CN114905489B - Branched flip-chip three-degree-of-freedom parallel stable platform - Google Patents
Branched flip-chip three-degree-of-freedom parallel stable platform Download PDFInfo
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- CN114905489B CN114905489B CN202210509254.0A CN202210509254A CN114905489B CN 114905489 B CN114905489 B CN 114905489B CN 202210509254 A CN202210509254 A CN 202210509254A CN 114905489 B CN114905489 B CN 114905489B
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- 230000007246 mechanism Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 239000002436 steel type Substances 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0066—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-spherical
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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- Pivots And Pivotal Connections (AREA)
Abstract
The invention relates to a branched inverted three-degree-of-freedom parallel stable platform which comprises a rack, a driving branch and a tail end platform, wherein the tail end platform is arranged at a bottom plate of the rack, the driving branch is arranged between a circular ring hanging platform and the tail end platform, a first end of an electric push rod cylinder body in the driving branch is connected with the bottom of the circular ring hanging platform through a Hooke hinge main shaft, an electric push rod shaft is arranged at a second end of the electric push rod cylinder body in a sliding manner, the first end of the electric push rod shaft is connected with an edge ball socket ball pair in the tail end platform through an edge ball head arranged at the first end of the electric push rod shaft, and a center ball head in the driving branch is connected with a center ball socket ball pair in the rack. The tail end platform is arranged at the bottom of the frame, and unbalanced moment caused by rotation of the tail end platform is reduced by reducing the gravity center height of the stable platform, and the tail end platform has the advantages of being simple in structure, high in reliability, high in bearing capacity, easy to control and the like.
Description
Technical Field
The invention belongs to the technical field of parallel stabilizing mechanisms, and particularly relates to a branched flip-chip three-degree-of-freedom parallel stabilizing platform.
Background
The aviation machine and the mounting equipment thereof are inevitably disturbed by high-speed air flow in the navigation process of the aircraft, and in the flight process, the body can be changed in posture due to active control generated for adapting to the change of the route. These attitude changes make it difficult to obtain a stable working area in the cabin, and for part of aviation operations, special material transportation and high-precision instruments can all have a certain influence, even endanger part of personal and property safety.
In order to solve the problems, the invention designs the branched flip-chip three-degree-of-freedom parallel stable platform, and the stable platform can provide a continuous and stable working area in the navigation process of the aeronautical machinery by isolating the attitude disturbance of the machine body, so that the stable platform has great significance in solving the related interference problem in the aviation operation.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides the branched inverted three-degree-of-freedom parallel stable platform, wherein the tail end platform is arranged at the bottom of the frame, the unbalanced moment caused by rotation of the tail end platform is reduced by reducing the gravity center height of the stable platform, meanwhile, the three translational degrees of freedom are limited by a center ball pair formed by a center ball head and a center ball socket, so that the tail end platform can only rotate, the unconstrained driving branch can not make any constraint on the tail end platform, but can control the three rotational degrees of freedom of the tail end platform, the mutual separation of the driving branch control and the degree-of-freedom constraint is realized, the mechanism is smooth in movement, the mutual conflict among mechanism structures in the movement process is avoided, the structure is simple, the symmetry of the structure is high, and the advantages of processing and manufacturing are easy to realize.
The invention adopts the technical scheme that the three-freedom-degree parallel stable platform comprises a frame, a driving branch and a tail end platform, wherein the frame comprises a frame bottom plate, a supporting column, a ring hanging table, a three-arm hanging table and a central ball socket, the ring hanging table is arranged above the frame bottom plate, the supporting column is uniformly distributed between the frame bottom plate and the ring hanging table, the three-arm hanging table is arranged on the frame bottom plate, the central ball socket is arranged at the center of the bottom of the three-arm hanging table, the tail end platform is arranged at the frame bottom plate, the tail end platform comprises a gesture adjusting plate, a central ball socket and an edge ball socket, the central ball socket is arranged at the center of the gesture adjusting plate, the edge ball socket is uniformly distributed on the gesture adjusting plate along the central ball socket, the driving branch is arranged between the ring hanging table and the tail end platform, the driving branch comprises an electric push rod cylinder body and an electric push rod shaft, a first end of the electric push rod cylinder body is connected with the bottom of the ring hanging table through a hooke spindle, a second end of the electric push rod shaft is connected with the center ball socket and a second end of the electric push rod is connected with the center of the ball socket, and the edge ball socket is connected with the center of the push rod is arranged at the center of the second end of the push rod.
Further, a long shaft in the Hooke's spindle is rotationally connected with a Hooke's full-circumference support fixedly arranged at the bottom of the circular ring hanging table, and a short shaft in the Hooke's spindle is rotationally connected with a Hooke's half-circumference support fixedly arranged at the first end of the electric push rod cylinder body.
Preferably, the central axis of the minor axis in the hook main shaft is perpendicular to and coplanar with the central axis of the major axis in the hook main shaft, and the central axis of the major axis in the hook main shaft intersects with the central line axis of the ring hanging platform at a point.
Preferably, the frame bottom plate and the ring hanging table are in a ring structure, the central axis of the frame bottom plate, the central axis of the ring hanging table and the central axis of the three-arm hanging table are all collinear, and the center of the center ball head is located on the central axis of the three-arm hanging table.
Preferably, three cantilevers are uniformly distributed on the three-arm hanging platform along the center of the three-arm hanging platform in a surrounding manner, and the included angle between every two adjacent cantilevers is 120 degrees.
Preferably, the center of the center ball socket and the center of the edge ball socket are located on the same plane, and the plane is parallel to the upper surface of the posture adjusting plate.
The invention has the characteristics and beneficial effects that:
1. according to the branched inverted three-degree-of-freedom parallel stable platform, the tail end platform is arranged at the bottom of the rack, and unbalanced moment caused by rotation of the tail end platform is reduced by reducing the gravity center height of the stable platform.
2. According to the branched inverted three-degree-of-freedom parallel stable platform, the three translational degrees of freedom are limited by the central ball pair formed by the central ball head and the central ball socket, so that the terminal platform can only rotate, the unconstrained driving branch can not make any constraint on the terminal platform, but can control the three rotational degrees of freedom of the terminal platform, the mutual separation of the driving branch control and the degree-of-freedom constraint is realized, the mechanism is smooth in movement, and the mutual conflict between mechanism structures in the movement process is avoided.
3. The branched inverted three-degree-of-freedom parallel stable platform provided by the invention has the advantages that the driving branches are arranged in an inverted manner, the installation at the bottom of a cabin is convenient, the condition of the bottom surface is effectively detected, meanwhile, the central ball pair consisting of the central ball head and the central ball socket bears the load of a mechanism, the driving branches do not bear the load of the mechanism, the improvement of the whole motion precision of the mechanism is facilitated, the structure is simple, the symmetry of the structure is high, the processing and the manufacturing are easy to realize, and the like.
4. According to the branched flip-chip three-degree-of-freedom parallel stable platform provided by the invention, the frame part adopts box type package, the driving branched chains are completely covered inside, and all movements are limited inside the frame, so that interference with external uncontrollable factors is not easy to occur. The internal space is quite rich, and the external equipment development space is larger.
5. According to the branched inverted three-degree-of-freedom parallel stable platform, the three-arm hanging platform adopts the I-steel type high-rigidity structural design, the side circular holes are hollowed out, the weight is reduced, and the supporting capacity is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a branched flip-chip three-degree-of-freedom parallel stabilized platform of the present invention;
FIG. 2 is a front view of a branched flip-chip three degree of freedom parallel stabilization platform of the present invention;
FIG. 3 is a top view of a branched flip-chip three degree of freedom parallel stabilization platform of the present invention;
FIG. 4 is a right side view of the branched flip-chip three degree of freedom parallel stabilization platform of the present invention;
FIG. 5 is a schematic view of the overall structure of the frame of the present invention;
FIG. 6 is a front view of the frame of the present invention;
FIG. 7 is a schematic view of the overall structure of the end platform of the present invention;
FIG. 8 is a schematic view of the overall structure of the drive branch of the present invention;
FIG. 9 is a schematic view of the overall structure of the hook spindle of the present invention;
fig. 10 is a working space schematic of the present invention.
The main reference numerals:
a frame 1; a chassis base plate 11; a support column 12; a circular ring hanging table 13; a three-arm sling 14; a hook hinge full circumference support 15; a central bulb 16; a hook hinge spindle 2; a long axis 21; a stub shaft 22; a drive branch 3; a hook hinge half-circumference support 31; an electric putter block 32; an electric push rod shaft 33; a rim bulb 34; an end platform 4; a posture adjustment plate 41; a central ball socket 42; and a rim ball socket 43.
Detailed Description
In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.
The invention provides a branched flip-chip three-degree-of-freedom parallel stable platform, which is shown in figures 1-4 and comprises a frame 1, a driving branch 3 and a tail end platform 4.
As shown in fig. 5 to 6, the frame 1 includes a frame bottom plate 11, a support column 12, a circular ring hanging table 13, a three-arm hanging table 14 and a central ball head 16, the circular ring hanging table 13 is arranged above the frame bottom plate 11, the support column 12 is uniformly distributed between the frame bottom plate 11 and the circular ring hanging table 13, the three-arm hanging table 14 is arranged on the frame bottom plate 11, and the central ball head 16 is arranged at the center of the bottom of the three-arm hanging table 14.
In a preferred mode, the frame bottom plate 11 and the ring hanging platform 13 are in a ring structure, the central axis of the frame bottom plate 11, the central axis of the ring hanging platform 13 and the central axis of the three-arm hanging platform 14 are all collinear, and the sphere center of the central sphere head 16 is located on the central axis of the three-arm hanging platform 14. And three cantilevers are uniformly and circumferentially arranged on the three-arm hanging platform 14 along the center of the three-arm hanging platform 14, and the included angle between two adjacent cantilevers is 120 degrees.
As shown in fig. 7, the end platform 4 is disposed at the bottom plate 11 of the rack, and the end platform 4 includes a posture adjusting plate 41, a central ball socket 42 and an edge ball socket 43, the central position of the posture adjusting plate 41 is provided with the central ball socket 42, the edge ball sockets 43 are uniformly distributed on the posture adjusting plate 41 along the central ball socket 42, the center of the central ball socket 42 and the center of the edge ball socket 43 are located on the same plane, and the plane is parallel to the upper surface of the posture adjusting plate 41.
As shown in fig. 1 to 8, the driving branch 3 is disposed between the ring crane 13 and the end platform 4, and the driving branch 3 includes an electric push rod cylinder 32 and an electric push rod shaft 33, a first end of the electric push rod cylinder 32 is connected with the bottom of the ring crane 13 through the hook hinge spindle 2, a second end of the electric push rod cylinder 32 is slidably provided with the electric push rod shaft 33, a first end of the electric push rod shaft 33 is connected with an edge ball socket 43 ball pair through an edge ball head 34 disposed at the first end of the electric push rod shaft 33, and a center ball head 16 is connected with a center ball socket 42 ball pair.
As shown in fig. 9, the long shaft 21 in the hook main shaft 2 is rotatably connected with the hook full-circumference support 15 fixedly arranged at the bottom of the ring hanging table 13, and the short shaft 22 in the hook main shaft 2 is rotatably connected with the hook half-circumference support 31 fixedly arranged at the first end of the electric push rod cylinder 32.
In a preferred form, the central axis of the minor axis 22 in the hook spindle 2 is perpendicular to and coplanar with the central axis of the major axis 21 in the hook spindle 2, and the central axis of the major axis 21 in the hook spindle 2 intersects the centerline axis of the ring crane 13 at a point.
The specific operation steps of the invention are as follows:
as shown in fig. 1 to 9, the branched inverted three-degree-of-freedom parallel stable platform of the invention comprises a frame 1, a driving branch 3 and a tail end platform 4, wherein the tail end platform 4 is arranged at a frame bottom plate 11 of the frame 1, the driving branch 3 is arranged between a ring hanging platform 13 and the tail end platform 4, a first end of an electric push rod cylinder body 32 in the driving branch 3 is connected with the bottom of the ring hanging platform 13 through a hook main shaft 2, a second end of the electric push rod cylinder body 32 is slidably provided with an electric push rod shaft 33, a first end of the electric push rod shaft 33 is connected with an edge ball socket 43 ball pair through an edge ball head 34 arranged at the first end of the electric push rod shaft 33, and a center ball head 16 is connected with a center ball socket 42 ball pair.
In a specific operation process, firstly the central ball head 16 and the central ball socket 43 form ball pair connection, the tail end platform 4 is restrained, the tail end platform 4 can only rotate around the central ball head 16, but the rotation direction is not restrained, so the tail end platform 4 has three rotation degrees of freedom, the ball pair connection can not control the rotation, the Hooke's half-circle support 31 at the first end of the driving branch 3 and the short shaft 22 of the Hooke's main shaft 2 and the Hooke's full-circle support 15 and the long shaft 21 of the Hooke's main shaft 2 form universal pair connection, meanwhile, the edge ball head 34 on the driving branch 3 and the edge ball socket 43 form ball pair connection, and the electric push rod cylinder 32 and the electric push rod shaft 33 form moving pair connection. Therefore, the driving branch 3 forms a driving branch with three degrees of freedom between the platform frame 1 and the tail end platform 4, and the three driving branch 3 moving pairs just can control three degrees of freedom of rotation of the tail end platform 4, so that the component movement of the whole stable platform is completely controllable. When the platform frame 1 is inclined in posture, the posture of the leveling terminal platform 4 can be adjusted by controlling the moving pair on the driving branch 3, so that the posture stabilizing function is realized.
As shown in fig. 10, the basic dimensions of each component in the three-degree-of-freedom parallel stable platform are given, wherein the external dimensions of the frame 1 are 696mm×698mm× 496.5mm, the maximum travel of the driving branch 3 is 144mm, the maximum peripheral dimensions of the end platform are 220mm×220mm×30mm, and the working space of the parallel stable platform can be obtained through calculation. The frame 1 part of the three-arm lifting platform adopts box type packaging, the driving branch 3 is completely covered inside, all movements are limited inside the frame 1, interference with external uncontrollable factors is difficult to occur, the internal space is quite rich, a large external equipment development space is provided, meanwhile, the three-arm lifting platform adopts an I-steel type high-rigidity structural design, the side round holes are hollowed, and the supporting capacity is improved while the weight is reduced.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (5)
1. A branched flip-chip three-degree-of-freedom parallel stable platform is characterized by comprising a frame, a driving branch and a tail end platform,
the frame comprises a frame bottom plate, a supporting upright post, a ring hanging table, a three-arm hanging table and a central ball socket, wherein the ring hanging table is arranged above the frame bottom plate, the supporting upright posts are uniformly distributed between the frame bottom plate and the ring hanging table, the three-arm hanging table is arranged on the frame bottom plate, the central ball socket is arranged at the center of the bottom of the three-arm hanging table, the tail end platform is arranged at the frame bottom plate, the tail end platform comprises a posture adjusting plate, a central ball socket and an edge ball socket, the central ball socket is arranged at the center of the posture adjusting plate, the edge ball socket is uniformly distributed and arranged on the posture adjusting plate along the central ball socket, the driving branch is arranged between the ring hanging table and the tail end platform, the driving branch comprises an electric push rod cylinder body and an electric push rod shaft, a first end of the electric push rod cylinder body is connected with the bottom of the ring hanging table through a hook main shaft, a second end of the electric push rod shaft is slidingly provided with the electric push rod shaft, and the first end of the electric push rod shaft is connected with the edge of the central ball socket and the central ball socket through the first end of the electric push rod shaft;
the machine frame bottom plate and the circular ring hanging table are in a circular ring structure, the central axis of the machine frame bottom plate, the central axis of the circular ring hanging table and the central axis of the three-arm hanging table are all collinear, and the spherical center of the central ball head is positioned on the central axis of the three-arm hanging table;
the center ball pair formed by the center ball head and the center ball socket limits three translational degrees of freedom.
2. The branched flip-chip three-degree-of-freedom parallel stable platform according to claim 1, wherein a long shaft in the hook main shaft is rotatably connected with a hook full-circumference support fixedly arranged at the bottom of the circular ring hanging platform, and a short shaft in the hook main shaft is rotatably connected with a hook half-circumference support fixedly arranged at the first end of the electric push rod cylinder body.
3. The branched flip-chip three degree of freedom parallel stabilization platform of claim 2 wherein the central axis of the minor axis of the hook spindle is perpendicular to and coplanar with the central axis of the major axis of the hook spindle and the central axis of the major axis of the hook spindle intersects the centerline axis of the ring gantry at a point.
4. The branched flip-chip three-degree-of-freedom parallel stable platform according to claim 1, wherein three cantilevers are uniformly and circumferentially arranged on the three-arm hanging platform along the center of the three-arm hanging platform, and an included angle between the two adjacent cantilevers is 120 degrees.
5. The branched flip-chip three degree of freedom parallel stable platform of claim 1 wherein the center of the center ball socket is in the same plane as the center of the edge ball socket and the plane is parallel to the upper surface of the attitude adjustment plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210509254.0A CN114905489B (en) | 2022-05-10 | 2022-05-10 | Branched flip-chip three-degree-of-freedom parallel stable platform |
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| CN202210509254.0A CN114905489B (en) | 2022-05-10 | 2022-05-10 | Branched flip-chip three-degree-of-freedom parallel stable platform |
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| CN114905489A CN114905489A (en) | 2022-08-16 |
| CN114905489B true CN114905489B (en) | 2024-01-23 |
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