CN106426107A - Tension overall vibration isolation mechanism - Google Patents
Tension overall vibration isolation mechanism Download PDFInfo
- Publication number
- CN106426107A CN106426107A CN201611002397.3A CN201611002397A CN106426107A CN 106426107 A CN106426107 A CN 106426107A CN 201611002397 A CN201611002397 A CN 201611002397A CN 106426107 A CN106426107 A CN 106426107A
- Authority
- CN
- China
- Prior art keywords
- vibration isolation
- isolation mechanism
- fixed platform
- workbench
- spring
- 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.)
- Granted
Links
- 238000002955 isolation Methods 0.000 title claims abstract description 25
- 239000007787 solid Substances 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000013016 damping Methods 0.000 description 6
- 239000006096 absorbing agent Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011176 pooling Methods 0.000 description 2
- 241000628997 Flos Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002929 anti-fatigue Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to a tension overall vibration isolation mechanism. The tension overall vibration isolation mechanism comprises a working platform, a fixed platform, four rigid-flexible mixed branch chains connected between the working platform and the fixed platform, and four flexible branch chains; the rigid-flexible mixed branch chains consist of rigid element hydraulic drives and flexible element springs, wherein the upper parts of piston rods of the hydraulic drives and the springs are serially connected to the working platform; and the flexible branch chains are formed by serially connecting springs positioned at the upper half parts with ropes at the lower half parts. The tension overall vibration isolation mechanism has the following beneficial effects: compared with a traditional vibration isolator, the tension overall vibration isolation mechanism can realize the vibration reduction of space in any six directions, and has such advantages as low mass, folding capacity, low motion component inertia and wide application range.
Description
Technical field
The present invention relates to vibration damping field, more particularly to one kind are applied to precision instrument platform every vibration damping or various micro- shaking
Move every vibration damping environment every vibration absorber.
Background technology
In recent years, with scientific and technical develop rapidly and up-to-dateness continuous improvement, in Aero-Space, precision
The fields such as instrument and meter, science and techniques of defence, for vibration and noise reducing, safety and comfort, antifatigue damage, improve service life and information are accurate
Really property etc. requires more and more higher.The anisotropy of general vibration absorber, can only meet the requirement of precision instrument one direction vibration damping, such as
Add vibration isolation silk floss, vibration isolation foam, vibration isolation air cushion or isolation spring etc..This mode, under extraneous random vibration acts on, reduces
The precision of precision instrument, What is more can lead to the damage of instrument.
In order to solve the problems, such as multidimensional vibration reduction, in recent years, the multi-degree-of-freedom vibration isolation device based on parallel institution becomes state
The focus of inside and outside research, and achieve certain effectiveness in vibration suppression.But vibration-isolating platform strut in parallel mostly is rigid member, and quality is relatively
Greatly.Easily produce larger inertia force in high speed, heavily loaded, big working space motion process, so that this kind of device is also easy to produce secondary
Dither or resonance, reduce the anti-vibration performance of isolation mounting in parallel.Therefore, this patent proposes quality merrily and lightheartedly, freely
Degree is big, adaptive ability is strong, moving link inertia force is low, vibration isolation effect obvious tensioning integral vibration isolation mechanism.By driving simultaneously
Hydrodynamic pressure driver and flexible side chain, workbench can obtain the steady operation attitude of optional position, to meet multidimensional every vibration damping.
Content of the invention
The purpose of the present invention is easily to produce larger inertia force during vibration damping for existing parallel connection damper mechanism and be total to
Problem of shaking is it is proposed that a kind of tensioning integral vibration isolation mechanism.
For achieving the above object, the technical scheme that the present invention takes is：A kind of tensioning integral vibration isolation mechanism, including work
Make platform and fixed platform, between described workbench and described fixed platform, be evenly arranged with four hard and soft mixing side chains and four
Bar flexibility side chain.
In such scheme, described hard and soft mixing side chain includes hydraulic unit driver and little spring, and described hydraulic unit driver includes
Piston rod and cylinder body, piston rod is welded together with the lower end of little spring, and ball is passed through with workbench in the upper end of described little spring
Hinge one is fixing, and it is fixing that piston rod and fixed platform pass through ball pivot two.
In such scheme, described flexibility side chain be composed in series by big spring and non-telescoping rope, the upper end of spring with
It is fixing that workbench passes through ball pivot one, the lower end of rope be fixed on cylinder body.
In such scheme, described workbench and fixed platform are all squares, and the area of described workbench is slightly less than
The area of described fixed platform.
In such scheme, the little spring on four hard and soft mixing side chains is identical, the big spring on four flexible side chains
Identical.
In such scheme, the big spring in four flexible side chains is at tension.
In such scheme, described workbench is located at directly over described fixed platform, and its position is put down along described fixation relatively
Platform horizontally rotates 45 °.
The invention has the beneficial effects as follows：（1）Tensioning integral vibration isolation mechanism can achieve multidimensional pooling feature, reduces workbench
It is hit；（2）Compact conformation, is capable of foldable, is suitable for the occasion of frequency of impact wider range.
Brief description
The present invention is further described below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention.
Wherein：1. workbench, 2. ball pivot one, 3. little spring, 4. pad, 5. piston rod, 6. cylinder body, 8.
Fixed platform, 9. ball pivot two, 10. rope, 12. big springs.
Specific embodiment
The following is the specific embodiment of the present invention and combine accompanying drawing, technical scheme is further described,
But the present invention is not limited to these embodiments.
A kind of tensioning integral vibration isolation mechanism as shown in Figure 1, include workbench 1, fixed platform 8, positioned at two platforms it
Between four hard and soft mixing side chains and four flexible side chains.
Hard and soft mixing side chain is hydraulically operated device and little spring 3 is composed in series, piston rod 5 upper end of hydraulic unit driver with little
Pass through to be welded together in the lower end of spring 3.The upper part of spring 3 is fixedly connected by ball pivot 1 with workbench 1.
The lower end of cylinder body 6 of hydraulic unit driver is fixedly connected by ball pivot 29 with fixed platform 8.Article four, the bullet in hard and soft mixing side chain
Spring rigidity is identical and is respectively distributed on foursquare four angles, and when workbench 1 is subject to extraneous load, spring can play necessarily
Cushioning effect, workbench can be made under the pulling force of flexible side chain to be quickly returning to stable state.Workbench can buffer many
Dimension shock loading, realizes multidimensional pooling feature.
Flexible side chain is made up of big spring 12 and non-telescoping rope 10, and the upper end of big spring 12 is led to workbench 1
Cross ball pivot 1 fixing.The lower end of rope 10 is fixed on cylinder body 6.Article four, the big spring equal stiffness in flexible side chain and all the time
It is in tension, provide primary stress for whole mechanism.
Workbench 1 and fixed platform 8 are all squares, but two area are not congruent.In big spring 12
Under initial tensile force, workbench 1 occurs 45 compared with fixed platform 8Deflection.
Claims (7)
1. a kind of tensioning integral vibration isolation mechanism is it is characterised in that include workbench（1）And fixed platform（8）, described work put down
Platform（1）With described fixed platform（8）Between be evenly arranged with four hard and soft mixing side chains and four flexible side chains.
2. a kind of tensioning integral vibration isolation mechanism according to claim 1 is it is characterised in that described hard and soft mixing side chain includes
Hydraulic unit driver and little spring（3）, described hydraulic unit driver includes piston rod（5）And cylinder body（6）, piston rod（5）With little spring
（3）Lower end weld together, described little spring（3）Upper end and workbench（1）By ball pivot one（2）Fixing, piston rod
（5）With fixed platform（8）By ball pivot two（9）Fixing.
3. a kind of tensioning integral vibration isolation mechanism according to claim 2 is it is characterised in that described flexibility side chain is by big spring
（12）With non-telescoping rope（10）It is composed in series, spring（12）Upper end and workbench（1）By ball pivot one（2）Gu
Fixed, rope（10）Lower end be fixed on cylinder body（6）On.
4. a kind of tensioning integral vibration isolation mechanism according to claim 3 is it is characterised in that described workbench（1）With solid
Fixed platform（8）It is all square, described workbench（1）Area be slightly less than described fixed platform（8）Area.
5. a kind of tensioning integral vibration isolation mechanism according to claim 4 it is characterised in that four hard and soft mixing side chains on
Little spring（3）Identical, on four flexible side chains big spring（12）Identical.
6. a kind of tensioning integral vibration isolation mechanism according to claim 5 is it is characterised in that big bullet in four flexible side chains
Spring（12）It is at tension.
7. any one the tensioning integral vibration isolation mechanism according to claim 2 to 6 is it is characterised in that described workbench
（1）Positioned at described fixed platform（8）Surface, and along described fixed platform（8）45 ° of horizontal rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611002397.3A CN106426107B (en) | 2016-11-15 | 2016-11-15 | A kind of tensioning integral vibration isolation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611002397.3A CN106426107B (en) | 2016-11-15 | 2016-11-15 | A kind of tensioning integral vibration isolation mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426107A true CN106426107A (en) | 2017-02-22 |
| CN106426107B CN106426107B (en) | 2019-01-25 |
Family
ID=58208107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611002397.3A Active CN106426107B (en) | 2016-11-15 | 2016-11-15 | A kind of tensioning integral vibration isolation mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426107B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590993A (en) * | 2019-01-08 | 2019-04-09 | 华南理工大学 | A kind of passive flexible constant force mechanisms |
| CN109605333A (en) * | 2018-12-28 | 2019-04-12 | 汕头大学 | A kind of spring-rope combination drive branch and three-rotational DOF parallel robot |
| CN109649226A (en) * | 2018-12-20 | 2019-04-19 | 西安航空学院 | A kind of safety chair seats of car based on topological parallel-connection structure |
| CN110056602A (en) * | 2019-04-19 | 2019-07-26 | 北京科技大学 | A kind of tensioning integral vibration isolation device of Frequency Adjustable |
| CN110388535A (en) * | 2019-07-05 | 2019-10-29 | 常州大学 | A kind of tensioning integrated piping robot |
| CN110861071A (en) * | 2019-10-30 | 2020-03-06 | 北京交通大学 | Two-rotation parallel mechanism with virtual rotation center |
| CN111496840A (en) * | 2020-06-11 | 2020-08-07 | 山东大学 | Multi-degree-of-freedom variable-rigidity robot joint based on integral tensioning structure and working method thereof |
| CN111720663A (en) * | 2020-06-17 | 2020-09-29 | 山东大学 | Modularized pipeline robot based on tension entirety |
| CN111765189A (en) * | 2020-06-03 | 2020-10-13 | 北京科技大学 | Prism-shaped tension integral quasi-zero stiffness vibration isolator |
| CN113606288A (en) * | 2021-08-09 | 2021-11-05 | 中南大学 | Tensioning supporting device |
| 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 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1687612A (en) * | 2005-03-31 | 2005-10-26 | 浙江大学 | Hydraulic buffer of complex vibration with mechanism in six degree of freedom based on parallel connection |
| CN101487510A (en) * | 2009-02-24 | 2009-07-22 | 江苏大学 | Multidimensional vibration-isolating apparatus |
| US20110048159A1 (en) * | 2008-01-18 | 2011-03-03 | Fundacion Fatronik | Two degree-of-freedom parallel manipulator |
| CN102865328A (en) * | 2012-09-04 | 2013-01-09 | 哈尔滨工业大学深圳研究生院 | Hybrid mechanism-based five-dimensional vibration isolation platform |
| CN103624774A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Six-degree-of-freedom series-parallel connection robot |
| CN105522562A (en) * | 2016-01-12 | 2016-04-27 | 常州大学 | Four-freedom degree single-action platform parallel mechanism capable of realizing grabbing motion |
| CN105914844A (en) * | 2016-06-28 | 2016-08-31 | 安庆市佰斯特电子科技有限公司 | Multi-dimensional shock-absorbing unmanned aerial vehicle charging station |
| CN105922239A (en) * | 2016-05-17 | 2016-09-07 | 包凤丹 | Building cleaning supporting robot with rigid lifting adjusting function |
-
2016
- 2016-11-15 CN CN201611002397.3A patent/CN106426107B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1687612A (en) * | 2005-03-31 | 2005-10-26 | 浙江大学 | Hydraulic buffer of complex vibration with mechanism in six degree of freedom based on parallel connection |
| US20110048159A1 (en) * | 2008-01-18 | 2011-03-03 | Fundacion Fatronik | Two degree-of-freedom parallel manipulator |
| CN101487510A (en) * | 2009-02-24 | 2009-07-22 | 江苏大学 | Multidimensional vibration-isolating apparatus |
| CN102865328A (en) * | 2012-09-04 | 2013-01-09 | 哈尔滨工业大学深圳研究生院 | Hybrid mechanism-based five-dimensional vibration isolation platform |
| CN103624774A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Six-degree-of-freedom series-parallel connection robot |
| CN105522562A (en) * | 2016-01-12 | 2016-04-27 | 常州大学 | Four-freedom degree single-action platform parallel mechanism capable of realizing grabbing motion |
| CN105922239A (en) * | 2016-05-17 | 2016-09-07 | 包凤丹 | Building cleaning supporting robot with rigid lifting adjusting function |
| CN105914844A (en) * | 2016-06-28 | 2016-08-31 | 安庆市佰斯特电子科技有限公司 | Multi-dimensional shock-absorbing unmanned aerial vehicle charging station |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109649226A (en) * | 2018-12-20 | 2019-04-19 | 西安航空学院 | A kind of safety chair seats of car based on topological parallel-connection structure |
| CN109649226B (en) * | 2018-12-20 | 2021-04-02 | 西安航空学院 | Car safety seat based on topology parallel structure |
| CN109605333B (en) * | 2018-12-28 | 2020-11-20 | 汕头大学 | Spring and rope hybrid drive branched chain and three-rotational-freedom parallel robot |
| CN109605333A (en) * | 2018-12-28 | 2019-04-12 | 汕头大学 | A kind of spring-rope combination drive branch and three-rotational DOF parallel robot |
| CN109590993A (en) * | 2019-01-08 | 2019-04-09 | 华南理工大学 | A kind of passive flexible constant force mechanisms |
| CN110056602A (en) * | 2019-04-19 | 2019-07-26 | 北京科技大学 | A kind of tensioning integral vibration isolation device of Frequency Adjustable |
| CN110388535A (en) * | 2019-07-05 | 2019-10-29 | 常州大学 | A kind of tensioning integrated piping robot |
| CN110861071A (en) * | 2019-10-30 | 2020-03-06 | 北京交通大学 | Two-rotation parallel mechanism with virtual rotation center |
| CN110861071B (en) * | 2019-10-30 | 2021-01-08 | 北京交通大学 | Two-rotation parallel mechanism with virtual rotation center |
| CN111765189A (en) * | 2020-06-03 | 2020-10-13 | 北京科技大学 | Prism-shaped tension integral quasi-zero stiffness vibration isolator |
| CN111765189B (en) * | 2020-06-03 | 2021-07-02 | 北京科技大学 | Prism-shaped tension integral quasi-zero stiffness vibration isolator |
| CN111496840A (en) * | 2020-06-11 | 2020-08-07 | 山东大学 | Multi-degree-of-freedom variable-rigidity robot joint based on integral tensioning structure and working method thereof |
| CN111720663A (en) * | 2020-06-17 | 2020-09-29 | 山东大学 | Modularized pipeline robot based on tension entirety |
| CN113606288A (en) * | 2021-08-09 | 2021-11-05 | 中南大学 | Tensioning supporting device |
| CN113606288B (en) * | 2021-08-09 | 2022-08-02 | 中南大学 | Tensioning supporting device |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106426107B (en) | 2019-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106426107A (en) | Tension overall vibration isolation mechanism | |
| CN101487510B (en) | Multidimensional vibration-isolating apparatus | |
| CN106737571B (en) | A kind of multidimensional vibration reduction tensioning entirety parallel institution | |
| CN107575518B (en) | Active and passive parallel input parallel posture adjustment vibration isolation platform | |
| CN209229149U (en) | A kind of three-dimensional vibration shock isolation based on metal-rubber hits hanger | |
| TWI286118B (en) | Balancing apparatus for elevator | |
| CN103791023B (en) | Whole satellite six-dimensional vibration isolation device used for satellite vibration reduction in satellite launching process | |
| CN106627287A (en) | Magneto-rheological six-degree-of-freedom parallel vibration reduction platform for vehicle seat | |
| CN102865328A (en) | Hybrid mechanism-based five-dimensional vibration isolation platform | |
| CN107864662B (en) | Multifunctional hysteresis rheological device | |
| CN109282087A (en) | A kind of three-dimensional vibration shock isolation based on metal-rubber hits hanger and its working method | |
| EP3636486A1 (en) | Suspension mechanism | |
| CN109869439B (en) | Novel Stewart shock absorber | |
| CN207246309U (en) | The main passive parallel input posture adjustment vibration-isolating platform in parallel of one kind | |
| WO2020241896A1 (en) | Damper and seat suspension mechanism | |
| JP5773228B2 (en) | Vibration control method for automatic warehouse and its rack | |
| CN114045953B (en) | Rhombus energy dissipation module and swing support | |
| CN207161326U (en) | A kind of screw compressor with shock-absorbing function | |
| RU193081U1 (en) | Anti-vibration system | |
| KR101121307B1 (en) | Shock Absorber Filled with Bead | |
| CN106274331B (en) | Torsion beam, torsion beam type suspension, automobile | |
| CN204312600U (en) | A kind of vibration damping suspension bracket | |
| CN107539385A (en) | A kind of variable damping flexible leg and its quadruped robot | |
| CN212389679U (en) | Damping device for automobile | |
| TWI327979B (en) | Coupling system between frame and rear engine-suspension group of a motor 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 | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20170222 Assignee: Senbiao Technology Services (Shandong) Co.,Ltd. Assignor: CHANGZHOU University Contract record no.: X2023980051006 Denomination of invention: A Tensioning Integrated Vibration Isolation Mechanism Granted publication date: 20190125 License type: Common License Record date: 20231209 |
|
| EE01 | Entry into force of recordation of patent licensing contract |