CN111059431A - Two-degree-of-freedom parallel rotating platform with eccentric torque unloading device - Google Patents

Two-degree-of-freedom parallel rotating platform with eccentric torque unloading device Download PDF

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Publication number
CN111059431A
CN111059431A CN201911347350.4A CN201911347350A CN111059431A CN 111059431 A CN111059431 A CN 111059431A CN 201911347350 A CN201911347350 A CN 201911347350A CN 111059431 A CN111059431 A CN 111059431A
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CN
China
Prior art keywords
support
hooke joint
platform
branched chain
rotating shaft
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Pending
Application number
CN201911347350.4A
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Chinese (zh)
Inventor
许允斗
李永杰
杨帆
姚建涛
周玉林
聂升龙
姜泽
丰宗强
赵永生
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Yanshan University
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Yanshan University
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Application filed by Yanshan University filed Critical Yanshan University
Priority to CN201911347350.4A priority Critical patent/CN111059431A/en
Publication of CN111059431A publication Critical patent/CN111059431A/en
Pending legal-status Critical Current

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/18Heads with mechanism for moving the apparatus relatively to the stand

Abstract

The invention discloses a two-degree-of-freedom parallel rotating platform with an eccentric torque unloading device, which comprises a fixed platform, a movable platform, a supporting branched chain, a driving branched chain and an auxiliary branched chain, wherein the auxiliary branched chain comprises a pull-press spring device, the pull-press spring device comprises a lower supporting rod, the bottom end of the lower supporting rod is hinged with the fixed platform, an annular sleeve movably connected with the lower supporting rod is sleeved on the lower supporting rod, a radial locking nut is fixed at the top of the lower supporting rod, an upper pressure spring is installed between the radial locking nut and the annular sleeve, a lower pressure spring is arranged between the annular sleeve and the bottom of the lower supporting rod, and the outer wall of the annular sleeve is fixedly connected with the bottom of the upper supporting rod arranged above the lower supporting rod through a plurality of connecting columns; the top of the upper supporting rod is hinged with the movable platform. On the basis of the traditional rotating platform, the auxiliary branched chain is additionally arranged, and a tension-compression spring device in the auxiliary branched chain can effectively reduce eccentric load and greatly improve the bearing capacity of the rotating platform.

Description

Two-degree-of-freedom parallel rotating platform with eccentric torque unloading device
Technical Field
The invention relates to the field of robots, in particular to a two-degree-of-freedom parallel rotating platform with an eccentric moment unloading device.
Background
At present, a parallel rotating platform is widely applied in the industry fields of numerical control machines, micro-motion operation platforms, motion simulators, multi-dimensional force sensors and the like due to the characteristics of strong bearing capacity, large rigidity, high precision, compact structure, good system dynamic response, small accumulated error and the like, and the parallel rotating platform has three main ways of increasing the bearing capacity under the working condition of heavy load, namely a driving branch with large bearing capacity is selected, which is most easy to realize, but can cause the increase of the size of the whole structure; secondly, an unloading device is added, the unloading effect is most obvious in the mode, and the whole structure is more complex; thirdly, the structure of the parallel rotating platform is improved to realize effective unloading of the load, and the mode can realize effective unloading of the load on the premise of ensuring that the structure size is unchanged, and the problem of complex structure also exists.
The two-degree-of-freedom rotation parallel mechanism disclosed in chinese patent document CN 110450137 a comprises a movable platform, a stationary platform, and a first main branched chain and a second main branched chain respectively connected between the movable platform and the stationary platform, the mechanism has two degrees of freedom, the movable platform can realize rotation in two directions, and has a rotation direction to partially decouple the motion; the mechanism is composed of two main motion branches, and has high rigidity and small volume ratio; the mechanism has the advantages of simple forward and backward kinematics solution, good kinematics performance, high flexibility, high precision and small error. The structure has only one direction decoupling, and the motion control is still more complicated.
Chinese patent document CN104534244A discloses a two-degree-of-freedom parallel rotation platform based on differential principle, which includes an a bevel gear, a B bevel gear, a fixed load assembly, an L-shaped bracket, a support assembly, a first driving assembly, and a second driving assembly. The rotary table can realize rotation and pitching motion of a load based on a differential principle; the whole rotary table has the characteristics of small integral volume, small inertia and high rotating speed. The parallel mechanism realizes movement in two directions based on a differential principle, and the bearing capacity and the structural rigidity are to be further improved.
The chinese patent document CN 107363821 a discloses an unloading serial-parallel connection multi-degree-of-freedom posture adjusting platform, which comprises a fixed platform, a movable platform, a UPS driving branch, an unloading device, a turning table and a driving device. The posture adjusting platform is provided with an unloading device taking a steel wire rope as a main body on the basis of the traditional parallel platform, so that the bearing capacity is improved to a great extent, but the posture adjusting platform is complex in structure.
Disclosure of Invention
In view of the above-mentioned technical problems, a two-degree-of-freedom parallel rotating platform with an eccentric moment unloading device is provided. The technical means adopted by the invention are as follows:
a two-degree-of-freedom parallel rotating platform with an eccentric moment unloading device comprises a fixed platform, wherein a movable platform is arranged above the fixed platform, a supporting branched chain is fixedly arranged at the center of the fixed platform, and the top end of the supporting branched chain is hinged with the center of the movable platform; the fixed platform is uniformly provided with two driving branched chains and two auxiliary branched chains around the axis of the supporting branched chain, and the two driving branched chains are adjacently arranged; the driving branched chain is used for driving the outer edge of the movable platform to move up and down; the bottom end of the driving branched chain is hinged with the fixed platform, and the top end of the driving branched chain is hinged with the movable platform;
the auxiliary branched chain comprises a pull-press spring device, the pull-press spring device comprises a lower supporting rod, the bottom end of the lower supporting rod is hinged to the fixed platform, an annular sleeve movably connected with the lower supporting rod is sleeved on the lower supporting rod, a radial locking nut is fixed to the top of the lower supporting rod, an upper pressure spring sleeved on the lower supporting rod is installed between the radial locking nut and the annular sleeve, a lower pressure spring sleeved between the lower supporting rod is arranged between the annular sleeve and a shaft shoulder bulge machined at the bottom of the lower supporting rod, and the outer wall of the annular sleeve is fixedly connected with the bottom of an upper supporting rod arranged above the lower supporting rod through a plurality of connecting columns; the top of the upper supporting rod is hinged with the movable platform.
The invention provides two technical schemes for driving a branched chain,
the first scheme is as follows: the drive branch chain is including fixing servo motor on the fixed platform, servo motor's output is connected with the input of speed reducer, the output of speed reducer passes through the bearing frame and is connected with the one end of transmission shaft, just the axis of the output of speed reducer with the axis coincidence of transmission shaft, be connected with on the transmission shaft with the transmission shaft rotates the connecting rod of connecting, just the connecting rod is kept away from the one end of transmission shaft is articulated with the bottom of stand, the axis perpendicular to of connecting rod the axis of transmission shaft, the top of stand with it is articulated to move the platform.
Scheme II: the driving branched chain comprises an electric cylinder, the output end of the electric cylinder is arranged upwards, the output end of the electric cylinder is hinged to the movable platform, and the fixed end of the electric cylinder is hinged to the fixed platform.
Furthermore, the top end of the auxiliary branched chain and the top end of the driving branched chain are hinged to the movable platform through a spherical hinge, the spherical hinge comprises a spherical hinge first support which is rotatably connected with the top end of the auxiliary branched chain or the top end of the driving branched chain, a spherical hinge second support is arranged above the spherical hinge first support, the spherical hinge second support is in an inverted U shape, the top of the spherical hinge second support is fixedly connected with the lower surface of the movable platform, a spherical hinge first rotating shaft is arranged between two side walls of the spherical hinge second support, two ends of the spherical hinge first rotating shaft are rotatably connected with the spherical hinge second support through spherical hinge bearings arranged on the side walls of the spherical hinge second support, and the top end of the spherical hinge first support is rotatably connected with the spherical hinge first rotating shaft through a spherical hinge second rotating shaft which radially penetrates through the middle part of the spherical hinge first rotating shaft. The top end of the auxiliary branched chain and the top end of the driving branched chain are both provided with multi-stage step holes, the bottom of the first support of the spherical hinge is provided with multi-stage steps matched with the multi-stage step holes, and the multi-stage steps enter the multi-stage step holes to be rotatably connected with the multi-stage step holes.
Furthermore, the top end of the supporting branched chain is hinged with the center of the lower surface of the movable platform through a Hooke joint I, the Hooke joint I comprises a Hooke joint first support I fixedly connected with the top end of the supporting branched chain, a Hooke joint second support I is arranged above the Hooke joint first support I, the Hooke joint second support I is in an inverted U shape, the top of the Hooke joint second support I is fixedly connected with the lower surface of the movable platform, a Hooke joint first rotating shaft I is arranged between two side walls of the Hooke joint second support I, two ends of the first Hooke joint rotating shaft I are rotatably connected with the second Hooke joint support I through Hooke joint bearings I arranged on two side walls of the second Hooke joint support I, the top end of the first Hooke joint support I is rotatably connected with the first Hooke joint rotating shaft I through a second Hooke joint rotating shaft I which radially penetrates through the middle of the first Hooke joint rotating shaft I.
Furthermore, the fixed end of the electric cylinder is hinged with the upper surface of the fixed platform through a Hooke joint II, the Hooke joint II comprises a Hooke joint first support II fixedly connected with the bottom of the fixed end of the electric cylinder, a Hooke joint second support II is arranged below the Hooke joint first support II, the hook hinge second support II is U-shaped, the bottom of the hook hinge second support II is fixedly connected with the upper surface of the fixed platform, a hook hinge first rotating shaft II is arranged between two side walls of the hook hinge second support II, and two ends of the first Hooke joint rotating shaft II are rotatably connected with the second Hooke joint support II through Hooke joint bearings II arranged on two side walls of the second Hooke joint support II, the bottom end of the first Hooke joint support II is rotatably connected with the first Hooke joint rotating shaft II through a second Hooke joint rotating shaft II which radially penetrates through the middle part of the first Hooke joint rotating shaft II.
Further, the connecting rod pass through hooke joint III with the stand is articulated, hooke joint III includes hooke joint first support III, hooke joint first support III is the U-shaped, just be equipped with hooke joint bearing III on the both sides wall of hooke joint first support III respectively, the major axis both ends of T shape axle respectively with hooke joint bearing III rotates and connects, just be fixed with flange through the screw-thread fit on the minor axis of T shape axle, flange with the bottom fixed connection of stand, be fixed with the axis of rotation on the U bottom of hooke joint first support III, just the axis of rotation with the connecting rod rotates and connects, the axis of rotation with the axis of connecting rod is perpendicular.
The invention has the following advantages:
1. on the basis of the traditional rotating platform, an auxiliary branched chain is additionally arranged, and a tension-compression spring device in the auxiliary branched chain can effectively reduce eccentric load and greatly improve the bearing capacity of the rotating platform.
2. The centers of the spherical hinges at the tail ends of the supporting branched chain, the driving branched chain and the auxiliary branched chain are kept in the same plane, and the two driving branched chains are completely decoupled and easy to control.
For the reasons, the invention can be widely popularized in the fields of rotating platforms and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a two-degree-of-freedom parallel rotating platform with an eccentric moment unloading device in embodiment 1 of the present invention.
FIG. 2 is a schematic view of the structure of the supporting branches in examples 1 and 2 of the present invention.
FIG. 3 is a schematic diagram of the structure of auxiliary branches in examples 1 and 2 of the present invention.
FIG. 4 is a schematic view showing the structure of a tension-compression spring device in examples 1 and 2 of the present invention
Fig. 5 is a schematic view of a ball-and-socket joint structure according to embodiments 1 and 2 of the present invention.
FIG. 6 is a schematic diagram of the driving branched structure in example 1 of the present invention.
Fig. 7 is a schematic structural view of a hooke joint i in embodiment 1 of the present invention.
Fig. 8 is a schematic structural view of a hooke joint iii in embodiment 1 of the present invention.
Fig. 9 is a schematic structural view of a two-degree-of-freedom parallel rotating platform with an eccentric moment unloading device in embodiment 2 of the present invention.
FIG. 10 is a schematic view of the structure of the driving branch chain in example 2 of the present invention.
Fig. 11 is a schematic structural view of a hooke joint ii in embodiment 2 of the present invention.
In the figure: 1. fixing a platform; 2. a movable platform; 3. a support branch chain; 4 (4'), a driving branch; 401. a servo motor; 402. a speed reducer; 403. a bearing seat; 404. a drive shaft; 405. a connecting rod; 406. a column; 407. an electric cylinder; 5. an auxiliary branched chain; 6. a tension-compression spring device; 601. a lower support bar; 602. an annular sleeve; 603. locking the nut; 604. an upper pressure spring; 605. a lower pressure spring; 606. connecting columns; 607. an upper support rod; 7. spherical hinge; 701. a first support is spherically hinged; 702. a second support is spherically hinged; 703. a first rotating shaft is spherically hinged; 704. a ball pivot bearing; 705. a spherical hinge bearing end cover; 706. a second rotating shaft is spherically hinged; 707. a plurality of steps; 8. a Hooke hinge I; 801. a Hooke hinge first support I; 802. a hook hinge second support I; 803. a Hooke hinge first rotating shaft I; 804. a hook hinge bearing I; 805. a Hooke joint bearing end cover I; 806. a hook joint second rotating shaft I; 9. a hook joint III; 901. a hook hinge first support III; 902. a hook hinge bearing III; 903. a hook hinge bearing end cover III; 904. a T-shaped shaft; 905. a connecting flange; 906. a rotating shaft; 10. a hook joint II; 1001. a hook hinge first support II; 1002. a hook hinge second support II; 1003. a hook hinge first rotating shaft II; 1004. a hook hinge bearing II; 1005. a hook hinge bearing end cover II; 1006. and a hook joint second rotating shaft II.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1-8, a two-degree-of-freedom parallel rotating platform with an eccentric moment unloading device comprises a fixed platform 1, a movable platform 2 is arranged above the fixed platform 1, a supporting branched chain 3 is fixedly arranged at the center of the fixed platform 1, and the top end of the supporting branched chain 3 is hinged with the center of the movable platform 2; the fixed platform 1 is uniformly provided with two driving branched chains 4 and two auxiliary branched chains 5 around the axis of the supporting branched chain 3, and the two driving branched chains 4 are adjacently arranged; the driving branched chain 4 is used for driving the outer edge of the movable platform 2 to move up and down; the bottom end of the driving branched chain 4 is hinged with the fixed platform 1, and the top end of the driving branched chain 4 is hinged with the movable platform 2;
the auxiliary branched chain 5 comprises a pull-press spring device 6, the pull-press spring device 6 comprises a lower support rod 601, the bottom end of the lower support rod 601 is hinged to the fixed platform 1, an annular sleeve 602 movably connected with the lower support rod 601 is sleeved on the lower support rod 601, a radial locking nut 603 is fixed at the top of the lower support rod 601, an upper pressure spring 604 sleeved on the lower support rod 601 is installed between the radial locking nut 603 and the annular sleeve 602, a lower pressure spring 605 sleeved between the lower support rods 601 is arranged between the annular sleeve 602 and a shaft shoulder bulge processed at the bottom of the lower support rod 601, and the outer wall of the annular sleeve 602 is fixedly connected with the bottom of an upper support rod 607 arranged above the lower support rod 601 through a plurality of connecting columns 606; the top of the upper supporting rod 607 is hinged with the movable platform 2.
The driving branched chain 4 comprises a servo motor 401 fixed on the fixed platform 1, the output end of the servo motor 401 is connected with the input end of a speed reducer 402, the output end of the speed reducer 402 is connected with one end of a transmission shaft 404 through a bearing seat 403, the axis of the output end of the speed reducer 402 is overlapped with the axis of the transmission shaft 404, the transmission shaft 404 is connected with a connecting rod 405 rotatably connected with the transmission shaft 404, one end, far away from the transmission shaft 404, of the connecting rod 405 is hinged to the bottom end of an upright post 406, the axis of the connecting rod 405 is perpendicular to the axis of the transmission shaft 404, and the top end of the upright post 406 is hinged to the movable platform 2.
The top end of the auxiliary branched chain 5 and the top end of the driving branched chain 4 are hinged with the movable platform 2 through a spherical hinge 7, the spherical hinge 7 comprises a spherical hinge first support 701 rotatably connected with the top end of the auxiliary branched chain 5 or the top end of the driving branched chain 4, a spherical hinge second support 702 is arranged above the spherical hinge first support 701, the spherical hinge second support 702 is in an inverted U shape, the top of the spherical hinge second support 702 is fixedly connected with the lower surface of the movable platform 2, a spherical hinge first rotating shaft 703 is arranged between two side walls of the spherical hinge second support 702, and both ends of the spherical hinge first rotating shaft 703 are rotatably connected with the spherical hinge second support 702 through a spherical hinge bearing 704 and a spherical hinge bearing end cover 705 which are arranged on the side wall 702 of the spherical hinge second support, the top end of the spherical hinge first support 701 is rotatably connected with the spherical hinge first rotating shaft 703 through a spherical hinge second rotating shaft 706 which radially penetrates through the middle part of the spherical hinge first rotating shaft 703. The top end of the auxiliary branched chain 5 and the top end of the driving branched chain 4 are both provided with multi-stage step holes, the bottom of the first spherical hinge support 701 is provided with a multi-stage step 707 matched with the multi-stage step holes, and the multi-stage step 707 enters the multi-stage step holes to be rotatably connected with the multi-stage step holes.
The top end of the supporting branched chain 3 is hinged to the center of the lower surface of the movable platform 2 through a Hooke joint I8, the Hooke joint I8 comprises a Hooke joint first support I801 fixedly connected to the top end of the supporting branched chain 3, a Hooke joint second support I802 is arranged above the Hooke joint first support I801, the Hooke joint second support I802 is in an inverted U shape, the top of the Hooke joint second support I802 is fixedly connected to the lower surface of the movable platform 2, a Hooke joint first rotating shaft I803 is arranged between two side walls of the Hooke joint second support I802, two ends of the Hooke joint first rotating shaft I803 are rotatably connected with the Hooke joint second support I802 through Hooke joint bearing I804 and Hooke joint bearing end cover I805 arranged on the two side walls of the Hooke joint second support I802, and the top end of the Hooke joint first support I801 radially penetrates through the Hooke joint first rotating shaft I804 and the Hooke joint second rotating shaft I806 in the middle of the Hooke joint first rotating shaft 803 The first rotation shaft I803 is rotatably connected.
The connecting rod 405 is hinged to the upright post 406 through a hooke joint III 9, the hooke joint III 9 comprises a hooke joint first support III 901, the hooke joint first support III 901 is U-shaped, two side walls of the hooke joint first support III 901 are respectively provided with a hooke joint bearing III 902 and a hooke joint bearing end cover III 903, two ends of a long shaft of a T-shaped shaft 904 are respectively rotatably connected with the hooke joint bearing III 902, a short shaft of the T-shaped shaft 904 is fixedly provided with a connecting flange 905 through threaded matching, the connecting flange 905 is fixedly connected with the bottom end of the upright post 406, a rotating shaft 906 is fixedly arranged on a U-shaped bottom of the hooke joint first support III 901, the rotating shaft 906 is rotatably connected with the connecting rod 405, and the axis of the rotating shaft 906 is perpendicular to the axis of the connecting rod 405.
Example 2
As shown in FIGS. 2 to 5 and 9 to 11, a two-degree-of-freedom parallel rotating platform with an eccentric moment unloading device. The present embodiment is different from embodiment 1 in that: the driving branched chain 4' comprises an electric cylinder 407, the output end of the electric cylinder 407 is arranged upwards, the output end of the electric cylinder 407 is hinged to the movable platform 2, and the fixed end of the electric cylinder 407 is hinged to the fixed platform 1.
The fixed end of the electric cylinder 407 is hinged to the upper surface of the fixed platform 1 through a hooke joint II 10, the hooke joint II 10 comprises a hooke joint first support II 1001 fixedly connected to the bottom of the fixed end of the electric cylinder 407, a hooke joint second support II 1002 is arranged below the hooke joint first support II 1001, the hooke joint second support II 1002 is U-shaped, the bottom of the hooke joint second support II 1002 is fixedly connected to the upper surface of the fixed platform 1, a hooke joint first rotating shaft II 1003 is arranged between two side walls of the hooke joint second support II 1002, two ends of the hooke joint first rotating shaft II 1003 are rotatably connected with the hooke joint second support II 1002 through hooke joint bearings II 1004 and hooke joint bearing end covers II 1005 arranged on the two side walls of the hooke joint second support II 1002, and the bottom end of the hooke joint first support II 1001 radially penetrates through the hooke joint second rotating shaft II 1003 in the middle of the hooke joint first rotating shaft 1003 and the hooke joint 1006 II 1006 And the rotating shaft II 1003 is in rotating connection.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1. A two-degree-of-freedom parallel rotating platform with an eccentric moment unloading device comprises a fixed platform, wherein a movable platform is arranged above the fixed platform, a supporting branched chain is fixedly arranged at the center of the fixed platform, and the top end of the supporting branched chain is hinged with the center of the movable platform; the fixed platform is uniformly provided with two driving branched chains and two auxiliary branched chains around the axis of the supporting branched chain, and the two driving branched chains are adjacently arranged; the driving branched chain is used for driving the outer edge of the movable platform to move up and down; the bottom of drive branched chain with decide the platform and be connected, the top of drive branched chain with it is articulated to move the platform, its characterized in that:
the auxiliary branched chain comprises a pull-press spring device, the pull-press spring device comprises a lower supporting rod, the bottom end of the lower supporting rod is hinged to the fixed platform, an annular sleeve movably connected with the lower supporting rod is sleeved on the lower supporting rod, a radial locking nut is fixed to the top of the lower supporting rod, an upper pressure spring sleeved on the lower supporting rod is installed between the radial locking nut and the annular sleeve, a lower pressure spring sleeved between the lower supporting rod is arranged between the annular sleeve and a shaft shoulder bulge machined at the bottom of the lower supporting rod, and the outer wall of the annular sleeve is fixedly connected with the bottom of an upper supporting rod arranged above the lower supporting rod through a plurality of connecting columns; the top of the upper supporting rod is hinged with the movable platform.
2. The two-degree-of-freedom parallel rotating platform with the eccentric moment unloading device according to claim 1, characterized in that: the drive branch chain is including fixing servo motor on the fixed platform, servo motor's output is connected with the input of speed reducer, the output of speed reducer passes through the bearing frame and is connected with the one end of transmission shaft, just the axis of the output of speed reducer with the axis coincidence of transmission shaft, be connected with on the transmission shaft with the transmission shaft rotates the connecting rod of connecting, just the connecting rod is kept away from the one end of transmission shaft is articulated with the bottom of stand, the axis perpendicular to of connecting rod the axis of transmission shaft, the top of stand with it is articulated to move the platform.
3. The two-degree-of-freedom parallel rotating platform with the eccentric moment unloading device according to claim 1, characterized in that: the driving branched chain comprises an electric cylinder, the output end of the electric cylinder is arranged upwards, the output end of the electric cylinder is hinged to the movable platform, and the fixed end of the electric cylinder is hinged to the fixed platform.
4. The two-degree-of-freedom parallel rotating platform with the eccentric moment unloading device as claimed in any one of claims 1 to 3, wherein: the top end of the auxiliary branched chain and the top end of the driving branched chain are hinged to the movable platform through spherical hinges, each spherical hinge comprises a spherical hinge first support which is rotatably connected with the top end of the auxiliary branched chain or the top end of the driving branched chain, a spherical hinge second support is arranged above the spherical hinge first support, the spherical hinge second support is in an inverted U shape, the top of the spherical hinge second support is fixedly connected with the lower surface of the movable platform, a spherical hinge first rotating shaft is arranged between two side walls of the spherical hinge second support, two ends of the spherical hinge first rotating shaft are rotatably connected with the spherical hinge second support through spherical hinge bearings arranged on the side walls of the spherical hinge second supports, and the top end of the spherical hinge first support is rotatably connected with the spherical hinge first rotating shaft through a spherical hinge second rotating shaft which radially penetrates through the middle part of the spherical hinge first rotating shaft.
5. The two-degree-of-freedom parallel rotating platform with the eccentric moment unloading device according to claim 4, wherein: the top end of the auxiliary branched chain and the top end of the driving branched chain are both provided with multi-stage step holes, the bottom of the first support of the spherical hinge is provided with multi-stage steps matched with the multi-stage step holes, and the multi-stage steps enter the multi-stage step holes to be rotatably connected with the multi-stage step holes.
6. The two-degree-of-freedom parallel rotating platform with the eccentric moment unloading device according to claims 1-3, wherein: the top end of the supporting branched chain is hinged with the center of the lower surface of the movable platform through a Hooke joint I, the Hooke joint I comprises a Hooke joint first support I fixedly connected with the top end of the supporting branched chain, a Hooke joint second support I is arranged above the Hooke joint first support I, the Hooke joint second support I is in an inverted U shape, the top of the Hooke joint second support I is fixedly connected with the lower surface of the movable platform, a Hooke joint first rotating shaft I is arranged between two side walls of the Hooke joint second support I, two ends of the first Hooke joint rotating shaft I are rotatably connected with the second Hooke joint support I through Hooke joint bearings I arranged on two side walls of the second Hooke joint support I, the top end of the first Hooke joint support I is rotatably connected with the first Hooke joint rotating shaft I through a second Hooke joint rotating shaft I which radially penetrates through the middle of the first Hooke joint rotating shaft I.
7. The two-degree-of-freedom parallel rotating platform with the eccentric moment unloading device according to claim 3, wherein: the fixed end of the electric cylinder is hinged with the upper surface of the fixed platform through a Hooke joint II, the Hooke joint II comprises a Hooke joint first support II fixedly connected with the bottom of the fixed end of the electric cylinder, a Hooke joint second support II is arranged below the Hooke joint first support II, the hook hinge second support II is U-shaped, the bottom of the hook hinge second support II is fixedly connected with the upper surface of the fixed platform, a hook hinge first rotating shaft II is arranged between two side walls of the hook hinge second support II, and two ends of the first Hooke joint rotating shaft II are rotatably connected with the second Hooke joint support II through Hooke joint bearings II arranged on two side walls of the second Hooke joint support II, the bottom end of the first Hooke joint support II is rotatably connected with the first Hooke joint rotating shaft II through a second Hooke joint rotating shaft II which radially penetrates through the middle part of the first Hooke joint rotating shaft II.
8. The two-degree-of-freedom parallel rotating platform with the eccentric moment unloading device according to claim 2, characterized in that: the connecting rod pass through hooke joint III with the stand is articulated, hooke joint III includes hooke joint first support III, hooke joint first support III is the U-shaped, just be equipped with hooke joint bearing III on the both sides wall of hooke joint first support III respectively, the major axis both ends of T shape axle respectively with hooke joint bearing III rotates to be connected, just be fixed with flange through screw-thread fit on the minor axis of T shape axle, flange with the bottom fixed connection of stand, be fixed with the axis of rotation on the U bottom of hooke joint first support III, just the axis of rotation with the connecting rod rotates to be connected, the axis of rotation with the axis of connecting rod is perpendicular.
CN201911347350.4A 2019-12-24 2019-12-24 Two-degree-of-freedom parallel rotating platform with eccentric torque unloading device Pending CN111059431A (en)

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