CN205642783U - High low frequency of varistructure mixes parallelly connected three -dimensional moving platform of output - Google Patents
High low frequency of varistructure mixes parallelly connected three -dimensional moving platform of output Download PDFInfo
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- CN205642783U CN205642783U CN201620382416.9U CN201620382416U CN205642783U CN 205642783 U CN205642783 U CN 205642783U CN 201620382416 U CN201620382416 U CN 201620382416U CN 205642783 U CN205642783 U CN 205642783U
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Abstract
The utility model provides a high low frequency of varistructure mixes parallelly connected three -dimensional moving platform of output, its is main includes motion output stage, base framework and three dual input series -parallel connection campaign chains that structural form is the same, motion output stage links to each other with base framework through three dual input series -parallel connection campaign chains, dual input series -parallel connection campaign chain is established ties by dual input closed loop unit and transmission closed loop unit and is formed, and dual input closed loop unit one end is connected with base framework, constitutes to contain three revolute pair and two and move vice five linkages on the lower closed loop plane, and transmission closed loop unit bottom links firmly through the drive output pole of transfer line connecting plate with dual input closed loop unit, and the both ends of first transfer line and secondary drive pole are passed through the ball respectively and pair are connected with the transfer line connecting plate and the output stage that moves. The utility model discloses can realize that multi freedom, multi -frequency mix the motion output of form, can be used to complicated hybrid such as vehicle, boats and ships and aircraft and learn environmental simulation.
Description
Technical field
This utility model relates to a kind of parallel institution, particularly a kind of three-dimensional motion platform in parallel.
Background technology
Along with the development of the causes such as automobile, Aero-Space, defence and military, relevant device is put forward higher
Requirement.In equipment research and development and manufacture process, need to carry out dynamic environment simulation test.Parallel institution because of
Its precision is high, and bearing capacity is strong, the advantage such as take up room little by extensively with vibration equipment simulation experiment.Mesh
Marking device is typically in the low-frequency high-amplitude motion of routine and the environment of dither mixing output, and each mesh
The vibrational degrees of freedom character that marking device needs is the most different, and the mechanism of existing single driving can not provide such as
The movement environment of this complexity, in order to make target device dynamics simulations truer, finds a kind of variable knot
Structure and realize low-and high-frequency mixing output parallel kinematic platform the most necessary.
The patent of Publication No. CN104458169A proposes a kind of low-and high-frequency composite flooding parallel connection two-dimensional rotary and puts down
Platform, this invention can only carry out two-dimensional rotary, and the restriction of the constrained branch of work space；Publication No.
The patent of CN104390755A proposes a kind of low-and high-frequency composite flooding parallel 3-DOF sports platform, this invention
Low-and high-frequency movement output can be realized, it is possible to carry out posture adjustment on a large scale, but compound drive unit and target are transported
Only connecting with a transmission pole between dynamic platform, rigidity requirement is high, and carrying is difficult to ensure that；Publication No. CN
The patent of 104308838A proposes a kind of low-and high-frequency composite flooding six-freedom parallel sports platform, and this invention needs
Adding 12 drivings, lower-mobility platform needs less driving, controls simple, energy efficient.With
On the these three patent mentioned after configuration determines, degree of freedom character uniquely determines, it is impossible to by changing structure
Realizing more degree of freedom character, the use for platform provides the most possible.
Summary of the invention
The purpose of this utility model is to provide one to be capable of multiple degrees of freedom, the output of multi-frequency hybrid motion
Varistructured low-and high-frequency mixing output-parallel three-dimensional motion platform.
The technical solution of the utility model is as follows:
This utility model mainly includes the dual input that movement output platform, basic framework and three structures are identical
Series parallel movement chain；Described dual input series parallel movement chain is by dual input closed-loop element and transmission closed-loop element series connection group
Become；Described dual input closed-loop element includes rotating installs column, high frequency rotational motor, high frequency crank, centre
Slide block, driving take-off lever, low frequency linear electric motors and triangular mounting seat, wherein, rotate installation column and be fixed on
The outer end of basic framework, triangular mounting seat is fixed on the inner of basic framework, and high frequency rotational motor is located at rotation
Installing on column, high frequency crank is connected with high frequency rotational motor shaft end, and intermediate slider is by revolute pair one and height
Frequently crank connects, and drives take-off lever one end to be connected with intermediate slider by moving sets, drives the take-off lever other end
Being connected by the mover of revolute pair two with low frequency linear electric motors, low frequency linear electric motors are located on triangular mounting seat,
Dual input closed-loop element forms the lower closed loop planar five-bar mechanism including three revolute pairs and two moving sets；Institute
State transmission closed-loop element and include the first drive link, the second drive link and drive link connecting plate, transmission closed-loop element
Bottom is connected by the driving take-off lever of drive link connecting plate with above-mentioned dual input closed-loop element, the first drive link
, second ball pair secondary by the first ball is connected with drive link connecting plate respectively with the lower end of the second drive link, and this is the years old
The upper end of one drive link and the second drive link, fourth ball secondary by the 3rd ball respectively is secondary with movement output platform even
Connecing, above-mentioned transmission closed-loop element and movement output platform are collectively forming close loop mechanism.
First ball of described transmission closed-loop element is secondary, the second ball pair is replaced by universal pair.
First drive link and the second drive link length of described transmission closed-loop element are equal, and upper close loop mechanism exists
Under initial pose, parallelogram is arranged.
First drive link and the second drive link length of described transmission closed-loop element are equal, and upper close loop mechanism exists
Arrange in plane isosceles trapezoid under initial pose.
This utility model has the advantage that compared with existing correlation technique
1, the varistructure of branch can realize the degree of freedom characteristic that output stage is different.
2, low-and high-frequency double drive is used, can complicated mixed such as truer simulating vehicle, boats and ships and aircraft
Close dynamics environment.
3, branch uses double circle structure, and stress performance is good and bearing capacity is strong.
4, mechanism's input drives number more than output stage number of degrees of freedom, increases the work space of mechanism, improves
The adaptability of mechanism.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of this utility model embodiment 1；
Fig. 2 is the three-dimensional simplified schematic diagram of dual input closed-loop element in this utility model embodiment 1；
Fig. 3 is the three-dimensional simplified schematic diagram of transmission closed-loop element in this utility model embodiment 1；
Fig. 4 is the three-dimensional simplified schematic diagram of this utility model embodiment 2；
Fig. 5 is the three-dimensional simplified schematic diagram of transmission closed-loop element in this utility model embodiment 2；
Fig. 6 is the three-dimensional simplified schematic diagram of the transmission closed-loop element of this utility model embodiment 3.
In figure: 1, basic framework；2, installation column is rotated；3, high frequency rotational motor；4, high frequency crank；
5, intermediate slider；6, take-off lever is driven；7, low frequency linear electric motors；8, triangular mounting seat；9, drive link
Connecting plate；10, the first drive link；11, the second drive link；12, movement output platform.
Detailed description of the invention
Embodiment 1
The signal of output-parallel three-dimensional motion platform is mixed in the varistructured low-and high-frequency shown in Fig. 1, Fig. 2 and Fig. 3
In figure, rotating installation column 2 and be fixed on the outer end of basic framework 1, triangular mounting seat 8 is fixed on basis frame
The inner of frame, high frequency rotational motor 3 is located at rotation and installs on column, high frequency crank 4 and high frequency rotational motor
Axle head connects, and intermediate slider 5 is connected with high frequency crank by revolute pair one, drives take-off lever 6 one end to pass through
Moving sets is connected with intermediate slider, drives the take-off lever other end by revolute pair two and low frequency linear electric motors 7
Mover connects, and low frequency linear electric motors are connected with triangular mounting seat；Bottom transmission closed-loop element by drive link even
Fishplate bar 9 is connected with above-mentioned driving take-off lever, and the lower end of the first drive link 10 and the first drive link 11 leads to respectively
Cross that the first ball is secondary, the second ball pair is connected with drive link connecting plate, this first drive link and the second drive link upper
End, fourth ball pair secondary by the 3rd ball respectively is connected with movement output platform 12, above-mentioned first drive link and the
Two drive link length are equal, and this transmission close loop mechanism parallelogram under initial pose is arranged.
Embodiment 2
As shown in Figure 4 and Figure 5, the first drive link and the second drive link length are equal, and this transmission closed loop machine
Structure is arranged in isosceles trapezoid under initial pose, and other component and annexation are same as in Example 1.
Embodiment 3
As shown in Figure 6, the lower end of the first drive link 10 and the first drive link 11 respectively by the first universal pair,
Second universal pair is connected with drive link connecting plate, and other component and annexation are same as in Example 1.
Claims (4)
1. varistructured low-and high-frequency mixing an output-parallel three-dimensional motion platform, it include movement output platform,
Basic framework and the identical dual input series parallel movement chain of three structural forms, it is characterised in that: described lose-lose
Enter series parallel movement chain to be composed in series by dual input closed-loop element and transmission closed-loop element；Described dual input closed loop list
Unit includes rotating installs column, high frequency rotational motor, high frequency crank, intermediate slider, driving take-off lever, low
Frequently linear electric motors and triangular mounting seat, rotates installation column and is fixed on the outer end of basic framework, triangular mounting seat
Being fixed on the inner of basic framework, high frequency rotational motor is located at rotation and installs on column, high frequency crank and high frequency
Rotary electric machine axle head connects, and intermediate slider is connected with high frequency crank by revolute pair one, drives take-off lever one end
It is connected with intermediate slider by moving sets, drives the take-off lever other end by revolute pair two and low frequency linear electric motors
Mover connect, low frequency linear electric motors are located on triangular mounting seat, above-mentioned dual input closed-loop element formed comprise
Three revolute pairs and the lower closed loop planar five-bar mechanism of two moving sets；Described transmission closed-loop element includes first
Drive link, the second drive link and drive link connecting plate, bottom transmission closed-loop element by drive link connecting plate with
The driving take-off lever of above-mentioned dual input closed-loop element is connected, and the lower end of the first drive link and the second drive link is respectively
, second ball pair secondary by the first ball is connected with drive link connecting plate, this first drive link and the second drive link
Upper end, fourth ball pair secondary by the 3rd ball respectively is connected with movement output platform, above-mentioned transmission closed-loop element and
Movement output platform is collectively forming close loop mechanism.
Varistructured low-and high-frequency the most according to claim 1 mixing output-parallel three-dimensional motion platform, its
It is characterised by: the first ball of described transmission closed-loop element is secondary, the universal secondary replacement of the second ball pair.
Varistructured low-and high-frequency the most according to claim 1 mixing output-parallel three-dimensional motion platform, its
It is characterised by: the first drive link and the second drive link length of described transmission closed-loop element are equal, and upper closed loop
Mechanism's parallelogram under initial pose is arranged.
Varistructured low-and high-frequency the most according to claim 1 mixing output-parallel three-dimensional motion platform, its
It is characterised by: the first drive link and the second drive link length of described transmission closed-loop element are equal, and upper closed loop
Mechanism arranges in plane isosceles trapezoid under initial pose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620382416.9U CN205642783U (en) | 2016-04-29 | 2016-04-29 | High low frequency of varistructure mixes parallelly connected three -dimensional moving platform of output |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620382416.9U CN205642783U (en) | 2016-04-29 | 2016-04-29 | High low frequency of varistructure mixes parallelly connected three -dimensional moving platform of output |
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| Publication Number | Publication Date |
|---|---|
| CN205642783U true CN205642783U (en) | 2016-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620382416.9U Withdrawn - After Issue CN205642783U (en) | 2016-04-29 | 2016-04-29 | High low frequency of varistructure mixes parallelly connected three -dimensional moving platform of output |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105738062A (en) * | 2016-04-29 | 2016-07-06 | 燕山大学 | High-and-low frequency mixed output parallel three-dimensional motion table with variable structure |
| CN106710430A (en) * | 2016-12-28 | 2017-05-24 | 芜湖顺荣汽车部件有限公司 | Six-shaft simulation testing device |
| RU175329U1 (en) * | 2017-07-17 | 2017-11-30 | Федеральное государственное унитарное предприятие "Государственный научно-исследовательский институт авиационных систем" (ФГУП "ГосНИИАС") | Multi-platform Dynamic Modeling Stand |
| CN110886215A (en) * | 2019-12-16 | 2020-03-17 | 刘童童 | Bridge detection structure and detection method thereof |
| CN112161800A (en) * | 2020-09-30 | 2021-01-01 | 北华航天工业学院 | Three-degree-of-freedom foldable parallel motion platform with closed-loop dual-drive subchains |
-
2016
- 2016-04-29 CN CN201620382416.9U patent/CN205642783U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105738062A (en) * | 2016-04-29 | 2016-07-06 | 燕山大学 | High-and-low frequency mixed output parallel three-dimensional motion table with variable structure |
| CN105738062B (en) * | 2016-04-29 | 2018-05-01 | 燕山大学 | A kind of low-and high-frequency mixing output-parallel three-dimensional motion platform of varistructure |
| CN106710430A (en) * | 2016-12-28 | 2017-05-24 | 芜湖顺荣汽车部件有限公司 | Six-shaft simulation testing device |
| RU175329U1 (en) * | 2017-07-17 | 2017-11-30 | Федеральное государственное унитарное предприятие "Государственный научно-исследовательский институт авиационных систем" (ФГУП "ГосНИИАС") | Multi-platform Dynamic Modeling Stand |
| CN110886215A (en) * | 2019-12-16 | 2020-03-17 | 刘童童 | Bridge detection structure and detection method thereof |
| CN110886215B (en) * | 2019-12-16 | 2021-11-09 | 创辉达设计股份有限公司 | Bridge detection structure and detection method thereof |
| CN112161800A (en) * | 2020-09-30 | 2021-01-01 | 北华航天工业学院 | Three-degree-of-freedom foldable parallel motion platform with closed-loop dual-drive subchains |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161012 Effective date of abandoning: 20180501 |