CN107123355A - A kind of heavy tilter of the six freedom degree two-in-parallel formula of bringing onto load bascule - Google Patents
A kind of heavy tilter of the six freedom degree two-in-parallel formula of bringing onto load bascule Download PDFInfo
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- CN107123355A CN107123355A CN201710430906.0A CN201710430906A CN107123355A CN 107123355 A CN107123355 A CN 107123355A CN 201710430906 A CN201710430906 A CN 201710430906A CN 107123355 A CN107123355 A CN 107123355A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
Abstract
A kind of heavy tilter of the six freedom degree two-in-parallel formula of bringing onto load bascule, including lower shoe, three boss, six driving branches, three load balance devices and carrying platform；The load balance device includes right-angled trapezium seat, two groups of double guide rails, four guide rail locks, two connecting seats, two support bars, two group of first fixed pulley, two protective covers, two groups of balance hydraulic cylinders, four movable pulleys and four chain ropes, three load balance devices add the strong point of carrying platform, the super large loading end and the increase rigidity of structure of tilter can be achieved, and the driving load of driving branch can be mitigated, improve the bearing capacity of swaying platform.Safe and reliable, working space of the invention is big, the rigidity of structure is big, with super large bearing capacity.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly a kind of heavy swaying platform in parallel.
Background technology
In recent years, with the research deepened continuously to parallel institution, parallel institution is moved in large scale equipments such as aircraft, vehicles
The application fields such as simulation are constantly expanded, to proposing higher requirement in terms of its loaded area, load capacity, rigidity.At present
Six-freedom parallel motion simulation platform product in, its maximum load is several tons when drive form is motor, and drive form is liquid
During pressure its maximum load be generally less than 20 tons, therefore develop with super large load and can provide super large working space and
Join motion simulation platform extremely urgent.
Chinese patent 03150629.1 discloses a kind of high-pressure pneumatic gravity balance space movement simulator, by parallel connection six
Free degree motion platform, boiler-plate, heave movement platform and safety system composition, it is mainly characterized by being used in needs greatly
Demand is simulated in the motion of amplitude heave movement, but the gravity and inertia force of its load are mainly undertaken by parallel kinematic simulation mechanism,
The carrying platform for being unsuitable for large area is used, and bearing capacity is not improved.
Chinese patent 200820004705.0 proposes a kind of heavy load six degree of freedom electric platforms, and the mechanism includes uniform cloth
Six electric cylinders put and at least three cylinders, to simulate the motion such as aircraft, tank, due to the limitation of electric cylinder body length,
Moving platform range of movement is small, while directly using the driving of electronic and cylinder, it is impossible to realize mechanical caging, the safety loaded to super large
Property is relatively low.
Chinese patent 201210154506.9 proposes the big loading end static balance parallel movement simulative platform of six degree of freedom, including dynamic
Platform, pedestal, static load bascule and the six structure identicals motion branch for connecting moving platform and pedestal, the tilter exist
In provide a kind of organization volume it is small, with big loading end and working space, heavy duty can be born and output power of motor is greatly reduced
The big loading end static balance parallel movement simulative platform of six degree of freedom, but due to being driven for motor, therefore super large load can not be born.
The content of the invention
It is an object of the invention to provide a kind of safe and reliable, working space is big, the rigidity of structure is big, the band of super large bearing capacity
The heavy tilter of the six freedom degree two-in-parallel formula of load balance device.
Technical scheme is as follows：
The present invention includes lower shoe, three boss, six driving branches, three load balance devices and carrying platform；Its
In three load balance devices be uniformly fixed in the middle of lower shoe, three boss are separately fixed in the middle of three load balance devices
On the lower shoe in outside, the end of six driving branches is one group by universal hinge two respectively and is connected with three boss that it is stretched
Contracting end is connected by ball pivot with carrying platform respectively, and the ball pivot of adjacent Liang Ge branches is one group of uniform cloth on carrying platform
Put；It is characterized in that：The load balance device includes a right-angled trapezium seat, two groups of double guide rail, four bearing blocks, two silks
Thick stick, four guide rails lock, two connecting seats, two support bars, two group of first fixed pulley, two protective covers, two groups of balance hydraulic cylinders,
Four movable pulleys and four chain ropes, wherein load balance device are connected on lower shoe by right-angled trapezium seat, right-angled trapezium seat
It is evenly arranged in 120 degree of angles, right-angle surface is located at inner side, its inclined-plane is located at outside, the inclined-plane and its bottom surface angle of right-angled trapezium seat
For 60 °~80 °, two groups of double guide rails are respectively fixedly connected with inclined-plane both sides along trapezoid seat inclined-plane is parallel, and two leading screws are set respectively
Put in the middle of double guide rails and with double guide rail parallels, every leading screw two ends are connected with being located at the bearing block at double guide rail two ends, two
Connecting seat is connected by two sliding blocks with double guide rails respectively, and the connecting seat both sides between connecting seat and guide rail are respectively equipped with one
Guide rail is locked, and is connected through a screw thread on the inside of two connecting seats with two leading screws, one end of two support bars respectively by universal hinge and
Connecting seat is connected, and the other end of two support bars is connected by ball pivot with load platform respectively, and this six ball pivots two are one group
It is evenly arranged on carrying platform；Two group of first fixed pulley is respectively provided at right-angled trapezium seat upper end, corresponding with guide rail, and first
Protective cover is equipped with fixed pulley, every group of first fixed pulley includes two pulley yokes, four rotating shafts and four pulleys, and every two turn
Axle is abreast located on each pulley yoke, and four pulleys are located in rotating shaft for one group two-by-two；Two groups of balance hydraulic cylinders are located at right angle
In the cavity of trapezoid seat, the cylinder barrel of every group of balance hydraulic cylinder is fixedly connected with trapezoid seat bottom, and cylinder rod end is provided with two dynamic cunnings
Wheel；One end of four chain ropes is fixedly connected with connecting seat respectively, and the other end bypasses the first fixed cunning for being located at trapezoid seat upper end respectively
The movable pulley of wheel and balance hydraulic cylinder boom end is fixedly connected with the top in trapezoid seat cavity.
Cavity right-angled trapezium seat inclined-plane in the load balance device provided with four the second fixed pulleys, four chain ropes
One end is fixedly connected with connecting seat respectively, and the other end bypasses the first fixed pulley for being located at trapezoid seat upper end, trapezoid seat inclined-plane respectively
Second fixed pulley of inner side and the movable pulley of balance hydraulic cylinder boom end are fixedly connected with the top in trapezoid seat cavity.
Two groups of balance hydraulic cylinders and four movable pulleys in the load balance device are by two groups of double columns and two counterweights
Block is substituted, and two double columns are located in the cavity of right-angled trapezium seat, and one end of this pair of column is fixed on trapezoid seat bottom, and its is another
One end is free end, and two balancing weights are matched by directive wheel with two double columns, and two chain ropes are one group, its one end difference
It is fixedly connected with connecting seat, two pulleys that its other end bypasses the first fixed pulley group respectively are fixedly connected on balancing weight.
It is of the invention to be had the following advantages that compared with existing correlation technique：
1st, six support bars of six driving branches and three load balance devices are connected structure by ball pivot with carrying platform
Parallel swaying platform in pairs, adds the strong point of carrying platform, so that super large carrying and the increase knot of tilter can be realized
Structure rigidity.
2nd, the balance hydraulic cylinder or balancing weight in three load balance devices are capable of active balance carrying platform and load
Gravity, can mitigate the driving load of driving branch, improve the bearing capacity of swaying platform.
3rd, balance hydraulic cylinder telescopic end is equipped with movable pulley in three load balance devices, and the row of connecting seat can be made by chain rope
Cheng Fang great, so as to reduce the height of carrying platform.
4th, locked in three load balance transposition between the first connecting plate and guide rail provided with guide rail, guide rail lock can be at tilter
In locked under unloaded state or emergency case, it is ensured that the safety and reliability of tilter.
5th, six ball pivots that six support bars are connected with upper mounting plate are by six drive branches to be connected with carrying platform six
Ball pivot is surrounded, and can reduce the inertia of carrying platform and load, improves flexibility and the dynamic response of tilter.
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 Fig. 1 upward view；
Fig. 3 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 2；
Fig. 4 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 3；
Fig. 5 is the three-dimensional simplified schematic diagram of the load balance device of the embodiment of the present invention 1；
Fig. 6 is Fig. 5 partial sectional view；
Fig. 7 is the three-dimensional simplified schematic diagram of the load balance device of the embodiment of the present invention 2；
Fig. 8 is the three-dimensional simplified schematic diagram of the load balance device of the embodiment of the present invention 3.
In figure：1st, lower shoe；2nd, load balance device；3rd, boss；4th, the second universal hinge；5th, branch is driven；6th, carry flat
Platform；7th, the first ball pivot；8th, the second ball pivot；2-1, right-angled trapezium seat；2-2, bearing block；2-3, leading screw；2-4, double guide rails；2-5, cunning
Block；2-6, guide rail lock；2-7, connecting seat；2-8, the first universal hinge；2-9, support bar；2-10, the first fixed pulley；2-11, safety
Cover；2-12, balance hydraulic cylinder；2-13, movable pulley；2-14, the second fixed pulley；2-15, balancing weight；2-16, double columns.
Embodiment
Embodiment 1
In the schematic diagram of the heavy tilter of the six freedom degree two-in-parallel formula with bringing onto load bascule shown in Fig. 1, Fig. 2
In, three load balance devices 2 are uniformly fixed in the middle of lower shoe, and three boss 3 are separately fixed at three load balance devices
On intermediolateral lower shoe, the end of six driving branches 5 is respectively one group and three boss by the second universal hinge 4 two
Connection, its telescopic end is connected by the second ball pivot 8 with carrying platform 6 respectively, and the ball pivot of adjacent Liang Ge branches is holding for one group
It is evenly arranged on carrying platform.
As shown in Figure 5, Figure 6, the load balance device is connected on lower shoe by right-angled trapezium seat 2-1, right angle ladder
Shape seat is evenly arranged in 120 degree of angles, and right-angle surface is located at inner side, and its inclined-plane is located at outside, the inclined-plane and its bottom surface of right-angled trapezium seat
Angle is 60 °~80 °, and two groups of double guide rail 2-4 are respectively fixedly connected with inclined-plane both sides along trapezoid seat inclined-plane is parallel, two leading screws
2-3 be separately positioned in the middle of double guide rails and with double guide rail parallels, bearing block of the every leading screw two ends with being located at double guide rail two ends
2-2 connections, two connecting seat 2-7 are connected by two sliding block 2-5 with double guide rails respectively, the connection between connecting seat and guide rail
Seat both sides are respectively equipped with the inside of a guide rail lock 2-6, two connecting seats and are connected through a screw thread with two leading screws, two support bar 2-
9 one end is connected by the first universal hinge 2-8 with connecting seat respectively, and the other end of two support bars passes through the first ball pivot 7 respectively
It is connected with load platform, this six ball pivots two are one group and are evenly arranged on carrying platform；Two group of first 2-10 points of fixed pulley
Right-angled trapezium seat upper end is not located at, it is corresponding with guide rail, protective cover 2-11 is equipped with the first fixed pulley, every group first is fixed sliding
Wheel has two pulley yokes, is located on each pulley yoke, four pulleys are located in rotating shaft for one group two-by-two every two shaft parallels,
Two groups of balance hydraulic cylinder 2-12 are located in the cavity of right-angled trapezium seat, and cylinder barrel and the trapezoid seat bottom of every group of balance hydraulic cylinder are fixed
Connection, cylinder rod end is fixedly connected with connecting seat respectively provided with two movable pulley 2-13, one end of four chain ropes, other end difference
Bypass the movable pulley for being located at the first fixed pulley of trapezoid seat upper end and balance hydraulic cylinder boom end and the top in trapezoid seat cavity
Portion is fixedly connected.
Embodiment 2：
As shown in Figure 3 and Figure 7, the cylinder barrel and trapezoid seat for two groups of balance hydraulic cylinder 2-12 being located in right-angled trapezium seat cavity
Bottom is fixedly connected, and cylinder rod end is provided with trapezoid seat inclined-plane in movable pulley 2-13, cavity and is provided with four the second fixed pulley 2-
14, one end of four chain ropes is fixedly connected with connecting seat respectively, and the other end bypasses the first fixed cunning for being located at trapezoid seat upper end respectively
Top in the movable pulley and trapezoid seat cavity of wheel, the second fixed pulley of trapezoid seat chamfered inside and balance hydraulic cylinder boom end
It is fixedly connected；Other parts and annexation are same as Example 1.
Embodiment 3：
As shown in Figure 4 and Figure 8, the one end for two double column 2-16 being located in right-angled trapezium seat cavity is fixed on trapezoid seat
On bottom, its other end is free end, and two balancing weight 2-15 are matched by directive wheel with two double columns, and two chain ropes are
One group, its one end is fixedly connected with connecting seat respectively, and two pulleys that its other end bypasses the first fixed pulley group respectively fix company
It is connected on balancing weight；Other parts and annexation are same as Example 1.
Claims (3)
1. a kind of heavy tilter of the six freedom degree two-in-parallel formula of bringing onto load bascule, it includes lower shoe, three boss, six
Individual driving branch, three load balance devices and carrying platform；Wherein three load balance devices are uniformly fixed on lower shoe,
It is evenly arranged in 120 degree of angles, three boss are separately fixed on three intermediolateral lower shoes of load balance device, six drives
The end of dynamic branch is one group by universal hinge two respectively and is connected with three boss that its telescopic end passes through ball pivot and carrying respectively
Platform is connected, and the ball pivot of adjacent Liang Ge branches is evenly arranged for one group on carrying platform；It is characterized in that：The load is flat
The device that weighs include right-angled trapezium seat, two groups of double guide rails, four guide rails locks, two connecting seats, two support bars, two group first
Fixed pulley, two protective covers, two groups of balance hydraulic cylinders, four movable pulleys and four chain ropes；The right-angled trapezium seat is fixed on down
On bottom plate, its right-angle surface is located at inner side, and inclined-plane is located at outside；Two groups of double guide rail parallels are fixed on trapezoid seat inclined-plane both sides, two
Connecting seat is connected by four sliding blocks with double guide rails respectively, and the connecting seat both sides between connecting seat and guide rail are respectively equipped with one
Guide rail is locked；One end of two support bars is connected by universal hinge with connecting seat respectively, and the other end is flat with load by ball pivot respectively
Platform is connected, and this six ball pivots two are one group and are evenly arranged on carrying platform；Two group of first fixed pulley is respectively provided at right angle ladder
Shape seat upper end, it is corresponding with guide rail, protective cover is equipped with the first fixed pulley, every group of first fixed pulley includes two pulleys
Frame, four rotating shafts and four pulleys, are located on each pulley yoke, four pulleys are located at for one group two-by-two every two shaft parallels
In rotating shaft；Two groups of balance hydraulic cylinders are located in the cavity of right-angled trapezium seat, cylinder barrel and the trapezoid seat bottom of every group of balance hydraulic cylinder
It is fixedly connected, cylinder rod end is provided with two movable pulleys；One end of four chain ropes is fixedly connected with connecting seat respectively, other end difference
Bypass the movable pulley for being located at the first fixed pulley of trapezoid seat upper end and balance hydraulic cylinder boom end and the top in trapezoid seat cavity
Portion is fixedly connected.
2. the heavy tilter of the six freedom degree two-in-parallel formula of bringing onto load bascule according to claim 1, its feature exists
In：Cavity right-angled trapezium seat inclined-plane in the load balance device is provided with four the second fixed pulleys side by side, four chain ropes
One end be fixedly connected respectively with connecting seat, the other end bypass respectively be located at trapezoid seat upper end the first fixed pulley, trapezoid seat it is oblique
The movable pulley of the second fixed pulley and balance hydraulic cylinder boom end on the inside of face is fixedly connected with the top in trapezoid seat cavity.
3. a kind of heavy tilter of the six freedom degree two-in-parallel formula of bringing onto load bascule according to claim 1, it is special
Levy and be：Two groups of balance hydraulic cylinders and four movable pulleys in the load balance device are by two groups of double columns and two balancing weights
Substitute, two double columns are located in the cavity of right-angled trapezium seat, and one end of this pair of column is fixed on trapezoid seat bottom, and its is another
Hold as free end, two balancing weights are matched by directive wheel with two double columns, and two chain ropes are one group, its one end respectively with
Connecting seat is fixedly connected, and two pulleys that the other end bypasses the first fixed pulley group respectively are fixedly connected on balancing weight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710430906.0A CN107123355B (en) | 2017-06-09 | 2017-06-09 | Six-freedom-degree double-parallel heavy swing table with load balancing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710430906.0A CN107123355B (en) | 2017-06-09 | 2017-06-09 | Six-freedom-degree double-parallel heavy swing table with load balancing device |
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| Publication Number | Publication Date |
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| CN107123355A true CN107123355A (en) | 2017-09-01 |
| CN107123355B CN107123355B (en) | 2023-03-31 |
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| CN201710430906.0A Active CN107123355B (en) | 2017-06-09 | 2017-06-09 | Six-freedom-degree double-parallel heavy swing table with load balancing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108091238A (en) * | 2018-02-02 | 2018-05-29 | 杨磊 | A kind of 6-dof motion platform |
| CN110723656A (en) * | 2019-09-27 | 2020-01-24 | 山东中衡光电科技有限公司 | Multi-degree-of-freedom mining hoisting device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108091238A (en) * | 2018-02-02 | 2018-05-29 | 杨磊 | A kind of 6-dof motion platform |
| CN110723656A (en) * | 2019-09-27 | 2020-01-24 | 山东中衡光电科技有限公司 | Multi-degree-of-freedom mining hoisting device |
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| CN107123355B (en) | 2023-03-31 |
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