CN105235823B - A kind of six-freedom parallel stable chair - Google Patents
A kind of six-freedom parallel stable chair Download PDFInfo
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- CN105235823B CN105235823B CN201510687870.5A CN201510687870A CN105235823B CN 105235823 B CN105235823 B CN 105235823B CN 201510687870 A CN201510687870 A CN 201510687870A CN 105235823 B CN105235823 B CN 105235823B
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Abstract
A kind of six-freedom parallel stable chair, it mainly includes the six driving branches and four spring load branches of seat, handrail, base, connecting chair and base.Four structure identical SPSP driving branched layouts are in seat both sides in six drivings branch, and two structure identical SPS drive branched layout in under-seat；Four driving branches for being arranged in seat both sides, its one end is connected by the outside of ball pivot and handrail, and the other end is vertically installed on base；Two driving branches for being arranged in under-seat, its one end is connected by the bottom of ball pivot and seat, and the other end is by ball pivot with being connected on rear side of base；Four spring loads branch into structure identical SPS branches, and its two ends is connected by ball pivot and the bottom of seat and base respectively.The present invention is simple and compact for structure, significantly reduces height of the seat away from ground, the presence of spring load branch greatly improves the weight capacity of seat, with good stable vibration isolating effect.
Description
Technical field
The present invention relates to a kind of stable chair, particularly a kind of six-freedom parallel stable chair.
Background technology
When ship rides the sea, due to being influenceed by wave, sea wind, rolling can be produced, it is pitching, yawing, swaying, vertical
Swing and directly affect the Activities carried out on ship with the motion of heaving six-freedom degree, these motions.Meanwhile, with science and technology
Progressive, society is evolving, and requirement of the people to quality of life is also in raising progressively.When seating pleasure boat spends a holiday travelling,
These motions can also bring dizziness or discomfort to passenger.In view of the above-mentioned problems, proposing that one kind can isolate ship motion
Stable chair it is necessary.At present, useful multivariant seat includes as vehicle driving simulator for various vehicles
The simulated training of armored vehicle, but its volume is too big, while simulated effect is undesirable, is not suitable for isolating the motion of hull.
Patent CN201420108962.4 proposes a kind of motorized motions seat, including seat surface, base and connection seat surface with
Three support bars and three electric cylinders of base, it is possible to achieve the three-dimensional of seat is mobile, but can not be completely eliminated mentioned above
Six-freedom degree is moved to the influence of the Activities carried out on ship.Patent CN201110257824.3 proposes a kind of tool
There is the vehicle driving simulator of heavily loaded broadband response, its boiler-plate is installed on the dynamic flat of six-freedom hydraulic powered motion platform
On platform, but this six-freedom hydraulic powered motion platform is that, based on classical Stewart structures, six branches are identical,
Even distribution, is all that upper mounting plate is higher away from lower platform, and space-consuming is big, and undamped isolation mounting.
The content of the invention
It is an object of the invention to provide a kind of compact conformation, bearing capacity is strong, stability is good, dynamic performance is excellent
The stable chair in parallel with six degree of freedom.
Technical scheme is as follows：
Six driving branches and four spring loads point of the present invention including seat, handrail, base, connecting chair and base
Branch.Wherein, described six drive branch by prismatic pair as driving part, wherein four structure identical SPSP drivings branches
Seat both sides are arranged in, two structure identical SPS drive branched layout in under-seat；It is described to be arranged in the four of seat both sides
One end of prismatic pair in individual driving branch is connected by the outside of ball pivot and handrail, and its other end passes through ball pivot and damper
One end is connected, and the other end of damper is vertically installed on base, and four on base damper is rectangular to be arranged symmetrically；It is described
The one end for the prismatic pair being arranged in two driving branches of under-seat is connected by the bottom of ball pivot and seat, its other end
By ball pivot with being connected on rear side of base, above-mentioned is in be vertically installed on base with two ball pivots seat that is being connected on rear side of base；It is described
Four spring loads branch into structure identical SPS branches, and it includes：Guide rod, guide pin bushing and bearing spring, wherein, guide rod passes through
The bottom connection of ball pivot and seat, guide pin bushing is connected by ball pivot with base, and bearing spring is enclosed on the outside of guide rod and guide pin bushing, one
End is connected with the end of guide rod, and the bottom of the other end and guide pin bushing is connected, above-mentioned four ball pivots being connected with seat bottom and with
Four ball pivots seat of base connection is in rectangular layout；Above-mentioned each driving branch is equipped with electric cylinder or hydraulic cylinder or other straight
Line driver element drives as prismatic pair.
It is of the invention to be had the following advantages that compared with existing correlation technique：
1st, it is simple and compact for structure, height of the seat away from ground is significantly reduced, space had not only been saved but also had added stability.
2nd, the damper installed in the driving branch of seat both sides four, can be effectively isolated dither.
3rd, in off position, four spring load branches can be with the weight of balancing seat itself, so that driving part
Exert oneself and protective effect so can not only be served to driving part and damper with very little, and coordinate with damper make every
Effect of shaking is more obvious, while the presence for carrying branch also greatly improves the weight capacity of seat.
4th, prismatic pair is drive pair, and motion is flexible, and dynamic performance is good.
Brief description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is the backsight simplified schematic diagram of the present invention.
Fig. 3 is the spring load branch SPS structure schematic diagrams of the present invention.
Embodiment
In the schematic diagram shown in Fig. 1, Fig. 2 and Fig. 3, four structure identical SPSP drivings of the both sides of seat 1 are arranged in
One end of prismatic pair 4 in branch as driving part is connected by ball pivot 3 with the outside of handrail 2, and its other end passes through ball pivot 5
It is connected with one end of damper 6, the other end of damper is vertically installed on base 7, and four on base damper is rectangular
It is arranged symmetrically；The prismatic pair 9 being arranged in two structure identical SPS drivings branch of the lower section of seat 1 as driving part
One end is connected by ball pivot 10 with the bottom of seat 1, and its other end is connected by ball pivot 8 with the rear side of base 1, after above-mentioned and base
Two ball pivots seat of side connection is in be vertically installed on base；Guide rod 14 leads in four structure identical SPS spring loads branches
The bottom that ball pivot 15 is crossed with seat 1 is connected, and guide pin bushing 12 is connected by ball pivot 11 with base 7, and bearing spring 13 is enclosed on guide rod and led
The end of the outside of set, its one end and guide rod is connected, and the bottom of the other end and guide pin bushing is connected, it is above-mentioned be connected with seat bottom four
Individual ball pivot seat and the four ball pivots seat being connected with base are in rectangular layout；Above-mentioned each branch is equipped with hydraulic cylinder as movement
Pair driving.
Claims (2)
1. a kind of six-freedom parallel stable chair, it includes six drivings of seat, handrail, base, connecting chair and base
Branch and four spring load branches, it is characterised in that：Described six drive branch by prismatic pair as driving part, wherein
Four structure identical SPSP driving branched layouts drive branched layout in seat in seat both sides, two structure identical SPS
Lower section；One end of prismatic pair in four driving branches for being arranged in seat both sides on the outside of ball pivot and handrail by connecting
Connect, its other end is connected by one end of ball pivot and damper, and the other end of damper is vertically installed on base, on base
Four dampers are rectangular to be arranged symmetrically；One end of prismatic pair in two driving branches for being arranged in under-seat passes through
The bottom connection of ball pivot and seat, its other end is connected by ball pivot with base rear side, with two ball pivots being connected on rear side of base
Seat is in be vertically installed on base；Four spring loads branch into structure identical SPS branches, and it includes：Guide rod, guide pin bushing
And bearing spring, wherein, guide rod is connected by the bottom of ball pivot and seat, and guide pin bushing is connected by ball pivot with base, bearing spring
It is enclosed on the outside of guide rod and guide pin bushing, the end of its one end and guide rod is connected, the bottom of the other end and guide pin bushing is connected, with seat bottom
Four ball pivots seat of connection and the four ball pivots seat being connected with base are in rectangular layout.
2. six-freedom parallel stable chair according to claim 1, it is characterised in that：Above-mentioned six drivings branch is all provided with
There are electric cylinder or hydraulic cylinder to be driven as prismatic pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510687870.5A CN105235823B (en) | 2015-10-22 | 2015-10-22 | A kind of six-freedom parallel stable chair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510687870.5A CN105235823B (en) | 2015-10-22 | 2015-10-22 | A kind of six-freedom parallel stable chair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105235823A CN105235823A (en) | 2016-01-13 |
| CN105235823B true CN105235823B (en) | 2017-10-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510687870.5A Active CN105235823B (en) | 2015-10-22 | 2015-10-22 | A kind of six-freedom parallel stable chair |
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| Country | Link |
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| CN (1) | CN105235823B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102054885B1 (en) | 2018-11-06 | 2019-12-16 | 강기섭 | Ship chair responding to movement of ship |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105570378B (en) * | 2016-01-28 | 2018-01-23 | 燕山大学 | A kind of six-freedom parallel, which subtracts, shakes vibration isolation cabin |
| CN106217346B (en) * | 2016-07-29 | 2018-08-31 | 哈工大机器人集团（广州）知识产权投资控股有限公司哈尔滨分公司 | A kind of intelligence for indoor air purification absorbs robot |
| CN108032964B (en) * | 2016-12-21 | 2019-09-13 | 林清辉 | Marine bed stability maintenance device |
| CN106628013B (en) * | 2016-12-26 | 2018-07-17 | 江龙船艇科技股份有限公司 | Chair shock-proof device peculiar to vessel |
| KR102067441B1 (en) * | 2018-10-19 | 2020-02-11 | 감기백 | Safety board maintaining static equilibrium |
| KR102205009B1 (en) * | 2019-11-04 | 2021-01-18 | 감기백 | Safety board maintaining static equilibrium |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10129321A (en) * | 1996-10-28 | 1998-05-19 | Mitsubishi Heavy Ind Ltd | Seat vibration damping device |
| CN201153012Y (en) * | 2008-01-25 | 2008-11-19 | 北京摩诘创新科技有限公司 | Large loaded 6 freedom degree electricity driving platform |
| CN101319700A (en) * | 2008-06-03 | 2008-12-10 | 江苏工业学院 | Magneto-rheological semi-active multi-freedom parallel connection shock-absorbing device |
| KR101146698B1 (en) * | 2010-03-25 | 2012-05-22 | 한일뉴즈주식회사 | Chair buffer of vessel |
| CN201978509U (en) * | 2011-01-24 | 2011-09-21 | 深圳市远望落星山科技有限公司 | 4D (4-dimension) dynamic chair with six degrees of freedom |
| CN202063043U (en) * | 2011-05-04 | 2011-12-07 | 深圳市海斯比船艇科技发展有限公司 | Damping and supporting structure |
| CN202375558U (en) * | 2011-12-14 | 2012-08-15 | 深圳市卓影时代科技有限公司 | Five-dimensional (5D) super-visual seat |
| CN103267210B (en) * | 2013-05-16 | 2015-06-10 | 燕山大学 | Six-freedom-degree parallel pointing platform |
| CN205059947U (en) * | 2015-10-22 | 2016-03-02 | 燕山大学 | Parallelly connected seat of stabilizing of 6 -degree of freedom |
-
2015
- 2015-10-22 CN CN201510687870.5A patent/CN105235823B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102054885B1 (en) | 2018-11-06 | 2019-12-16 | 강기섭 | Ship chair responding to movement of ship |
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| Publication number | Publication date |
|---|---|
| CN105235823A (en) | 2016-01-13 |
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