CN110260110B - Six-degree-of-freedom series-parallel platform for wave compensation - Google Patents
Six-degree-of-freedom series-parallel platform for wave compensation Download PDFInfo
- Publication number
- CN110260110B CN110260110B CN201910565191.9A CN201910565191A CN110260110B CN 110260110 B CN110260110 B CN 110260110B CN 201910565191 A CN201910565191 A CN 201910565191A CN 110260110 B CN110260110 B CN 110260110B
- Authority
- CN
- China
- Prior art keywords
- longitudinal
- transverse
- platform
- electric cylinder
- guide rails
- 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
- 230000033001 locomotion Effects 0.000 claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000008878 coupling Effects 0.000 claims abstract description 16
- 238000010168 coupling process Methods 0.000 claims abstract description 16
- 238000005859 coupling reaction Methods 0.000 claims abstract description 16
- 244000309464 bull Species 0.000 claims abstract description 6
- 230000000087 stabilizing effect Effects 0.000 claims description 45
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
-
- 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
- F16M11/043—Allowing translations
-
- 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
-
- 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
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- 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
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
-
- 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
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
- F16M11/32—Undercarriages for supports with three or more telescoping legs
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A six degree-of-freedom hybrid platform for heave compensation, comprising: a parallel unit and a series unit. The parallel unit comprises a movable platform, a first electric cylinder, a second electric cylinder, a third electric cylinder, an anti-twisting frame and a parallel stable platform. A longitudinal movement mechanism, a transverse movement mechanism and a rotary movement mechanism. The longitudinal movement mechanism comprises a longitudinal lower guide rail, a longitudinal upper guide rail, a longitudinal motor, a longitudinal coupling, a longitudinal lead screw bearing support, a longitudinal lead screw nut and a longitudinal stable platform; the transverse movement mechanism comprises a transverse lower guide rail, a transverse motor, a transverse coupling, a transverse lead screw bearing support, a transverse lead screw nut and a transverse stable platform; the rotary motion mechanism comprises a rotary motion motor, a pinion, a bull gear and a stable platform. The invention can realize the compensation of six-freedom-degree motions of heave, bow, roll, pitch and roll of the ship in the waves by combining with the ship attitude acquisition system.
Description
Technical Field
The invention relates to the field of six-degree-of-freedom platforms, in particular to a six-degree-of-freedom hybrid platform for wave compensation.
Background
With the continuous progress of the electromechanical liquid-gas technology level, the six-degree-of-freedom platform is greatly developed, and the existing six-degree-of-freedom platform mainly comprises a series platform and a parallel platform, wherein the series platform has a large motion range, but the bearing capacity is lower, and the parallel platforms are just opposite. The device can be divided into an electric platform, a hydraulic platform and an air pressure platform according to different driving devices. The electric platform has the characteristics of small pollution, quick dynamic response, high bearing capacity and the like. The hydraulic platform has high bearing capacity but slow dynamic response capability, and once hydraulic oil leaks, the hydraulic platform pollutes the environment. The air pressure platform has fast dynamic response but limited bearing capacity.
The ship can generate motions of six degrees of freedom, such as heave, roll, pitch and yaw under the action of waves, and the motions have great influence on equipment arranged on the ship. Taking naval maritime supply as an example, the relative motions of two ships in heave, roll and pitch may cause collision between the goods in supply and the deck of the ship to be supplied, and great risk is brought to maritime supply; the relative motion of the two ships in the horizontal plane with the degrees of freedom of surging, swaying and yawing can prevent goods from being accurately placed at a specified position.
The invention patent CN106744320A discloses a six-degree-of-freedom active type heave compensation hoisting device, which realizes the six-degree-of-freedom compensation through a steel wire rope traction hoisting device system driven by a servo motor, and compared with the traditional hoisting device, the six-degree-of-freedom active type heave compensation hoisting device has larger volume and weight, and increases the operation difficulty for engineering machinery due to the installation of the hoisting device. The ship can produce the superimposed motion of several degrees of freedom in six degrees of freedom under the wave effect, consequently, in order to obtain better effect, wave compensation equipment will possess six degrees of freedom motion compensation ability, simultaneously, need compromise bearing capacity and motion range.
Disclosure of Invention
Aiming at the defects, the invention provides a six-degree-of-freedom hybrid platform for wave compensation, and aims to solve the problem of six-degree-of-freedom wave compensation.
The invention is realized by the following technical scheme: a six-degree-of-freedom hybrid platform for heave compensation comprises: a parallel unit and a series unit.
The parallel unit comprises a movable platform, a first electric cylinder, a second electric cylinder, a third electric cylinder, an anti-twisting frame and a parallel unit stable platform; the lower surface of the movable platform is fixed with the ship; one end of each of the first electric cylinder, the second electric cylinder and the third electric cylinder is hinged with the upper surface of the movable platform through a Hooke hinge, wherein three hinged positions are uniformly distributed on a circumference, and the hinged position connecting line of the cylinder bodies of the first electric cylinder and the second electric cylinder is along the longitudinal direction; one end of a push rod of the first electric cylinder, one end of a push rod of the second electric cylinder and one end of a push rod of the third electric cylinder are hinged with the lower surface of the parallel unit stabilizing platform through Hooke joints respectively, wherein three hinged positions are uniformly distributed on a circumference, and the hinged position connecting line of the push rods of the first electric cylinder and the second electric cylinder is along the longitudinal direction.
The anti-twisting frame comprises a guide rod mounting plate, two guide rods, a guide sleeve mounting plate and a frame type support; the middle position of the lower surface of the guide rod mounting plate is hinged with the movable platform through a Hooke hinge, wherein the hinged position is at the circle center of a circumference uniformly distributed at the hinged positions of the cylinder bodies of the first electric cylinder, the second electric cylinder and the third electric cylinder, and the length direction of the guide rod mounting plate is longitudinal; one end of each guide rod is vertically fixed with the two ends of the upper surface of the guide rod mounting plate; the two ends of the guide sleeve mounting plate are respectively provided with a penetrating guide sleeve, wherein the two guide sleeves are respectively matched with the two guide sleeves; the guide sleeve mounting plate is fixed with the top end of the frame type support; the bottom end of the frame type support is vertically fixed with the lower surface of the parallel stable platform.
The series unit comprises a longitudinal movement mechanism, a transverse movement mechanism and a rotary movement mechanism.
The further longitudinal movement mechanism comprises two longitudinal lower guide rails, two longitudinal upper guide rails, a longitudinal motor, a longitudinal coupling, a longitudinal screw, two longitudinal screw bearing supports, a longitudinal screw nut and a longitudinal stable platform; the two longitudinal lower guide rails are longitudinally and symmetrically distributed on two sides of the parallel stable platform in parallel, and the lower surfaces of the two longitudinal lower guide rails are fixed with the upper surface of the parallel stable platform; the two longitudinal upper guide rails are respectively matched with the two longitudinal lower guide rails, wherein the upper surfaces of the two longitudinal upper guide rails are respectively fixed with the middle positions of two sides of the longitudinal stable platform in the length direction; the longitudinal screw is supported and installed on the upper surface of the parallel stable platform through two longitudinal screw bearings, wherein the axis of the longitudinal screw is along the longitudinal direction and is positioned between the two longitudinal lower guide rails, the effective stroke midpoint of the longitudinal screw is collinear with the effective stroke midpoints of the two longitudinal lower guide rails, and the lower surfaces of the two longitudinal screw bearings are fixed with the upper surface of the parallel stable platform; the longitudinal motor is connected with the longitudinal screw rod through a longitudinal coupling, wherein the longitudinal motor is fixed with the upper surface of the parallel stable platform through the side surface. The longitudinal screw nut is matched with the longitudinal screw, wherein the upper surface of the longitudinal screw nut is fixed with the lower surface of the longitudinal stabilizing platform.
The further transverse movement mechanism comprises two transverse lower guide rails, two transverse upper guide rails, a transverse motor, a transverse coupling, a transverse lead screw, two transverse lead screw bearing supports, a transverse lead screw nut and a transverse stabilizing platform; the two transverse lower guide rails are transversely and symmetrically distributed on two sides of the longitudinal stable platform in parallel, and the lower surfaces of the two transverse lower guide rails are fixed with the upper surface of the longitudinal stable platform; the two transverse guide rails are respectively matched with the two transverse lower guide rails, wherein the upper surfaces of the two transverse guide rails are respectively fixed with the middle positions of two sides of the transverse stabilizing platform; the transverse screw is supported and installed on the upper surface of the longitudinal stabilizing platform through two transverse screw bearings, wherein the axis of the transverse screw is positioned between the two transverse lower guide rails along the transverse direction, the effective stroke midpoint of the transverse screw is collinear with the effective stroke midpoints of the two transverse lower guide rails, and the lower surfaces of the two transverse screw bearings are fixed with the upper surface of the longitudinal stabilizing platform; the transverse motor is connected with the transverse lead screw through a transverse coupling, and the transverse motor is fixed with the upper surface of the longitudinal stabilizing platform through the side surface. The transverse screw nut is matched with the transverse screw, wherein the upper surface of the transverse screw nut is fixed with the lower surface of the transverse stabilizing platform.
The further rotary motion mechanism comprises a rotary motion motor, a pinion, a bull gear and a stable platform. The center of the upper surface of the transverse stable platform is provided with a bearing hole, and a through shaft hole is also arranged at one side edge; the shaft end of the large gear is arranged in a bearing hole in the center of the upper surface of the transverse stabilizing platform through a bearing, and the upper surface of the large gear is fixed with the lower surface of the stabilizing platform; the small gear is matched with the large gear; and a motor shaft of the rotary motion motor penetrates through a shaft hole through which the transverse stabilizing platform penetrates, and a pinion is installed on the motor shaft of the rotary motion motor, wherein an end face flange of the rotary motion motor is fixed with the lower surface of the transverse stabilizing platform.
Compared with the prior art, the invention has the advantages that:
1) the invention can compensate the motions of six degrees of freedom of the ship such as heaving, yawing, rolling, surging, pitching and rolling under the action of water waves, and has good compensation effect on the fluctuation caused by the superposition of a plurality of degrees of freedom.
2) The invention adopts a mixed design of parallel connection and series connection, and has the advantages of high bearing capacity and large movement range of the platform.
3) According to the invention, the torsion-proof frame bears the torque in the vertical direction, the two ends of the electric cylinder are hinged with the movable platform and the parallel stable platform by using Hooke hinges, the electric cylinder does not need to bear the axial torque and the radial bending moment, the service life is longer, and the bearing capacity of the platform is higher.
Drawings
FIG. 1 is a schematic view of a bearing of a six-DOF hybrid platform;
FIG. 2 is a schematic view of the six-DOF hybrid platform of FIG. 1 in the direction A according to the present invention;
FIG. 3 is a schematic top view A-A of the six-DOF hybrid platform of FIG. 2 according to the present invention;
FIG. 4 is a schematic top view B-B of the six-DOF hybrid platform of FIG. 2 according to the present invention;
FIG. 5 is a schematic top view of the six-DOF hybrid platform of FIG. 2 according to the present invention from C-C.
In the figure:
1. parallel unit, 2, series unit, 101, movable platform, 102, first electric cylinder, 103, second electric cylinder, 104, third electric cylinder, 105, anti-twist frame, 1051, guide bar mounting plate, 1052, guide bar, 1053, guide sleeve mounting plate, 1054, frame support, 106, parallel stable platform, 201, longitudinal lower guideway, 202, longitudinal upper guideway, 203, longitudinal motor, 204, longitudinal coupling, 205, longitudinal lead screw, 206, longitudinal lead screw bearing support, 207, longitudinal lead screw nut, 208, longitudinal stable platform, 209, transverse lower guideway, 210, transverse guideway, 211, transverse motor, 212, transverse coupling, 213, transverse lead screw, 214, transverse lead screw bearing support, 215, transverse lead screw nut, 216, transverse stable platform, 217, rotary motion motor, 218, pinion, 219, bull gear, 220, stable platform.
Detailed Description
Referring to fig. 1-5, the present invention provides a technical solution:
a six-degree-of-freedom hybrid platform for heave compensation comprises: a parallel unit 1 and a series unit 2.
The parallel unit 1 comprises a movable platform 101, a first electric cylinder 102, a second electric cylinder 103, a third electric cylinder 104, an anti-twisting frame 105 and a parallel unit stable platform 106; the lower surface of the movable platform 101 is fixed with a ship; one end of each of the first electric cylinder 102, the second electric cylinder 103 and the third electric cylinder 104 is hinged to the upper surface of the movable platform 101 through a Hooke joint, wherein three hinged positions are uniformly distributed on a circle, and the connecting line of the hinged positions of the first electric cylinder 102 and the second electric cylinder 103 is along the longitudinal direction; one end of a push rod of the first electric cylinder 102, one end of a push rod of the second electric cylinder 103, one end of a push rod of the third electric cylinder 104 are hinged with the lower surface of the parallel unit stabilizing platform 106 through Hooke joints, three hinged positions are uniformly distributed on a circle, and the hinged positions of the push rods of the first electric cylinder 102 and the second electric cylinder 103 are connected along the longitudinal direction.
The anti-twisting frame 105 comprises a guide rod mounting plate 1051, two guide rods 1052, a guide sleeve mounting plate 1053 and a frame type bracket 1054; the middle position of the lower surface of the guide rod 1052 mounting plate 1051 is hinged with the movable platform 101 through a hooke hinge, wherein the hinged position is at the circle center of the circumference uniformly distributed at the hinged positions of the cylinder bodies of the first electric cylinder 102, the second electric cylinder 103 and the third electric cylinder 104, and the length direction of the guide rod 1052 mounting plate 1051 is longitudinal; one end of each of the two guide rods 1052 is vertically fixed with two ends of the upper surface of the mounting plate 1051 of the guide rod 1052; the two ends of the guide sleeve mounting plate 1053 are respectively provided with a penetrating guide sleeve, wherein the two guide sleeves are respectively matched with the two guide sleeves; the guide sleeve mounting plate 1053 is fixed with the top end of the frame type support 1054; the bottom ends of the frame supports 1054 are secured perpendicular to the lower surface of the parallel stabilizing platform 106.
The series unit 2 comprises a longitudinal movement mechanism, a transverse movement mechanism and a rotary movement mechanism.
The further longitudinal movement mechanism comprises two longitudinal lower guide rails 201, two longitudinal upper guide rails 202, a longitudinal motor 203, a longitudinal coupling 204, a longitudinal lead screw 205, two longitudinal lead screw bearing supports 206, a longitudinal lead screw nut 207 and a longitudinal stable platform 208; the two longitudinal lower guide rails 201 are longitudinally parallel and symmetrically distributed on two sides of the parallel stable platform 106, and the lower surfaces of the two longitudinal lower guide rails 201 are fixed with the upper surface of the parallel stable platform 106; the two longitudinal upper guide rails 202 are respectively matched with the two longitudinal lower guide rails 201, wherein the upper surfaces of the two longitudinal upper guide rails 202 are respectively fixed with the middle positions of two sides of the longitudinal stabilizing platform 208 in the length direction; the longitudinal screw 205 is mounted on the upper surface of the parallel stable platform 106 through two longitudinal screw bearing supports 206, wherein the axis of the longitudinal screw 205 is along the longitudinal direction and located between the two longitudinal lower guide rails 201, the effective stroke midpoint of the longitudinal screw 205 is collinear with the effective stroke midpoints of the two longitudinal lower guide rails 201, and the lower surfaces of the two longitudinal screw bearing supports 206 are fixed with the upper surface of the parallel stable platform 106; the longitudinal motor 203 is connected with a longitudinal lead screw 205 through a longitudinal coupling 204, wherein the longitudinal motor 203 is fixed with the upper surface of the parallel stable platform 106 through a side surface. The longitudinal lead screw nut 207 is engaged with the longitudinal lead screw 205, wherein the upper surface of the longitudinal lead screw nut 207 is fixed with the lower surface of the longitudinal stabilizing platform 208.
The further transverse movement mechanism comprises two transverse lower guide rails 209, two transverse guide rails 210, a transverse motor 211, a transverse coupling 212, a transverse lead screw 213, two transverse lead screw bearing supports 214, a transverse lead screw nut 215 and a transverse stabilizing platform 216; the two transverse lower guide rails 209 are transversely, parallelly and symmetrically distributed on two sides of the longitudinal stabilizing platform 208, and the lower surfaces of the two transverse lower guide rails 209 are fixed with the upper surface of the longitudinal stabilizing platform 208; the two transverse guide rails 210 are respectively matched with the two transverse lower guide rails 209, wherein the upper surfaces of the two transverse guide rails 210 are respectively fixed with the middle positions of two sides of the transverse stabilizing platform 216; the transverse screw 213 is mounted on the upper surface of the longitudinal stabilizing platform 208 through two transverse screw bearing supports 214, wherein the axis of the transverse screw 213 is along the transverse direction and is located between the two transverse lower guide rails 209, the effective stroke middle point of the transverse screw 213 is collinear with the effective stroke middle points of the two transverse lower guide rails 209, and the lower surfaces of the two transverse screw bearing supports 214 are fixed with the upper surface of the longitudinal stabilizing platform 208; the transverse motor 211 is connected with a transverse lead screw 213 through a transverse coupling 212, wherein the transverse motor 211 is fixed with the upper surface of the longitudinal stable platform 208 through a side surface. The transverse screw nut 215 is engaged with the transverse screw 213, wherein the upper surface of the transverse screw nut 215 is fixed to the lower surface of the transverse stabilizing platform 216.
The further rotary motion mechanism comprises a rotary motion motor 217, a pinion 218, a bull gear 219 and a stable platform 220. A bearing hole is arranged at the center of the upper surface of the transverse stabilizing platform 216, and a through shaft hole is also arranged at one side edge; the shaft end of the large gear 219 is mounted in a bearing hole in the center of the upper surface of the transverse stabilizing platform 216 through a bearing, and the upper surface of the large gear 219 is fixed with the lower surface of the stabilizing platform 220; the pinion gear 218 is engaged with a bull gear 219; the motor shaft of the rotary motion motor 217 passes through the shaft hole through which the transverse stabilizing platform 216 passes, and the pinion 218 is installed on the motor shaft of the rotary motion motor 217, wherein the end flange of the rotary motion motor 217 is fixed with the lower surface of the transverse stabilizing platform 216.
The invention can compensate the motions of six degrees of freedom of the ship such as heaving, yawing, rolling, surging, pitching and rolling under the action of water waves, and has good compensation effect on the fluctuation caused by the superposition of a plurality of degrees of freedom. The parallel and series hybrid design is adopted, and the advantages of high bearing capacity and large movement range of the platform are taken into consideration. The anti-torsion frame bears the torque in the vertical direction, the two ends of the electric cylinder are hinged with the movable platform and the parallel stable platform through hooke hinges, the electric cylinder does not need to bear the axial torque and the radial bending moment, the service life is longer, and meanwhile, the bearing capacity of the platform is higher.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (2)
1. A six-degree-of-freedom hybrid platform for heave compensation, comprising:
a parallel unit (1) and a series unit (2);
the parallel unit (1) comprises: the device comprises a movable platform (101), a first electric cylinder (102), a second electric cylinder (103), a third electric cylinder (104), an anti-twisting frame (105) and a parallel unit stabilizing platform (106);
the lower surface of the movable platform (101) is fixed with a ship;
one end of each of the first electric cylinder (102), the second electric cylinder (103) and the third electric cylinder (104) is hinged with the upper surface of the movable platform (101) through a Hooke hinge, wherein three hinged positions are uniformly distributed on a circle, and the connecting line of the hinged positions of the cylinder bodies of the first electric cylinder (102) and the second electric cylinder (103) is along the longitudinal direction;
one ends of push rods of the first electric cylinder (102), the second electric cylinder (103) and the third electric cylinder (104) are respectively hinged with the lower surface of the parallel unit stabilizing platform (106) through Hooke joints, wherein three hinged positions are uniformly distributed on a circle, and the hinged position connecting line of the push rods of the first electric cylinder (102) and the second electric cylinder (103) is along the longitudinal direction;
the series unit (2) comprises a longitudinal motion mechanism, a transverse motion mechanism and a rotary motion mechanism;
the longitudinal movement mechanism comprises two longitudinal lower guide rails (201), two longitudinal upper guide rails (202), a longitudinal motor (203), a longitudinal coupling (204), a longitudinal lead screw (205), two longitudinal lead screw bearing supports (206), a longitudinal lead screw nut (207) and a longitudinal stable platform (208);
the two longitudinal lower guide rails (201) are longitudinally parallel and symmetrically distributed on two sides of the parallel stable platform (106), and the lower surfaces of the two longitudinal lower guide rails (201) are fixed with the upper surface of the parallel stable platform (106);
the two longitudinal upper guide rails (202) are respectively matched with the two longitudinal lower guide rails (201), wherein the upper surfaces of the two longitudinal upper guide rails (202) are respectively fixed with the middle positions of two sides of the longitudinal stabilizing platform (208) in the length direction;
the longitudinal screw (205) is mounted on the upper surface of the parallel stable platform (106) through two longitudinal screw bearing supports (206), wherein the axis of the longitudinal screw (205) is along the longitudinal direction and is positioned between the two longitudinal lower guide rails (201), the effective stroke midpoint of the longitudinal screw (205) is collinear with the effective stroke midpoints of the two longitudinal lower guide rails (201), and the lower surfaces of the two longitudinal screw bearing supports (206) are fixed with the upper surface of the parallel stable platform (106);
the longitudinal motor (203) is connected with a longitudinal screw rod (205) through a longitudinal coupling (204), wherein the longitudinal motor (203) is fixed with the upper surface of the parallel stable platform (106) through a side surface;
the longitudinal lead screw nut (207) is matched with the longitudinal lead screw (205), wherein the upper surface of the longitudinal lead screw nut (207) is fixed with the lower surface of the longitudinal stabilizing platform (208);
the transverse movement mechanism comprises two transverse lower guide rails (209), two transverse upper guide rails (210), a transverse motor (211), a transverse coupling (212), a transverse screw (213), two transverse screw bearing supports (214), a transverse screw nut (215) and a transverse stabilizing platform (216);
the two transverse lower guide rails (209) are transversely, parallelly and symmetrically distributed on two sides of the longitudinal stabilizing platform (208), and the lower surfaces of the two transverse lower guide rails (209) are fixed with the upper surface of the longitudinal stabilizing platform (208);
the two transverse guide rails (210) are respectively matched with the two transverse lower guide rails (209), wherein the upper surfaces of the two transverse guide rails (210) are respectively fixed with the middle positions of two sides of the transverse stabilizing platform (216);
the transverse screw rod (213) is mounted on the upper surface of the longitudinal stabilizing platform (208) through two transverse screw rod bearing supports (214), wherein the axis of the transverse screw rod (213) is along the transverse direction and is positioned between the two transverse lower guide rails (209), the effective stroke midpoint of the transverse screw rod (213) is collinear with the effective stroke midpoints of the two transverse lower guide rails (209), and the lower surfaces of the two transverse screw rod bearing supports (214) are fixed with the upper surface of the longitudinal stabilizing platform (208);
the transverse motor (211) is connected with a transverse screw rod (213) through a transverse coupling (212), wherein the transverse motor (211) is fixed with the upper surface of the longitudinal stable platform (208) through a side surface;
the transverse lead screw nut (215) is matched with the transverse lead screw (213), wherein the upper surface of the transverse lead screw nut (215) is fixed with the lower surface of the transverse stabilizing platform (216);
the rotary motion mechanism comprises a rotary motion motor (217), a pinion (218), a bull gear (219) and a stabilizing platform (220);
a bearing hole is formed in the center of the upper surface of the transverse stabilizing platform (216), and a through shaft hole is formed in one side edge; the shaft end of the large gear (219) is installed in a bearing hole in the center of the upper surface of the transverse stabilizing platform (216) through a bearing, and the upper surface of the large gear (219) is fixed with the lower surface of the stabilizing platform (220); the pinion (218) is matched with the gearwheel (219); the motor shaft of the rotary motion motor (217) penetrates through a shaft hole through which the transverse stabilizing platform (216) penetrates, the pinion (218) is installed on the motor shaft of the rotary motion motor (217), and an end face flange of the rotary motion motor (217) is fixed with the lower surface of the transverse stabilizing platform (216).
2. The six degree-of-freedom hybrid platform for heave compensation of claim 1, wherein:
the anti-twisting frame (105) comprises a guide rod mounting plate (1051), two guide rods (1052), a guide sleeve mounting plate (1053) and a frame type support (1054); the middle position of the lower surface of the guide rod (1052) mounting plate (1051) is hinged with the movable platform (101) through a Hooke hinge, wherein the hinged position is at the circle center of a circumference uniformly distributed at the hinged positions of the cylinder bodies of the first electric cylinder (102), the second electric cylinder (103) and the third electric cylinder (104), and the length direction of the guide rod (1052) mounting plate (1051) is longitudinal; one ends of the two guide rods (1052) are respectively and vertically fixed with two ends of the upper surface of the guide rod (1052) mounting plate (1051); two penetrating guide sleeves are respectively arranged at two ends of the guide sleeve mounting plate (1053), wherein the two guide sleeves are respectively matched with the two guide sleeves; the guide sleeve mounting plate (1053) is fixed with the top end of the frame type support (1054); the bottom end of the frame support (1054) is vertically fixed with the lower surface of the parallel stable platform (106).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910565191.9A CN110260110B (en) | 2019-06-27 | 2019-06-27 | Six-degree-of-freedom series-parallel platform for wave compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910565191.9A CN110260110B (en) | 2019-06-27 | 2019-06-27 | Six-degree-of-freedom series-parallel platform for wave compensation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110260110A CN110260110A (en) | 2019-09-20 |
| CN110260110B true CN110260110B (en) | 2021-11-05 |
Family
ID=67922063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910565191.9A Active CN110260110B (en) | 2019-06-27 | 2019-06-27 | Six-degree-of-freedom series-parallel platform for wave compensation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110260110B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114321576B (en) * | 2020-10-09 | 2023-04-07 | 上海交通大学 | Three-dimensional vacuum motion system and application thereof |
| CN112435531B (en) * | 2020-10-29 | 2021-11-16 | 燕山大学 | Traction simulation platform for ship-based helicopter |
| CN113884323A (en) * | 2021-09-23 | 2022-01-04 | 武汉船用机械有限责任公司 | Offshore wave compensation crane testing device and testing method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001038551A (en) * | 1999-08-04 | 2001-02-13 | Hiihaisuto Seiko Kk | Work table mechanism applying six degree of freedom parallel mechanism |
| CA2500693A1 (en) * | 2005-03-14 | 2006-09-14 | Matthew John D. Hayes | Apparatus for multi-axis rotation and translation |
| CN103123035A (en) * | 2013-02-06 | 2013-05-29 | 中国人民解放军海军工程大学 | Ship two-degree-freedom self-adaptation and stabilization platform |
| CN103624774A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Six-degree-of-freedom series-parallel connection robot |
| CN108150782A (en) * | 2018-02-02 | 2018-06-12 | 上海海事大学 | A kind of six degree of freedom compensation of undulation platform |
| CN109048808A (en) * | 2018-08-29 | 2018-12-21 | 江苏大学 | A kind of Three Degree Of Freedom waves turntable |
| CN109733530A (en) * | 2018-12-14 | 2019-05-10 | 上海海事大学 | A kind of series-parallel six degree of freedom active compensation of undulation platform and its compensation method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104269097B (en) * | 2014-08-13 | 2017-08-11 | 天津工程机械研究院 | A kind of redundant drive six-freedom motion simulation table |
| CN106882344B (en) * | 2017-02-15 | 2018-10-19 | 广东精铟海洋工程股份有限公司 | A kind of compensation of undulation measuring device, measurement method and use its ocean platform |
| CN107878702B (en) * | 2017-11-10 | 2019-08-23 | 江苏科技大学 | A kind of active wave compensating device and method applied to sounding instrument |
| WO2019109151A1 (en) * | 2017-12-08 | 2019-06-13 | Nauti-Craft Pty Ltd | Water craft suspension arrangement |
| CN208107552U (en) * | 2018-01-18 | 2018-11-16 | 青岛希德机器人科技有限公司 | A kind of robot image pickup rocker arm |
-
2019
- 2019-06-27 CN CN201910565191.9A patent/CN110260110B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001038551A (en) * | 1999-08-04 | 2001-02-13 | Hiihaisuto Seiko Kk | Work table mechanism applying six degree of freedom parallel mechanism |
| CA2500693A1 (en) * | 2005-03-14 | 2006-09-14 | Matthew John D. Hayes | Apparatus for multi-axis rotation and translation |
| CN103123035A (en) * | 2013-02-06 | 2013-05-29 | 中国人民解放军海军工程大学 | Ship two-degree-freedom self-adaptation and stabilization platform |
| CN103624774A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Six-degree-of-freedom series-parallel connection robot |
| CN108150782A (en) * | 2018-02-02 | 2018-06-12 | 上海海事大学 | A kind of six degree of freedom compensation of undulation platform |
| CN109048808A (en) * | 2018-08-29 | 2018-12-21 | 江苏大学 | A kind of Three Degree Of Freedom waves turntable |
| CN109733530A (en) * | 2018-12-14 | 2019-05-10 | 上海海事大学 | A kind of series-parallel six degree of freedom active compensation of undulation platform and its compensation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110260110A (en) | 2019-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110260110B (en) | Six-degree-of-freedom series-parallel platform for wave compensation | |
| CN108150782B (en) | A kind of six degree of freedom compensation of undulation platform | |
| CN110243570B (en) | Plane motion mechanism for water surface ship model maneuverability test | |
| CN201980380U (en) | Swinging ascending and sinking simulation test device for ships and warships | |
| CN109733530B (en) | Series-parallel connection six-degree-of-freedom active wave compensation platform | |
| CN214325320U (en) | Four-degree-of-freedom active compensation marine boarding device | |
| CN111720485A (en) | Embedded gyroscope type six-degree-of-freedom stable platform | |
| CN203237379U (en) | Propeller mounting workbench | |
| CN206562916U (en) | Winch heave compensator is used in a kind of deepwater drilling platform device decentralization | |
| CN109052193B (en) | Special lifting joint for wave compensation A-type portal frame | |
| CN115042935B (en) | Water-entering slamming test device for six-degree-of-freedom movement of structure | |
| US20040025777A1 (en) | Supporting device comprising jointed arms | |
| CN117144851A (en) | Hydraulic servo driven three-dimensional berthing buffer mooring device under high sea condition | |
| CN114852260B (en) | Flexible marine scalable corridor bridge with compensation and jack-up function | |
| CN207208397U (en) | The big stabilizer executing agency for turning fin angle can be realized | |
| CN206288186U (en) | Offshore wind farm O＆M ship | |
| CN105775050A (en) | Automatic adjustment bed for ship | |
| CN115042929A (en) | Offshore self-stabilizing floating platform | |
| CN108751015A (en) | A kind of rotary and lifting device | |
| CN201224480Y (en) | System apparatus for building, maintaining and conveying ships on land | |
| CN102777335A (en) | Mounting device for offshore wind generating set based on six-dimensional intelligent mechanical legs | |
| CN220430435U (en) | Wave compensation gangway ladder | |
| CN219134456U (en) | Three-way compensation bearing system for offshore module refuting operation | |
| CN105253260A (en) | Front carrying type tower pillar gesture control vessel dedicated for offshore wind turbine mounting | |
| CN210480580U (en) | GRP pipeline is installation gallows under water |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |