CN205766144U - A kind of multi-degree of freedom vibration reduction mechanism - Google Patents
A kind of multi-degree of freedom vibration reduction mechanism Download PDFInfo
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- CN205766144U CN205766144U CN201620518847.3U CN201620518847U CN205766144U CN 205766144 U CN205766144 U CN 205766144U CN 201620518847 U CN201620518847 U CN 201620518847U CN 205766144 U CN205766144 U CN 205766144U
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Abstract
本实用新型公开了一种多自由度减振机构，属于减振及并联机构领域，包括机架、连杆、移动副、弹簧阻尼元件、动平台等。综合采用弹簧阻尼元件与移动副一起作为机构的减振系统，减振平台的主体机构采用设计出的一种并联机构，该并联机构有三个自由度，可以实现减振平台平移和转动。通过减振平台平移和转动，可实现平衡机构运动及减振要求。本实用新型不仅能够实现多方位运动，而且能够实现有效减振，其整体结构简单、高效、承载力强、应用范围广。
The utility model discloses a multi-degree-of-freedom vibration reduction mechanism, which belongs to the field of vibration reduction and parallel mechanisms, and includes a frame, a connecting rod, a moving pair, a spring damping element, a moving platform and the like. The spring damping element and the moving pair are used together as the vibration reduction system of the mechanism. The main mechanism of the vibration reduction platform adopts a designed parallel mechanism. The parallel mechanism has three degrees of freedom, which can realize the translation and rotation of the vibration reduction platform. Through the translation and rotation of the vibration damping platform, the movement and vibration reduction requirements of the balance mechanism can be realized. The utility model not only can realize multi-directional movement, but also can realize effective vibration reduction, and has simple overall structure, high efficiency, strong bearing capacity and wide application range.
Description
技术领域technical field
本实用新型涉及减振及并联机构领域，尤其涉及一种多自由度减振机构。The utility model relates to the field of vibration reduction and parallel mechanisms, in particular to a multi-degree-of-freedom vibration reduction mechanism.
背景技术Background technique
随着工业制造在生产生活中的广泛应用，机械的自动化生产已成为现代工业必不可少的组成部分，而且现代工业自动化生产对自动化程度、精度、效率等要求也越来越高。另外，随着人们在机械制造、汽车等领域对振动控制的要求越来越高，减振技术的研究也已成为前沿热点研究方向之一。当前多自由度减振平台已广泛应用在工业、农业、医疗、建筑、海洋施工、机器人等多个领域，解决了现代化生产中的诸多难题。因此多自由度减振平台已成为现代工业技术研究中不可或缺的一部分。目前关于单自由度典型机械设备的减振理论已比较成熟，其减振装置类型有液压减振、弹簧气囊减振、金属橡胶减振、钢丝圈螺旋弹簧减振、气弹簧减振、复合钢板等多个种类。有必要设计一种多自由度减振机构，达到结构的可靠、简便、承载能力强的减振效果。With the wide application of industrial manufacturing in production and life, the automated production of machinery has become an indispensable part of modern industry, and modern industrial automated production has higher and higher requirements for automation, precision, and efficiency. In addition, as people have higher and higher requirements for vibration control in the fields of machinery manufacturing and automobiles, the research on vibration reduction technology has become one of the frontier hot research directions. At present, the multi-degree-of-freedom vibration reduction platform has been widely used in many fields such as industry, agriculture, medical treatment, construction, marine construction, and robotics, and has solved many problems in modern production. Therefore, the multi-degree-of-freedom vibration reduction platform has become an indispensable part of modern industrial technology research. At present, the vibration reduction theory of typical single-degree-of-freedom mechanical equipment is relatively mature. The types of vibration reduction devices include hydraulic vibration reduction, spring air bag vibration reduction, metal rubber vibration reduction, steel traveler coil spring vibration reduction, gas spring vibration reduction, composite steel plate and many other types. It is necessary to design a multi-degree-of-freedom vibration damping mechanism to achieve the vibration damping effect of a reliable, simple structure and strong bearing capacity.
发明内容Contents of the invention
本实用新型目的是为了提供一种多自由度减振机构，可实现减振平台承受平移和转动的振动，可以更好地平衡机构运动及减振要求。The purpose of the utility model is to provide a multi-degree-of-freedom vibration reduction mechanism, which can realize the vibration reduction platform to bear the vibration of translation and rotation, and can better balance the movement of the mechanism and the vibration reduction requirements.
为了达到上述目的，本实用新型采用的技术方案是：综合采用弹簧阻尼元件与移动副一起作为机构的减振系统，减振平台的主体机构采用一种并联机构，该并联机构有三个自由度，可以实现减振平台平移和转动，可实现平衡机构运动及减振要求。In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is: the vibration damping system using the spring damping element and the moving pair together as a mechanism, the main mechanism of the vibration damping platform adopts a parallel mechanism, and the parallel mechanism has three degrees of freedom, It can realize the translation and rotation of the vibration reduction platform, and can realize the movement of the balance mechanism and the vibration reduction requirements.
实现本实用新型的具体方案是：一种多功能减振机构，其特征在于：包括机架、转动副R1、连杆一、移动副P1、弹簧阻尼元件一、连杆二、转动副R2、动平台、转动副R3、连杆三、移动副P2、弹簧阻尼元件二、连杆四、转动副R4、连杆五、移动副P3、弹簧阻尼元件三、连杆六、转动副R5、连杆七、转动副R6；所述的机架与连杆一通过转动副R1相接；所述的连杆二与连杆一通过移动副P1相接；所述的弹簧阻尼元件一上端与连杆二相接，下端与连杆一相接；所述的动平台与连杆二通过转动副R2相接，动平台中间处与连杆三通过转动副R3相接；所述的连杆三与连杆四通过移动副P2相接；所述的弹簧阻尼元件二上端与连杆三相接，下端与连杆四相接；所述的连杆四与机架通过焊接固定；所述的连杆五与动平台一端通过转动副R4相接；所述的连杆六与连杆五通过移动副P3相接；所述的弹簧阻尼元件三上端与连杆五相接，下端与连杆六相接；所述的连杆七一端与连杆六通过转动副R5相接，一端与机架通过转动副R6相接。The specific solution for realizing the utility model is: a multi-functional damping mechanism, which is characterized in that it includes a frame, a rotating pair R 1 , a connecting rod 1, a moving pair P 1 , a spring damping element 1, a connecting rod 2, and a rotating pair R 2 , moving platform, rotating pair R 3 , connecting rod 3, moving pair P 2 , spring damping element 2, connecting rod 4, rotating pair R 4 , connecting rod 5, moving pair P 3 , spring damping element 3, connecting rod 6. Rotating pair R 5 , connecting rod 7, rotating pair R 6 ; the frame and connecting rod 1 are connected through rotating pair R 1 ; the connecting rod 2 and connecting rod 1 are connected through moving pair P 1 The upper end of the spring damping element one is connected with the second connecting rod, and the lower end is connected with the second connecting rod; the moving platform is connected with the second connecting rod through the rotating pair R2, and the middle part of the moving platform is connected with the third connecting rod The rotating pair R3 is connected; the connecting rod three and the connecting rod four are connected through the moving pair P2; the upper end of the spring damping element two is connected with the connecting rod three, and the lower end is connected with the connecting rod four; The connecting rod four and the frame are fixed by welding; the connecting rod five is connected with one end of the moving platform through the rotating pair R4; the connecting rod six and the connecting rod five are connected through the moving pair P3 ; The upper end of the spring damping element three is connected with the connecting rod five, and the lower end is connected with the connecting rod six; one end of the connecting rod seven is connected with the connecting rod six through the rotating pair R5 , and one end is connected with the frame through the rotating pair R6 catch.
本实用新型的有益效果是：本实用新型不仅能够实现多方位运动，而且把减振技术融入到所设计的机构当中，综合实现了多自由度减振平台的功能，其整体结构简单、高效、承载力强、应用范围广。The beneficial effects of the utility model are: the utility model can not only realize multi-directional movement, but also integrate the vibration reduction technology into the designed mechanism, comprehensively realize the function of the multi-degree-of-freedom vibration reduction platform, and its overall structure is simple, efficient and Strong bearing capacity and wide application range.
附图说明Description of drawings
图1是本实用新型的结构示意图。Fig. 1 is the structural representation of the utility model.
图中机架1、转动副R1 2、连杆一3、移动副P1 4、弹簧阻尼元件一5、连杆二6、转动副R2 7、动平台8、转动副R3 9、连杆三10、移动副P2 11、弹簧阻尼元件二12、连杆四13、转动副R4 14、连杆五15、移动副P3 16、弹簧阻尼元件三17、连杆六18、转动副R5 19、连杆七20、转动副R6 21。In the figure, frame 1, rotating pair R 1 2, connecting rod 1 3, moving pair P 1 4, spring damping element 1 5, connecting rod 2 6, rotating pair R 2 7, moving platform 8, rotating pair R 3 9, Connecting rod 3 10, moving pair P 2 11, spring damping element 2 12, connecting rod 4 13, rotating pair R 4 14, connecting rod 5 15, moving pair P 3 16, spring damping element 3 17, connecting rod 6 18, Rotating pair R 5 19, connecting rod seven 20, rotating pair R 6 21.
具体实施方式detailed description
为了使本实用新型所实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施例和图示，进一步阐述本实用新型。In order to make the technical means, creative features, goals and effects achieved by the utility model easy to understand, the utility model will be further elaborated below in conjunction with specific embodiments and illustrations.
如图1所示，一种多功能减振机构，其特征在于：包括机架1、转动副R1 2、连杆一3、移动副P1 4、弹簧阻尼元件一5、连杆二6、转动副R2 7、动平台8、转动副R3 9、连杆三10、移动副P2 11、弹簧阻尼元件二12、连杆四13、转动副R4 14、连杆五15、移动副P3 16、弹簧阻尼元件三17、连杆六18、转动副R5 19、连杆七20、转动副R6 21；所述的机架1与连杆一3通过转动副R1 2相接；所述的连杆二6与连杆一3通过移动副P1 4相接；所述的弹簧阻尼元件一5上端与连杆二6相接，下端与连杆一3相接；所述的动平台8与连杆二6通过转动副R2 7相接，动平台8中间处与连杆三10通过转动副R3 9相接；所述的连杆三10与连杆四13通过移动副P2 11相接；所述的弹簧阻尼元件二12上端与连杆三10相接，下端与连杆四13相接；所述的连杆四13与机架1通过焊接固定；所述的连杆五15与动平台8一端通过转动副R4 14相接；所述的连杆六18与连杆五15通过移动副P3 16相接；所述的弹簧阻尼元件三17上端与连杆五15相接，下端与连杆六18相接；所述的连杆七20一端与连杆六18通过转动副R5 19相接，一端与机架1通过转动副R6 21相接。As shown in Figure 1, a multifunctional damping mechanism is characterized in that it includes a frame 1, a rotating pair R 1 2, a connecting rod 1 3, a moving pair P 1 4, a spring damping element 1 5, and a connecting rod 2 6 , rotating pair R 2 7, moving platform 8, rotating pair R 3 9, connecting rod 3 10, moving pair P 2 11, spring damping element 2 12, connecting rod 4 13, rotating pair R 4 14, connecting rod 5 15, Moving pair P 3 16, spring damping element 3 17, connecting rod 6 18, revolving pair R 5 19, connecting rod 7 20, revolving pair R 6 21; the frame 1 and connecting rod 1 pass through revolving pair R 1 2 are connected; the connecting rod 2 6 is connected with the connecting rod 1 3 through the moving pair P 1 4; the upper end of the spring damping element 1 5 is connected with the connecting rod 2 6, and the lower end is connected with the connecting rod 1 3 The moving platform 8 is connected with the connecting rod two 6 through the rotating pair R 2 7, and the middle of the moving platform 8 is connected with the connecting rod three 10 through the rotating pair R 3 9; the connecting rod three 10 is connected with the connecting rod The fourth 13 is connected by the moving pair P 2 11; the upper end of the spring damping element two 12 is connected with the third connecting rod 10, and the lower end is connected with the fourth connecting rod 13; the fourth connecting rod 13 is welded to the frame 1 Fixed; the connecting rod five 15 is connected to one end of the moving platform 8 through the rotating pair R 4 14; the connecting rod six 18 is connected to the connecting rod five 15 through the moving pair P 3 16; the spring damping element The upper end of three 17 is connected with connecting rod five 15, and the lower end is connected with connecting rod six 18; one end of said connecting rod seven 20 is connected with connecting rod six 18 through rotating pair R 5 19, and one end is connected with frame 1 through rotating pair R 6 21 are connected.
工作过程：当动平台8受到一定的载荷时，动平台8的左端通过转动副R2 7将部分受力传递到连杆二6上，连杆二6的下端与弹簧阻尼元件一5的上端相连，并将所受到的力传递到弹簧阻尼元件一5上，使弹簧阻尼元件一5压缩并产生反向作用力，弹簧阻尼元件一5下端与连杆一3相连，连杆一3通过转动副R1 2连接到机架1上，连杆一3在受到力时运动；动平台8通过转动副R3 9将所受的力部分传递到连杆三10上，连杆三10的下端与弹簧阻尼元件二12的上端相连，并将所受到的力传递到弹簧阻尼元件二12上，使弹簧阻尼元件二12压缩并产生反向作用力，弹簧阻尼元件二12下端与固定在机架1上的连杆四13相连接，连杆三10在受到力时运动；动平台8的右端端通过转动副R4 14将部分受力传递到连杆五15上，连杆五15的下端与弹簧阻尼元件三17的上端相连，并将所受到的力传递到弹簧阻尼元件三17上，使弹簧阻尼元件三17压缩并产生反向作用力，弹簧阻尼元件三17下端与连杆六18相连接，连杆六18将部分受力通过转动副R5 19传递到连杆七20上，连杆七20下端通过转动副R6 21连接在机架1上，连杆七20在受力的情况下转动，动平台8可实现平移和转动，即可实现多自由度减振。Working process: when the moving platform 8 receives a certain load, the left end of the moving platform 8 transmits part of the force to the connecting rod 2 6 through the rotating pair R 2 7, and the lower end of the connecting rod 2 6 and the upper end of the spring damping element 1 5 Connected, and transmit the received force to the spring damping element-5, so that the spring damping element-5 is compressed and produces a reverse force. The lower end of the spring damping element-5 is connected with the connecting rod-3, and the connecting rod-3 rotates The pair R 1 2 is connected to the frame 1, and the first connecting rod 3 moves when receiving force; the moving platform 8 transmits part of the received force to the third connecting rod 10 through the rotating pair R 3 9, and the lower end of the third connecting rod 10 It is connected with the upper end of the spring damping element 2 12, and transmits the received force to the spring damping element 2 12, so that the spring damping element 2 12 is compressed and produces a reverse force, and the lower end of the spring damping element 12 is fixed on the frame Connecting rod 4 13 on 1 is connected, and connecting rod 3 10 moves when receiving force; the right end of moving platform 8 transmits part of the force to connecting rod 5 15 through rotating pair R 4 14, and the lower end of connecting rod 5 15 It is connected with the upper end of the spring damping element 3 17, and transmits the received force to the spring damping element 3 17, so that the spring damping element 3 17 is compressed and generates a reverse force, and the lower end of the spring damping element 3 17 is connected to the connecting rod 6 18 Connected, the connecting rod six 18 transmits part of the force to the connecting rod seven 20 through the rotating pair R 5 19, the lower end of the connecting rod seven 20 is connected to the frame 1 through the rotating pair R 6 21, and the connecting rod seven 20 is stressed Under the condition of rotation, the moving platform 8 can realize translation and rotation, which can realize multi-degree-of-freedom vibration reduction.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584433A (en) * | 2016-12-23 | 2017-04-26 | 哈尔滨工业大学深圳研究生院 | Three-freedom-degree parallel vibration isolation device |
| CN119910621A (en) * | 2025-01-17 | 2025-05-02 | 燕山大学 | A compliant back-drive parallel robot and working method |
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2016
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584433A (en) * | 2016-12-23 | 2017-04-26 | 哈尔滨工业大学深圳研究生院 | Three-freedom-degree parallel vibration isolation device |
| CN106584433B (en) * | 2016-12-23 | 2018-11-20 | 哈尔滨工业大学深圳研究生院 | A kind of freedom degree parallel connection isolation mounting |
| CN119910621A (en) * | 2025-01-17 | 2025-05-02 | 燕山大学 | A compliant back-drive parallel robot and working method |
| CN119910621B (en) * | 2025-01-17 | 2025-08-22 | 燕山大学 | A compliant back-drive parallel robot and working method |
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