CN205343112U - Contain three ramose degrees of freedom of variable angular form and uniting and adjustment appearance vibration isolation platform - Google Patents
Contain three ramose degrees of freedom of variable angular form and uniting and adjustment appearance vibration isolation platform Download PDFInfo
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- CN205343112U CN205343112U CN201620087796.3U CN201620087796U CN205343112U CN 205343112 U CN205343112 U CN 205343112U CN 201620087796 U CN201620087796 U CN 201620087796U CN 205343112 U CN205343112 U CN 205343112U
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- mounting seat
- bilinear module
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- bilinear
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Abstract
The utility model provides a contain three ramose degrees of freedom of variable angular form and uniting and adjustment appearance vibration isolation platform, it mainly includes base, three mount pad, three group's sharp drive unit, three variable angular form branches, three isolator, helping hand springs and moves the platform. Three mount pad links firmly on the base, the straight line drive unit comprise bilinear module and driving motor who has two sliders, and the bilinear module links firmly on the mount pad, and driving motor drives sharp module, variable angular form branch is the variable angular form mechanism in plane that two connecting rods connecting through the revolute pair of upper end constitute, and the lower extreme of two connecting rods is connected with two sliders of bilinear module through first, second pair respectively, and the pivot of the revolute pair of two connecting rods of above -mentioned connection is passed through the 3rd universal hinge and is connected with the one end of isolator, the other end of this isolator and move the platform and link firmly, helping hand spring lower extreme links firmly with the base, and its upper end is the free end. The utility model discloses rigidity is high, and bearing capacity is strong, and working space is big.
Description
Technical field
This utility model relates to a kind of parallel institution, particularly a kind of posture adjustment vibration-isolating platform in parallel.
Background technology
Vehicle, in the process of moving by the impact of road roughness, can produce that vehicle body is vertical, roll and the compound of the various dimensions such as pitching is jolted.If vehicle carried article is directly connected with rigidity of vehicle body, vehicle travels the multi-dimensional vibration of generation under road conditions poor condition can on the transport of frangible, precise article with need the mobile unit of posture adjustment to cause serious impact.Additionally, when naval vessel rides the sea, owing to being subject to weather and wave impact, the motion of six degree of freedom can be caused: rolling, pitching, yawing, swaying, surging, hang down swing, naval vessel is had the greatest impact by wherein rolling, pitching and the disturbance swinging three degree of freedom direction of hanging down, bring to many-sides such as warship equipment on board trouble free service, arm discharge precision, helicopter landing safety and crewman's Working Lifes have a strong impact on simultaneously because the impact of wave or self diesel engine can produce vibration, these unnecessary motions and vibration meeting.
For these problems above-mentioned, it is proposed to a kind of platform possessing posture adjustment vibration isolation function seems particularly necessary.In recent years, stabilized platform and multidimensional vibration-isolating platform had been started to study widely by Chinese scholars.Chinese patent 201510324022.8 proposes a kind of 3PRS+6SPS parallel connection posture adjustment vibration isolation compound platform, it is made up of three identical main side chains between moving platform, frame and connection moving platform and frame and six identical elastic side chains, this invention has adjustment work platforms attitude and multidimensional isolation two kinds of functions of vibration concurrently, but work space is little.Chinese patent 201310210861.8 proposes a kind of collapsible five degree of freedom parallel connection posture adjustment platform, by upper mounting plate, five of two platforms of lower platform and connection drive branches and a constraint branch group to become, it is little that this invention takies volume, posture adjustment space is bigger, but bearing capacity is poor, rigidity is low, does not possess vibration isolation function, simultaneously drive number many, control loaded down with trivial details.Chinese patent 201420687868.9 proposes a kind of Three Degree Of Freedom mobile hoistable platform, the movement in three directions is realized by front and back sliding platform, left and right sliding platform and scissors fork elevating mechanism, this invention has bigger bearing capacity, but its structure is in-line, complex.
Utility model content
The purpose of this utility model is in that to provide a kind of work space big, takies volume little, and bearing capacity is strong, has the freedom degree parallel connection posture adjustment vibration-isolating platform containing variable dihedral branch of greater stiffness simultaneously.
The technical solution of the utility model is as follows:
This utility model mainly includes pedestal, three mounting seats, straight spur unit that three groups of structures are identical, variable dihedral branch that three structures are identical, three vibration isolators, power assistant spring and moving platform；Described three mounting seats are connected on pedestal, and described straight spur unit is made up of bilinear module and the drive motor with two slide blocks, and bilinear module is connected in mounting seat, and the output shaft end of drive motor is connected with the input shaft end of bilinear module；Described variable dihedral branch is the variable dihedral mechanism of plane that upper end is consisted of two connecting rods that revolute pair connects, the lower end of above-mentioned two connecting rod is connected with two slide blocks of bilinear module respectively through first, second kinematic pair, the rotating shaft of the revolute pair of above-mentioned two connecting rods of connection is connected with one end of vibration isolator by the 3rd universal hinge, and the other end of this vibration isolator is connected with moving platform；Described power assistant spring lower end is fixedly connected with the base, and its upper end is free end.
Described variable dihedral branch is the variable dihedral mechanism of plane that top is consisted of two connecting rods that revolute pair connects, and angular structure is long due to the short stroke of branch, and the parallel institution in limited space has good application prospect.Simultaneously compared with traditional parallel institution branch, the integral rigidity of mechanism increases, and bearing capacity strengthens.
Described first, second kinematic pair is first, second universal hinge or first, second ball pivot, first pivot center conllinear of described first, second universal hinge and parallel with base plane, the second pivot center of first, second universal hinge is vertical with the first pivot center and vertical with variable dihedral branch plane.
The described bilinear module with two slide blocks is driven by drive motor, and two slide blocks of bilinear module are close to each other with identical speed along slip centrage or are located remotely from each other.
Described mounting seat and straight spur unit have four kinds of arrangements:
The first arrangement: described mounting seat cross section is rectangle, the bilinear module often organizing straight spur unit is connected in same mounting seat, and the slip centerline collineation of two slide blocks of bilinear module.
When arranging in first way, two slide blocks of bilinear module by the same screw drive with left-right rotary screw thread, can be capable of two slide blocks close to each other with identical speed or be located remotely from each other equally.
The second arrangement: described mounting seat cross section is isosceles trapezoid, the bilinear module often organizing straight spur unit is connected on two inclined-planes of same mounting seat, and the slip centrage of two slide blocks of bilinear module in the same plane in.
The third arrangement: described mounting seat cross section is right-angled trapezium, its bottom surface, place of going to the bottom is fixedly connected with the base, waist place, right angle facade is positioned at inner side, inclined-plane, oblique waist place is positioned at outside, the bilinear module often organizing straight spur unit is connected on the inclined-plane of adjacent two mounting seats, and the slip centerline parallel of bilinear module slide block adjacent in same mounting seat.
4th kind of arrangement: described mounting seat cross section is right-angled trapezium, its bottom surface, place of going to the bottom is fixedly connected with the base, waist place, right angle facade is positioned at inner side, inclined-plane, oblique waist place is positioned at outside, the bilinear module often organizing straight spur unit is connected on the inclined-plane of same mounting seat, and the slip centerline parallel of two slide blocks of bilinear module is in mounting seat inclined-plane, and become 25～75 ° of angles of lower aperture.
This utility model compared with prior art has the advantage that
1, variable dihedral branch can make moving platform drop to very low position when not working, and decreases the volume that takies of entirety, and this mechanism has very big posture adjustment space simultaneously, compensate for the problem that existing parallel institution work space is little.
2, the branch of angular structure enhances the integral rigidity of mechanism, improves bearing capacity.
3, by the vibration isolation effect of vibration isolator, it is possible to reduce the vibration passing to moving platform from pedestal, make moving platform from the interference of vibration.
4, when moving platform is in low level, power assistant spring free end contacts generation elastic force with moving platform, counteracts the deadweight of moving platform part, just can start so that this platform has only to less driving force in moment of starting working, depart from power assistant spring during work, not by power-assisted spring constraint.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of this utility model embodiment 1.
Fig. 2 is the simplified schematic diagram that this utility model embodiment 1 moving platform is preferably minimized position.
Fig. 3 is the three-dimensional simplified schematic diagram of this utility model embodiment 2.
Fig. 4 is the three-dimensional simplified schematic diagram of this utility model embodiment 3.
Fig. 5 is the three-dimensional simplified schematic diagram of this utility model embodiment 4.
Fig. 6 is the three-dimensional simplified schematic diagram of this utility model embodiment 5.
In figure: 1, pedestal；2, mounting seat；3, bilinear module；4, drive motor；5, slide block；6, the first universal hinge (the first ball pivot)；7, the second universal hinge (the second ball pivot)；8, variable dihedral branch；9, the 3rd universal hinge；10, vibration isolator；11, power assistant spring；12, moving platform.
Detailed description of the invention
Embodiment 1:
In the freedom degree parallel connection posture adjustment vibration-isolating platform schematic diagram containing variable dihedral branch shown in Fig. 1, three cross sections are that the mounting seat 2 of rectangle is uniform to be connected on pedestal 1, the bilinear module 3 often organizing straight spur unit is connected in mounting seat, and the slip centerline collineation of two slide blocks 5 of bilinear module, the output shaft end of drive motor 4 is connected with the input shaft end of bilinear module；Variable dihedral branch 8 is the variable dihedral mechanism of plane that upper end is consisted of two connecting rods that revolute pair connects, the lower end of above-mentioned two connecting rod is respectively through the first universal hinge 6, second universal hinge 7 is connected with two slide blocks 5 of bilinear module, first, first pivot center conllinear of the second universal hinge and parallel with base plane, first, second pivot center of the second universal hinge is vertical with the first pivot center and vertical with variable dihedral branch plane, the rotating shaft of the revolute pair of above-mentioned two connecting rods of connection is connected with one end of vibration isolator 10 by the 3rd universal hinge 9, the other end of this vibration isolator is connected with moving platform 12；Power assistant spring 11 lower end is connected on pedestal, and its upper end is free end.
As in figure 2 it is shown, moving platform 12 can drop to very low when not working, now power assistant spring 11 is compressed.
Embodiment 2:
As it is shown on figure 3, bilinear module 3 is connected in mounting seat, and the slip centerline collineation of the two of bilinear module slide blocks, the screw rod of this bilinear module has left-right rotary screw thread, and the output shaft end of drive motor 4 is connected with the input shaft end of bilinear module.Other component is identical with embodiment 1 with connected mode.
Embodiment 3:
As shown in Figure 4, the mounting seat 2 that three cross sections are isosceles trapezoid is uniformly connected on pedestal 1, and the bilinear module 3 often organizing straight spur unit is connected on two inclined-planes of same mounting seat, and the slip centrage of two slide blocks of bilinear module is within the same plane.Other component is identical with embodiment 1 with connected mode.
Embodiment 4:
In the freedom degree parallel connection posture adjustment vibration-isolating platform structural representation sketch containing variable dihedral branch shown in Fig. 5, three mounting seat 2 cross sections are right-angled trapezium, its bottom surface, place of going to the bottom is connected with pedestal 1, waist place, right angle facade is positioned at inner side, inclined-plane, oblique waist place is positioned at outside, the bilinear module 3 often organizing straight spur unit is connected on the inclined-plane of adjacent two mounting seats, and the slip centerline parallel of bilinear module slide block adjacent in same mounting seat.Other component is identical with embodiment 1 with connected mode.
Embodiment 5:
In the freedom degree parallel connection posture adjustment vibration-isolating platform structural representation sketch containing variable dihedral branch shown in Fig. 6, three mounting seat 2 cross sections are right-angled trapezium, its bottom surface, place of going to the bottom is connected with pedestal 1, its waist place, right angle facade is positioned at inner side, inclined-plane, oblique waist place is positioned at outside, the bilinear module 3 often organizing straight spur unit is connected on the inclined-plane of same mounting seat, and the slip centerline parallel of two slide blocks of bilinear module is in mounting seat inclined-plane, and become 30 ° of angles of lower aperture, the lower end of two connecting rods of variable dihedral mechanism is respectively through the first ball pivot 6, second ball pivot 7 is connected with two slide blocks 5 of bilinear module.Other component is identical with embodiment 1 with connected mode.
Claims (8)
1. the freedom degree parallel connection posture adjustment vibration-isolating platform containing variable dihedral branch, it includes pedestal, moving platform, it is characterised in that: the variable dihedral branch that it also includes three mounting seats, three groups of structures are identical straight spur unit, three structures are identical, three vibration isolators and power assistant spring；Described three mounting seats are connected on pedestal, and described straight spur unit is made up of bilinear module and the drive motor with two slide blocks, and bilinear module is connected in mounting seat, and the output shaft end of drive motor is connected with the input shaft end of bilinear module；Described variable dihedral branch is the variable dihedral mechanism of plane that upper end is consisted of two connecting rods that revolute pair connects, the lower end of above-mentioned two connecting rod is connected with two slide blocks of bilinear module respectively through first, second kinematic pair, the rotating shaft of the revolute pair of above-mentioned two connecting rods of connection is connected with one end of vibration isolator by the 3rd universal hinge, and the other end of this vibration isolator is connected with moving platform；Described power assistant spring lower end is connected on pedestal, and its upper end is free end.
2. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing variable dihedral branch according to claim 1, it is characterised in that: described first, second kinematic pair is first, second universal hinge or first, second ball pivot.
3. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing variable dihedral branch according to claim 2, it is characterized in that: the first pivot center conllinear of described first, second universal hinge and parallel with base plane, the second pivot center of first, second universal hinge is vertical with the first pivot center and vertical with variable dihedral branch plane.
4. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing variable dihedral branch according to claim 1, it is characterized in that: described mounting seat cross section is rectangle, the bilinear module often organizing straight spur unit is connected in same mounting seat, and the slip centerline collineation of two slide blocks of bilinear module.
5. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing variable dihedral branch according to claim 4, it is characterised in that: the slip centerline collineation of described two slide blocks of bilinear module, two slide blocks are by a screw drive with left-right rotary screw thread.
6. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing variable dihedral branch according to claim 1, it is characterized in that: described mounting seat cross section is isosceles trapezoid, the bilinear module often organizing straight spur unit is connected on two inclined-planes of same mounting seat, and the slip centrage of two slide blocks of bilinear module in the same plane in.
7. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing variable dihedral branch according to claim 1, it is characterized in that: described mounting seat cross section is right-angled trapezium, its bottom surface, place of going to the bottom is fixedly connected with the base, waist place, right angle facade is positioned at inner side, inclined-plane, oblique waist place is positioned at outside, the bilinear module often organizing straight spur unit is connected on the inclined-plane of adjacent two mounting seats, and the slip centerline parallel of bilinear module slide block adjacent in same mounting seat.
8. a kind of freedom degree parallel connection posture adjustment vibration-isolating platform containing variable dihedral branch according to claim 1, it is characterized in that: described mounting seat cross section is right-angled trapezium, its bottom surface, place of going to the bottom is fixedly connected with the base, waist place, right angle facade is positioned at inner side, inclined-plane, oblique waist place is positioned at outside, the bilinear module often organizing straight spur unit is connected on the inclined-plane of same mounting seat, and the slip centerline parallel of two slide blocks of bilinear module is in mounting seat inclined-plane, and become 25～75 ° of angles of lower aperture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620087796.3U CN205343112U (en) | 2016-01-28 | 2016-01-28 | Contain three ramose degrees of freedom of variable angular form and uniting and adjustment appearance vibration isolation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620087796.3U CN205343112U (en) | 2016-01-28 | 2016-01-28 | Contain three ramose degrees of freedom of variable angular form and uniting and adjustment appearance vibration isolation platform |
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| Publication Number | Publication Date |
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| CN205343112U true CN205343112U (en) | 2016-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620087796.3U Expired - Fee Related CN205343112U (en) | 2016-01-28 | 2016-01-28 | Contain three ramose degrees of freedom of variable angular form and uniting and adjustment appearance vibration isolation platform |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538293A (en) * | 2016-01-28 | 2016-05-04 | 燕山大学 | Three-freedom-degree parallel posture adjustment and vibration isolation platform comprising variable angled branches |
| CN107756348A (en) * | 2017-10-17 | 2018-03-06 | 安徽千智能设备股份有限公司 | The six-freedom parallel test platform that a kind of moving platform height can adjust on a large scale |
| CN112936231A (en) * | 2021-03-26 | 2021-06-11 | 燕山大学 | Three-degree-of-freedom motion simulation platform for realizing gravity balance |
-
2016
- 2016-01-28 CN CN201620087796.3U patent/CN205343112U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538293A (en) * | 2016-01-28 | 2016-05-04 | 燕山大学 | Three-freedom-degree parallel posture adjustment and vibration isolation platform comprising variable angled branches |
| CN107756348A (en) * | 2017-10-17 | 2018-03-06 | 安徽千智能设备股份有限公司 | The six-freedom parallel test platform that a kind of moving platform height can adjust on a large scale |
| CN112936231A (en) * | 2021-03-26 | 2021-06-11 | 燕山大学 | Three-degree-of-freedom motion simulation platform for realizing gravity balance |
| CN112936231B (en) * | 2021-03-26 | 2022-11-08 | 燕山大学 | Three-freedom-degree motion simulation platform for realizing gravity balance |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160629 Termination date: 20220128 |