CN207246309U - The main passive parallel input posture adjustment vibration-isolating platform in parallel of one kind - Google Patents
The main passive parallel input posture adjustment vibration-isolating platform in parallel of one kind Download PDFInfo
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- CN207246309U CN207246309U CN201721328121.4U CN201721328121U CN207246309U CN 207246309 U CN207246309 U CN 207246309U CN 201721328121 U CN201721328121 U CN 201721328121U CN 207246309 U CN207246309 U CN 207246309U
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Abstract
The main passive parallel input posture adjustment vibration-isolating platform in parallel of one kind, it mainly includes moving platform, fixed platform and the passive parallel input branch of completely identical in structure three masters for connecting the two platforms, and main passive parallel input branch includes driver and elastic damping unit.One end of main passive parallel input branch is connected with fixed platform, and the other end is connected by cylindrical pair with moving platform.The utility model arranges driver and elastic damping unit parallel, forms active posture adjustment, the integrated Coupled Rigid-flexible freedom degree parallel connection platform of passive vibration isolation, the multidimensional posture adjustment vibration isolation applied to the carrier apparatus equipment such as vehicle, ship.The utility model at the same time can disturb the pose of carrier apparatus equipment and be compensated with vibration, and configuration is simple, compact-sized, it is easy to accomplish.
Description
Technical field
A kind of parallel institution is the utility model is related to, particularly a kind of active posture adjustment, passive vibration isolation integration parallel connection platform.
Background technology
Influenced be subject to external environmental condition, vehicle, ship etc. can produce rolling, pitching, swaying, vertical in the process of moving
Swing and the multivariant movement such as heaving, the vibration of simultaneous medium-high frequency.Significantly pose change and of reciprocating vibration serious
The performance of carrier apparatus equipment is influenced, or even damage instrument and equipment causes heavy losses.For example, the weapon system in actual combat
Complex environment is often in, the pose change and vibration thereby resulted in can influence the aiming, tracking and transmitting essence of weapon system
Degree, it is difficult to meet the needs of modern operation.Therefore, it is necessary to take certain measure to eliminate interference, carried for carrier apparatus equipment
For a metastable working environment.Disturbance includes the change of significantly pose and the vibration of medium-high frequency, and single type drives
Dynamic device can only generally play the advantage of oneself, therefore the compensation of existing pose and vibration isolating mechanism one in specific frequency and amplitude range
As be separated.
Patent CN103423558A proposes a kind of coupled mode four-degree-of-freedom vibration-isolating platform, it is driven to electric cylinder, mainly
Pose change to low frequency large amplitude compensates.The four-degree-of-freedom posture adjustment vibration isolation that same patent CN102773855A is proposed is put down
Platform, it is driven to linear motor, is mainly used for pose compensation, is limited to the characteristic centering dither isolation effect of driver not
It is good.Patent CN1587739A proposes a kind of super magnetostrictive active vibration control platform, under the working environment of low frequency a little
Vibration isolating effect is 98% or so.Patent CN105539304A, CN105563466A proposes a kind of tune containing closed-loop subchain respectively
Appearance vibration-isolating platform, active pose compensation is carried out using linear motor, and vibration isolator of connecting in branch carries out passive vibration isolation, platform
Bearing capacity, dynamic characteristic are limited be subject to series connection vibration isolator.It is compound that patent CN104924293A proposes a kind of posture adjustment vibration isolation in parallel
Platform, by driving prismatic pair to realize the movement of moving platform, the vibration of moving platform is isolated by spring passive, the active of mechanism is driven
After dynamic pinning, moving platform is practically at the state of Complete Bind, and the passive vibration isolation of spring side chain can not play one's part to the full.
Utility model content
The purpose of this utility model is to provide a kind of active posture adjustment, the integrated parallel connection platform of passive vibration isolation.
The technical solution of the utility model is as follows：
The utility model mainly includes moving platform, fixed platform and connects completely identical in structure three of the two platforms
Main passive parallel input branch, main passive parallel input branch include driver and elastic damping unit；It is main passive parallel defeated
The one end for entering branch is connected with fixed platform, and the other end is connected by cylindrical pair with moving platform.Main passive parallel input branch has four
Kind structure：
The first structure：The afterbody of electric cylinder cylinder body in active posture adjustment part is connected by revolute pair with fixed platform, electricity
The end of dynamic cylinder output rod is connected by revolute pair with upper connecting rod；Line slideway in passive vibration isolation part is fixed on fixed platform
On, the guide post socket of sliding block and line slideway forms prismatic pair, i.e. sliding block can be moved along guide post, and spring is cased with the guide post,
Damping portion uses prismatic pair frictional damping, is not required to additional designs damper；One end of connecting rod is connected by revolute pair and sliding block
Connect, the other end of connecting rod is connected by revolute pair with electric cylinder cylinder body；
Second of structure：The afterbody of electric cylinder cylinder body in active posture adjustment part is connected by revolute pair with fixed platform, electricity
The end of dynamic cylinder output rod is connected by revolute pair with upper connecting rod；One end of oscillating rod in passive vibration isolation part passes through revolute pair
It is connected with fixed platform, the other end and the telescopic rod of the oscillating rod are socketed, and form prismatic pair, i.e. telescopic rod can be stretched in oscillating rod
Contract, spring is cased with telescopic rod, the other end of the telescopic rod is connected by revolute pair with electric cylinder cylinder body, and damping portion is using shifting
Dynamic pair frictional damping, is not required to additional designs damper；
The third structure：The afterbody of electric cylinder cylinder body in active posture adjustment part is connected by revolute pair with fixed platform, electricity
The end of dynamic cylinder output rod is connected by revolute pair with lower link；Line slideway in passive vibration isolation part is fixed on fixed platform
On, the guide post socket of sliding block and line slideway forms prismatic pair, i.e. sliding block can be moved along guide post, and spring is cased with the guide post,
Damping portion uses prismatic pair frictional damping, is not required to additional designs damper；One end of above-mentioned lower link passes through revolute pair and cunning
Block connects, and the other end of lower link is connected by revolute pair with upper connecting rod；
4th kind of structure：Motor cabinet and fixed platform in active posture adjustment part is affixed, and motor and retarder are consolidated with motor cabinet
Even, one end of toggle-action lever is connected with retarder, and the other end of toggle-action lever is connected by revolute pair with connecting rod slider, and connecting rod slider leads to
Prismatic pair is crossed to be connected with lower link；Line slideway in passive vibration isolation part is fixed on fixed platform, sliding block and line slideway
Guide post socket forms prismatic pair, i.e. sliding block can be moved along guide post, spring is cased with the guide post, damping portion is rubbed using prismatic pair
Damping is wiped, is not required to additional designs damper；One end of above-mentioned lower link is connected by revolute pair with sliding block, the other end of lower link
It is connected by revolute pair with upper connecting rod.
Passively the spring of input branch can replace with the group of spring and damper to the master of above-mentioned different structure form parallel
Other elastic damping units, the electric cylinders such as conjunction can replace with hydraulic cylinder linear motion unit.
The end that the master of above-mentioned different structure form passively inputs branch parallel can be connected by ball pair with moving platform, be made
Moving platform has two rotations, one mobile kinetic characteristic.
The utility model has the following advantages that compared with prior art：
1st, active posture adjustment, passive vibration isolation integration, configuration is simple, compact-sized, is easy to Project Realization.
2nd, can be to the carrier specific frequency such as vehicle, ship by the reasonable disposition to parameters such as rigidity, passive vibration isolation part
Interference in section is isolated, while being capable of the in-house impact effect produced by rigid drivers such as electric cylinders of effective attenuation
Should, the control difficulty of system substantially reduces.
3rd, since driver and Flexible element input parallel, Flexible element is capable of the load of sharing system, improves system
Dynamic response.
Brief description of the drawings
Fig. 1 is the structure schematic diagram of the utility model embodiment 1.
Fig. 2 is the structure schematic diagram of the utility model embodiment 2.
Fig. 3 is the structure schematic diagram of the utility model embodiment 3.
Fig. 4 is the structure schematic diagram of the utility model embodiment 4.
In figure：1st, moving platform；2nd, upper connecting rod；3rd, electric cylinder output rod；4th, electric cylinder cylinder body；5th, fixed platform；6th, connecting rod；
7th, line slideway；8th, guide post；9th, sliding block；10 springs；11st, telescopic rod；12nd, oscillating rod；13rd, lower link；14th, connecting rod slider；15、
Toggle-action lever；16th, motor, 17, retarder；18th, motor cabinet.
Embodiment
Embodiment 1：
In the main passive parallel input posture adjustment vibration-isolating platform schematic diagram in parallel of one kind shown in Fig. 1, uniformly distributed three structures
Identical master passively inputs one end of branch parallel and fixed platform 5 connects, and the other end is connected by cylindrical pair and moving platform 1
Connect；The afterbody of electric cylinder cylinder body 4 in active posture adjustment part is connected by revolute pair and fixed platform 5, the end of electric cylinder output rod 3
Portion is connected by revolute pair and upper connecting rod 2；Line slideway 7 in passive vibration isolation part is fixed on fixed platform 5, sliding block 9 with it is straight
The socket of guide post 8 of line guide rail forms prismatic pair, i.e. sliding block 9 can be moved along guide post 8, and spring 10 is cased with above-mentioned guide post 8, be damped
Part uses prismatic pair frictional damping；One end of connecting rod 6 is connected by revolute pair and sliding block 9, and the other end of connecting rod 6 passes through
Revolute pair is connected with electric cylinder cylinder body 4.
Embodiment 2：
In the main passive parallel input posture adjustment vibration-isolating platform schematic diagram in parallel of one kind shown in Fig. 2, uniformly distributed three structures
Identical master passively inputs one end of branch parallel and fixed platform 5 connects, and the other end is connected by cylindrical pair and moving platform 1
Connect；The afterbody of electric cylinder cylinder body 4 in active posture adjustment part is connected by revolute pair and fixed platform 5, the end of electric cylinder output rod 3
Portion is connected by revolute pair and upper connecting rod 2；One end of oscillating rod 12 in passive vibration isolation part is connected by revolute pair and fixed platform 5
Connect, the other end and the telescopic rod 11 of the oscillating rod 12 are socketed, and form prismatic pair, i.e. telescopic rod 11 can be stretched in oscillating rod 12
Contract, spring 10 is cased with telescopic rod 11, the other end of above-mentioned telescopic rod 11 is connected by revolute pair with electric cylinder cylinder body 4, damping
Part uses prismatic pair frictional damping.
Embodiment 3：
In the main passive parallel input posture adjustment vibration-isolating platform schematic diagram in parallel of one kind shown in Fig. 3, uniformly distributed three structures
Identical master passively inputs one end of branch parallel and fixed platform 5 connects, and the other end is connected by cylindrical pair and moving platform 1
Connect；The afterbody of electric cylinder cylinder body 4 in active posture adjustment part is connected by revolute pair and fixed platform 5, the end of electric cylinder output rod 3
Portion is connected by revolute pair and lower link 13；Line slideway 7 in passive vibration isolation part is fixed on fixed platform 5, sliding block 9 with it is straight
The socket of guide post 8 of line guide rail forms prismatic pair, i.e. sliding block 9 can be moved along guide post 8, and spring 10 is cased with above-mentioned guide post 8, be damped
Part uses prismatic pair frictional damping；One end of above-mentioned lower link 13 is connected by revolute pair and sliding block 9, lower link 13 it is another
End is connected by revolute pair with upper connecting rod 2.
Embodiment 4：
In a kind of main passive parallel input posture adjustment vibration-isolating platform schematic diagram in parallel shown in Fig. 4, uniformly distributed three structures
Identical master passively inputs one end of branch parallel and fixed platform 5 connects, and the other end is connected by cylindrical pair and moving platform 1
Connect；Motor cabinet 18 and fixed platform 5 in active posture adjustment part is affixed, and motor 16 and retarder 17 are connected with motor cabinet 18, crank
One end of bar 15 is connected with retarder 17, and the other end of toggle-action lever 15 is connected by revolute pair with connecting rod slider 14, connecting rod slider
14 are connected by prismatic pair with lower link 13；Line slideway 7 in passive vibration isolation part is fixed on fixed platform, sliding block 9 with it is straight
The socket of guide post 8 of line guide rail forms prismatic pair, i.e. sliding block 9 can be moved along guide post 8, and spring 10 is cased with above-mentioned guide post 8, be damped
Part uses prismatic pair frictional damping；One end of above-mentioned lower link 13 is connected by revolute pair and sliding block 9, lower link 13 it is another
End is connected by revolute pair with upper connecting rod 2.
Claims (3)
1. the main passive parallel input posture adjustment vibration-isolating platform in parallel of one kind, it is characterised in that：It mainly include moving platform, fixed platform with
And connect the passive parallel input branch of completely identical in structure three masters of the two platforms, main passive parallel input branch Zhong Bao
Include driver and elastic damping unit；One end of main passive parallel input branch is connected with fixed platform, and the other end passes through cylindrical pair
Connected with moving platform；There are four kinds of structures in main passive parallel input branch：
The first structure：The afterbody of electric cylinder cylinder body in active posture adjustment part is connected by revolute pair with fixed platform, electric cylinder
The end of output rod is connected by revolute pair with upper connecting rod；Line slideway in passive vibration isolation part is fixed on fixed platform, sliding
The socket of the guide post of block and line slideway forms prismatic pair, i.e. sliding block can be moved along guide post, and spring, damper portion are cased with the guide post
Divide and use prismatic pair frictional damping, be not required to additional designs damper；One end of connecting rod is connected by revolute pair with sliding block, connection
The other end of bar is connected by revolute pair with electric cylinder cylinder body；
Second of structure：The afterbody of electric cylinder cylinder body in active posture adjustment part is connected by revolute pair with fixed platform, electric cylinder
The end of output rod is connected by revolute pair with upper connecting rod；One end of oscillating rod in passive vibration isolation part is by revolute pair with determining
Platform connects, and the other end and the telescopic rod of the oscillating rod are socketed, and form prismatic pair, i.e. telescopic rod can stretch in oscillating rod,
Spring is cased with telescopic rod, the other end of the telescopic rod is connected by revolute pair with electric cylinder cylinder body, and damping portion is using movement
Secondary frictional damping, is not required to additional designs damper；
The third structure：The afterbody of electric cylinder cylinder body in active posture adjustment part is connected by revolute pair with fixed platform, electric cylinder
The end of output rod is connected by revolute pair with lower link；Line slideway in passive vibration isolation part is fixed on fixed platform, sliding
The socket of the guide post of block and line slideway forms prismatic pair, i.e. sliding block can be moved along guide post, and spring, damper portion are cased with the guide post
Divide and use prismatic pair frictional damping, be not required to additional designs damper；One end of above-mentioned lower link is connected by revolute pair with sliding block,
The other end of lower link is connected by revolute pair with upper connecting rod；
4th kind of structure：Motor cabinet and fixed platform in active posture adjustment part is affixed, and motor and retarder are connected with motor cabinet, bent
One end of shank is connected with retarder, and the other end of toggle-action lever is connected by revolute pair with connecting rod slider, and connecting rod slider passes through shifting
Dynamic pair is connected with lower link；Line slideway in passive vibration isolation part is fixed on fixed platform, the guide post of sliding block and line slideway
Socket forms prismatic pair, i.e. sliding block can be moved along guide post, spring is cased with the guide post, damping portion is using prismatic pair friction resistance
Buddhist nun, is not required to additional designs damper；One end of above-mentioned lower link is connected by revolute pair with sliding block, and the other end of lower link passes through
Revolute pair is connected with upper connecting rod.
A kind of 2. main passive parallel input posture adjustment vibration-isolating platform in parallel according to claim 1, it is characterised in that：The master
The spring of passive parallel input branch can replace with other elastic damping units such as the combination of spring and damper, electric cylinder energy
Enough replace with hydraulic cylinder linear motion unit.
A kind of 3. main passive parallel input posture adjustment vibration-isolating platform in parallel according to claim 1, it is characterised in that：The master
The end of passive parallel input branch can be connected by ball pair with moving platform, make moving platform mobile with two rotations one
Kinetic characteristic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721328121.4U CN207246309U (en) | 2017-10-16 | 2017-10-16 | The main passive parallel input posture adjustment vibration-isolating platform in parallel of one kind |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721328121.4U CN207246309U (en) | 2017-10-16 | 2017-10-16 | The main passive parallel input posture adjustment vibration-isolating platform in parallel of one kind |
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| Publication Number | Publication Date |
|---|---|
| CN207246309U true CN207246309U (en) | 2018-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721328121.4U Withdrawn - After Issue CN207246309U (en) | 2017-10-16 | 2017-10-16 | The main passive parallel input posture adjustment vibration-isolating platform in parallel of one kind |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107575518A (en) * | 2017-10-16 | 2018-01-12 | 河北建筑工程学院 | One kind master passively inputs posture adjustment vibration-isolating platform in parallel parallel |
| CN110480603A (en) * | 2019-08-08 | 2019-11-22 | 中国民航大学 | A kind of multi-freedom parallel connection manipulator with 8M shape pedestal |
| CN110805637A (en) * | 2019-11-21 | 2020-02-18 | 徐州蓝湖信息科技有限公司 | Buffering vibration damper |
-
2017
- 2017-10-16 CN CN201721328121.4U patent/CN207246309U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107575518A (en) * | 2017-10-16 | 2018-01-12 | 河北建筑工程学院 | One kind master passively inputs posture adjustment vibration-isolating platform in parallel parallel |
| CN110480603A (en) * | 2019-08-08 | 2019-11-22 | 中国民航大学 | A kind of multi-freedom parallel connection manipulator with 8M shape pedestal |
| CN110480603B (en) * | 2019-08-08 | 2022-07-01 | 中国民航大学 | Multi-degree-of-freedom parallel manipulator with 8M-shaped base |
| CN110805637A (en) * | 2019-11-21 | 2020-02-18 | 徐州蓝湖信息科技有限公司 | Buffering vibration damper |
| CN110805637B (en) * | 2019-11-21 | 2021-06-29 | 徐州蓝湖信息科技有限公司 | Buffering vibration damper |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180417 Effective date of abandoning: 20230704 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180417 Effective date of abandoning: 20230704 |
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| AV01 | Patent right actively abandoned |