CN207326974U - A kind of six-degree-of-freedom parallel connection mechanism for motion compensation - Google Patents
A kind of six-degree-of-freedom parallel connection mechanism for motion compensation Download PDFInfo
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- CN207326974U CN207326974U CN201721188313.XU CN201721188313U CN207326974U CN 207326974 U CN207326974 U CN 207326974U CN 201721188313 U CN201721188313 U CN 201721188313U CN 207326974 U CN207326974 U CN 207326974U
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Abstract
The utility model discloses a kind of six-degree-of-freedom parallel connection mechanism for motion compensation, including rack, driving executive module and motion compensation unit, the rack includes rack I and rack II, organic frame support plate is installed on the rack I, the rack II is equipped with 4 attachment rails, the driving executive module is 6 groups, is respectively and fixedly installed in the rack support plate of rack I and the attachment rail of rack II；The motion compensation unit includes connecting rod, drum steel plate and the upper mounting plate in isosceles trapezoid shape, the bottom both ends of the upper mounting plate and 4 ends of the drum steel plate are welded with flexural pivot pedestal, one end of the connecting rod is installed on flexural pivot pedestal by flexural pivot, and the other end is connected by universal joint with driving executive module.The utility model control is simple, and performance is stablized, and can be widely applied to the progress motion compensation such as ocean platform, ship, and effective support personnel and instrument work normally in complicated marine environment.
Description
Technical field
The utility model belongs to ocean platform device manufacturing technical field, and in particular to it is a kind of for motion compensation six from
By degree parallel institution.
Background technology
Current energy development is stepped into the deep-sea epoch, and deep-sea is the Energy Base of human future and the forward position battle array of technological innovation
Ground, towards the main points for being manufactured as countries in the world technology competition of far-reaching extra large high-end marine engineering equipment.Deep marine oil and gas money
Source exploitation relies on a variety of floating platforms such as semi-submerged platform, SPAR and FPSO, they can produce six under the action of the loads such as wave
The complicated coupling movement of the free degree, in order to keep the position of floating platform and posture, generally use anchoring system or dynamic position
Technology.Nevertheless, floating platform still suffers from the coupled motions such as heaving, pitching and rolling, the production seriously affected on platform is made
Industry and personnel safety.
It is to solve the problems, such as this effective scheme that motion compensation unit is installed on platform.At present, motion compensation unit is main
Using the compensation mechanism of lower-mobility, but the parallel institution of lower-mobility compensation number of degrees of freedom, is less, is unfavorable for moving
The application of compensation device, therefore, in order to overcome the shortcomings of that minority carrier generation lifetime is applied to marine motor compensation device, it would be highly desirable to
A kind of parallel institution of six degree of freedom is designed, disclosure satisfy that the requirement of floating ocean platform device motion compensation.
The content of the invention
To overcome above-mentioned the deficiencies in the prior art, the utility model, which provides, provides a kind of six freedom for motion compensation
Parallel institution is spent, its is simple in structure, compact, cost is relatively low, and easy to use.
A kind of six-degree-of-freedom parallel connection mechanism for motion compensation, including rack, driving executive module and motion compensation dress
Put, the rack includes the paliform rack I for being arranged and being welded as a whole in length and breadth by some steel pipes and is fixedly mounted on rack I
Organic frame support plate is fixedly mounted on longitudinal steel pipe at left and right sides of the rack II, the rack I of front end, on the rack II
Equipped with 4 attachment rails, the driving executive module is 6 groups, is respectively and fixedly installed to the rack support plate and rack of rack I
On the attachment rail of II；The motion compensation unit includes connecting rod, drum steel plate and the upper mounting plate in isosceles trapezoid shape, the company
Bar is 6, and the upper bottom edge of the upper mounting plate is fixedly mounted on positioned at the rear end of the driving executive module of rack I wherein sides, institute
State the base portion lower end that drum steel plate is welded on the upper bottom edge of the upper mounting plate, the bottom both ends of the upper mounting plate and the work
4 ends of shape steel plate are welded with flexural pivot pedestal, and one end of the connecting rod is installed on flexural pivot pedestal by flexural pivot, another
End is connected by universal joint with driving executive module.
Further, the driving executive module includes guide rail, synchronous pulley and servomotor, and the guide rail is installed on by leading
In the guide rail groove of orbiting end plate and guide rail baffle composition, the synchronous pulley is installed on the rear and front end of guide rail, the synchronous belt
Shell is enclosed with the outside of wheel, synchronous belt is installed, the synchronous belt is located at the top of guide rail, described same on the synchronous pulley
Step, which takes, is installed with sliding block, universal joint is provided with the sliding block, the servomotor passes through synchronous with wherein one end
Bearing with wheel connection so as to drive synchronous belt straight reciprocating motion is also associated with that PLC compensation system can be received on the servomotor
The servo controller of system electric signal.
Preferably, the bottom of the rack I and rack II are mounted on some foots pad.
Preferably, the base portion of each rack support plate is equipped with several and is used to strengthen its support strength and stabilization
The frame plate muscle of property.
Preferably, the front end of the attachment rail at left and right sides of the rack II is equipped with locating slot, to ensure that driving performs
The installation accurate positioning of component.
Preferably, it is additionally provided with support backing plate on the attachment rail at left and right sides of the rack II.
Preferably, the sliding block is fixedly mounted on synchronous belt by fixing buckle.
Preferably, the drum steel plate is strengthened being fixedly connected with upper mounting plate by upper mounting plate plate muscle.
Preferably, the driving executive module drives for hydraulic linear.
Preferably, the driving executive module is air pressure linear drives.
Compared with prior art, the utility model method has the following advantages that：
(1) parallel institution of the utility model fully employs the very ripe six-degree-of-freedom parallel connection mechanism of technology, right
It is very ripe in the research of the working space of six-degree-of-freedom parallel connection mechanism, singularity, work efficiency etc., can be the utility model
Favourable theories integration and technical guarantee are provided.
(2) the utility model employs six driving branches, and the rigidity of mechanism is high, large carrying capacity, geometry is simple,
Compact, process and assemble is easy, and working space is big, and as a result of the control of hydraulic cylinder, kinematic dexterity is good, and anti-impact force is strong.
(3) the servomotor driving that the utility model uses, control is simple, and performance is stablized, and adaptable, cost is low, whole
A mechanism maintains the position of upper mounting plate maintenance level always by a series of motion compensation, so as to reach the mesh of motion compensation
's.
Summary, the utility model control is simple, and performance is stablized, and can be widely applied to the progress such as ocean platform, ship
Motion compensation, effective support personnel and instrument work normally in complicated marine environment.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the general structure schematic diagram of the utility model；
Fig. 2 is that the structure for amplifying of the upper mounting plate of the utility model is intended to
Fig. 3 is the enlarged structure schematic diagram of the driving executive module of the utility model；
Fig. 4 is the structure diagram of the rack of the utility model；
Reference numeral：1st, upper mounting plate；2nd, flexural pivot；3rd, connecting rod；4th, universal joint；5th, synchronous belt；6th, shell；7th, servomotor；
8th, synchronous pulley；9th, guide rail；10th, rack；11st, sliding block；12nd, foot pad；13rd, flexural pivot pedestal；14th, backing plate is supported；15th, drum steel
Plate；16th, upper mounting plate plate muscle；17th, guide rail groove；18th, rack support plate；19th, steel pipe；20th, frame plate muscle；21st, locating slot.
Embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe.
As shown in Figs 1-4, a kind of six-degree-of-freedom parallel connection mechanism for motion compensation, including rack 10, driving execution group
Part and motion compensation unit, the rack 10 include the paliform rack I for being arranged and being welded as a whole in length and breadth by some steel pipes 19
And the rack II of rack I front ends is fixedly mounted on, the bottom of the rack I and rack II are mounted on some foots pad 12,
The carrying and transport of device are also helped while the stability for ensureing whole parallel institution.It is vertical at left and right sides of the rack I
Organic frame support plate 18 is fixedly mounted on to steel pipe 19, the base portion of each rack support plate 18 is equipped with several
For strengthening the frame plate muscle 20 of its support strength and stability, the rack II is equipped with 4 attachment rails, the rack II
Support backing plate 14 is additionally provided with the attachment rail of the left and right sides, the driving executive module is 6 groups, is respectively and fixedly installed to rack
In the rack support plate 18 of I and the attachment rail of rack II.The front end of attachment rail at left and right sides of the rack II is equipped with
Locating slot 21, to ensure the installation accurate positioning of driving executive module.
The driving executive module includes guide rail 9, synchronous pulley 8 and servomotor 7, and the guide rail 9 is installed on by guide rail
In the guide rail groove 17 of bottom plate and guide rail baffle composition, play a part of to support and be oriented to, ensure the stabilization that sliding block 11 moves back and forth
Property, for the synchronous pulley 8 installed in the rear and front end of guide rail 9, the outside of the synchronous pulley 8 is enclosed with shell 6, the synchronization
Synchronous belt 5 is installed, the synchronous belt 5 is located at the top of guide rail 9, sliding block is installed with the synchronous belt 5 on belt wheel 8
11, the sliding block 11 is installed on synchronous belt 5 by fixing buckle, and universal joint 4, the servomotor are provided with the sliding block 11
7 are connected by 8 bearing of synchronous pulley with wherein one end so that 5 straight reciprocating motion of synchronous belt is driven, on the servomotor 7
It is also associated with receiving the servo controller of PLC compensation system electric signals.The driving executive module drives for hydraulic linear,
Can be air pressure linear drives, the slide block device of the utility model may be set to be ball screw arrangement.
The motion compensation unit includes connecting rod 3, drum steel plate 15 and the upper mounting plate 1 in isosceles trapezoid shape, the connecting rod 3
For 6, the upper bottom edge of the upper mounting plate 1 is fixedly mounted on positioned at the rear end of the driving executive module of rack I wherein sides, institute
The base portion lower end that drum steel plate 15 is welded on the upper bottom edge of the upper mounting plate 1 is stated, the drum steel plate 15 passes through upper mounting plate plate muscle
16 reinforcements are fixedly connected with upper mounting plate 1.The bottom both ends of the upper mounting plate 1 and 4 ends of the drum steel plate 15
Flexural pivot pedestal 13 is welded with, one end of the connecting rod 3 is installed on flexural pivot pedestal 13 by flexural pivot 2, and the other end passes through universal
Section 4 is with driving the sliding block 11 of executive module to be connected.
The operation logic of the utility model：Servomotor controller receives the electric signal from PLC compensation systems and transmission
To 6 servomotors 7, servomotor 7 controls the reciprocating motion of synchronous belt 9 by rotating synchronous pulley 8, so that with movable slider 11
Movement, the movement of sliding block 11 will moves by universal joint 4 and flexural pivot 2 so that the angle and height of 6 connecting rods 3 change
The movement of upper mounting plate 1 is converted into, the six-degree-of-freedom parallel connection mechanism of the utility model there are six movement inputs while there are six movements
Output, ensures that upper mounting plate 1 can carry out the movement of six-freedom degree.
The foregoing is merely the preferred embodiment of utility model, it is not intended to limit the utility model, it is all in this reality
Within new spirit and principle, any modification, equivalent replacement, improvement and so on, should be included in the utility model
Within protection domain.
Claims (10)
1. a kind of six-degree-of-freedom parallel connection mechanism for motion compensation, including rack, driving executive module and motion compensation unit,
It is characterized in that：The rack includes the paliform rack I for being arranged and being welded as a whole in length and breadth by some steel pipes and fixed peace
Organic frame support plate, institute is fixedly mounted on longitudinal steel pipe at left and right sides of the rack II, the rack I of rack I front ends
State rack II and be equipped with 4 attachment rails, the driving executive module is 6 groups, is respectively and fixedly installed to the rack support of rack I
On the attachment rail of plate and rack II；The motion compensation unit includes connecting rod, drum steel plate and in the upper flat of isosceles trapezoid shape
Platform, the connecting rod are 6, and the upper bottom edge of the upper mounting plate is fixedly mounted on the driving executive module positioned at rack I wherein sides
Rear end, the drum steel plate is welded on the base portion lower end of the upper bottom edge of the upper mounting plate, the bottom both ends of the upper mounting plate
And 4 ends of the drum steel plate are welded with flexural pivot pedestal, one end of the connecting rod is installed on flexural pivot base by flexural pivot
On seat, the other end is connected by universal joint with driving executive module.
2. the six-degree-of-freedom parallel connection mechanism according to claim 1 for motion compensation, it is characterised in that：The driving is held
Row component includes guide rail, synchronous pulley and servomotor, and the guide rail is installed on and is led by what guide rail bottom plate and guide rail baffle formed
In rail groove, the synchronous pulley is installed on the rear and front end of guide rail, and shell is enclosed with the outside of the synchronous pulley, described same
Synchronous belt is installed on step belt wheel, the synchronous belt is located at the top of guide rail, sliding block is installed with the synchronous belt, described
Universal joint is installed, the servomotor is connected by the synchronous pulley bearing with wherein one end so as to drive synchronous belt on sliding block
Straight reciprocating motion, is also associated with receiving the servo controller of PLC compensation system electric signals on the servomotor.
3. the six-degree-of-freedom parallel connection mechanism according to claim 2 for motion compensation, it is characterised in that：The rack I
Some foots pad are mounted on the bottom of rack II.
4. the six-degree-of-freedom parallel connection mechanism according to claim 2 for motion compensation, it is characterised in that：Described in each
The base portion of rack support plate is equipped with several and is used to strengthen its support strength and the frame plate muscle of stability.
5. the six-degree-of-freedom parallel connection mechanism according to claim 2 for motion compensation, it is characterised in that：The rack II
The front end of the attachment rail of the left and right sides is equipped with locating slot, to ensure the installation accurate positioning of driving executive module.
6. the six-degree-of-freedom parallel connection mechanism according to claim 2 for motion compensation, it is characterised in that：The rack II
Support backing plate is additionally provided with the attachment rail of the left and right sides.
7. the six-degree-of-freedom parallel connection mechanism according to claim 2 for motion compensation, it is characterised in that：The sliding block leads to
Fixing buckle is crossed to be fixedly mounted on synchronous belt.
8. the six-degree-of-freedom parallel connection mechanism according to claim 2 for motion compensation, it is characterised in that：The drum steel
Plate is strengthened being fixedly connected with upper mounting plate by upper mounting plate plate muscle.
9. it is used for the six-degree-of-freedom parallel connection mechanism of motion compensation according to claim 1-8 any one of them, it is characterised in that：Institute
Driving executive module is stated to drive for hydraulic linear.
10. it is used for the six-degree-of-freedom parallel connection mechanism of motion compensation according to claim 1-8 any one of them, it is characterised in that：
The driving executive module is air pressure linear drives.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721188313.XU CN207326974U (en) | 2017-09-15 | 2017-09-15 | A kind of six-degree-of-freedom parallel connection mechanism for motion compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721188313.XU CN207326974U (en) | 2017-09-15 | 2017-09-15 | A kind of six-degree-of-freedom parallel connection mechanism for motion compensation |
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| Publication Number | Publication Date |
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| CN207326974U true CN207326974U (en) | 2018-05-08 |
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| CN201721188313.XU Active CN207326974U (en) | 2017-09-15 | 2017-09-15 | A kind of six-degree-of-freedom parallel connection mechanism for motion compensation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696011A (en) * | 2017-09-15 | 2018-02-16 | 中国海洋大学 | A kind of six-degree-of-freedom parallel connection mechanism for motion compensation |
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2017
- 2017-09-15 CN CN201721188313.XU patent/CN207326974U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696011A (en) * | 2017-09-15 | 2018-02-16 | 中国海洋大学 | A kind of six-degree-of-freedom parallel connection mechanism for motion compensation |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhao Lin Inventor after: Chang Zongyu Inventor after: Zhou Xianyi Inventor after: Zheng Zhongqiang Inventor after: Chen Zhongxin Inventor after: Yang Chunlei Inventor after: Lu Guiqiao Inventor after: Chi Mingtao Inventor after: Hao Peizheng Inventor before: Zhao Lin Inventor before: Chang Zongyu Inventor before: Zhou Xianyi Inventor before: Zheng Zhongqiang Inventor before: Chen Zhongxin Inventor before: Yang Chunlei Inventor before: Lu Guiqiao Inventor before: Chi Mingtao Inventor before: Hao Peizheng |
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| CB03 | Change of inventor or designer information |