CN105539304B - A kind of four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform of the branch containing triangle - Google Patents
A kind of four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform of the branch containing triangle Download PDFInfo
- Publication number
- CN105539304B CN105539304B CN201610060588.9A CN201610060588A CN105539304B CN 105539304 B CN105539304 B CN 105539304B CN 201610060588 A CN201610060588 A CN 201610060588A CN 105539304 B CN105539304 B CN 105539304B
- Authority
- CN
- China
- Prior art keywords
- triangle
- straight line
- ball
- line module
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Vibration Prevention Devices (AREA)
- Rear-View Mirror Devices That Are Mounted On The Exterior Of The Vehicle (AREA)
Abstract
A kind of four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform of branch containing triangle, it mainly includes pedestal, moving platform, three straight spur units, three triangle branches, turntable bearing and panoramic table；Each straight spur unit is made up of mounting blocks, straight line module and booster parts, and mounting blocks are fixedly connected with the base, and straight line module is arranged on mounting blocks, and the end baffle of one end connection straight line module of booster parts, the other end connects the sliding block of straight line module；The every triangle branch is made up of the first ball hinge, the first ball pivot, vibration isolator, double ball pivot triangle frames and two the second ball hinges, first ball hinge is arranged on the sliding block of straight line module, one end of vibration isolator is connected with the first ball pivot, the other end is connected with double ball pivot triangle frames, and two the second ball hinges are connected with moving platform；Turntable bearing outer ring is arranged on moving platform, and panoramic table is arranged on turntable bearing inner ring.Rigidity of the present invention is big, and vibration isolating effect and dynamic performance are excellent.
Description
Technical field
The present invention relates to a kind of serial-parallel mirror mechanism, more particularly to a kind of posture adjustment isolation mounting.
Background technology
As the improvement of people's living standards, the mankind increasingly increase the degree of dependence of vehicle.Vehicle is in the process of moving
Influenceed by road roughness, the compound of various dimensions such as vertical vehicle body, inclination and pitching can be produced and jolted.If vehicle carried article is straight
Connect and be connected with rigidity of vehicle body, vehicle can be to frangible, precise article fortune in multi-dimensional vibration caused by road conditions poor condition downward driving
It is defeated and need the mobile unit of posture adjustment to cause serious influence.Using posture adjustment vibration-isolating platform can by vehicle carried article and car body every
Open, so can not only weaken the vibration that car body passes to vehicle carried article, while can accurately adjust vehicle carried article as needed
Posture is to realize some functions.When being such as loaded with the vehicle of picture pick-up device and shooting ambient conditions under steam, due to the injustice on road surface
Degree, picture pick-up device can produce shake, influence shooting quality in shooting process.Therefore, there is the platform of posture adjustment vibration isolation function
It is quite important in the presence of just seeming.
The A of patent CN 104976488 propose a kind of Three Degree Of Freedom Active Vibration Isolation Platform, possess 1 one-movement-freedom-degree and
Two rotational freedoms.But it is using active vibration isolation, for the high occasion vibration isolating effect unobvious of vibration frequency.Patent CN
103587724 A propose a kind of six-degree-of-freedom vibration isolation platform based on Stewart parallel institutions, and caused by pavement roughness
Vehicular vibration is predominantly vertical, rolls and pitching three degree of freedom, is compared with six degree of freedom, the vibration-isolating platform of lower-mobility needs
Less driving, control is simple, saves energy consumption.The A of patent CN 101504051 propose a kind of using magnetorheological damping technology
Semi-active vibration-isolating platform, this invention equally have six-freedom degree, containing it is mentioned above the shortcomings that, while this structure is in vibration isolation
On the basis of, there is no posture adjustment function.
The content of the invention
Contain triangle it is an object of the invention to provide a kind of integral rigidity is big, vibration isolating effect and dynamic performance are excellent
The four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform of branch.
Technical scheme is as follows：
The invention mainly comprises pedestal, moving platform, three the structure identical straight spur units containing power-assisted support, three
Structure identical triangle branch of the bar containing vibration isolatorTurntable bearing and panoramic table with driving.
The first connected mode：The straight spur unit is by mounting blocks, straight line module and booster parts with driving
Composition, mounting blocks are fixedly connected with the base, and the straight line module with driving is fixed on mounting blocks, one end and the straight line mould of booster parts
The end face baffle of group is connected, and the sliding block of the other end and straight line module of the booster parts is connected；The triangle branch is by one
First ball hinge, the first ball pivot (S), vibration isolator (P), double ball pivotsTriangle frame and two the second ball hinge compositions, first
Ball hinge is located on the sliding block of straight line module, and one end of vibration isolator is connected with the first ball pivot, the other end of the vibration isolator and double balls
One end connection of triangle frame is cut with scissors, two the second ball hinges for being connected in double other both ends of ball pivot triangle frame are connected with moving platform；Turn
Dish axle bearing outer-ring is fixed on the centre on moving platform, and panoramic table is located on turntable bearing inner ring.
Second of connected mode：The straight spur unit is by mounting blocks, straight line module and booster parts with driving
Composition, mounting blocks are connected with moving platform, and the straight line module with driving is fixed on mounting blocks, one end of booster parts and straight line
The end face baffle of module is connected, and the sliding block of the other end and straight line module of the booster parts is connected；The triangle branch is by one
Individual first ball hinge, the first ball pivot (S), vibration isolator (P), double ball pivotsTriangle frame and two the second ball hinge compositions；It is connected
Two the second ball hinges at double ball pivot triangle frame both ends are fixedly connected with the base, and one end of vibration isolator is another with double ball pivot triangle frames
End connection, the other end of the vibration isolator are connected with the first ball pivot, and the first ball hinge is fixed on the sliding block of straight line module；Turntable shaft
Bearing outer-ring is fixed on the centre on moving platform, and panoramic table is located on turntable bearing inner ring.
Double ball pivots of double ball pivot triangle frames can be substituted with the coaxial double revolute pair R of double ball pivot lines of centres.
The every triangle branch main body is in inverted triangular structure, and the angle of the brace of left and right two is 20-160 degree.
Three straight spur units are evenly distributed on pedestal or moving platform；The straight line module axle of straight spur unit
The angle of line and pedestal or moving platform plane is 20-80 degree.
The straight line module with driving can also use hydraulic cylinder or electric cylinder, and its cylinder barrel is arranged on mounting blocks,
The end of its lever is connected with the first ball hinge.
The booster parts are spring, power-assisted cylinder or power-assisted oil cylinder.
Cross tube and two braces of left and right are L-shaped or C-shaped configuration in the triangle branch main body inverted triangular structure.
Pedestal couples with rigidity of vehicle body, and vehicle carried article is installed on panoramic table, when vehicle travels in bumpy road, the mechanism
The vibration that car body passes to vehicle carried article can not only be weakened, while can accurately adjust the posture of vehicle carried article as needed with reality
Certain existing function.
It is of the invention to be had the following advantages that compared with existing correlation technique：
1st, can be on the basis of posture adjustment, three branches arrange vibration isolator, can be effectively isolated dither.
2nd, the triangular structure of branch enhances the integral rigidity of mechanism, and the revolution that particularly greatly strengthen moving platform is firm
Degree.
3rd, the booster parts of straight spur unit improve mechanism integrated carrying ability.
4th, the L-shaped or C-shaped configuration of cross tube and the brace of left and right two in triangle branch main body inverted triangular structure, is avoided
Platform interferes in motion process, increases the working space of mechanism.
Brief description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 1；
Fig. 2 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 2；
Fig. 3 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 3.
In figure：1st, pedestal；2nd, mounting blocks；3rd, the straight line module with driving；4th, booster parts；5th, the first ball hinge；6、
First ball pivot；7th, vibration isolator；8th, double ball pivot triangle frames；9th, the second ball hinge；10th, moving platform；11st, turntable bearing；12nd, turn round
Platform.
Embodiment
Embodiment 1
In the four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform schematic diagram of the branch containing triangle shown in Fig. 1, three contain
There are the mounting blocks 2 in the structure identical straight spur unit of power-assisted support to be connected with pedestal 1, the straight line module 3 with driving
It is fixed on mounting blocks, one end of spring 4 and the end face baffle of straight line module are connected, the other end and the straight line module of the spring
Sliding block is connected；The first ball hinge 5 in three structure identical triangle branches containing vibration isolator is located at the sliding block of straight line module
On, one end of vibration isolator 7 is connected with the first ball pivot 6, and the other end of the vibration isolator is connected with one end of double ball pivot triangle frames 8, Gu
Two the second ball hinges 9 for being connected in double other both ends of ball pivot triangle frame are connected with moving platform 10；The outer ring of turntable bearing 11 is fixed on
Centre on moving platform, panoramic table 12 are located on turntable bearing inner ring.
Embodiment 2
In the four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform schematic diagram of the branch containing triangle shown in Fig. 2, three contain
There are the mounting blocks 2 in the structure identical straight spur unit of power-assisted support to be connected with moving platform 10, the straight line mould with driving
Group 3 is fixed on mounting blocks, and one end of spring 4 and the end face baffle of straight line module are connected, the other end and the straight line mould of the spring
The sliding block of group is connected；Double both ends of ball pivot triangle frame 8 are connected in three structure identical triangle branches containing vibration isolator
Two the second ball hinges 9 are connected with pedestal 1, and one end of vibration isolator 7 is connected with the other end of double ball pivot triangle frames, the vibration isolator
The other end is connected with the first ball pivot 6, and the first ball hinge 5 is fixed on the sliding block of straight line module；The outer ring of turntable bearing 11 is fixed on
Centre on moving platform, panoramic table 12 are located on turntable bearing inner ring.
Embodiment 3
In the four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform schematic diagram of the branch containing triangle shown in Fig. 3, three contain
There are the mounting blocks 2 in the structure identical straight spur unit of power-assisted support to be connected with pedestal 1, the electric cylinder 3 with driving is solid
It is scheduled on mounting blocks, one end of power-assisted cylinder 4 is connected with electric cylinder bottom, the other end of the power-assisted cylinder and the first ball hinge 5
Connection；The first ball hinge in three structure identical triangle branches containing vibration isolator is located on the push rod of electric cylinder, vibration isolation
One end of device 7 is connected with the first ball pivot 6, and the other end of the vibration isolator is connected with one end of double ball pivot triangle frames 8, is connected in double balls
Two second ball hinges 9 at the other both ends of hinge triangle frame are connected with moving platform 10；The outer ring of turntable bearing 11 is fixed on moving platform
Centre, panoramic table 12 is located on turntable bearing inner ring.
Claims (8)
- A kind of 1. four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform of branch containing triangle, it is characterised in that：It mainly includes base Seat, moving platform, three the structure identical straight spur units containing power-assisted support, three structure identicals three containing vibration isolator Angular branch, turntable bearing and panoramic table with driving；The straight spur unit is by mounting blocks, the straight line mould with driving Group and booster parts composition, mounting blocks are fixedly connected with the base, and the straight line module with driving is fixed on mounting blocks, booster parts One end and the end face baffle of straight line module are connected, and the sliding block of the other end and straight line module of the booster parts is connected；The triangle Shape branch is by first ball hinge, the first ball pivot, vibration isolator, triangle frame and two the second ball hinge groups with two ball pivots Into the first ball hinge is located on the sliding block of straight line module, and one end of vibration isolator is connected with the first ball pivot, the other end of the vibration isolator It is connected with one end of triangle frame, two the second ball hinges for being connected in the other both ends of triangle frame are connected with moving platform；Turntable bearing Outer ring is fixed on the centre on moving platform, and panoramic table is located on turntable bearing inner ring.
- A kind of 2. four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform of branch containing triangle, it is characterised in that：It mainly includes base Seat, moving platform, three the structure identical straight spur units containing power-assisted support, three structure identicals three containing vibration isolator Angular branch, turntable bearing and panoramic table with driving；The straight spur unit is by mounting blocks, the straight line mould with driving Group and booster parts composition, mounting blocks are connected with moving platform, and the straight line module with driving is fixed on mounting blocks, booster parts One end and the end face baffle of straight line module be connected, the sliding block of the other end and straight line module of the booster parts is connected；Described three Angular branch is by first ball hinge, the first ball pivot, vibration isolator, triangle frame and two the second ball hinges with two ball pivots Composition；Two the second ball hinges for being connected in triangle frame both ends are fixedly connected with the base, one end of vibration isolator and the other end of triangle frame Connection, the other end of the vibration isolator are connected with the first ball pivot, and the first ball hinge is fixed on the sliding block of straight line module；Turntable bearing Outer ring is fixed on the centre on moving platform, and panoramic table is located on turntable bearing inner ring.
- 3. a kind of four-degree-of-freedom serial-parallel mirror posture adjustment of branch containing triangle according to claim 1 or claim 2 every Shake platform, it is characterised in that：Two ball pivots of the triangle frame are replaced with two revolute pairs coaxial with two ball pivot lines of centres Generation.
- 4. a kind of four-degree-of-freedom serial-parallel mirror posture adjustment of branch containing triangle according to claim 1 or claim 2 every Shake platform, it is characterised in that：The angle of the brace of left and right two of every triangle branch is 20-160 degree.
- 5. a kind of four-degree-of-freedom serial-parallel mirror posture adjustment of branch containing triangle according to claim 1 or claim 2 every Shake platform, it is characterised in that：Three straight spur units are evenly distributed on pedestal or moving platform；Straight spur unit The angle of straight line module axis and pedestal or moving platform plane is 20-80 degree.
- 6. a kind of four-degree-of-freedom serial-parallel mirror posture adjustment of branch containing triangle according to claim 1 or claim 2 every Shake platform, it is characterised in that：The straight line module hydraulic cylinder or electric cylinder with driving substitute, hydraulic cylinder or electronic The cylinder barrel of cylinder is located on mounting blocks, and the end of its lever is connected with the first ball hinge.
- 7. a kind of four-degree-of-freedom serial-parallel mirror posture adjustment of branch containing triangle according to claim 1 or claim 2 every Shake platform, it is characterised in that：The booster parts are spring, power-assisted cylinder or power-assisted oil cylinder.
- 8. a kind of four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform of branch containing triangle according to claim 4, it is special Sign is：The cross tube of the triangle branch and brace this body structure of left and right two are L-shaped or C-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610060588.9A CN105539304B (en) | 2016-01-28 | 2016-01-28 | A kind of four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform of the branch containing triangle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610060588.9A CN105539304B (en) | 2016-01-28 | 2016-01-28 | A kind of four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform of the branch containing triangle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105539304A CN105539304A (en) | 2016-05-04 |
| CN105539304B true CN105539304B (en) | 2017-11-24 |
Family
ID=55819006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610060588.9A Active CN105539304B (en) | 2016-01-28 | 2016-01-28 | A kind of four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform of the branch containing triangle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105539304B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107225562B (en) * | 2017-06-30 | 2021-01-08 | 燕山大学 | Two-rotation one-movement three-freedom-degree posture-adjusting vibration-isolating platform comprising high-frequency and low-frequency dual-drive units |
| CN109466459B (en) * | 2018-10-19 | 2022-04-15 | 西安雷通科技有限责任公司 | Stabilized platform |
| CN109625177B (en) * | 2019-01-09 | 2020-03-24 | 上海海事大学 | Three-degree-of-freedom wave compensation platform |
| CN110081117B (en) * | 2019-03-21 | 2020-09-29 | 中国科学院微电子研究所 | Vibration damper |
| CN110712770B (en) * | 2019-08-15 | 2021-06-11 | 燕山大学 | 9-freedom hybrid attitude adjusting platform for horizontal butt joint assembly of solar wings in low space |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201693552U (en) * | 2010-06-13 | 2011-01-05 | 汕头大学 | Three-degree-of-rotation-freedom parallel robot |
| CN102141110A (en) * | 2011-01-24 | 2011-08-03 | 北京航空航天大学 | Hydraulic vibration active isolation platform |
| CN102708723A (en) * | 2012-05-18 | 2012-10-03 | 燕山大学 | Six-freedom-degree static-balance parallel motion simulation platform with large bearing surface |
| CN102773855A (en) * | 2012-07-04 | 2012-11-14 | 燕山大学 | Four-degree-of-freedom parallel posture alignment vibration-isolating platform |
| CN103029121A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure |
| WO2013178828A1 (en) * | 2013-01-14 | 2013-12-05 | Moog Bv | Motion simulator |
| CN104308838A (en) * | 2014-09-26 | 2015-01-28 | 燕山大学 | High/low-frequency composite driving six-degree-of-freedom parallel movement platform |
| CN205468848U (en) * | 2016-01-28 | 2016-08-17 | 燕山大学 | It transfers appearance vibration isolation platform to contain four ramose degrees of freedom of triangle -shaped cluster and series -parallel connection |
-
2016
- 2016-01-28 CN CN201610060588.9A patent/CN105539304B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201693552U (en) * | 2010-06-13 | 2011-01-05 | 汕头大学 | Three-degree-of-rotation-freedom parallel robot |
| CN102141110A (en) * | 2011-01-24 | 2011-08-03 | 北京航空航天大学 | Hydraulic vibration active isolation platform |
| CN102708723A (en) * | 2012-05-18 | 2012-10-03 | 燕山大学 | Six-freedom-degree static-balance parallel motion simulation platform with large bearing surface |
| CN102773855A (en) * | 2012-07-04 | 2012-11-14 | 燕山大学 | Four-degree-of-freedom parallel posture alignment vibration-isolating platform |
| CN103029121A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure |
| WO2013178828A1 (en) * | 2013-01-14 | 2013-12-05 | Moog Bv | Motion simulator |
| CN104308838A (en) * | 2014-09-26 | 2015-01-28 | 燕山大学 | High/low-frequency composite driving six-degree-of-freedom parallel movement platform |
| CN205468848U (en) * | 2016-01-28 | 2016-08-17 | 燕山大学 | It transfers appearance vibration isolation platform to contain four ramose degrees of freedom of triangle -shaped cluster and series -parallel connection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105539304A (en) | 2016-05-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105539304B (en) | A kind of four-degree-of-freedom serial-parallel mirror posture adjustment vibration-isolating platform of the branch containing triangle | |
| CN103693117A (en) | Heavily-loaded vehicle cab rear suspension device | |
| CN205468848U (en) | It transfers appearance vibration isolation platform to contain four ramose degrees of freedom of triangle -shaped cluster and series -parallel connection | |
| CN207657538U (en) | A kind of new vehicle suspension frame structure | |
| CN204641313U (en) | Variable automobile suspension system | |
| CN101549624A (en) | Rubber vehicle suspension device with variable rigidity property | |
| US9340082B2 (en) | Vehicle wheel suspensions | |
| CN104875571B (en) | Vibration reduction buffer mechanism for vehicle | |
| CN200967528Y (en) | Carting car rear cradle | |
| CN208593264U (en) | A kind of automotive suspension denoising device of Adjustable suspension hardness | |
| CN207842586U (en) | Compressor installing structure and automobile | |
| CN209176553U (en) | A kind of double-layer vibration isolating seat | |
| CN101941468A (en) | Cab suspension device | |
| CN204726173U (en) | A kind of caravan independent suspension | |
| CN203246476U (en) | Novel side rolling preventing torsion bar system for railway vehicle | |
| CN113002398A (en) | Plateau moving oxygen-generating vehicle | |
| CN201461841U (en) | Stand spring adjustable vibration absorber | |
| CN209008727U (en) | A kind of unmanned chassis | |
| CN202448667U (en) | Flexible axle assembly | |
| CN206749599U (en) | A kind of offroad vehicle shock-absorbing seat support | |
| CN206749611U (en) | A kind of offroad vehicle shock-absorbing seat support | |
| CN104442264A (en) | Balance mechanism used for vehicle shock absorption device and vehicle shock absorption device | |
| US20240083206A1 (en) | Progressive suspension design utilizing arm mounted pivot bracket | |
| CN103832234B (en) | A kind of push-down automobile suspension system | |
| CN216424000U (en) | Rear axle assembly of beach vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |