CN204525441U - A kind of Three Degree Of Freedom tilter based on parallel institution - Google Patents
A kind of Three Degree Of Freedom tilter based on parallel institution Download PDFInfo
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- CN204525441U CN204525441U CN201420858667.0U CN201420858667U CN204525441U CN 204525441 U CN204525441 U CN 204525441U CN 201420858667 U CN201420858667 U CN 201420858667U CN 204525441 U CN204525441 U CN 204525441U
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Abstract
The utility model provides a kind of Three Degree Of Freedom tilter based on parallel institution, and tilter, based on parallel institution, comprises fixed platform, moving platform and connects driving branch and the static balance device of these two platforms; Drive branch to be three, its structure is identical, be arranged between fixed platform and moving platform symmetrically, realize the rolling of moving platform, pitching and elevating movement by interlock; Static balance device is arranged on the center that three drive branch, connects the center of fixed platform and moving platform, for balanced dynamic platform and loading section gravity simultaneously.This tilter has the features such as bearing capacity is strong, working space is large, is particularly suitable for the motion simulation test of physical dimension and all very large super large load of weight.
Description
Technical field
The utility model belongs to motion simulation equipment technical field, particularly relates to a kind of heavy load Three Degree Of Freedom tilter based on parallel institution.
Background technology
The research of parallel institution can trace back to the forties in 20th century, in recent decades, along with deepening continuously of studying it, parallel institution is more and more widely used in the fields such as flight simulation, road vehicle simulation, the simulation of aviation and navigation equipment swinging, robot, parallel machine, space articulation technology, and wherein foremost is exactly Stewart 6-dof motion platform.But under many circumstances, simulation does not need six-freedom motion, when such as simulating naval vessel oscillating motion at sea, often only need three to four frees degree just can meet the demands, now adopt 6-dof motion platform just to there is certain waste.The free degree is the motion between 2 ~ 5, is called lower-mobility mechanism.Relative to six-freedom parallel motion, lower-mobility mechanism due to some freedom restrained, so the also corresponding minimizing of its driving element, but the constraint of its some freedom, need design special mechanism realize.At present, research for lower-mobility mechanism is not also very deep, and it has some frees degree, but the free degree definitely completely when these frees degree existed are not likely original pure free bodies yet, but there is the relative free degree of a definite limitation, i.e. the incomplete free degree.In addition, for some super large load scenarios, mechanism is needed to have very large bearing capacity.Therefore, the structure that minority carrier generation lifetime is different, determines the important technology indexs such as its working space, bearing capacity and restriction ability.
Utility model content
Problem to be solved in the utility model is that a kind of Three Degree Of Freedom tilter based on parallel institution is for motion simulation, this tilter has the features such as bearing capacity is strong, working space is large, is particularly suitable for the motion simulation test of physical dimension and all very large super large load of weight.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of Three Degree Of Freedom tilter based on parallel institution, described tilter, based on parallel institution, comprises fixed platform, moving platform and connects driving branch and the static balance device of these two platforms;
Described driving branch is three, and its structure is identical, be arranged between fixed platform and moving platform symmetrically, realizes the rolling of moving platform, pitching and elevating movement by interlock;
Described static balance device is arranged on the center that three drive branch, connects the center of fixed platform and moving platform, for balanced dynamic platform and loading section gravity simultaneously.
Further, described driving branch is the plane five-bar mechanism of PRRRRS configuration; Described plane five-bar mechanism comprises the first moving sets that a linear actuator is formed; The stiff end of described linear actuator is connected with fixed platform by the first revolute pair, the movable end of described linear actuator is connected with in the middle part of folding on by the second revolute pair, described upper folding upper end is connected with moving platform by the first spherical pair, lower end is connected with once folding upper end by the 3rd revolute pair, and described lower folding lower end is fixed on fixed platform by the 4th revolute pair.
Preferably, described linear actuator is hydraulic cylinder.
Further, in order to reduce power consumption, reduce exerting oneself of drive ram, the described static balance device of setting comprises standing balance hydraulic cylinder and accumulator; Form the second moving sets between the cylinder barrel of described standing balance hydraulic cylinder and piston rod, described cylinder barrel is fixed on fixed platform by the second spherical pair, and piston rod is connected with moving platform by the 3rd spherical pair; The cavity of resorption of described standing balance hydraulic cylinder is connected with described accumulator, and the power produced by the piston of the pressure-driven standing balance hydraulic cylinder of accumulator carrys out the part gravity of balanced dynamic platform and load.
Standing balance hydraulic cylinder carries out follow-up motion in the tilter course of work, and has neither part nor lot in the motion control of tilter.
The advantage that the utility model has with good effect is: three that (1) structure is identical driving branched structures in parallel are simple and reliable; (2) the utility model swaying platform working space is large, not easily produces Singularity; (3) motion of rolling, the motion of pitching two rotational freedoms and a straight line lifting free degree can be realized; The constraint of (4) three restricted frees degree, is realized by upper folding and lower hinge structure, both can improve its bearing capacity, cpable of lowering power consumption again, and ensure that the security of equipment simultaneously; (5) static balance device further increases its bearing capacity, reduces power consumption.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model tilter
Fig. 2 is the motion schematic diagram of the utility model tilter around X-axis rolling
Fig. 3 is the motion schematic diagram of the utility model tilter around Y-axis pitching
Fig. 4 is the motion schematic diagram of the utility model tilter around Z axis rolling
In figure:
1, fixed platform; 2, lower folding; 3, cylinder barrel; 4, piston rod; 5, upper folding; 6, moving platform; 7, standing balance hydraulic cylinder; 8, accumulator; P, the first moving sets; R1, the first revolute pair; R2, the second revolute pair; R3, the 3rd revolute pair; R4, the 4th revolute pair; S, the first spherical pair.
Detailed description of the invention
As shown in Figure 1, a kind of Three Degree Of Freedom tilter based on parallel institution, tilter, based on parallel institution, comprises fixed platform 1, moving platform 6 and connects driving branch and the static balance device of these two platforms.
Drive branch to be three, its structure is identical, be arranged between fixed platform 1 and moving platform 6 symmetrically, realize the rolling of moving platform 6, pitching and elevating movement by interlock.
Static balance device is arranged on the center that three drive branch, connects the center of fixed platform 1 and moving platform 6, for balanced dynamic platform 6 and loading section gravity simultaneously.
Driving branch is the plane five-bar mechanism of PRRRRS configuration; Plane five-bar mechanism comprises the first moving sets P that a linear actuator is formed; Linear actuator is hydraulic cylinder, the cylinder barrel 3 of hydraulic cylinder is connected with fixed platform 1 by the first revolute pair R1, the piston rod 4 of hydraulic cylinder is connected with in the middle part of folding on one 5 by the second revolute pair R2, upper folding 5 upper end is connected with moving platform 6 by the first spherical pair S, lower end is connected with folding once 2 upper end by the 3rd revolute pair R3, and lower folding 2 lower end is fixed on fixed platform 1 by the 4th revolute pair R4.
Static balance device comprises standing balance hydraulic cylinder 7 and accumulator 8; Form the second moving sets between the cylinder barrel of standing balance hydraulic cylinder 7 and piston rod, cylinder barrel is fixed on fixed platform 1 by the second spherical pair, and piston rod is connected with moving platform 6 by the 3rd spherical pair; The cavity of resorption of standing balance hydraulic cylinder 7 is connected with described accumulator 8, and the power produced by the piston of the pressure-driven standing balance hydraulic cylinder 7 of accumulator 8 carrys out the part gravity of balanced dynamic platform and load.Accumulator 8 has three, is evenly distributed in standing balance hydraulic cylinder 7 around.Standing balance hydraulic cylinder 7 carries out follow-up motion in the tilter course of work, and has neither part nor lot in the motion control of tilter.
Fig. 2 is that Three Degree Of Freedom tilter is around X-axis rolling motion schematic diagram.During rolling, middle driving branch is motionless, and both sides drive branch to carry out differential motion (is stretched out, a retraction).
Fig. 3 is that Three Degree Of Freedom tilter is around Y-axis pitching schematic diagram.During pitching, the driving branch of both sides is synchronized with the movement, and carries out differential motion with the driving branch of centre.
Fig. 4 is that Three Degree Of Freedom tilter is along Z axis elevating movement schematic diagram.During lifting, three drive branch to be synchronized with the movement simultaneously.
Above embodiment of the present utility model has been described in detail, but described content being only preferred embodiment of the present utility model, can not being considered to for limiting practical range of the present utility model.All equalizations done according to the utility model scope change and improve, and all should still belong within this patent covering scope.
Claims (4)
1. based on a Three Degree Of Freedom tilter for parallel institution, described tilter, based on parallel institution, is characterized in that: comprise fixed platform, moving platform and connect driving branch and the static balance device of these two platforms;
Described driving branch is three, and its structure is identical, be arranged between fixed platform and moving platform symmetrically, realizes the rolling of moving platform, pitching and elevating movement by interlock;
Described static balance device is arranged on the center that three drive branch, connects the center of fixed platform and moving platform, for balanced dynamic platform and loading section gravity simultaneously.
2. Three Degree Of Freedom tilter according to claim 1, is characterized in that: described driving branch is plane five-bar mechanism; Described plane five-bar mechanism comprises the first moving sets that a linear actuator is formed; The stiff end of described linear actuator is connected with fixed platform by the first revolute pair, the movable end of described linear actuator is connected with in the middle part of folding on by the second revolute pair, described upper folding upper end is connected with moving platform by the first spherical pair, lower end is connected with once folding upper end by the 3rd revolute pair, and described lower folding lower end is fixed on fixed platform by the 4th revolute pair.
3. Three Degree Of Freedom tilter according to claim 2, is characterized in that: described linear actuator is hydraulic cylinder.
4. Three Degree Of Freedom tilter according to claim 1, is characterized in that: described static balance device comprises standing balance hydraulic cylinder and accumulator; Form the second moving sets between the cylinder barrel of described standing balance hydraulic cylinder and piston rod, described cylinder barrel is fixed on fixed platform by the second spherical pair, and piston rod is connected with moving platform by the 3rd spherical pair; The cavity of resorption of described standing balance hydraulic cylinder is connected with described accumulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420858667.0U CN204525441U (en) | 2014-12-30 | 2014-12-30 | A kind of Three Degree Of Freedom tilter based on parallel institution |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420858667.0U CN204525441U (en) | 2014-12-30 | 2014-12-30 | A kind of Three Degree Of Freedom tilter based on parallel institution |
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| CN204525441U true CN204525441U (en) | 2015-08-05 |
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| CN201420858667.0U Expired - Fee Related CN204525441U (en) | 2014-12-30 | 2014-12-30 | A kind of Three Degree Of Freedom tilter based on parallel institution |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104526683A (en) * | 2014-12-30 | 2015-04-22 | 天津福云天翼科技有限公司 | Three-freedom-degree swing platform based on parallel mechanism |
| CN105798884A (en) * | 2016-05-16 | 2016-07-27 | 中国地质大学（武汉） | Heavy-load parallel movement stabilization platform for offshore drilling |
| CN105856198A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Centralized input three-branch translational motion parallel mechanism |
| CN106652648A (en) * | 2017-02-09 | 2017-05-10 | 沈阳工业大学 | Swaying platform under control of cross-shaped sliding table and swaying control method |
| CN109137909A (en) * | 2018-10-29 | 2019-01-04 | 福建海威液压机械有限公司 | The control system of double-action hydraulic pile hammer |
| CN110076755A (en) * | 2019-05-06 | 2019-08-02 | 燕山大学 | Three freedom degree motion simulator |
-
2014
- 2014-12-30 CN CN201420858667.0U patent/CN204525441U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104526683A (en) * | 2014-12-30 | 2015-04-22 | 天津福云天翼科技有限公司 | Three-freedom-degree swing platform based on parallel mechanism |
| CN105798884A (en) * | 2016-05-16 | 2016-07-27 | 中国地质大学（武汉） | Heavy-load parallel movement stabilization platform for offshore drilling |
| CN105856198A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Centralized input three-branch translational motion parallel mechanism |
| CN105856198B (en) * | 2016-05-20 | 2018-01-23 | 燕山大学 | A kind of three branch's translational parallel connection mechanisms of centralization input |
| CN106652648A (en) * | 2017-02-09 | 2017-05-10 | 沈阳工业大学 | Swaying platform under control of cross-shaped sliding table and swaying control method |
| CN109137909A (en) * | 2018-10-29 | 2019-01-04 | 福建海威液压机械有限公司 | The control system of double-action hydraulic pile hammer |
| CN109137909B (en) * | 2018-10-29 | 2020-08-28 | 福建海威液压机械有限公司 | Control system of double-acting hydraulic pile hammer |
| CN110076755A (en) * | 2019-05-06 | 2019-08-02 | 燕山大学 | Three freedom degree motion simulator |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150805 Termination date: 20201230 |
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| CF01 | Termination of patent right due to non-payment of annual fee |