and three freedom-degree swing table with a virtual rotating axis. An upper platform of the swing table is connected with a swing platform, linear actuators of two branches in a first set of driving branches are connected with a bearing pedestal and the swing platform, and an SPU branch is formed. Linear actuators of two branches in a second set of driving branches are connected with a bearing pedestal fixedly connected to a foundation platform and a bearing base fixedly connected to stand columns, and an RPR branch is formed. One ends of the stand columns are connected with the swing platform, a connecting rod and the two ends of a swing rod are respectively connected with the other ends of the stand columns, a foundation support is fixedly connected in the right middle of the foundation platform, the center portion of the connecting rod and the center portion of the swing rod are respectively connected with the foundation support, and the length of the connecting rod is equal to that of the swing rod. The connecting rod, the swing rod, the two stand columns and the foundation support form double planar parallelograms through the connecting mode, and a planar virtual rotating center mechanism is formed. Self-balancing loads can be achieved, the bearing capability is large, the freedom degree can be selected according to different use needs, and the table can be applied to swing motion, like sea simulation.
Description
Technical field
The present invention relates to a kind of space parallel mechanism, particularly a kind of simulation table in parallel.
Background technology
Simulation table in parallel has the advantages such as rigidity is large, bearing capacity is strong, in recent decades, in parallel movement simulative platform studied maximum be six-freedom parallel simulation table, and the motion that equipment on naval vessel is had the greatest impact is mainly pitching, rolling and vertical swinging, and equipment is huger on naval vessel, therefore research have large installing space, large working space, can static load balance, shock resistance and can according to user demand select free degree character two, Three Degree Of Freedom connection tilter has important application potential.As patent of invention CN103035161A has proposed a kind of Three Degree Of Freedom static load balance parallel kinematic analog platform that has, this invention adopts electricity to drive, and introduce static load bascule and can effectively improve bearing capacity, but the installing space of this invention platform bottom is little and impact resistance is poor; Patent of invention CN102147046A has proposed a kind of two-degree-of-freedom parallel mechanism that rotates decoupling zero, and it is full decoupled that this invention can realize two rotations of upper mounting plate, but this invention bearing capacity and impact resistance are poor.Patent of invention CN102975196A has proposed a kind of double rotation freedom degrees parallel institution, this invention compact conformation, but bearing capacity is poor, and installing space is little.
Summary of the invention
The object of the present invention is to provide a kind of can self-stabilization, load self-balancing, working space is large, bearing capacity is large, shock resistance, also can according to user demand select free degree character have virtual rotating shaft two, Three Degree Of Freedom tilter.
Technical scheme of the present invention is as follows:
The present invention mainly comprises upper mounting plate, swaying platform, two groups of drivings branch, planar virtual center of rotation mechanism and basic platforms.Wherein, upper mounting plate is connected with swaying platform by revolute pair or moving sets, in upper mounting plate and swaying platform plane, be respectively equipped with several corresponding through hole or screwed holes, by bolt or screw, upper mounting plate and swaying platform can be locked as to one, make this tilter only there is two degrees of freedom; Two groups drive branch's identical branch's composition of You Liangge mechanism respectively, and Gai Sige branch is distributed on basic platform, branch's positioned opposite that Liang Ge mechanism is identical; One end of linear actuator in the Liang Ge branch of first group of driving branch is connected with the bearing block being connected on basic platform by the first oscillating bearing respectively, the other end of these two linear actuators is connected with swaying platform by the first universal pair respectively, wherein the first oscillating bearing and the first universal pair can be exchanged, and form SPUHuo UPS branch; One end of linear actuator in the Liang Ge branch of second group of driving branch is connected with the bearing block being connected on basic platform by the first revolute pair respectively, the other end of these two linear actuators is connected with the bearing block being connected on column by the second revolute pair respectively, forms RPR branch; One end of above-mentioned two columns is connected with swaying platform by the second universal pair respectively, and the top of the other end of these two columns is connected with the two ends of connecting rod by the 3rd revolute pair respectively, and bottom is connected with the two ends of rocking bar by the 4th revolute pair respectively; Pedestal is connected in the middle of basic platform, above-mentioned two columns are symmetrically arranged in pedestal both sides, the middle part of above-mentioned connecting rod is connected with this pedestal top by the 5th revolute pair, the middle part of above-mentioned rocking bar is connected with this pedestal middle part by the 6th revolute pair, and the 5th revolute pair axis and the 6th revolute pair axis are parallel to each other; Two the 3rd revolute pair axis and the 5th turns auxiliary shaft line parallel and coplanar, and two the 3rd revolute pair axis are symmetrical about the 5th revolute pair axis, two the 4th revolute pair axis and the 6th turns auxiliary shaft line parallel and coplanar, and two the 4th revolute pair axis are symmetrical about the 6th revolute pair axis; Pivot center, the axis of three revolute pair of above-mentioned the second universal pair on column and the axis of the 4th revolute pair is parallel to each other and in same plane, the distance on connecting rod between two the 3rd revolute pair axis equates with the distance between two the 4th revolute pair axis on rocking bar; Connecting rod, rocking bar, two columns and pedestal form the two parallelogram of plane through above-mentioned connected mode, formed the mid point with two the second universal sub-center lines, and with the planar virtual center of rotation mechanism of the coplanar virtual pivot center of the 5th, six turns auxiliary shaft line parallels.Control two groups of motions that drive four linear actuators in branch, can realize swaying platform around above-mentioned virtual rotating shaft with by rolling, pitching and horizontal, the pitching compound motion of the definite rotating shaft of two the second universal pairs.
The structure of the Liang Ge branch of described first group of driving branch can be that the first support column is connected on basic platform, on this first support column, guide rail slide block is installed, slide block is driven by linear actuator, one end of the first support bar is connected with the bearing block being connected on slide block by second joint bearing, the other end of this first support bar is connected with swaying platform by the first universal pair, wherein second joint bearing and the first universal pair can be exchanged, and above-mentioned connected mode forms PSUHuo PUS branch;
The structure of the Liang Ge branch of described second group of driving branch can be that the second support column is connected on basic platform, on this second support column, guide rail slide block is installed, slide block is driven by linear actuator, one end of the second support bar is connected with the bearing block being connected on slide block by the 7th revolute pair, the other end of this second support bar is connected with the bearing block being located on column by the 8th revolute pair, the axis of two revolute pairs is parallel to each other, and above-mentioned connected mode forms PRR branch.
Described planar virtual center of rotation mechanism can be that one end of described two columns is connected with swaying platform by the second universal pair respectively, and the other end of these two columns is connected with the two ends of rocking bar by the 4th revolute pair respectively; Pedestal is connected in the middle of basic platform, above-mentioned two columns are symmetrically arranged in pedestal both sides, the middle part of above-mentioned rocking bar is connected with this pedestal by the 6th revolute pair, the 6th revolute pair axis and two the 4th turns auxiliary shaft line parallels and coplanar, and two the 4th revolute pair axis are symmetrical about the 6th revolute pair axis; Above-mentioned each column is positioned at the mid-plane of the 3rd support column being connected with basic platform, arc guide rail is equipped with in the inner side of the 3rd support column respectively symmetry, on these two arc guide rails, be arranged with respectively the slide block sliding along this arc guide rail, these two slide blocks are connected with above-mentioned column by the 9th revolute pair respectively; The central axis of four arc guide rails overlaps, and with the 6th turns auxiliary shaft line parallel, the diameter of arc guide rail equates with the distance of two the 4th revolute pair axis on rocking bar; On same column, two the 9th revolute pair axis overlap, and are parallel to each other with the 6th revolute pair axis, and the distance of the 9th revolute pair axis on two columns equates with the distance of two the 4th revolute pair axis on rocking bar; The 9th revolute pair axis on above-mentioned same column, the 4th revolute pair axis and the pivot center of the second universal pair on this column are parallel to each other and are coplanar, and two the 9th revolute pair axis can overlap by the pivot center on this column with the second universal pair, but can not overlap with the 4th revolute pair axis; The effect of four arc guide rail slide blocks and the effect of connecting rod equivalence, two the 3rd support columns, four arc guide rail slide blocks, two columns, rocking bar and pedestals have consisted of the mid point with two the second universal sub-center lines above-mentioned connected mode, and the planar virtual center of rotation mechanism of the virtual pivot center parallel and coplanar with the 6th revolute pair axis, arc guide rail central axis.
Described planar virtual center of rotation mechanism can also be that one end of described two columns is connected with swaying platform by the second universal pair respectively, and the other end of these two columns is connected with the two ends of rocking bar by the 4th revolute pair respectively; Pedestal is connected in the middle of basic platform, above-mentioned two columns are symmetrically arranged in pedestal both sides, the centre of above-mentioned rocking bar is connected with this pedestal by the 6th revolute pair, two the 4th revolute pair axis and the 6th turns auxiliary shaft line parallel and coplanar, and two the 4th revolute pair axis are symmetrical about the 6th revolute pair axis; Above-mentioned each column is positioned at the mid-plane of the 4th support column being connected with basic platform, slide block is connected with the inner side of above-mentioned the 4th support column respectively by two three moving sets, this slide block is connected with above-mentioned column by the 4th moving sets simultaneously, the moving direction of the 4th moving sets is along the central axial direction of above-mentioned column, the moving direction of three moving sets is vertical with the moving direction of the 4th moving sets, and vertical with the 6th revolute pair axis; The 4th revolute pair axis and the pivot center of the second universal pair on this column are parallel to each other, and both are vertical coplanar with the 4th moving sets moving direction; The effect of two slide blocks and the effect of connecting rod equivalence, two the 4th support columns, two slide blocks, two columns, rocking bar and pedestals have formed the mid point with two the second universal sub-center lines through above-mentioned connected mode, and with the planar virtual center of rotation mechanism of the 6th turns auxiliary shaft line parallel, the virtual pivot center vertical with the 3rd, the 4th moving sets moving direction.
The present invention compared with prior art tool has the following advantages:
1, bearing capacity is large, load self-balancing;
2, have virtual rotating shaft, installing space is large;
3, shock resistance, can self-stabilization;
4, can select free degree character according to user demand.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention 1 structural representation sketch.
Fig. 2 is the embodiment of the present invention 1 midplane virtual rotation center mechanism structure simplified schematic diagram.
Fig. 3 is the embodiment of the present invention 2 structural representation sketches.
Fig. 4 is that 2 first groups of the embodiment of the present invention drive PSU motion branched structure simplified schematic diagram in branch.
Fig. 5 is that 2 second groups of the embodiment of the present invention drive PRR motion branched structure simplified schematic diagram in branch.
Fig. 6 is the embodiment of the present invention 3 structural representation sketches.
Fig. 7 is the embodiment of the present invention 3 midplane virtual rotation center mechanism structure simplified schematic diagram.
Fig. 8 is that 3 second groups of the embodiment of the present invention drive the 3rd support column arrangement simplified schematic diagram in branch.
Fig. 9 is the embodiment of the present invention 4 structural representation sketches.
Figure 10 is the embodiment of the present invention 5 structural representation sketches.
Figure 11 is the embodiment of the present invention 5 midplane virtual rotation center mechanism structure simplified schematic diagram.
Figure 12 is that 5 second groups of the embodiment of the present invention drive the 4th support column schematic diagram in branch.
Figure 13 is the embodiment of the present invention 6 structural representation sketches.
The specific embodiment
Embodiment 1
A kind of shown in Fig. 1 and Fig. 2 have virtual rotating shaft two, in Three Degree Of Freedom tilter schematic diagram, upper mounting plate 7 is connected with swaying platform 6 by revolute pair, in upper mounting plate and swaying platform plane, be respectively equipped with 4 corresponding screwed holes, by screw, use connecting plate that upper mounting plate and swaying platform are locked as to one, make this tilter only there is two degrees of freedom; Two groups drive branch's identical branch's composition of You Liangge mechanism respectively, and Gai Sige branch is distributed on basic platform 1, branch's positioned opposite that Liang Ge mechanism is identical; One end of linear actuator 11 in the Liang Ge branch of first group of driving branch is connected with the bearing block 12 being connected on basic platform by the first oscillating bearing S1 respectively, the other end of these two linear actuators is connected with swaying platform by the first universal secondary U1 respectively, forms SPU branch; One end of linear actuator 9 in the Liang Ge branch of second group of driving branch is connected with the bearing block 10 being connected on basic platform by the first revolute pair R1 respectively, the other end of these two linear actuators is connected with the bearing block 8 being connected on column 5 by the second revolute pair R2 respectively, forms RPR branch; One end of above-mentioned two columns is connected with swaying platform by the second universal secondary U2 respectively, and the top of the other end of these two columns is connected with the two ends of connecting rod 4 by the 3rd revolute pair R3 respectively, and bottom is connected with the two ends of rocking bar 3 by the 4th revolute pair R4 respectively; Pedestal 2 is connected in the middle of basic platform, above-mentioned two columns are symmetrically arranged in pedestal both sides, the middle part of above-mentioned connecting rod is connected with this pedestal top by the 5th revolute pair R5, the middle part of above-mentioned rocking bar is connected with this pedestal middle part by the 6th revolute pair R6, and the 5th revolute pair axis and the 6th revolute pair axis are parallel to each other; Two the 3rd revolute pair axis and the 5th turns auxiliary shaft line parallel and coplanar, and two the 3rd revolute pair axis are symmetrical about the 5th revolute pair axis, two the 4th revolute pair axis and the 6th turns auxiliary shaft line parallel and coplanar, and two the 4th revolute pair axis are symmetrical about the 6th revolute pair axis; Pivot center, the axis of three revolute pair of above-mentioned the second universal pair on column and the axis of the 4th revolute pair is parallel to each other and in same plane, the distance on connecting rod between two the 3rd revolute pair axis equates with the distance between two the 4th revolute pair axis on rocking bar; Connecting rod, rocking bar, two columns and pedestal form the two parallelogram of plane through above-mentioned connected mode, formed the mid point with two the second universal sub-center lines, and with the planar virtual center of rotation mechanism of the 5th, six turns auxiliary shaft line parallels and coplanar virtual pivot center.
Embodiment 2
A kind of shown in Fig. 3, Fig. 4 and Fig. 5 have virtual rotating shaft two, in Three Degree Of Freedom tilter schematic diagram, upper mounting plate 7 is connected with swaying platform 6 by moving sets, in upper mounting plate and swaying platform plane, be respectively equipped with 4 corresponding through holes, by bolt, use connecting plate that upper mounting plate and swaying platform are locked as to one, make this tilter only there is two degrees of freedom; The first support column 13 in the Liang Ge branch of first group of driving branch is connected on basic platform 1, on this first support column, the first guide rail slide block is installed, the first slide block 14 is driven by linear actuator, one end of the first support bar 16 is connected with the bearing block 15 being connected on the first slide block by second joint bearing S2, the other end of this first support bar is connected with swaying platform 6 by the first universal secondary U1, and above-mentioned connected mode forms PSU branch; The second support column 21 in the Liang Ge branch of described second group of driving branch is connected on basic platform, on this second support column, the second guide rail slide block is installed, the second slide block 20 is driven by linear actuator, one end of the second support bar 18 is connected with the bearing block 19 being connected on above-mentioned slide block by the 7th revolute pair R7, the other end of this second support bar is connected with the bearing block 17 being located on column by the 8th revolute pair R8, the axis of two revolute pairs is parallel to each other, and above-mentioned connected mode forms PRR branch.Other parts and annexation are identical with embodiment 1.
Embodiment 3
A kind of shown in Fig. 6, Fig. 7 and Fig. 8 have virtual rotating shaft two, in Three Degree Of Freedom tilter schematic diagram, upper mounting plate 7 is connected with swaying platform 6 by revolute pair, in upper mounting plate and swaying platform plane, be respectively equipped with 4 corresponding through holes, by bolt, use connecting plate that upper mounting plate and swaying platform are locked as to one, make this tilter only there is two degrees of freedom; One end of two columns 5 is connected with swaying platform 6 by the second universal secondary U2 respectively, and the other end of these two columns is connected with the two ends of rocking bar 3 by the 4th revolute pair R4 respectively; Pedestal 2 is connected in the middle of basic platform 1, above-mentioned two columns are symmetrically arranged in pedestal both sides, the middle part of above-mentioned rocking bar is connected with this pedestal by the 6th revolute pair R6, the 6th revolute pair axis and two the 4th turns auxiliary shaft line parallels and coplanar, and two the 4th revolute pair axis are symmetrical about the 6th revolute pair axis; Above-mentioned each column is positioned at the mid-plane of the 3rd support column 22 being connected with basic platform, the inner side of the 3rd support column is arranged with respectively arc guide rail 23, on these two arc guide rails, be arranged with respectively the 3rd slide block 24 sliding along this arc guide rail, these two the 3rd slide blocks are connected with above-mentioned column by the 9th revolute pair R9 respectively; The central axis of four arc guide rails overlaps, and with the 6th turns auxiliary shaft line parallel, the diameter of arc guide rail equates with the distance of two the 4th revolute pair axis on rocking bar; On same column, two the 9th revolute pair axis overlap, and are parallel to each other with the 6th revolute pair axis, and the distance of the 9th revolute pair axis on two columns equates with the distance of two the 4th revolute pair axis on rocking bar; The 9th revolute pair axis on above-mentioned same column, the 4th revolute pair axis and the pivot center of the second universal pair on this column are parallel to each other and are coplanar, and two the 9th revolute pair axis can overlap by the pivot center on this column with the second universal pair, but can not overlap with the 4th revolute pair axis; The effect of four arc guide rail slide blocks and the effect of connecting rod equivalence, two the 3rd support columns, four arc guide rail slide blocks, two columns, rocking bar and pedestals have consisted of the mid point with two the second universal sub-center lines above-mentioned connected mode, and the planar virtual center of rotation mechanism of the virtual pivot center parallel and coplanar with the 6th revolute pair axis, arc guide rail central axis.Other parts and annexation are identical with embodiment 1.
Embodiment 4
A kind of shown in Fig. 9 have virtual rotating shaft two, in Three Degree Of Freedom tilter schematic diagram, upper mounting plate 7 is connected with swaying platform 6 by revolute pair or moving sets, in upper mounting plate and swaying platform plane, be respectively equipped with several corresponding through hole or screwed holes, by bolt or screw, upper mounting plate and swaying platform can be locked as to one, make this tilter only there is two degrees of freedom; The first support column 13 in the Liang Ge branch of first group of driving branch is connected on basic platform 1, on this first support column, the first guide rail slide block is installed, the first slide block 14 is driven by linear actuator, one end of the first support bar is connected with the bearing block 15 being connected on the first slide block by second joint bearing S2, the other end of this first support bar is connected with swaying platform 6 by the first universal secondary U1, and above-mentioned connected mode forms PSU branch; The second support column 21 in the Liang Ge branch of described second group of driving branch is connected on basic platform, on this second support column, the second guide rail slide block is installed, the second slide block 20 is driven by linear actuator, one end of the second support bar is connected with the bearing block 19 being connected on above-mentioned slide block by the 7th revolute pair R7, the other end of this second support bar is connected with the bearing block 17 being located on column by the 8th revolute pair R8, the axis of two revolute pairs is parallel to each other, and above-mentioned connected mode forms PRR branch.Above-mentioned first group drives branch to drive the parts of branch to drive branch identical with first group of driving branch in embodiment 2 with second group respectively with annexation with second group.Parts and the annexation of planar virtual center of rotation mechanism are identical with embodiment 3.
Embodiment 5
A kind of shown in Figure 10, Figure 11 and Figure 12 have virtual rotating shaft two, in Three Degree Of Freedom tilter schematic diagram, upper mounting plate 7 is connected with swaying platform 6 by revolute pair or moving sets, in upper mounting plate and swaying platform plane, be respectively equipped with several corresponding through hole or screwed holes, by bolt or screw, upper mounting plate and swaying platform can be locked as to one, make this tilter only there is two degrees of freedom; One end of two columns 5 is connected with swaying platform 6 by the second universal secondary U2 respectively, and the other end of these two columns is connected with the two ends of rocking bar 3 by the 4th revolute pair R4 respectively; Pedestal 2 is connected in the middle of basic platform 1, above-mentioned two columns are symmetrically arranged in pedestal both sides, the centre of above-mentioned rocking bar is connected with this pedestal by the 6th revolute pair R6, two the 4th revolute pair axis and the 6th turns auxiliary shaft line parallel and coplanar, and two the 4th revolute pair axis are symmetrical about the 6th revolute pair axis; Above-mentioned each column is positioned at the mid-plane of the 4th support column 26 being connected with basic platform, Four-slider 25 is connected with the inner side of above-mentioned the 4th support column respectively by two three moving sets P3, this Four-slider is connected with above-mentioned column by the 4th moving sets P4 simultaneously, the moving direction of the 4th moving sets is along the central axial direction of above-mentioned column, the moving direction of three moving sets is vertical with the moving direction of the 4th moving sets, and vertical with the 6th revolute pair axis; The 4th revolute pair axis and the pivot center of the second universal pair on this column are parallel to each other, and both are vertical coplanar with the 4th moving sets moving direction; Two effects of Four-slider and the effect of connecting rod equivalence, two the 4th support columns, two Four-sliders, two columns, rocking bar and pedestals have formed the mid point with two the second universal sub-center lines through above-mentioned connected mode, and with the planar virtual center of rotation mechanism of the 6th turns auxiliary shaft line parallel, the virtual pivot center vertical with the 3rd, the 4th moving sets moving direction.Other parts and annexation are identical with embodiment 1.
Embodiment 6
A kind of shown in Figure 13 have virtual rotating shaft two, in Three Degree Of Freedom tilter schematic diagram, upper mounting plate 7 is connected with swaying platform 6 by revolute pair or moving sets, in upper mounting plate and swaying platform plane, be respectively equipped with several corresponding through hole or screwed holes, by bolt or screw, upper mounting plate and swaying platform can be locked as to one, make this tilter only there is two degrees of freedom; The first support column 13 in the Liang Ge branch of first group of driving branch is connected on basic platform 1, on this first support column, the first guide rail slide block is installed, the first slide block 14 is driven by linear actuator, one end of the first support bar is connected with the bearing block 15 being connected on the first slide block by second joint bearing S2, the other end of this first support bar is connected with swaying platform 6 by the first universal secondary U1, and above-mentioned connected mode forms PSU branch; The second support column 21 in the Liang Ge branch of described second group of driving branch is connected on basic platform, on this second support column, the second guide rail slide block is installed, the second slide block 20 is driven by linear actuator, one end of the second support bar is connected with the bearing block 19 being connected on above-mentioned slide block by the 7th revolute pair R7, the other end of this second support bar is connected with the bearing block 17 being located on column by the 8th revolute pair R8, the axis of two revolute pairs is parallel to each other, and above-mentioned connected mode forms PRR branch.Above-mentioned first group drives branch to drive the parts of branch to drive branch identical with first group of driving branch in embodiment 2 with second group respectively with annexation with second group.Parts and the annexation of planar virtual center of rotation mechanism are identical with embodiment 5.
In above embodiment 1～6, upper mounting plate is connected with swaying platform through revolute pair or moving sets, in upper mounting plate and swaying platform plane, be respectively equipped with several corresponding through hole or screwed holes, by bolt or screw, upper mounting plate and swaying platform can be locked as to one, now tilter only has two rotational freedoms: roll and pitch.After the bolt of locking upper mounting plate and swaying platform or screw removal, the revolute pair being connected between upper mounting plate and swaying platform can be turntable bearing, through rotating driver, drive and can realize upper mounting plate relative to the rotating of swaying platform, now tilter has three rotational freedoms: rolling, pitching and yawing; After the bolt of locking upper mounting plate and swaying platform or screw removal, the moving sets connecting between upper mounting plate and swaying platform drives and can realize upper mounting plate relative to the moving of swaying platform through linear actuator, and now tilter has two rotations and an one-movement-freedom-degree: rolling, pitching and hanging down swung.
In above embodiment, linear actuator can be hydraulic cylinder or electric cylinder or pneumatic linear actuator, can be also the motor screw slider mechanism that can realize linear movement; Rotating driver can be motor or motor.
In above embodiment, the line of two the first universal sub-centers and virtual rotating shaft, can conllinear, also conllinear not, i.e. and virtual rotating shaft is not to be determined by the line of two the first universal sub-centers, but the inherent characteristic of virtual rotation center mechanism.
Claims (4)
- One kind have virtual rotating shaft two, Three Degree Of Freedom tilter, it is characterized in that: upper mounting plate is connected with swaying platform by revolute pair or moving sets, in upper mounting plate and swaying platform plane, be respectively equipped with several corresponding through hole or screwed holes, by bolt or screw, upper mounting plate and swaying platform can be locked as to one, make this tilter only there is two degrees of freedom; Two groups drive branch's identical branch's composition of You Liangge mechanism respectively, and Gai Sige branch is distributed on basic platform, branch's positioned opposite that Liang Ge mechanism is identical; One end of linear actuator in the Liang Ge branch of first group of driving branch is connected with the bearing block being connected on basic platform by the first oscillating bearing respectively, the other end of these two linear actuators is connected with swaying platform by the first universal pair respectively, wherein the first oscillating bearing and the first universal pair can be exchanged, and form SPUHuo UPS branch; One end of linear actuator in the Liang Ge branch of second group of driving branch is connected with the bearing block being connected on basic platform by the first revolute pair respectively, the other end of these two linear actuators is connected with the bearing block being connected on column by the second revolute pair respectively, forms RPR branch; One end of above-mentioned two columns is connected with swaying platform by the second universal pair respectively, and the top of the other end of these two columns is connected with the two ends of connecting rod by the 3rd revolute pair respectively, and bottom is connected with the two ends of rocking bar by the 4th revolute pair respectively; Pedestal is connected in the middle of basic platform, above-mentioned two columns are symmetrically arranged in pedestal both sides, the middle part of above-mentioned connecting rod is connected with this pedestal top by the 5th revolute pair, the middle part of above-mentioned rocking bar is connected with this pedestal middle part by the 6th revolute pair, and the 5th revolute pair axis and the 6th revolute pair axis are parallel to each other; Two the 3rd revolute pair axis and the 5th turns auxiliary shaft line parallel and coplanar, and two the 3rd revolute pair axis are symmetrical about the 5th revolute pair axis, two the 4th revolute pair axis and the 6th turns auxiliary shaft line parallel and coplanar, and two the 4th revolute pair axis are symmetrical about the 6th revolute pair axis; Pivot center, the axis of three revolute pair of above-mentioned the second universal pair on column and the axis of the 4th revolute pair is parallel to each other and in same plane, the distance on above-mentioned connecting rod between two the 3rd revolute pair axis equates with the distance between two the 4th revolute pair axis on rocking bar; Connecting rod, rocking bar, two columns and pedestal form the two parallelogram of plane through above-mentioned connected mode, formed the mid point with two the second universal sub-center lines, and with the planar virtual center of rotation mechanism of the 5th, six turns auxiliary shaft line parallels and coplanar virtual pivot center.
- 2. a kind of two of virtual rotating shaft that has according to claim 1, Three Degree Of Freedom tilter, it is characterized in that: the first support column in the Liang Ge branch of described first group of driving branch is connected on basic platform, on this first support column, guide rail slide block is installed, slide block is driven by linear actuator, one end of the first support bar is connected with the bearing block being connected on above-mentioned slide block by second joint bearing, the other end of this first support bar is connected with swaying platform by the first universal pair, wherein second joint bearing and the first universal pair can be exchanged, above-mentioned connected mode forms PSUHuo PUS branch, the second support column in the Liang Ge branch of described second group of driving branch is connected on basic platform, on this second support column, guide rail slide block is installed, slide block is driven by linear actuator, one end of the second support bar is connected with the bearing block being connected on above-mentioned slide block by the 7th revolute pair, the other end of this second support bar is connected with the bearing block being located on column by the 8th revolute pair, the axis of two revolute pairs is parallel to each other, and above-mentioned connected mode forms PRR branch.
- According to claim 1 and 2 a kind of have virtual rotating shaft two, Three Degree Of Freedom tilter, it is characterized in that: one end of two columns in described planar virtual center of rotation mechanism is connected with swaying platform by the second universal pair respectively, and the other end of these two columns is connected with the two ends of rocking bar by the 4th revolute pair respectively; Pedestal is connected in the middle of basic platform, above-mentioned two columns are symmetrically arranged in pedestal both sides, the middle part of above-mentioned rocking bar is connected with this pedestal by the 6th revolute pair, the 6th revolute pair axis and two the 4th turns auxiliary shaft line parallels and coplanar, and two the 4th revolute pair axis are symmetrical about the 6th revolute pair axis; Above-mentioned each column is positioned at the mid-plane of the 3rd support column being connected with basic platform, arc guide rail is equipped with in the inner side of the 3rd support column respectively symmetry, on these two arc guide rails, be arranged with respectively the slide block sliding along this arc guide rail, these two slide blocks are connected with above-mentioned column by the 9th revolute pair respectively; The central axis of four arc guide rails overlaps, and with the 6th turns auxiliary shaft line parallel, the diameter of arc guide rail equates with the distance of two the 4th revolute pair axis on rocking bar; On same column, two the 9th revolute pair axis overlap, and are parallel to each other with the 6th revolute pair axis, and the distance of the 9th revolute pair axis on two columns equates with the distance of two the 4th revolute pair axis on rocking bar; The 9th revolute pair axis on above-mentioned same column, the 4th revolute pair axis and the pivot center of the second universal pair on this column are parallel to each other and are coplanar, and two the 9th revolute pair axis can overlap by the pivot center on this column with the second universal pair, but can not overlap with the 4th revolute pair axis; The effect of four arc guide rail slide blocks and the effect of connecting rod equivalence, two the 3rd support columns, four arc guide rail slide blocks, two columns, rocking bar and pedestals have consisted of the mid point with two the second universal sub-center lines above-mentioned connected mode, and the planar virtual center of rotation mechanism of the virtual pivot center parallel and coplanar with the 6th revolute pair axis, arc guide rail central axis.
- According to claim 1 and 2 a kind of have virtual rotating shaft two, Three Degree Of Freedom tilter, it is characterized in that: one end of two columns in described planar virtual center of rotation mechanism is connected with swaying platform by the second universal pair respectively, and the other end of these two columns is connected with the two ends of rocking bar by the 4th revolute pair respectively; Pedestal is connected in the middle of basic platform, above-mentioned two columns are symmetrically arranged in pedestal both sides, the centre of above-mentioned rocking bar is connected with this pedestal by the 6th revolute pair, two the 4th revolute pair axis and the 6th turns auxiliary shaft line parallel and coplanar, and two the 4th revolute pair axis are symmetrical about the 6th revolute pair axis; Above-mentioned each column is positioned at the mid-plane of the 4th support column being connected with basic platform, slide block is connected with the inner side of above-mentioned the 4th support column respectively by two three moving sets, this slide block is connected with above-mentioned column by the 4th moving sets simultaneously, the moving direction of the 4th moving sets is along the central axial direction of above-mentioned column, the moving direction of three moving sets is vertical with the moving direction of the 4th moving sets, and vertical with the 6th revolute pair axis; The 4th revolute pair axis and the pivot center of the second universal pair on this column are parallel to each other, and both are vertical coplanar with the 4th moving sets moving direction; The effect of two slide blocks and the effect of connecting rod equivalence, two the 4th support columns, two slide blocks, two columns, rocking bar and pedestals have formed the mid point with two the second universal sub-center lines through above-mentioned connected mode, and with the planar virtual center of rotation mechanism of the 6th turns auxiliary shaft line parallel, the virtual pivot center vertical with the 3rd, the 4th moving sets moving direction.
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| CN201410189158.8A CN104002302B (en) | 2014-05-07 | 2014-05-07 | A kind of have virtual axle two, Three Degree Of Freedom tilter |
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| CN201410189158.8A CN104002302B (en) | 2014-05-07 | 2014-05-07 | A kind of have virtual axle two, Three Degree Of Freedom tilter |
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| CN105291091A (en) * | 2015-11-11 | 2016-02-03 | 山东理工大学 | Three-translation and one-rotation parallel robot with plane pair |
| CN106002546A (en) * | 2016-06-28 | 2016-10-12 | 徐香庭 | Intelligent grinding apparatus for high-speed rail |
| CN106078773A (en) * | 2016-06-28 | 2016-11-09 | 王祁 | A kind of underground railway track intelligence polishing cleaning manipulator |
| CN106585480A (en) * | 2016-12-30 | 2017-04-26 | 大连大学 | Balance self-stabilization device of intelligent vehicle carrier and verification method |
| CN106781811A (en) * | 2017-02-09 | 2017-05-31 | 沈阳工业大学 | Keg float supports tilter and its leveling method |
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| CN105291091B (en) * | 2015-11-11 | 2020-04-21 | 山东理工大学 | Three-translation one-rotation parallel robot with plane pair |
| CN106078773B (en) * | 2016-06-28 | 2018-01-16 | 安徽港泰机械制造集团有限公司 | A kind of underground railway track intelligence polishing cleaning manipulator |
| CN106002546A (en) * | 2016-06-28 | 2016-10-12 | 徐香庭 | Intelligent grinding apparatus for high-speed rail |
| CN106078773A (en) * | 2016-06-28 | 2016-11-09 | 王祁 | A kind of underground railway track intelligence polishing cleaning manipulator |
| CN106585480B (en) * | 2016-12-30 | 2019-10-08 | 大连大学 | A kind of intelligent vehicle carrier balance autostabiliazer unit and verification method |
| CN106585480A (en) * | 2016-12-30 | 2017-04-26 | 大连大学 | Balance self-stabilization device of intelligent vehicle carrier and verification method |
| CN106781811A (en) * | 2017-02-09 | 2017-05-31 | 沈阳工业大学 | Keg float supports tilter and its leveling method |
| CN106781811B (en) * | 2017-02-09 | 2022-07-15 | 沈阳工业大学 | Floating bucket supporting swing platform and leveling method thereof |
| CN108194795A (en) * | 2018-01-25 | 2018-06-22 | 燕山大学 | A kind of weight idling platform of scalable variable freedom |
| WO2021036376A1 (en) * | 2019-08-24 | 2021-03-04 | 大连理工大学 | Calibration method for watercraft true wind measuring device |
| CN111516821A (en) * | 2020-04-13 | 2020-08-11 | 浙江大学 | Heave simulation test bed driven by bilateral hydraulic cylinder |
| CN111915958A (en) * | 2020-08-07 | 2020-11-10 | 燕山大学 | Symmetrical arrangement full decoupling two-shaft swing mechanism |
| CN111915958B (en) * | 2020-08-07 | 2021-12-07 | 燕山大学 | Symmetrical arrangement full decoupling two-shaft swing mechanism |
| CN112828830A (en) * | 2020-12-25 | 2021-05-25 | 北京动力机械研究所 | Frock daughter board lifting device of flexible production line manual assembly platform of digitization |
| CN113442161A (en) * | 2021-07-19 | 2021-09-28 | 北京理工大学 | Robot joint, robot bionic hip joint and robot |
| CN114147690A (en) * | 2021-12-07 | 2022-03-08 | 长春工业大学 | Two-degree-of-freedom parallel adjustment platform mechanism based on four-rod tensioning overall structure |
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