CN112828835A - Multi-degree-of-freedom static pressure decoupling platform - Google Patents
Multi-degree-of-freedom static pressure decoupling platform Download PDFInfo
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- CN112828835A CN112828835A CN202110211730.6A CN202110211730A CN112828835A CN 112828835 A CN112828835 A CN 112828835A CN 202110211730 A CN202110211730 A CN 202110211730A CN 112828835 A CN112828835 A CN 112828835A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
Abstract
The invention provides a multi-degree-of-freedom static pressure decoupling platform which comprises a turnover table, a sliding table and a bottom table, wherein the turnover table, the sliding table and the bottom table are sequentially arranged from top to bottom, the bottom surface of the turnover table is a spherical surface, the top surface and the bottom surface of the sliding table are respectively a spherical surface and a plane, the bottom surface of the turnover table and the top surface of the sliding table form a spherical surface static pressure support, and the bottom surface of the sliding table and the top surface of the bottom table form a plane. Compared with the prior art, the invention realizes frictionless overturning of the overturning platform along the X axis and the Y axis and frictionless rotation along the Z axis through spherical static pressure support formed by the overturning platform and the sliding platform, and frictionless translation of the sliding platform along the X axis and the Y axis is realized through plane static pressure support formed by the sliding platform and the bottom platform, thereby realizing frictionless five-degree-of-freedom motion of the multi-degree-of-freedom static pressure decoupling platform, realizing frictionless motion through static pressure support, and having no influence on the precision and the service life of the decoupling platform.
Description
Technical Field
The invention relates to the technical field of static pressure support, in particular to a multi-degree-of-freedom static pressure decoupling platform based on a static pressure support technology.
Background
Under some special working conditions, the test equipment has both translational relative motion and rotational relative motion, so that multi-degree-of-freedom motion is realized. However, most of the existing test equipment adopts a mechanical structure to realize multi-degree-of-freedom movement, and friction force generated by relative movement can greatly influence the performance, precision and service life of the test equipment.
Disclosure of Invention
The invention aims to solve the technical problem that the performance, the precision and the service life of test equipment are influenced due to large friction force when a mechanical structure is adopted to realize multi-degree-of-freedom motion, and provides a multi-degree-of-freedom static pressure decoupling platform based on spherical static pressure support and planar static pressure support.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
the multi-degree-of-freedom static pressure decoupling platform provided by the invention comprises a turnover table, a sliding table and a bottom table which are sequentially arranged from top to bottom, wherein the bottom surface of the turnover table is a spherical surface, the top surface and the bottom surface of the sliding table are respectively a spherical surface and a plane, the bottom surface of the turnover table and the top surface of the sliding table form a spherical surface static pressure support, and the bottom surface of the sliding table and the top surface of the bottom table form a plane static pressure support.
Preferably, a first static pressure cavity and a second static pressure cavity for keeping balance are symmetrically arranged on the top surface and the bottom surface of the sliding platform respectively, the first static pressure cavity and the second static pressure cavity are communicated with corresponding throttlers through oil supply ducts respectively, and external high-pressure oil is subjected to pressure reduction through the throttlers and then enters the first static pressure cavity and the second static pressure cavity.
Preferably, the number of the first hydrostatic pocket and the second hydrostatic pocket is even.
Preferably, when the number of the first static pressure cavities and the second static pressure cavities is four or more, the first static pressure cavities are uniformly distributed along the circumferential direction of the bottom surface of the overturning platform, and the second static pressure cavities are uniformly distributed along the circumferential direction of the bottom platform.
Preferably, the top surface and the bottom surface of the sliding platform are respectively coated with a plastic coating.
Preferably, oil return grooves communicated with the first static pressure cavity and the second static pressure cavity are respectively machined in the top surface and the bottom surface of the sliding platform, and oil drain grooves communicated with the oil return grooves are machined in the surface of the bottom platform.
Preferably, a first pressure measuring hole and a second pressure measuring hole which are used for monitoring the pressure of the first static pressure cavity and the pressure of the second static pressure cavity are respectively formed in the sliding table, and the first pressure measuring hole and the second pressure measuring hole are respectively communicated with the first static pressure cavity and the second static pressure cavity through oil holes.
Preferably, a sliding table limiting block for limiting the sliding table to move in the horizontal direction is fixed on the circumference of the sliding table.
Preferably, a turnover table limiting ring used for limiting the turnover angle of the turnover table is fixed on the sliding table.
A sliding table limiting ring used for limiting the sliding table to move along the vertical direction is fixed on the bottom table.
Compared with the prior art, the invention realizes frictionless overturning of the overturning platform along the X axis and the Y axis and frictionless rotation along the Z axis through spherical static pressure support formed by the overturning platform and the sliding platform, and frictionless translation of the sliding platform along the X axis and the Y axis is realized through plane static pressure support formed by the sliding platform and the bottom platform, thereby realizing frictionless five-degree-of-freedom motion of the multi-degree-of-freedom static pressure decoupling platform, realizing frictionless motion through static pressure support, and having no influence on the precision and the service life of the decoupling platform.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a multi-degree-of-freedom static pressure decoupling platform according to one embodiment of the invention;
FIG. 2 is a schematic diagram of a partial cross-sectional structure of a multi-degree of freedom hydrostatic decoupling platform in accordance with one embodiment of the invention.
Wherein the reference numerals include: the device comprises a turnover table 1, lightening holes 11, a protrusion 12, a sliding table 2, a first static pressure cavity 21, a second static pressure cavity 22, an oil supply channel 23, a pressure measuring hole 24, an oil hole 25, a boss 26, a bottom table 3, a throttler 4, a turnover table limiting ring 5, a blocking edge 51, a sliding table limiting ring 6, a blocking edge 61 and a sliding table limiting block 7.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
In order to solve the problem that the relative movement of a mechanical structure can generate larger friction force and influence the performance, precision and service life of equipment, the overall idea of the invention is to adopt a hydrostatic pressure supporting technology, and an oil film formed by high-pressure oil is filled between opposite sliding surfaces to realize frictionless relative movement. More specifically, the invention adopts a composite structure combining spherical static pressure support and planar static pressure support, realizes frictionless translation along an X axis and a Y axis, frictionless turnover along the X axis and the Y axis and frictionless rotation along a Z axis through double static pressure support, and realizes frictionless five-degree-of-freedom motion of the multi-degree-of-freedom static pressure decoupling platform.
The multi-degree-of-freedom static pressure decoupling platform provided by the embodiment of the invention is explained in detail below.
Fig. 1 and 2 show the overall structure and the partial cross-sectional structure of a multi-degree-of-freedom static decoupling platform according to one embodiment of the invention.
As shown in fig. 1 and fig. 2, a multi-degree-of-freedom static pressure decoupling platform provided by an embodiment of the present invention includes: from last roll-over table 1, the platform 2 and the end platform 3 that set gradually extremely down, constitute the sphere static pressure and support between roll-over table 1 and the platform 2 that slides, realize that roll-over table 1 along the upset of X axle, along the upset of Y axle and along the rotation of Z axle, constitute the plane static pressure and support between platform 2 and the end platform 3 that slides, realize sliding platform 2 and can follow the translation of X axle and Y axle.
It should be noted that the X-axis, the Y-axis, and the Z-axis form a three-dimensional coordinate system, the X-axis and the Y-axis are horizontal directions, and the Z-axis is a vertical direction, that is, an axial direction of the flipping table 1.
The top surface of the overturning platform 1 is a plane and is used as an installation surface, the bottom surface of the overturning platform 1 is a spherical surface and is used for realizing spherical surface static pressure support, and lightening holes are formed in the overturning platform 1 and are used for lightening the whole weight of the overturning platform 1.
The top surface of the sliding table 2 is a spherical surface and is matched with the spherical surface of the overturning table 1, the spherical surface of the sliding table 2 and the spherical surface of the overturning table 1 form a relative sliding surface, high-pressure oil is filled between the relative sliding surfaces, so that a layer of high-rigidity high-pressure oil film is formed between the relative sliding surfaces, the spherical surface of the sliding table 2 and the spherical surface of the overturning table 1 are in full oil film contact, the spherical surface static pressure support is realized, and the overturning table 1 can overturn along an X axis, can overturn along a Y axis and can rotate along a Z axis.
The bottom surface of the sliding platform 2 is a plane, the top surface of the base platform 3 is also a plane, the bottom surface of the sliding platform 2 and the top surface of the base platform 3 form a relative sliding surface, high-pressure oil is filled between the relative sliding surfaces, so that a high-rigidity high-pressure oil film is formed between the relative sliding surfaces, the plane of the sliding platform 2 and the plane of the base platform 3 are in full oil film contact, plane static pressure support is realized, and the sliding platform 2 can translate along the X axis and the Y axis.
In order to realize spherical static pressure support and planar static pressure support, a first static pressure cavity 21 and a second static pressure cavity 22 for keeping balance are respectively arranged on the top surface and the bottom surface of the sliding platform 2, and high-pressure oil enters the first static pressure cavity 21 and the second static pressure cavity 22 and fills between the opposite sliding surfaces.
Since the odd number of the first static pressure cavities 21 and the second static pressure cavities 22 can cause instability of the overturning platform 1 and the sliding platform 2, the number of the first static pressure cavities 21 and the second static pressure cavities 22 is even and the first static pressure cavities and the second static pressure cavities are symmetrically arranged so as to keep balance of the sliding platform 2 and the overturning platform 1, and balance of the sliding platform 2 and the bottom platform 3.
When the number of the first static pressure cavities 21 and the number of the second static pressure cavities 22 are two, the two first static pressure cavities 21 and the two second static pressure cavities 22 are respectively arranged along the axial direction of the sliding table 2 symmetrically. However, due to machining errors, the balance between the overturning table 1 and the sliding table 2 is easily lost due to the first static pressure chamber 21 and the two second static pressure chambers 22, and therefore the number of the first static pressure chamber 21 and the second static pressure chamber 22 is preferably four or more.
When the number of the first static pressure cavities 21 and the second static pressure cavities 22 is four or more, the first static pressure cavities 21 are uniformly distributed along the axial direction of the bottom surface of the overturning platform 2, and the second static pressure cavities 22 are uniformly distributed along the circumferential direction of the bottom platform 3. The first static pressure cavity 21 and the second static pressure cavity 22 can supply oil to the relative sliding surfaces from different symmetrical directions, so that the overturning platform 1 and the sliding platform 2 are stable.
The number of the first hydrostatic pocket 21 and the second hydrostatic pocket 22 is preferably four in consideration of cost.
The shapes of the first hydrostatic pocket 21 and the second hydrostatic pocket 22 may be polygonal, circular, or fan-shaped. In one example of the present invention, the first and second hydrostatic pockets 21 and 22 are fan-shaped to maximize the contact area of the oil film.
Each first hydrostatic cavity 21 is communicated with a restrictor 4 through an oil supply duct 23, the restrictor 4 is communicated with an oil tank through an external pipeline, high-pressure oil in the oil tank flows through the restrictor 4 and enters the first hydrostatic cavity 21 after being reduced in pressure, and a high-pressure oil film is formed between the opposite sliding surfaces.
Similarly, each second hydrostatic chamber 22 is communicated with a restrictor 4 through an oil supply passage 23, and high-pressure oil flows through the restrictor 4 and enters the second hydrostatic chamber 22 after being reduced in pressure.
In some embodiments of the invention, the restriction 4 may be a small bore restriction or a capillary restriction. In fig. 1, the throttle 4 is mounted on a side wall of the skid 2, and a protective cover is covered on the throttle 4 to prevent the throttle 4 from being damaged during operation.
According to the invention, through the structure integrated design of the sliding platform 2, a spherical hydraulic support and a plane static pressure support are simultaneously formed on the top surface and the bottom surface, and the double static pressure supports can realize frictionless translation of the multi-freedom-degree static pressure decoupling platform along the X axis and the Y axis, frictionless overturning along the X axis and the Y axis and frictionless rotation along the Z axis, namely, frictionless motion of five degrees of freedom is realized.
In one specific example of the invention, the top surface and the bottom surface of the sliding table 2 are respectively coated with plastic coatings, and the plastic coatings can ensure that the sliding surface cannot be damaged by relative movement generated when the static pressure support is not started. Compared with a molten copper coating and an alloy coating, the plastic coating has the advantages of low cost and strong repairability, and when the plastic coating is in contact with the bottom surface of the overturning platform 1 and the top surface of the bottom platform 3 to generate relative motion, the plastic coating cannot scratch the overturning platform 1 and the bottom platform 3, so that the cost is saved, and the service life of the multi-freedom-degree static pressure decoupling platform is prolonged.
And a circle of oil return groove is processed on the top surface of the sliding table 2 and is communicated with the first static pressure cavity 21 for collecting high-pressure oil in the spherical static pressure supporting gap.
Similarly, a circle of oil return groove is also processed on the bottom surface of the sliding platform 2, and the oil return groove is communicated with the second static pressure cavity 22 and used for collecting high-pressure oil in the plane static pressure supporting gap.
The surface of the base platform 3 is provided with a circle of oil drainage groove which is communicated with the oil tank through an oil way and is also communicated with an oil return groove on the sliding platform 2 for returning high-pressure oil to the oil tank.
In an embodiment of the present invention, each first hydrostatic pocket 21 and each second hydrostatic pocket 22 are respectively communicated with a pressure measuring hole 24 through an oil hole 25 for real-time monitoring of the pressure in each first hydrostatic pocket 21 and each second hydrostatic pocket 22.
There is roll-over table spacing ring 5 at the top surface of platform 2 that slides through the fix with screw, and roll-over table spacing ring 5 is the round annular structure, and has the round to extend to the direction of roll-over table 1 and keep off along 51, has the protruding 12 of round in the circumference protrusion of roll-over table 1, keeps off along 51 to playing the effect of blockking to protruding 12 to guarantee that roll-over table 1 is not more than predetermined rotation angle.
The base table 3 is fixed with a sliding table limiting ring 6 through screws, the sliding table limiting ring 6 and the overturning table limiting ring 5 have the same structure and are provided with baffle edges 61, a circle of bosses 26 extend outwards from the bottom surface of the sliding table 2, and the sliding table limiting ring 6 plays a role in blocking the bosses 26 and is used for limiting the sliding table 2 to move along the Z-axis direction.
A sliding table limiting block 7 is further fixed on the circumference of the sliding table 2 and used for limiting the movement of the sliding table 2 along the X-axis and the Y-axis directions.
The above details describe the structure of the multi-degree-of-freedom static pressure decoupling platform provided by the embodiment of the present invention, and the working principle of the multi-degree-of-freedom static pressure decoupling platform is as follows:
high-pressure fluid flows out from the oil tank and gets into the first hydrostatic pressure chamber 21 and the second hydrostatic pressure chamber 22 of platform 2 that slide after the step-down of flow restrictor 4, suspends roll-over table 1 in the top of the platform 2 that slides and suspends the platform 2 in the top of base frame 3 simultaneously, and roll-over table 1 can follow the upset of X axle this moment, can follow the upset of Y axle, can follow the rotation of z axle, and the platform 2 that slides can follow the translation of X axle, can follow the translation of Y axle. When the top surface of the overturning platform 1 is loaded vertically downwards, the gap between the spherical static pressure support and the planar static pressure support is reduced, the pressure in the first static pressure cavity 21 and the second static pressure cavity 22 is increased, the bearing capacity is increased, and the dynamic balance of the static pressure decoupling platform in the vertical direction can be realized.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The multi-degree-of-freedom static pressure decoupling platform is characterized by comprising a turnover table, a sliding table and a bottom table which are sequentially arranged from top to bottom, wherein the bottom surface of the turnover table is a spherical surface, the top surface and the bottom surface of the sliding table are respectively a spherical surface and a plane, the bottom surface of the turnover table and the top surface of the sliding table form a spherical surface static pressure support, and the bottom surface of the sliding table and the top surface of the bottom table form a plane static pressure support.
2. The multi-degree-of-freedom static pressure decoupling platform according to claim 1, wherein a first static pressure cavity and a second static pressure cavity for keeping balance are symmetrically arranged on the top surface and the bottom surface of the sliding platform respectively, the first static pressure cavity and the second static pressure cavity are communicated with corresponding throttlers through oil supply ducts respectively, and external high-pressure oil is depressurized by the throttlers and then enters the first static pressure cavity and the second static pressure cavity.
3. The multi-degree-of-freedom hydrostatic decoupling platform of claim 2, wherein the number of the first hydrostatic pockets and the number of the second hydrostatic pockets are both even.
4. The multi-degree-of-freedom static pressure decoupling platform according to claim 3, wherein when the number of the first static pressure cavities and the second static pressure cavities is four or more, the first static pressure cavities are uniformly distributed along the circumferential direction of the bottom surface of the overturning platform, and the second static pressure cavities are uniformly distributed along the circumferential direction of the bottom platform.
5. The multi-degree-of-freedom static decoupling platform of claim 1, wherein the top and bottom surfaces of the sliding stage are coated with plastic coatings.
6. The multi-degree-of-freedom static pressure decoupling platform according to claim 2, wherein oil return grooves communicated with the first static pressure cavity and the second static pressure cavity are respectively machined in the top surface and the bottom surface of the sliding platform, and oil drain grooves communicated with the oil return grooves are machined in the surface of the bottom platform.
7. The multi-degree-of-freedom static pressure decoupling platform according to claim 2, wherein a first pressure measuring hole and a second pressure measuring hole for monitoring the pressure of the first static pressure cavity and the second static pressure cavity are respectively formed in the sliding table, and the first pressure measuring hole and the second pressure measuring hole are respectively communicated with the first static pressure cavity and the second static pressure cavity through oil holes.
8. The multi-degree-of-freedom static pressure decoupling platform of claim 1, wherein a sliding table limiting block for limiting the sliding table to move along the horizontal direction is fixed on the circumference of the sliding table.
9. The multi-degree-of-freedom static pressure decoupling platform of claim 1, wherein a flipping table limiting ring for limiting the flipping angle of the flipping table is fixed on the sliding table.
10. The multi-degree-of-freedom static pressure decoupling platform of claim 1, wherein a sliding table limiting ring for limiting the sliding table to move in the vertical direction is fixed on the bottom table.
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| CN202110211730.6A CN112828835A (en) | 2021-02-25 | 2021-02-25 | Multi-degree-of-freedom static pressure decoupling platform |
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| CN202110211730.6A CN112828835A (en) | 2021-02-25 | 2021-02-25 | Multi-degree-of-freedom static pressure decoupling platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115931203A (en) * | 2023-03-15 | 2023-04-07 | 中机试验装备股份有限公司 | High-precision mass balance system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115931203A (en) * | 2023-03-15 | 2023-04-07 | 中机试验装备股份有限公司 | High-precision mass balance system |
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