CN111564095A - Series-parallel combined type two-degree-of-freedom heavy swing platform - Google Patents
Series-parallel combined type two-degree-of-freedom heavy swing platform Download PDFInfo
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- CN111564095A CN111564095A CN202010078146.3A CN202010078146A CN111564095A CN 111564095 A CN111564095 A CN 111564095A CN 202010078146 A CN202010078146 A CN 202010078146A CN 111564095 A CN111564095 A CN 111564095A
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- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
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Abstract
The invention discloses a series-parallel combined type heavy swing platform with two degrees of freedom, which comprises a bearing frame, an outer swing frame horizontally arranged on the bearing frame and capable of swinging along a horizontal axis, an inner swing frame horizontally arranged in the outer swing frame and capable of swinging along a horizontal axis, a swing object mounting frame and two groups of parallel driving mechanisms, wherein the two horizontal axes are positioned on the same horizontal plane and are vertically distributed. The invention realizes the rolling, pitching and composite swinging motions of the inner cradle and the outer cradle through linkage, and has the characteristics of large bearing capacity, strong impact load resistance and large installation space.
Description
Technical Field
The invention relates to the technical field of motion simulation equipment, in particular to a series-parallel combined type two-degree-of-freedom heavy swing platform.
Background
The rocking platform is a space motion mechanism widely used for simulating the motion postures of ships and vehicles, and has high application value in national defense and civil use. With the continuous expansion of the swing platform technology in these fields, higher requirements are put forward on the aspects of bearing space, load capacity, impact resistance and the like. The tandem type swing platform has a compact structure, but has obvious defects in the aspects of bearing space, rigidity and the like, so that the application of the tandem type swing platform is greatly limited, and a hydraulic three-axis turntable developed by European DelaAerosmith company is a typical tandem type swing platform; the parallel type swing platform is based on a parallel mechanism, has the characteristics of high rigidity, large load, high precision and the like, wherein the parallel type swing platform is most deeply researched on a 6-degree-of-freedom motion platform based on a Gough-Stewart mechanism and is widely applied to the prior parallel type swing platform. However, the maximum load which can be borne by the swing platform researched at present is relatively small, and the research on the swing platform with the load of hundreds of tons is lacked, so that the research on the swing platform with the ultra-large installation space, the ultra-large bearing capacity and the strong impact capacity has great significance, and simultaneously, the great challenge is also faced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a series-parallel combined type heavy swing platform with two degrees of freedom, which realizes the rolling, pitching and composite swing motions of an inner swing frame and an outer swing frame through linkage, has the characteristics of large bearing capacity, strong impact load resistance, large installation space and the like, and is suitable for a swing motion simulation test of overlarge load with larger structure size and weight, especially higher appearance.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a heavy platform that sways of two degrees of freedom of series-parallel combination formula, includes that bearing frame, horizontal installation just can follow the outer cradle that a horizontal axis swung and changes in bearing frame, horizontal installation just can follow the interior cradle that a horizontal axis swung and changes in outer cradle, and two horizontal axes are located same horizontal plane and vertical distribution, and two horizontal axes divide equally outer cradle and interior cradle that correspond respectively, still include and sway thing mounting bracket and two sets of parallel drive mechanism, sway the thing mounting bracket and install in interior cradle, every group parallel drive mechanism all includes two symmetric distribution's main drive branch, and every group main drive branch's the central axis is located coplanar and symmetric distribution in the both sides of another horizontal axis with one of them horizontal axis, parallel drive mechanism makes interior cradle fluctuate along two horizontal axes and change.
The bearing frame is provided with support bearing seats symmetrically, two sides of the outer rocking frame are rotatably connected to the support bearing seats through first rotating shafts, and the outer rocking frame can swing along an axis connecting line of the two first rotating shafts.
The outer rocking frame and the inner rocking frame are connected through two symmetrically distributed second rotating shafts, the inner rocking frame can swing along the axis connecting line of the two second rotating shafts, and the axis connecting line of the two second rotating shafts and the axis connecting line of the two first rotating shafts are located on the same horizontal plane and are vertically distributed.
The lower extreme of interior cradle is connected with the drive link span, drive link span and bearing frame are connected respectively to the both ends of parallelly connected actuating mechanism.
The parallel driving mechanism further comprises auxiliary driving branches, auxiliary driving branches are distributed on two sides of each main driving branch at equal intervals, two ends of each auxiliary driving branch and two ends of each main driving branch are connected with the driving connecting frame and the bearing frame through a first universal pair and a second universal pair respectively, and the installation directions of the auxiliary driving branches and the first universal pairs and the second universal pairs of the main driving branches on the same side are the same.
The auxiliary driving branch and the main driving branch are hydraulic cylinders.
The first universal pair is a ball pair or a hooke pair.
The second universal pair is a ball pair or a Hooke pair.
The object mounting bracket sways includes a plurality of object mounting bracket branches of swaying and is located the object mounting bracket bottom plate that sways of a plurality of object mounting bracket branches lower extremes, and a plurality of object mounting bracket branches of swaying enclose into a space that supplies to sway the thing and put with swaying the object mounting bracket bottom, and the upper end of a plurality of object mounting bracket branches of swaying is equipped with the framework mount pad of connecting the interior cradle.
The driving connecting frame and the parallel driving mechanism are both positioned at the periphery of the supporting rod of the swinging object mounting frame.
The invention has the beneficial effects that:
1. adopt series-parallel combination formula structure, support with stable bearing frame, the rotation center of rocking the body is injectd on the one hand to the serial connection mechanism that outer cradle and interior cradle are constituteed, and on the other hand bears the load, and parallel drive mechanism is used for supporting serial connection mechanism and drives and rocks the body, and serial connection mechanism can bear when parallel drive mechanism breaks down and play the safety protection effect, and the whole bearing capacity of rocking platform is big, and the security is high.
2. The series mechanism consisting of the outer rocking frame and the inner rocking frame is adopted, the size and the shape of the swinging object mounting frame are changed, the swinging simulation motion of swinging objects with different sizes and shapes can be suitable, the mounting space of the swinging object mounting frame is large, and the swinging gravity center height of the swinging objects is adjustable.
3. By adopting a mode of combining the redundant drive and the main and auxiliary drives, the driving force provided by the auxiliary drive branch is large, and meanwhile, the auxiliary drive branch can resist larger impact load and impact torque.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is an installed perspective view of the drive link and parallel drive mechanism of the present invention;
FIG. 5 is an installed perspective view of the outer and inner cradles of the present invention;
FIG. 6 is a perspective view of the outer and inner cradles of the present invention in combination;
fig. 7 is a perspective view of the waggle mount of the present invention.
In the figure: the main beam 15, the auxiliary beam 16, the support bearing pedestal 2, the outer cradle 3, the outer cradle frame 31, the reinforcing bar 32, the rotating frame 33, the first rotating shaft 34, the inner cradle 4, the inner cradle frame 41, the second rotating shaft 42, the swinging object mounting frame 5, the swinging object mounting frame strut 51, the swinging object mounting frame bottom plate 52, the swinging object mounting frame 53, the frame mounting pedestal 54, the swinging object mounting frame mounting hole 55, the reinforcing cross bar 56, the driving connecting frame 6, the driving connecting frame 61, the driving connecting frame strut 62, the parallel driving mechanism 7, the auxiliary driving branch 71, the main driving branch 72, the first universal pair 73 and the second universal pair 74.
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description below:
as shown in fig. 1-7, a series-parallel combined two-degree-of-freedom heavy swing platform comprises a bearing frame 1, an outer swing frame 3 horizontally installed on the bearing frame 1 and capable of swinging along a horizontal axis, and an inner swing frame 4 horizontally installed in the outer swing frame 3 and capable of swinging along a horizontal axis, wherein the two horizontal axes are located on the same horizontal plane and vertically distributed.
Bearing frame 1 is square frame, and bearing frame 1 is steel structural framework or concrete frame, and bearing frame 1 includes four landing legs 11 that are square arranging, and the lower extreme of every landing leg 11 is equipped with backing plate 13, and the area of backing plate 13 is greater than the sectional area of landing leg 11. The bearing frame 1 still includes entablature and bottom end rail 12, bottom end rail 12 is two sets of and is located the below of entablature about interval distribution, the bottom end rail 12 inboard that is located the top is equipped with parallelly connected drive branch mount pad 14, every group entablature and bottom end rail 12 are 4, all correspond the upper, middle and lower three in the distribution between every two adjacent landing legs 11, the entablature includes the girder 15 of two symmetric distributions and the auxiliary beam 16 of two symmetric distributions, two girders 15 and two auxiliary beam 16 enclose into square frame, wherein the upper end of the both ends lower surface laminating landing leg 11 of girder 15, the inside wall at the 15 both ends of auxiliary beam 16 both ends laminating girder 15, girder 15 plays the bearing effect like this, auxiliary beam 16 plays the effect of strengthening the girder 15 and supporting.
The bearing frame 1 is provided with support bearing seats 2 symmetrically, and specifically, the two support bearing seats 2 are respectively arranged in the middle of the upper end face of the main beam 15. The two sides of the outer cradle 3 are rotatably connected to the support bearing pedestal 2 through the first rotating shafts 34, and the outer cradle 3 can swing along the axis connecting line of the two first rotating shafts 34.
The outer rocking frame 3 and the inner rocking frame 4 are connected through two second rotating shafts 42 which are symmetrically distributed, the inner rocking frame 4 can swing along the axis connecting line of the two second rotating shafts 42, and the axis connecting line of the two second rotating shafts 42 and the axis connecting line of the two first rotating shafts 34 are positioned on the same horizontal plane and vertically distributed.
The inner cradle 4 includes a square inner cradle frame 41, wherein opposite sides of the inner cradle frame 41 and opposite sides of the outer cradle 3 are connected by a second rotating shaft 42, and the square of the inner cradle frame 41 is smaller than the square of the outer cradle frame 31.
The outer cradle 3 and the inner cradle 4 constitute a tandem mechanism of the cradle of the present invention.
The two horizontal axes respectively equally divide the corresponding outer rocking frame 3 and the corresponding inner rocking frame 4, and the inner rocking frame 4 is positioned at the right center of the outer rocking frame 3, so that the reliability of the rocking is ensured.
Still including swaing thing mounting bracket 5 and two sets of actuating mechanism 7 that connect in parallel, it installs in interior cradle 4 to sway thing mounting bracket 5, sway thing mounting bracket 5 and include a plurality of thing mounting bracket branches 51 of swaing and be located a plurality of thing mounting bracket bottom plates 52 that sway of swaing thing mounting bracket branch 51 lower extreme, a plurality of thing mounting bracket branches 51 of swaing and sway thing mounting bracket bottom plates 52 and enclose into a space that supplies to sway the thing and put, and the upper end of a plurality of thing mounting bracket branches 51 of swaing is equipped with the framework mount pad 54 of connecting interior cradle 4. Specifically, be equipped with for the upper end of a plurality of thing mounting bracket branches 51 and wave thing mounting bracket framework 53, it is square framework and wave thing mounting bracket framework 53's outward edge size and be less than the inward edge size of interior cradle framework 41 to wave thing mounting bracket framework 53, four angle departments of rocking thing mounting bracket framework 53 all outwards extend the framework mount pad 54 that forms the right angle shape, the up end of cradle framework 41 in the lower terminal surface laminating of framework mount pad 54, framework mount pad 54 is equipped with and waves thing mounting bracket mounting hole 55, it is fixed as an organic whole with interior cradle 4 through eight thing mounting bracket mounting holes 55 to wave thing mounting bracket 5.
The number of the swing object mounting rack supporting rods 51 is 4, the middle parts of the 4 swing object mounting rack supporting rods 51 are connected through the reinforcing cross rod 56, and the swing object mounting racks 5 can have different sizes and shapes and can also be a mounting flat plate so as to adapt to swing simulation motion tests of swing objects with different structures.
The two groups of parallel driving mechanisms 7 are 4 in total and are symmetrically distributed pairwise, and the two groups of parallel driving mechanisms 7 are uniformly and symmetrically arranged in the bearing frame 1.
Each group of parallel driving mechanisms 7 comprises two main driving branches 72 which are symmetrically distributed, the central axis of each group of main driving branches 72 and one horizontal axis are positioned on the same plane and symmetrically distributed on two sides of the other horizontal axis, and the parallel driving mechanisms 7 enable the inner rocking frame 4 to vertically rock along the two horizontal axes, so that the rolling, pitching and compound rocking motions of the rocking object mounting frame can be realized.
The parallel driving mechanism 7 further comprises auxiliary driving branches 71, the auxiliary driving branches 71 are distributed on two sides of each main driving branch 72 at equal intervals, and specifically, each parallel driving mechanism 7 comprises 1 main driving branch 72 distributed in the middle and two auxiliary driving branches 71 distributed at two ends.
The lower extreme of interior rocking arm 4 is connected with drive link 6, and link 6 includes square drive link framework 61 and the drive link branch 62 that is located drive link framework 61 up end, and the up end of drive link branch 62 pastes and the lower terminal surface of interior rocking arm framework 41 of fixed connection.
And two ends of the parallel driving mechanism 7 are respectively connected with the driving connecting frame 6 and the bearing frame 1.
The two ends of the auxiliary driving branch 71 and the main driving branch 72 are respectively connected with the driving connecting frame 6 and the bearing frame 1 through a first universal pair 73 and a second universal pair 74, specifically, the second universal pair 74 is connected on the parallel driving branch mounting base 14.
The first universal pair 73 and the second universal pair 74 of the auxiliary driving branch 71 and the main driving branch 72 which are positioned on the same side are installed in the same direction.
The auxiliary drive branch 71 and the main drive branch 72 are hydraulic cylinders. The auxiliary drive branch 71 may also be a damper.
The first universal pair 73 is a ball pair or a hooke pair.
The second gimbal pair 74 is a ball pair or a hooke pair.
The driving connecting frame 6 and the parallel driving mechanism 7 are both positioned at the periphery of the swinging object mounting frame strut 51.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A series-parallel combined two-degree-of-freedom heavy swing platform is characterized in that: comprises a bearing frame (1), an outer cradle (3) which is horizontally arranged on the bearing frame (1) and can swing along a horizontal axis, an inner cradle (4) which is horizontally arranged in the outer cradle (3) and can swing along a horizontal axis, two horizontal axes are positioned on the same horizontal plane and vertically distributed, the two horizontal axes respectively equally divide the corresponding outer cradle (3) and the inner cradle (4), a swinging object mounting frame (5) and two groups of parallel driving mechanisms (7), the swinging object mounting frame (5) is mounted on the inner rocking frame (4), each group of parallel driving mechanisms (7) comprises two main driving branches (72) which are symmetrically distributed, the central axis of each group of main driving branches (72) and one horizontal axis are positioned on the same plane and symmetrically distributed on two sides of the other horizontal axis, the parallel driving mechanism (7) enables the inner cradle (4) to swing up and down along two horizontal axes.
2. The series-parallel combination type two-degree-of-freedom heavy swing platform as claimed in claim 1, wherein: the bearing frame (1) is provided with support bearing seats (2) symmetrically, two sides of the outer rocking frame (3) are rotatably connected to the support bearing seats (2) through first rotating shafts (34), and the outer rocking frame (3) can swing along an axis connecting line of the two first rotating shafts (34).
3. The series-parallel combination type two-degree-of-freedom heavy swing platform as claimed in claim 2, wherein: the outer cradle (3) is connected with the inner cradle (4) through two symmetrically distributed second rotating shafts (42), the inner cradle (4) can swing along the axis connecting line of the two second rotating shafts (42), and the axis connecting line of the two second rotating shafts (42) and the axis connecting line of the two first rotating shafts (34) are located on the same horizontal plane and are vertically distributed.
4. The series-parallel combination type two-degree-of-freedom heavy swing platform as claimed in claim 1, wherein: the lower extreme of interior cradle (4) is connected with drive link (6), drive link (6) and bearing frame (1) are connected respectively to the both ends of parallelly connected actuating mechanism (7).
5. The series-parallel combination type two-degree-of-freedom heavy swing platform as claimed in claim 4, wherein: the parallel driving mechanism (7) further comprises auxiliary driving branches (71), the auxiliary driving branches (71) are distributed on two sides of each main driving branch (72) at equal intervals, two ends of each auxiliary driving branch (71) and each main driving branch (72) are connected with the driving connecting frame (6) and the bearing frame (1) through a first universal pair (73) and a second universal pair (74), and the installation directions of the first universal pair (73) and the second universal pair (74) of the auxiliary driving branches (71) and the main driving branches (72) on the same side are the same.
6. The series-parallel combination type two-degree-of-freedom heavy swing platform as claimed in claim 5, wherein: the auxiliary driving branch (71) and the main driving branch (72) are hydraulic cylinders.
7. The series-parallel combination type two-degree-of-freedom heavy swing platform as claimed in claim 5, wherein: the first universal pair (73) is a ball pair or a hooke pair.
8. The series-parallel combination type two-degree-of-freedom heavy swing platform as claimed in claim 5, wherein: the second universal pair (74) is a ball pair or a Hooke pair.
9. The series-parallel combination type two-degree-of-freedom heavy swing platform as claimed in claim 5, wherein: sway thing mounting bracket (5) and include a plurality of thing mounting bracket branches (51) of swaying and be located a plurality of thing mounting bracket bottom plates (52) of swaying that sway thing mounting bracket branch (51) lower extreme, a plurality of thing mounting bracket branches of swaying (51) and sway thing mounting bracket bottom plates (52) and enclose into a space that supplies to sway the thing and put, the upper end of a plurality of thing mounting bracket branches of swaying (51) is equipped with framework mount pad (54) of connecting interior cradle (4).
10. The series-parallel combination type two-degree-of-freedom heavy swing platform of claim 9, wherein: the driving connecting frame (6) and the parallel driving mechanism (7) are both positioned at the periphery of the swinging object mounting frame supporting rod (51).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010078146.3A CN111564095B (en) | 2020-01-23 | 2020-01-23 | Series-parallel combined type two-degree-of-freedom heavy swing platform |
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| CN202010078146.3A CN111564095B (en) | 2020-01-23 | 2020-01-23 | Series-parallel combined type two-degree-of-freedom heavy swing platform |
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| CN111564095B CN111564095B (en) | 2021-01-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828830A (en) * | 2020-12-25 | 2021-05-25 | 北京动力机械研究所 | Frock daughter board lifting device of flexible production line manual assembly platform of digitization |
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