CN105570378A - Six-degree-of-freedom parallel stabilizing and vibration-isolating cabin - Google Patents
Six-degree-of-freedom parallel stabilizing and vibration-isolating cabin Download PDFInfo
- Publication number
- CN105570378A CN105570378A CN201610061346.1A CN201610061346A CN105570378A CN 105570378 A CN105570378 A CN 105570378A CN 201610061346 A CN201610061346 A CN 201610061346A CN 105570378 A CN105570378 A CN 105570378A
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- Prior art keywords
- connecting rod
- cabin
- vibration
- vibration isolation
- freedom parallel
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Classifications
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- 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
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- 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
- F16F15/04—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 using elastic means
- F16F15/06—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 using elastic means with metal springs
- F16F15/067—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 using elastic means with metal springs using only wound springs
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- 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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
Abstract
A six-degree-of-freedom parallel stabilizing and vibration-isolating cabin mainly comprises a base, six vibration-isolating branches, assisting bearing branches, a cabin body and six linear driving units fixedly connected onto the cabin body, wherein each of the six vibration-isolating branches comprises a spherical hinge, a first connecting rod, a vibration isolator, a second connecting rod and a universal hinge, one end of the first connecting rod is connected with the base by the aid of the spherical hinge, the other end of the connecting rod is connected with one end of the vibration isolator, the other end of the vibration isolator is connected with one end of the second connecting rod, and the other end of the second connecting rod is connected with one end of a moving rod of each of the six linear driving units by the aid of the universal hinge; the cabin body adopts a hexagonal prism structure, every two linear driving units form a group, driving directions are parallel, and the six linear driving units are uniformly and fixedly connected onto spaced side surfaces of the hexagonal prism; each of the assisting bearing branches comprises spherical hinges and an assisting part, and two ends of the branch are connected with the bottom of the cabin and the base by the aid of the spherical hinges. The six-degree-of-freedom parallel stabilizing and vibration-isolating cabin is low in overall height and high in bearing capacity and has very good stabilizing and vibration-isolating effects.
Description
Technical field
The present invention relates to a kind of paralleling mechanism, particularly a kind of parallel connection subtracts and shakes vibration isolation cabin.
Background technique
In some cases, be very important to the control of motion and the isolation of vibration.The boats and ships such as ridden the sea, owing to being subject to the impact of wave or self diesel vibration, multivariant motion and vibration can be produced, these unnecessary motions and vibration bring negative impact can to often operation at sea or the personnel that go by ship, affect the control of driver to boats and ships, affect the amusement and rest etc. of passenger.Such as experience the disaster area after earthquake again, aftershock constantly occurs, and the rocking of generation disturbs the state of an illness of medical care personnel to the operative treatment of the wounded and the wounded self with serious vibration and recover.In addition, some specific environment, the operation etc. as precision experiment is not wished to be subject to any disturbance.
For these problems above-mentioned, propose a kind of possess subtract the large-scale cabin body shaking vibration isolation function and seem particularly necessary.In recent years, Chinese scholars was studied widely to starting based on the posture adjustment platform of paralleling mechanism and multidimensional vibration-isolating platform.Generally, posture adjustment platform is applicable to the control to low frequency movement, and vibration-isolating platform is applicable to the isolation of centering dither, and both are close but there is difference.But for some complicated situations, single posture adjustment or vibration isolating effect unsatisfactory.At present, the equipment simultaneously possessing pose adjustment and isolating technique is actually rare.Chinese patent 200810225045.3 proposes a kind of six-freedom large-amplitude vibration active isolation platform, be made up of upper mounting plate, lower bolster, two-freedom accurate hooke hinge, large load gapless accurate hooke hinge, large amplitude active isolation bar, this invention can effectively be isolated high frequency, large-amplitude vibration and suppress, but it is limited in one's ability to pose adjustment, if applying this platform sets up large-scale cabin body simultaneously, it takes up room very large.Chinese patent 201510324022.8 proposes a kind of 3PRS+6SPS posture adjustment vibration isolation in parallel compound platform, be made up of with the elasticity side chain that identical main side chain is identical with six of three between frame moving platform, frame and connection moving platform, although this invention has adjustment working platform attitude and multidimensional separating vibration two kinds of functions concurrently, but only have two turn one and move three degree of freedom, application is restricted.
Summary of the invention
The object of the present invention is to provide that a kind of whole height is low, bearing capacity is strong, six-freedom parallel that is that have large working space subtracts and shake vibration isolation cabin.
Technological scheme of the present invention is as follows:
The present invention includes pedestal, SPU vibration isolation branch that six structures are identical, power-assisted carrying branch, cabin body and be fixed in the identical straight spur unit of six structures on the body of cabin.Wherein, article six, SPU vibration isolation branch forms by ball pivot S, first connecting rod, vibration isolator P, second connecting rod and universal hinge U, one end of first connecting rod is connected with pedestal by ball pivot, the other end of this first connecting rod is connected with one end of vibration isolator, the other end of this vibration isolator is connected with one end of second connecting rod, the other end of this second connecting rod is connected by the end part of movable rod of universal hinge and straight spur unit or slide block, and six ball pivots be connected with pedestal are hexagonal arrangement; Cabin body is six prisms or inverted six terrace with edge structures, six straight spur unit one group between two, and driving direction is parallel, is fixed in being separated by side of six prisms or six terrace with edges equably.Power-assisted carrying branch is made up of ball pivot and booster parts, and this branched layout is between cabin body and pedestal, and two ends are connected with pedestal with bottom the body of cabin respectively by ball pivot.
Described second connecting rod is straight-bar or L shape structure, and two sections of angles of L shape structure are 10 ~ 90 °.The connecting rod of L shape structure, avoids cabin body and interferes with branch in movement process, increase working space.
The quantity of described power-assisted carrying branch is 1,3,4 or 6, and booster parts can be power-assisted cylinder or booster cylinder or the spring with guide structure.Power-assisted carrying branch alleviates the load of driving effectively, and integrated carrying ability is strengthened.
Described straight spur unit is oil hydraulic cylinder or electric cylinder or straight line module.
The present invention's tool compared with existing correlation technique has the following advantages:
1, under the prerequisite ensureing large supporting plane and activity space, whole height reduces greatly, thus saves and take volume.
2, the connecting rod of L shape structure, avoids cabin body and interferes with branch in movement process, increase working space.
3, six SPU vibration isolation branches are all furnished with vibration isolator, effectively can isolate dither.
4, power-assisted carrying branch alleviates the load of straight spur unit, and integrated carrying ability is strengthened, and vibration isolating effect is more obvious simultaneously.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of the embodiment of the present invention 1.
Fig. 2 is the schematic perspective view of the embodiment of the present invention 2.
Embodiment
Embodiment 1:
Subtracting at the six-freedom parallel shown in Fig. 1 shakes in the schematic diagram of vibration isolation cabin, article six, one end of the first connecting rod 3 in the SPU vibration isolation branch that structure is identical is connected with pedestal 1 by ball pivot 2, the other end of this first connecting rod is connected with one end of vibration isolator 4, the other end of this vibration isolator is connected with one end of second connecting rod 5, the other end of this second connecting rod is connected by the end of universal hinge 6 with the lever 7 of oil hydraulic cylinder 8, and six ball pivots be connected with pedestal are hexagonal arrangement; Cabin body 9 is six prism structures, six oil hydraulic cylinders one group between two, and driving direction is parallel, and what be fixed in six prisms equably is separated by side; Article three, the power-assisted carrying branch that structure is identical all forms by ball pivot with the spring of guide structure, wherein, guide rod 11 is connected with the bottom of cabin body 9 by ball pivot 10, guide pin bushing 13 is connected with pedestal 1 by ball pivot 14, spring 12 is enclosed within the outside of guide rod and guide pin bushing, the end of its one end and guide rod is connected, and the bottom of the other end and guide pin bushing is connected, three ball pivots be connected with pedestal and all become equilateral triangle to arrange with three ball pivots be connected bottom the body of cabin.
Embodiment 2:
Subtracting at the six-freedom parallel shown in Fig. 2 shakes in the schematic diagram of vibration isolation cabin, and second connecting rod 5 is L shape structure, and its two sections of angles are 60 °, and one end of second connecting rod is connected with vibration isolator 4, and the other end is connected with the slide block 7 of straight line module 8 by universal hinge 6; Cabin body 9 is inverted six terrace with edge structures, and six straight line modules one group between two, driving direction is parallel, is fixed in being separated by side of six terrace with edges equably.Other component is identical with embodiment 1 with Placement.
Claims (5)
1. six-freedom parallel subtracts and shakes a vibration isolation cabin, it is characterized in that: it comprises pedestal, SPU vibration isolation branch that six structures are identical, power-assisted carrying branch, cabin body and is fixed in the identical straight spur unit of six structures on the body of cabin; Described six SPU vibration isolation branches form by ball pivot S, first connecting rod, vibration isolator P, second connecting rod and universal hinge U, one end of first connecting rod is connected with pedestal by ball pivot, the other end of this first connecting rod is connected with one end of vibration isolator, the other end of this vibration isolator is connected with one end of second connecting rod, the other end of this second connecting rod is connected by the end part of movable rod of universal hinge and straight spur unit or slide block, and six ball pivots be connected with pedestal are hexagonal arrangement; Cabin body is six prisms or inverted six terrace with edge structures, six straight spur unit one group between two, and driving direction is parallel, and what be fixed in six prisms or six terrace with edges equably is separated by side; Power-assisted carrying branch is made up of ball pivot and booster parts, and this branched layout is between cabin body and pedestal, and two ends are connected with pedestal with bottom the body of cabin respectively by ball pivot.
2. six-freedom parallel according to claim 1 subtracts and shakes vibration isolation cabin, and it is characterized in that: described second connecting rod is L shape structure, two sections of angles of L shape structure are 10 ~ 90 °.
3. six-freedom parallel according to claim 1 subtracts and shakes vibration isolation cabin, it is characterized in that: described booster parts is power-assisted cylinder or booster cylinder or the spring with guide structure.
4. six-freedom parallel according to claim 1 subtracts and shakes vibration isolation cabin, it is characterized in that: the quantity of described power-assisted carrying branch is 1,3,4 or 6.
5. six-freedom parallel according to claim 1 subtracts and shakes vibration isolation cabin, it is characterized in that: described straight spur unit is oil hydraulic cylinder or electric cylinder or straight line module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610061346.1A CN105570378B (en) | 2016-01-28 | 2016-01-28 | A kind of six-freedom parallel, which subtracts, shakes vibration isolation cabin |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610061346.1A CN105570378B (en) | 2016-01-28 | 2016-01-28 | A kind of six-freedom parallel, which subtracts, shakes vibration isolation cabin |
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| CN105570378A true CN105570378A (en) | 2016-05-11 |
| CN105570378B CN105570378B (en) | 2018-01-23 |
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| CN201610061346.1A Active CN105570378B (en) | 2016-01-28 | 2016-01-28 | A kind of six-freedom parallel, which subtracts, shakes vibration isolation cabin |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107756348A (en) * | 2017-10-17 | 2018-03-06 | 安徽千智能设备股份有限公司 | The six-freedom parallel test platform that a kind of moving platform height can adjust on a large scale |
| CN107830104A (en) * | 2017-10-26 | 2018-03-23 | 燕山大学 | A kind of adjustable sextuple stable shelter of vibration isolation parameter |
| CN109204795A (en) * | 2017-07-05 | 2019-01-15 | 上海交通大学 | A kind of eight Jackstay type multiple degrees of freedom power anti-resonance vibration isolating devices |
| CN109625177A (en) * | 2019-01-09 | 2019-04-16 | 上海海事大学 | A kind of Three Degree Of Freedom compensation of undulation platform |
| CN117404565A (en) * | 2023-10-26 | 2024-01-16 | 山东省煤田地质局第三勘探队 | Geological mapping equipment capable of being placed at multiple angles |
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| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN202255095U (en) * | 2011-08-29 | 2012-05-30 | 北京机械设备研究所 | Filling attitude trimming device |
| CN202472428U (en) * | 2011-12-15 | 2012-10-03 | 常州精瑞自动化装备技术有限公司 | Six degree of freedom parallel hydraulic swing table based on attitude control |
| CN204140760U (en) * | 2014-09-18 | 2015-02-04 | 中国地震局工程力学研究所 | Guide rod spring three-dimensional shock isolation pedestal |
| CN105235823A (en) * | 2015-10-22 | 2016-01-13 | 燕山大学 | Six-degree-of-freedom stable seats connected in parallel |
| CN205350188U (en) * | 2016-01-28 | 2016-06-29 | 燕山大学 | Parallelly connected subtracting of 6 -degree of freedom shakes vibration isolation cabin |
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2016
- 2016-01-28 CN CN201610061346.1A patent/CN105570378B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN202255095U (en) * | 2011-08-29 | 2012-05-30 | 北京机械设备研究所 | Filling attitude trimming device |
| CN202472428U (en) * | 2011-12-15 | 2012-10-03 | 常州精瑞自动化装备技术有限公司 | Six degree of freedom parallel hydraulic swing table based on attitude control |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109204795A (en) * | 2017-07-05 | 2019-01-15 | 上海交通大学 | A kind of eight Jackstay type multiple degrees of freedom power anti-resonance vibration isolating devices |
| CN109204795B (en) * | 2017-07-05 | 2022-01-11 | 上海交通大学 | Eight-brace rod type multi-degree-of-freedom dynamic antiresonance vibration isolation device |
| CN107756348A (en) * | 2017-10-17 | 2018-03-06 | 安徽千智能设备股份有限公司 | The six-freedom parallel test platform that a kind of moving platform height can adjust on a large scale |
| CN107830104A (en) * | 2017-10-26 | 2018-03-23 | 燕山大学 | A kind of adjustable sextuple stable shelter of vibration isolation parameter |
| CN109625177A (en) * | 2019-01-09 | 2019-04-16 | 上海海事大学 | A kind of Three Degree Of Freedom compensation of undulation platform |
| CN109625177B (en) * | 2019-01-09 | 2020-03-24 | 上海海事大学 | Three-degree-of-freedom wave compensation platform |
| CN117404565A (en) * | 2023-10-26 | 2024-01-16 | 山东省煤田地质局第三勘探队 | Geological mapping equipment capable of being placed at multiple angles |
| CN117404565B (en) * | 2023-10-26 | 2024-03-19 | 山东省煤田地质局第三勘探队 | Geological mapping equipment capable of being placed at multiple angles |
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| CN105570378B (en) | 2018-01-23 |
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