CN206946319U - A kind of 3-freedom parallel mechanism for motion compensation - Google Patents
A kind of 3-freedom parallel mechanism for motion compensation Download PDFInfo
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- CN206946319U CN206946319U CN201720514441.2U CN201720514441U CN206946319U CN 206946319 U CN206946319 U CN 206946319U CN 201720514441 U CN201720514441 U CN 201720514441U CN 206946319 U CN206946319 U CN 206946319U
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- spacing
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- mounting plate
- motion compensation
- driving
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Abstract
The utility model provides a kind of 3-freedom parallel mechanism for motion compensation, including upper mounting plate and motion compensation unit, is characterized in：Motion compensation unit includes 3 driving branches, 2 spacing branches and frame, 3 driving branches and 2 spacing branches are connected with upper mounting plate bottom surface and frame respectively, 3 driving branched structures are identical, there is three degree of freedom connection end above and below each driving branch, linear drive system is installed, linear drive system includes the servo valve that linear drive apparatus and linear drive apparatus stretch in driving branch.2 spacing branches form by spacing cylinder and ball pivot, the upper end of 2 spacing branches is hinged by the middle bottom surface of ball pivot and upper mounting plate, the spacing cylinder of 1 spacing branch is connected by rotary shaft with frame, it can be rotated in the mid-plane of upper mounting plate around rotary shaft, the spacing cylinder of another spacing branch is fixed in frame.Its is simple in construction, compact, cost is relatively low, and easy to use.
Description
Technical field
The utility model belongs to floating ocean platform device manufacturing technology field, specifically a kind of for motion compensation
3-freedom parallel mechanism.
Background technology
With the development of China's offshore oil cause, a large amount of floating ocean platform devices are applied to marine petroleum development
Each process, such as partly latent drilling platforms, drill ship, FPSO.Above-mentioned ocean platform can produce six under the load of marine environment
The compound movement of the individual free degree, complex effects are produced to the equipment on platform and personnel, safety is brought to operation in related platform
Hidden danger.It is the effective scheme for solving the problem that motion compensation unit is installed on platform.At present, motion compensation unit mainly uses
It is the compensation mechanism of six degree of freedom, but the parallel institution of six degree of freedom has control complicated, and cost is high, and space is larger etc.
Shortcoming, it is unfavorable for the design of motion compensation unit, and the main movement of actual ocean platform comes from rolling, pitching and heaving
Three directions, therefore, in order to overcome the shortcomings of that six-degree-of-freedom parallel connection mechanism is applied to marine motor compensation device, it would be highly desirable to design one
The parallel institution of kind lower-mobility, disclosure satisfy that the requirement of floating ocean platform device motion compensation.
The content of the invention
The utility model is above mentioned problem existing for solution prior art, there is provided a kind of Three Degree Of Freedom for motion compensation
Parallel institution, its is simple in construction, compact, cost is relatively low, and easy to use.
The purpose of this utility model is achieved through the following technical solutions：
A kind of 3-freedom parallel mechanism for motion compensation, including upper mounting plate and motion compensation unit, its feature exist
Include 3 driving branches, 2 spacing branches and frame in, the motion compensation unit, the upper mounting plate bottom surface with described in 3
Driving branch connects with 2 spacing branches, and 3 driving branches and 2 spacing branches are connected with the frame, and 3
The individual driving branched structure is identical, wherein, 2 drivings are branched into and symmetrically divided on the mid-plane of the upper mounting plate
Cloth, and plane of movement is parallel, another described driving branch overlaps with the mid-plane of the upper mounting plate, each driving point
There is three degree of freedom connection end above and below branch, and linear drive system, the linear drives system are provided with the driving branch
System includes linear drive apparatus and controls the flexible servo valve of the linear drive apparatus；2 spacing branches are by spacing
Cylinder and ball pivot composition, the upper end of 2 spacing branches are hinged by the middle bottom surface of ball pivot and the upper mounting plate, wherein, 1
The spacing cylinder of the individual spacing branch is connected by rotary shaft with the frame, can be in the mid-plane of upper mounting plate around rotary shaft
Rotation, the spacing cylinder of another spacing branch are fixed in the frame.
Improvement to above-mentioned technical proposal：Base under 3 driving branches of equilateral triangle distribution is fixed with the frame
, 3 driving branch top bases are set on described upper mounting plate bottom surface, and described 3 drive in branch's top bases and the frame
The positions of 3 driving branch bottom bases correspond up and down, each driving branch upper and lower ends pass through joint shaft respectively
Hold and connected with corresponding driving branch's top base and driving branch bottom base.
Further improvement to above-mentioned technical proposal：The frame is including the bottom framework parallel with the upper mounting plate and vertically
The vertical frame being fixed in the middle part of the bottom framework, the vertical frame are made up of two root posts and a top plate, the top plate
Vertical equity is arranged on the upper end of two columns, and spacing cylinder seat, spacing cylinder holes, described upper mounting plate are set on the top plate
It is fixed with two spacing branch's pedestals on bottom surface, two spacing branch's pedestals spacing cylinder seat and limit with lower section respectively
The position of position cylinder holes corresponds to up and down, and the spacing cylinder of 1 spacing branch passes through the spacing cylinder holes in rotary shaft and the top plate
It is flexibly connected, the spacing cylinder of another spacing branch is fixed in the spacing cylinder seat of the top plate, 2 spacing branches
Upper end is hinged by ball pivot spacing branch's pedestal corresponding with described upper mounting plate bottom surface.
Further improvement to above-mentioned technical proposal：3 driving branch bottom bases are separately positioned on the bottom framework
Left and right side frame and front bezel on.
Further improvement to above-mentioned technical proposal：The linear drive system is by axle sleeve, hydraulic stem, hydraulic cylinder, liquid
Cylinder pressure base, servo valve and electric transducer composition, received the electric signal from PLC compensation systems by electric transducer and be transferred to and watched
Valve is taken, and is stretched by servo valve control hydraulic stem.
Further improvement to above-mentioned technical proposal：Described oscillating bearing is by base plate, oscillating bearing bar, pin-and-hole, pass
Bearings set composition, oscillating bearing can be realized around the rotation of oscillating bearing bar and the rotation around joint shaft bearing sleeve and swing totally three
The motion of the individual free degree, wherein the rotation and swing around joint shaft bearing sleeve are conditional motions.
Further improvement to above-mentioned technical proposal：Each driving branch upper end passes through clip and joint shaft respectively
Hold driving branch top base connection corresponding with described upper mounting plate bottom surface.
Further improvement to above-mentioned technical proposal：The linear drive apparatus is hydraulic cylinder, pneumatic cylinder or electric cylinders.
The advantages of the utility model and good effect are：
（1）Parallel institution of the present utility model fully employs the very ripe 3-freedom parallel mechanism of technology, right
It is very ripe in the research of the working space of 3-freedom parallel mechanism, singularity, operating efficiency etc., can be the utility model
Favourable theories integration and technical guarantee are provided；
（2）The utility model employs three driving branches and two spacing branches have five branches, the rigidity of mechanism altogether
Height, large carrying capacity, geometry is simple, compact, and process and assemble is easy, and working space is big, as a result of the control of hydraulic cylinder
System, kinematic dexterity is good, and anti-impact force is strong；
（3）The servo valve control hydraulic cylinder that the utility model uses, control is simple, stable performance, strong adaptability, cost
Low, whole mechanism maintains the position of upper mounting plate maintenance level always by a series of motion compensation, is mended so as to reach motion
The purpose repaid.It can be widely applied to ocean platform, ship etc. and carry out motion compensation, it is effective to ensure people and instrument in the sea of complexity
Normal work in foreign environment.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is a kind of general structure schematic diagram of 3-freedom parallel mechanism for motion compensation of the utility model；
Fig. 2 is the driving executive module signal in a kind of 3-freedom parallel mechanism for motion compensation of the utility model
Figure；
Fig. 3 is the frame schematic diagram in a kind of 3-freedom parallel mechanism for motion compensation of the utility model；
Fig. 4 is the oscillating bearing details signal in a kind of 3-freedom parallel mechanism for motion compensation of the utility model
Figure.
1. upper mounting plate in figure；2. drive branch's top base；3. oscillating bearing；3-1. base plate；3-2. oscillating bearing bars；
3-3. pin-and-hole；3-4. joint shaft bearing sleeves；4. drive branch；4-1. axle sleeve；4-2. hydraulic cylinder；4-3. hydraulic cylinder base；4-
4. hydraulic stem；4-5. servo valve；4-6. electric transducer；5. clip, 6. spacing branches；The spacing cylinders of 6-1.；6-2. ball pivot；7.
Frame；7-1. vertical frame；The spacing cylinder seats of 7-1-1.；The spacing cylinder holes of 7-1-2.；7-2. bottom framework；Base under 7-2-1. drivings branch
Seat.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing：
Referring to Fig. 1-Fig. 4, a kind of embodiment of 3-freedom parallel mechanism for motion compensation of the utility model, including
Upper mounting plate 1 and motion compensation unit, the motion compensation unit include three driving 4, two spacing branches 6 of branch and frame 7,
The bottom surface of upper mounting plate 1 is connected with three driving branches 4 and two spacing branches 6, and three driving branches 4 and two spacing branches 6 are equal
It is connected with frame 7.Three driving branch 4 structures are identical, wherein, two driving branches 4 are the mid-plane on upper mounting plate 1
（The plane perpendicular to longest edge of rectangle upper mounting plate 1）It is symmetrical, and plane of movement is parallel, another driving branch 4 with
The mid-plane of upper mounting plate 1 overlaps, and there is three degree of freedom each connection end for driving branch about 4.Installed in driving branch 4
There is linear drive system, above-mentioned linear drive system includes linear drive apparatus and controls the flexible servo of linear drive apparatus
Valve, above-mentioned linear drive apparatus are hydraulic cylinder, pneumatic cylinder or electric cylinders.In the present embodiment shown in Fig. 1, Fig. 2, linear drive apparatus
For hydraulic cylinder, servo valve 4-5 control hydraulic cylinder extensions.Although by three driving branch 4 elongations and shorten frame 7 with
Ship or ocean platform etc. and do the motion of complexity, but can ensure that upper mounting plate 1 maintains horizontal level always.Two limits
Position branch 6 forms by spacing cylinder 6-1 and ball pivot 6-2, and the upper end of two spacing branches 6 passes through ball pivot 6-2 and upper mounting plate 1
Middle bottom surface is hinged, wherein, the spacing cylinder 6-1 of a spacing branch 6 is connected by rotary shaft with frame 7, can be in upper mounting plate 1
Rotated in mid-plane around rotary shaft, the spacing cylinder 6-1 of another spacing branch 6 is fixed in frame 7.This distribution mode and
What the hydraulic shock that mounting means can effectively limit hydraulic cylinder was brought removes pitching, rolling, other moving displacements of heaving, dimension
The stabilization of upper mounting plate 1 is held, spacing cylinder 6-1 can effectively ensure the motion in heaving direction, while can effectively limit swaying
With the motion of surge direction.
Specifically：Above-mentioned upper mounting plate 1 is that workbench forms rectangular flat plate, processing letter using monoblock steel plate cutting
Single, intensity is high, and bearing capacity is strong, and whole mechanism maintains the position of upper mounting plate maintenance level always by a series of motion compensation
Put, so as to reach the purpose of motion compensation.
As shown in Figure 1, Figure 3,3 driving branch bottom base 7-2- of equilateral triangle distribution are fixed with above-mentioned frame 7
1,3 driving branch top bases 2, three driving branch top bases 2 and 3 drivings in frame 7 are set on the bottom surface of upper mounting plate 1
Branch bottom base 7-2-1 position corresponds up and down.Each driving branch 4 upper and lower ends pass through clip 5 and joint respectively
Bearing 3 drives branch's top base 2 and the bottom base 7-2-1 connections of driving branch with corresponding.
As shown in figure 3, above-mentioned frame 7 includes the bottom framework 7-2 parallel with upper mounting plate 1 and is fixed on bottom framework 7-2 vertically
The vertical frame 7-1 at middle part, vertical frame 7-1 are made up of two root posts and a top plate, and top plate vertical equity is arranged on two
The upper end of column.Whole frame 7 can be welded by steel plate and square bar, simple in construction, rigidity is strong, is easily worked, and can be had
The motion of the whole mechanism of support of effect.
Above three driving branch bottom base 7-2-1 particular locations are：Be separately positioned on bottom framework 7-2 left and right side frame and
In front bezel.Spacing cylinder seat 7-1-1, spacing cylinder holes 7-1-2 are set on vertical frame 7-1 top plates, it is solid on the bottom surface of upper mounting plate 1
Surely there are two spacing branch's pedestals, two spacing branch's pedestals spacing cylinder seat 7-1-1 and spacing cylinder holes 7-1-2 with lower section respectively
Position correspond to up and down.The spacing cylinder 6-1 of one spacing branch 6 passes through the spacing cylinder holes 7-1-2 activities in rotary shaft and top plate
Connection, the spacing cylinder 6-1 of another spacing branch 6 is fixed on the spacing cylinder seat 7-1-1 that top plate is, in two spacing branches 6
End is hinged by ball pivot 6-2 spacing branch's pedestals corresponding with the bottom surface of upper mounting plate 1, and so, spacing cylinder 6-1 limits the same of yawing
When can ensure the motion in rolling direction, spacing cylinder 6-1 rotary shaft can effectively ensure that the fortune in the pitching direction of upper mounting plate 1
It is dynamic,
As shown in Fig. 2 above-mentioned hydraulic cylinder by axle sleeve 4-1, hydraulic stem 4-4, hydraulic cylinder 4-2, hydraulic cylinder base 4-3, watch
Valve 4-5 and electric transducer 4-6 compositions are taken, the electric signal from PLC compensation systems is received by electric transducer 4-6 and is transferred to servo
Valve 4-5, and stretched by servo valve 4-5 controls hydraulic stem 4-4.Driven by Hydraulic Cylinder mechanism of the present utility model can be whole mechanism
Continual and steady offer power, ensures the entire run of motion compensated mechanism.
As shown in figure 4, above-mentioned oscillating bearing 3 is by base plate 3-1, oscillating bearing bar 3-2, pin-and-hole 3-3, joint shaft bearing sleeve
3-4 is formed, and oscillating bearing 3 can be realized around oscillating bearing bar 3-2 rotation and the rotation around joint shaft bearing sleeve 3-4 and swung altogether
The motion of three degree of freedom, wherein the rotation and swing around joint shaft bearing sleeve are conditional motions.So can be effective
Ensure that oscillating bearing 3 while set motion is completed, will not produce excessive skew, ensure the stability of whole system.
Certainly, it is to limitation of the present utility model that described above, which is not, and the utility model is also not limited to the example above, this
The those of ordinary skill of technical field, in essential scope of the present utility model, made variations, modifications, additions or substitutions,
Also the scope of protection of the utility model should be belonged to.
Claims (10)
1. a kind of 3-freedom parallel mechanism for motion compensation, including upper mounting plate and motion compensation unit, it is characterised in that
The motion compensation unit includes 3 driving branches, 2 spacing branches and frame, the upper mounting plate bottom surface and 3 drivings
Branch connects with 2 spacing branches, and 3 driving branches and 2 spacing branches are connected with the frame, 3 institutes
State driving branched structure it is identical, wherein, 2 it is described driving branch into it is symmetrical on the mid-plane of the upper mounting plate, and
Plane of movement is parallel, and another described driving branch overlaps with the mid-plane of the upper mounting plate, in each driving branch
Under connection end have a three degree of freedom, linear drive system, the linear drive system bag are installed in the driving branch
Include linear drive apparatus and control the flexible servo valve of the linear drive apparatus；2 spacing branches by spacing cylinder and
Ball pivot is formed, and the upper end of 2 spacing branches is hinged by the middle bottom surface of ball pivot and the upper mounting plate, wherein, 1 institute
The spacing cylinder for stating spacing branch is connected by rotary shaft with the frame, can be revolved in the mid-plane of upper mounting plate around rotary shaft
Turn, the spacing cylinder of another spacing branch is fixed in the frame.
2. according to the 3-freedom parallel mechanism for motion compensation described in claim 1, it is characterised in that in the frame
3 driving branch bottom bases of equilateral triangle distribution are fixed with, base in 3 driving branches is set on described upper mounting plate bottom surface
Seat, the position of 3 driving branch's top bases and 3 driving branch bottom bases in the frame correspond up and down, often
Individual driving branch upper and lower ends pass through oscillating bearing and corresponding driving branch's top base and driving branch bottom base respectively
Connection.
3. according to the 3-freedom parallel mechanism for motion compensation described in claim 2, it is characterised in that the frame bag
The vertical frame for including the bottom framework parallel with the upper mounting plate and being fixed on vertically in the middle part of the bottom framework, the vertical frame by
Two root posts and a top plate are formed, and the top plate vertical equity is arranged on the upper end of two columns, set on the top plate
Spacing cylinder seat, spacing cylinder holes are put, two spacing branch's pedestals, two spacing branches are fixed with described upper mounting plate bottom surface
Pedestal is corresponding up and down with the spacing cylinder seat of lower section and the position of spacing cylinder holes respectively, the spacing cylinder of 1 spacing branch
It is flexibly connected by rotary shaft with the spacing cylinder holes on the top plate, the spacing cylinder of another spacing branch is fixed on described
In the spacing cylinder seat of top plate, 2 spacing branch upper ends are corresponding with described upper mounting plate bottom surface spacing point by ball pivot
Branch pedestal is hinged.
4. according to the 3-freedom parallel mechanism for motion compensation described in claim 3, it is characterised in that 3 drives
Dynamic branch bottom base is separately positioned in left and right side frame and the front bezel of the bottom framework.
5. according to the 3-freedom parallel mechanism for motion compensation described in claim any one of 2-4, it is characterised in that institute
State linear drive system to be made up of axle sleeve, hydraulic stem, hydraulic cylinder, hydraulic cylinder base, servo valve and electric transducer, changed by electricity
Device receives the electric signal from PLC compensation systems and is transferred to servo valve, and is stretched by servo valve control hydraulic stem.
6. according to the 3-freedom parallel mechanism for motion compensation described in claim any one of 2-4, it is characterised in that institute
The oscillating bearing stated is made up of base plate, oscillating bearing bar, pin-and-hole, oscillating bearing set, and oscillating bearing can be realized around oscillating bearing
The rotation of bar and rotation and the motion of the common three degree of freedom of swing around joint shaft bearing sleeve, wherein turning around joint shaft bearing sleeve
Dynamic and swing is conditional motion.
7. according to the 3-freedom parallel mechanism for motion compensation described in claim 5, it is characterised in that described joint
Bearing is made up of base plate, oscillating bearing bar, pin-and-hole, oscillating bearing set, and oscillating bearing can realize the rotation around oscillating bearing bar
The motion of three degree of freedom is total to the rotation around joint shaft bearing sleeve and swing, wherein rotation and swing around joint shaft bearing sleeve
It is conditional motion.
8. according to the 3-freedom parallel mechanism for motion compensation described in claim any one of 2-4, it is characterised in that every
The individual driving branch upper end passes through clip and oscillating bearing driving branch corresponding with described upper mounting plate bottom surface respectively
Top base connects.
9. according to the 3-freedom parallel mechanism for motion compensation described in claim any one of 1-4, it is characterised in that institute
It is hydraulic cylinder, pneumatic cylinder or electric cylinders to state linear drive apparatus.
10. according to the 3-freedom parallel mechanism for motion compensation described in claim 7, it is characterised in that the straight line
Drive device is hydraulic cylinder, pneumatic cylinder or electric cylinders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720514441.2U CN206946319U (en) | 2017-05-10 | 2017-05-10 | A kind of 3-freedom parallel mechanism for motion compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720514441.2U CN206946319U (en) | 2017-05-10 | 2017-05-10 | A kind of 3-freedom parallel mechanism for motion compensation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206946319U true CN206946319U (en) | 2018-01-30 |
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ID=61360431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720514441.2U Withdrawn - After Issue CN206946319U (en) | 2017-05-10 | 2017-05-10 | A kind of 3-freedom parallel mechanism for motion compensation |
Country Status (1)
| Country | Link |
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| CN (1) | CN206946319U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106970658A (en) * | 2017-05-10 | 2017-07-21 | 中国海洋大学 | A kind of 3-freedom parallel mechanism for motion compensation |
| CN110350718A (en) * | 2019-07-12 | 2019-10-18 | 北京机械设备研究所 | A kind of monolithic devices and limit method of straight limit servo mechanism rotary freedom |
-
2017
- 2017-05-10 CN CN201720514441.2U patent/CN206946319U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106970658A (en) * | 2017-05-10 | 2017-07-21 | 中国海洋大学 | A kind of 3-freedom parallel mechanism for motion compensation |
| CN106970658B (en) * | 2017-05-10 | 2023-08-22 | 中国海洋大学 | Three-degree-of-freedom parallel mechanism for motion compensation |
| CN110350718A (en) * | 2019-07-12 | 2019-10-18 | 北京机械设备研究所 | A kind of monolithic devices and limit method of straight limit servo mechanism rotary freedom |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180130 Effective date of abandoning: 20230822 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180130 Effective date of abandoning: 20230822 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |