CN107123355B - Six-freedom-degree double-parallel heavy swing table with load balancing device - Google Patents
Six-freedom-degree double-parallel heavy swing table with load balancing device Download PDFInfo
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- CN107123355B CN107123355B CN201710430906.0A CN201710430906A CN107123355B CN 107123355 B CN107123355 B CN 107123355B CN 201710430906 A CN201710430906 A CN 201710430906A CN 107123355 B CN107123355 B CN 107123355B
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- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
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- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
Abstract
A six-degree-of-freedom double-parallel heavy swing platform with a load balancing device comprises a lower bottom plate, three bosses, six driving branches, three load balancing devices and a bearing platform; the load balancing device comprises a right trapezoid base, two groups of double guide rails, four guide rail locks, two connecting bases, two supporting rods, two groups of first fixed pulleys, two protective covers, two groups of balancing hydraulic cylinders, four movable pulleys and four chain ropes, the supporting points of the bearing platform are increased by the three load balancing device, the ultra-large bearing surface and the structural rigidity can be increased, the driving load of the driving branches can be reduced, and the bearing capacity of the swinging platform is improved. The invention has the advantages of safety, reliability, large working space, large structural rigidity and super large bearing capacity.
Description
Technical Field
The invention relates to a parallel mechanism, in particular to a parallel heavy type swing platform.
Background
In recent years, with the continuous and intensive research on parallel mechanisms, the parallel mechanisms are continuously expanded in the application fields of motion simulation and the like of large-scale equipment such as airplanes, vehicles and the like, and higher requirements are put forward on the aspects of bearing area, load capacity, rigidity and the like. In the current six-degree-of-freedom parallel motion simulation platform product, the maximum load is several tons when the driving form is a motor, and the maximum load is generally less than 20 tons when the driving form is hydraulic, so that the parallel motion simulation platform with an ultra-large load and capable of providing an ultra-large working space is urgently developed.
Chinese patent 03150629.1 discloses a high pressure pneumatic gravity balance type space motion simulator, by six degree of freedom motion platforms of parallel connection, simulation cabin, heaving motion platform and safety protection system constitute, its main characteristics are to use in the motion simulation demand that needs the great amplitude heaving motion, but its gravity and the inertial force of load are mainly born by the parallel motion simulation mechanism, are not suitable for large area's load-bearing platform to use, and bearing capacity does not improve.
Chinese patent 200820004705.0 proposes a heavy load six-degree-of-freedom electric platform, and this mechanism includes six electric cylinder and at least three cylinder of even arrangement for motion such as simulation aircraft, tank, because electric cylinder body length restriction, the dynamic platform motion range is little, directly adopts electronic and cylinder drive simultaneously, can not realize mechanical locking, and is lower to the security of super large load.
Chinese patent 201210154506.9 proposes a six-degree-of-freedom large bearing surface static balance parallel motion simulation platform, which comprises a movable platform, a base, a static load balancing device and six motion branches with the same structure and used for connecting the movable platform and the base.
Disclosure of Invention
The invention aims to provide a six-degree-of-freedom double-parallel heavy swing platform with a load balancing device, which is safe, reliable, large in working space, large in structural rigidity and super large in bearing capacity.
The technical scheme of the invention is as follows:
the invention comprises a lower bottom plate, three bosses, six driving branches, three load balancing devices and a bearing platform; the three load balancing devices are uniformly distributed and fixed in the middle of the lower base plate, the three bosses are respectively fixed on the lower base plate on the outer side in the middle of the three load balancing devices, the tail ends of the six driving branches are respectively connected with the three bosses in a group of two through universal hinges, the telescopic ends of the six driving branches are respectively connected with the bearing platform through spherical hinges, and the spherical hinges of the two adjacent branches are uniformly arranged on the bearing platform in a group of two; the method is characterized in that: the load balancing device comprises a right-angled trapezoid seat, two groups of double guide rails, four bearing seats, two lead screws, four guide rail locks, two connecting seats, two supporting rods, two groups of first fixed pulleys, two protective covers, two groups of balancing hydraulic cylinders, four movable pulleys and four chain ropes, wherein the load balancing device is fixedly connected to a lower bottom plate through the right-angled trapezoid seat, the right-angled trapezoid seat is uniformly arranged at an angle of 120 degrees, a right-angled surface is positioned at the inner side, an inclined surface of the right-angled trapezoid seat is positioned at the outer side, an included angle between the inclined surface of the right-angled trapezoid seat and the bottom surface of the right-angled trapezoid seat is 60-80 degrees, the two groups of double guide rails are respectively and fixedly connected to two sides of the inclined surface along the inclined surface of the trapezoid seat in parallel, the two lead screws are respectively arranged in the middle of the double guide rails and are parallel to the double guide rails, two ends of each lead screw are respectively connected to the bearing seats arranged at two ends of the double guide rails, the two connecting seats are respectively connected to the two lead screws through screw threads, the other ends of the two supporting rods are respectively connected to the load platform through ball hinges, and the six ball hinges are uniformly arranged on the load platform; two groups of first fixed pulleys are respectively arranged at the upper end of the right trapezoid seat and correspond to the guide rail, a protective cover is arranged on each first fixed pulley, each group of first fixed pulleys comprises two pulley frames, four rotating shafts and four pulleys, each two rotating shafts are arranged on each pulley frame in parallel, and the four pulleys are arranged on the rotating shafts in a group two by two; two groups of balance hydraulic cylinders are arranged in a cavity of the right trapezoid base, a cylinder barrel of each group of balance hydraulic cylinders is fixedly connected with the bottom of the trapezoid base, and two movable pulleys are arranged at the end part of a cylinder rod; one end of each chain rope is fixedly connected with the connecting seat, and the other end of each chain rope is fixedly connected with the top of the cavity of the trapezoidal seat by bypassing the first fixed pulley arranged at the upper end of the trapezoidal seat and the movable pulley arranged at the end part of the cylinder rod of the balance hydraulic cylinder.
And four second fixed pulleys are arranged on the right-angled trapezoid seat inclined plane of the cavity in the load balancing device, one ends of the four chain ropes are fixedly connected with the connecting seat respectively, and the other ends of the four chain ropes are fixedly connected with the top in the cavity of the trapezoid seat respectively by bypassing the first fixed pulley arranged at the upper end of the trapezoid seat, the second fixed pulley arranged on the inner side of the trapezoid seat inclined plane and the movable pulley arranged at the end part of the cylinder rod of the balancing hydraulic cylinder.
Two groups of balance hydraulic cylinders and four movable pulleys in the load balancing device are replaced by two groups of double-upright columns and two balancing weights, the two double-upright columns are arranged in a cavity of a right trapezoid seat, one end of each double-upright column is fixed on the bottom of the trapezoid seat, the other end of each double-upright column is a free end, the two balancing weights are matched with the two double-upright columns through guide wheels, two chain ropes are in a group, one end of each chain rope is fixedly connected with a connecting seat, and the other end of each chain rope is fixedly connected to the balancing weights through two pulleys bypassing a first fixed pulley block.
Compared with the prior art, the invention has the following advantages:
1. six driving branches and six supporting rods of three load balancing devices are connected with the bearing platform through spherical hinges to form a double-parallel type swing platform, and supporting points of the bearing platform are increased, so that super-large bearing of the swing platform can be realized, and structural rigidity can be increased.
2. The balancing hydraulic cylinders or the balancing weights in the three load balancing devices can effectively balance the gravity of the bearing platform and the load, the driving load of the driving branches can be reduced, and the bearing capacity of the swing platform is improved.
3. The movable pulleys are arranged at the telescopic ends of the balance hydraulic cylinders in the three load balancing devices, and the stroke of the connecting seat can be amplified through the chain rope, so that the height of the bearing platform can be reduced.
4. And a guide rail lock is arranged between the first connecting plate and the guide rail in the three load balancing rotations, and the guide rail lock can be locked when the swing table is in an unloading state or under emergency, so that the safety and the reliability of the swing table are ensured.
5. Six spherical hinges, which are connected with the upper platform, of the six supporting rods are surrounded by six spherical hinges, which are connected with the bearing platform, of the six driving branches, inertia of the bearing platform and load can be reduced, and flexibility and dynamic response of the swing platform are improved.
Drawings
FIG. 1 is a schematic perspective view of example 1 of the present invention;
FIG. 2 is a bottom view of FIG. 1;
FIG. 3 is a schematic perspective view of example 2 of the present invention;
FIG. 4 is a schematic perspective view of example 3 of the present invention;
FIG. 5 is a schematic perspective view of a load balancer in accordance with embodiment 1 of the present invention;
FIG. 6 is a partial cross-sectional view of FIG. 5;
FIG. 7 is a schematic perspective view of a load balancer according to embodiment 2 of the present invention;
fig. 8 is a schematic perspective view of a load balancing apparatus according to embodiment 3 of the present invention.
In the figure: 1. a lower base plate; 2. a load balancing device; 3. a boss; 4. a second universal hinge; 5. a drive branch; 6. a load-bearing platform; 7. a first spherical hinge; 8. a second spherical hinge; 2-1, a right trapezoid seat; 2-2, bearing seats; 2-3, a screw rod; 2-4, double guide rails; 2-5, a sliding block; 2-6, a guide rail lock; 2-7, a connecting seat; 2-8, a first universal hinge; 2-9, a support rod; 2-10, a first fixed pulley; 2-11, a safety cover; 2-12, balancing hydraulic cylinders; 2-13, a movable pulley; 2-14, a second fixed pulley; 2-15, a balancing weight; 2-16 and double columns.
Detailed Description
Example 1
In the schematic diagrams of the six-degree-of-freedom double-parallel heavy swing platform with the load balancing devices shown in fig. 1 and fig. 2, three load balancing devices 2 are uniformly distributed and fixed in the middle of a lower base plate, three bosses 3 are respectively fixed on the lower base plate outside the middle of the three load balancing devices, the tail ends of six driving branches 5 are respectively connected with the three bosses in a group through two second universal hinges 4, the telescopic ends of the six driving branches are respectively connected with a bearing platform 6 through two second spherical hinges 8, and the spherical hinges of two adjacent branches are uniformly arranged on the bearing platform in a group.
As shown in fig. 5 and 6, the load balancing device is fixedly connected to the lower bottom plate through right trapezoid bases 2-1, the right trapezoid bases are uniformly arranged at an angle of 120 degrees, a right-angle surface is positioned on the inner side, an inclined surface of each right trapezoid base is positioned on the outer side, an included angle between the inclined surface and the bottom surface of each right trapezoid base is 60-80 degrees, two groups of double guide rails 2-4 are respectively and fixedly connected to two sides of the inclined surface along the inclined surface of each trapezoid base in parallel, two lead screws 2-3 are respectively arranged in the middles of the double guide rails and are parallel to the double guide rails, two ends of each lead screw are respectively connected with bearing seats 2-2 arranged at two ends of the double guide rails, two connecting bases 2-7 are respectively connected with the double guide rails through two sliding blocks 2-5, two guide rail locks 2-6 are respectively arranged on two sides of a connecting base between the connecting bases and the guide rails, the inner sides of the two connecting bases are connected with the two lead screws through threads, one ends of two support bars 2-9 are respectively connected with the connecting base through first universal hinges 2-8, the other ends of the two support bars are respectively connected with the load platform through first ball hinges 7, and the two ball hinges are uniformly arranged on the load platform as a group; two groups of first fixed pulleys 2-10 are respectively arranged at the upper end of the right trapezoid seat and correspond to the guide rail, a protective cover 2-11 is arranged on each first fixed pulley, each group of first fixed pulleys is provided with two pulley racks, every two rotating shafts are arranged on each pulley rack in parallel, every two pulleys are arranged on the rotating shafts in a group, two groups of balancing hydraulic cylinders 2-12 are arranged in a cavity of the right trapezoid seat, a cylinder barrel of each group of balancing hydraulic cylinders is fixedly connected with the bottom of the trapezoid seat, the end part of a cylinder rod is provided with two movable pulleys 2-13, one end of each chain rope is fixedly connected with the connecting seat, and the other end of each chain rope is fixedly connected with the top in the cavity of the trapezoid seat by respectively bypassing the first fixed pulleys arranged at the upper end of the trapezoid seat and the movable pulleys at the end part of the cylinder rod of each balancing hydraulic cylinder.
Example 2:
as shown in fig. 3 and 7, the cylinder barrels of two groups of balancing hydraulic cylinders 2-12 arranged in the cavity of the right trapezoid base are fixedly connected with the bottom of the trapezoid base, the end part of a cylinder rod is provided with a movable pulley 2-13, the inclined plane of the trapezoid base in the cavity is provided with four second fixed pulleys 2-14, one ends of four chain ropes are respectively and fixedly connected with the connecting base, and the other ends of the four chain ropes are respectively and fixedly connected with the top in the cavity of the trapezoid base by bypassing the first fixed pulley arranged at the upper end of the trapezoid base, the second fixed pulley arranged on the inner side of the inclined plane of the trapezoid base and the movable pulley arranged at the end part of the cylinder rod of the balancing hydraulic cylinder; other components and connection relationships are the same as those in embodiment 1.
Example 3:
as shown in fig. 4 and 8, one end of two double-upright posts 2-16 arranged in the cavity of the right trapezoid base is fixed on the bottom of the trapezoid base, the other end is a free end, two balancing weights 2-15 are matched with the two double-upright posts through guide wheels, two chain ropes are in a group, one end of each chain rope is fixedly connected with the connecting base, and the other end of each chain rope is fixedly connected to the balancing weight by bypassing two pulleys of the first fixed pulley block; other components and connection relationships are the same as those in embodiment 1.
Claims (2)
1. A six-degree-of-freedom double-parallel heavy swing platform with a load balancing device comprises a lower bottom plate, three bosses, six driving branches, three load balancing devices and a bearing platform; the three load balancing devices are uniformly distributed and fixed on the lower base plate and are uniformly distributed at an angle of 120 degrees, the three bosses are respectively fixed on the lower base plate at the outer side in the middle of the three load balancing devices, the tail ends of the six driving branches are respectively connected with the three bosses in a group of two through universal hinges, the telescopic ends of the six driving branches are respectively connected with the bearing platform through spherical hinges, and the spherical hinges of the two adjacent branches are uniformly distributed on the bearing platform in a group of two; the method is characterized in that: the load balancing device comprises a right-angle trapezoid base, two groups of double guide rails, four guide rail locks, two connecting bases, two supporting rods, two groups of first fixed pulleys, two protective covers, two groups of balancing hydraulic cylinders, four movable pulleys and four chain ropes; the right-angle trapezoidal seat is fixed on the lower bottom plate, the right-angle surface of the right-angle trapezoidal seat is positioned on the inner side, and the inclined surface of the right-angle trapezoidal seat is positioned on the outer side; the included angle between the inclined plane of the right-angled trapezoid seat and the bottom surface of the right-angled trapezoid seat is 60-80 degrees, two groups of double guides are respectively and fixedly connected to two sides of the inclined plane in parallel along the inclined plane of the trapezoid seat, two groups of double guide rails are fixed to two sides of the inclined plane of the trapezoid seat in parallel, two lead screws are respectively arranged in the middle of the double guide rails and are parallel to the double guide rails, two ends of each lead screw are respectively connected with bearing seats arranged at two ends of the double guide rails, two connecting seats are respectively connected with the double guide rails through two slide blocks, two connecting seats are respectively connected with the double guide rails through four slide blocks, and two guide rail locks are respectively arranged on two sides of the connecting seats between the connecting seats and the guide rails; one end of each of the two support rods is connected with the connecting seat through a universal hinge, the other end of each of the two support rods is connected with the load platform through a spherical hinge, and the six spherical hinges are arranged on the load platform in a group; two groups of first fixed pulleys are respectively arranged at the upper end of the right trapezoid seat and correspond to the guide rail, a protective cover is arranged on each first fixed pulley, each group of first fixed pulleys comprises two pulley frames, four rotating shafts and four pulleys, each two rotating shafts are arranged on each pulley frame in parallel, and the four pulleys are arranged on the rotating shafts in a group two by two; two groups of balance hydraulic cylinders are arranged in a cavity of the right trapezoid base, a cylinder barrel of each group of balance hydraulic cylinders is fixedly connected with the bottom of the trapezoid base, and two movable pulleys are arranged at the end part of a cylinder rod; one end of each chain rope is fixedly connected with the connecting seat, and the other end of each chain rope bypasses the first fixed pulley arranged at the upper end of the trapezoidal seat and the movable pulley arranged at the end part of the cylinder rod of the balance hydraulic cylinder and is fixedly connected with the top in the cavity of the trapezoidal seat.
2. The six-degree-of-freedom double parallel type heavy swing platform with the load balancing device according to claim 1, characterized in that: four second fixed pulleys which are arranged side by side are arranged on the right trapezoid base inclined plane of the cavity in the load balancing device, one ends of the four chain ropes are fixedly connected with the connecting base respectively, and the other ends of the four chain ropes are fixedly connected with the top in the cavity of the trapezoid base respectively by bypassing the first fixed pulley arranged at the upper end of the trapezoid base, the second fixed pulley arranged on the inner side of the trapezoid base inclined plane and the movable pulley arranged at the end part of the cylinder rod of the balancing hydraulic cylinder.
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| 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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| Application Number | Priority Date | Filing Date | Title |
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| 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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| CN107123355A CN107123355A (en) | 2017-09-01 |
| CN107123355B true CN107123355B (en) | 2023-03-31 |
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Families Citing this family (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 |
| CN110723656B (en) * | 2019-09-27 | 2020-09-01 | 山东中衡光电科技有限公司 | Multi-degree-of-freedom mining hoisting device |
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2017
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