技术领域technical field
本发明涉及一种并联机构，特别是一种并联减摇隔振舱。The invention relates to a parallel mechanism, in particular to a parallel anti-vibration cabin.
背景技术Background technique
在某些情况下，对运动的控制和振动的隔离是非常重要的。例如在海上航行的船舶，由于受到海浪或自身柴油机振动的影响，会产生多自由度的运动和振动，这些不必要的运动和振动会给经常在海上作业或乘船的人员带来负面的影响，影响驾驶人员对船舶的控制，影响乘坐人员的娱乐和休息等。又例如经历地震后的灾区，余震不断发生，产生的摇晃和振动严重干扰了医护人员对伤员的手术治疗和伤员自身的病情恢复。另外，一些特定的环境，如精密实验的操作等都不希望受到任何的扰动。In some cases, the control of motion and the isolation of vibration are very important. For example, a ship sailing at sea will produce multi-degree-of-freedom motion and vibration due to the impact of waves or the vibration of its own diesel engine. These unnecessary motions and vibrations will bring negative effects to people who often work at sea or take ships , affecting the pilot's control of the ship, affecting the entertainment and rest of the crew, etc. Another example is the disaster area after the earthquake, aftershocks occur continuously, and the shaking and vibration generated seriously interfere with the surgical treatment of the wounded by the medical staff and the recovery of the wounded themselves. In addition, some specific environments, such as the operation of precision experiments, do not want to be disturbed.
针对上述这些问题，提出一种具备减摇隔振功能的大型舱体显得尤为必要。近几年来，国内外学者对基于并联机构的调姿平台及多维隔振平台开始了广泛的研究。一般情况下，调姿平台适用于对低频运动的控制，而隔振平台适用于对中高频振动的隔离，两者相近但又存在差别。但对于一些复杂的情况，单一的调姿或隔振效果并不理想。目前，同时具备姿态调整和振动隔离的设备并不多见。中国专利200810225045.3提出了一种六自由度大振幅振动主动隔离平台，由上平台、下平台、两自由度精密虎克铰、大载荷无间隙精密虎克铰、大振幅主动隔离杆组成，此发明对高频、大振幅振动可进行有效隔离和抑制，但对姿态调整能力有限，同时若应用此平台建立大型舱体，其占用空间将非常大。中国专利201510324022.8提出了一种3PRS+6SPS并联调姿隔振复合平台，由动平台、机架以及连接动平台与机架间的三条相同的主支链和六条相同的弹性支链组成，此发明虽然兼具调整工作平台姿态和多维隔离振动两种功能，但只具有两转一移三个自由度，应用场合受到限制。In view of the above problems, it is particularly necessary to propose a large-scale cabin with anti-rolling and vibration-isolation functions. In recent years, scholars at home and abroad have begun extensive research on attitude-adjusting platforms and multi-dimensional vibration isolation platforms based on parallel mechanisms. In general, the attitude-adjusting platform is suitable for controlling low-frequency motion, while the vibration-isolation platform is suitable for isolating medium and high-frequency vibrations. The two are similar but different. But for some complex situations, the effect of single attitude adjustment or vibration isolation is not ideal. At present, there are not many devices with attitude adjustment and vibration isolation at the same time. Chinese patent 200810225045.3 proposes a six-degree-of-freedom large-amplitude vibration active isolation platform, which consists of an upper platform, a lower platform, a two-degree-of-freedom precision Hooke hinge, a large-load gap-free precision Hooke hinge, and a large-amplitude active isolation rod. High-frequency and large-amplitude vibrations can be effectively isolated and suppressed, but the ability to adjust the attitude is limited. At the same time, if this platform is used to build a large cabin, it will take up a lot of space. Chinese patent 201510324022.8 proposes a 3PRS+6SPS parallel posture adjustment and vibration isolation composite platform, which consists of a moving platform, a frame, and three identical main branch chains and six identical elastic branch chains connecting the moving platform and frame. This invention Although it has the functions of adjusting the attitude of the working platform and isolating vibration in multiple dimensions, it only has three degrees of freedom of two rotations and one movement, and its application is limited.
发明内容Contents of the invention
本发明的目的在于提供一种整体高度低、承载能力强、具有大工作空间的六自由度并联减摇隔振舱。The object of the present invention is to provide a six-degree-of-freedom parallel anti-vibration cabin with low overall height, strong bearing capacity and large working space.
本发明的技术方案如下：Technical scheme of the present invention is as follows:
本发明包括基座、六条结构相同的SPU隔振分支、助力承载分支、舱体以及固接在舱体上的六个结构相同的直线驱动单元。其中，六条SPU隔振分支均由球铰S、第一连杆、隔振器P、第二连杆和万向铰U组成，第一连杆的一端通过球铰与基座连接，该第一连杆的另一端与隔振器的一端连接，该隔振器的另一端与第二连杆的一端连接，该第二连杆的另一端通过万向铰与直线驱动单元的动杆端部或滑块连接，与基座连接的六个球铰呈六边形布置；舱体为六棱柱或倒置的六棱台结构，六个直线驱动单元两两一组，驱动方向平行，均匀地固接在六棱柱或六棱台的相隔侧面上。助力承载分支由球铰和助力部件组成，该分支布置于舱体和基座之间，两端分别通过球铰与舱体底部和基座连接。The invention comprises a base, six SPU vibration-isolation branches with the same structure, a booster bearing branch, a cabin body and six linear drive units with the same structure fixed on the cabin body. Among them, the six SPU vibration isolation branches are composed of a spherical joint S, a first connecting rod, a vibration isolator P, a second connecting rod and a universal joint U. One end of the first connecting rod is connected to the base through a spherical joint. The other end of a connecting rod is connected to one end of the vibration isolator, the other end of the vibration isolator is connected to one end of the second connecting rod, and the other end of the second connecting rod is connected to the moving rod end of the linear drive unit through a universal joint The six spherical joints connected to the base are arranged in a hexagonal shape; the cabin is a hexagonal prism or an inverted hexagonal platform structure, and the six linear drive units are in groups of two. The driving directions are parallel and evenly distributed. Fixed on the alternate side of the hexagonal prism or hexagonal truss. The power-assisted bearing branch is composed of a spherical hinge and a power-assisted component. The branch is arranged between the cabin and the base, and the two ends are respectively connected to the bottom of the cabin and the base through the spherical hinge.
所述第二连杆为直杆或L形结构，L形结构的两段夹角为10～90°。L形结构的连杆，避免了舱体在运动过程中与分支发生干涉，增大了工作空间。The second connecting rod is a straight rod or an L-shaped structure, and the included angle between the two sections of the L-shaped structure is 10-90°. The L-shaped connecting rod prevents the cabin from interfering with the branches during the movement and increases the working space.
所述助力承载分支的数量为1条、3条、4条或6条，助力部件可为助力气缸或助力液压缸或带有导向结构的弹簧。助力承载分支有效地减轻了驱动的负荷，使得整体承载能力增强。The number of the booster bearing branches is 1, 3, 4 or 6, and the booster component can be a booster cylinder or a booster hydraulic cylinder or a spring with a guiding structure. The power-assisted load-bearing branch effectively reduces the load of the drive and enhances the overall load-carrying capacity.
所述直线驱动单元为液压缸或电动缸或直线模组。The linear drive unit is a hydraulic cylinder or an electric cylinder or a linear module.
本发明与现有的相关技术相比具有如下优点：Compared with existing related technologies, the present invention has the following advantages:
1、在保证大的承载面和活动空间的前提下，整体高度大大降低，从而节省了占用体积。1. On the premise of ensuring a large bearing surface and activity space, the overall height is greatly reduced, thereby saving the occupied volume.
2、L形结构的连杆，避免了舱体在运动过程中与分支发生干涉，增大了工作空间。2. The L-shaped connecting rod avoids the interference between the cabin and the branches during the movement and increases the working space.
3、六条SPU隔振分支上均布置有隔振器，能够有效地隔离高频振动。3. Vibration isolators are arranged on the six SPU vibration isolation branches, which can effectively isolate high frequency vibration.
4、助力承载分支减轻了直线驱动单元的负荷，使得整体承载能力增强，同时隔振效果更加明显。4. The power-assisted load-bearing branch reduces the load of the linear drive unit, which enhances the overall load-carrying capacity, and at the same time, the vibration isolation effect is more obvious.
附图说明Description of drawings
图1是本发明实施例1的立体示意图。Fig. 1 is a schematic perspective view of Embodiment 1 of the present invention.
图2是本发明实施例2的立体示意图。Fig. 2 is a schematic perspective view of Embodiment 2 of the present invention.
具体实施方式detailed description
实施例1：Example 1:
在图1所示的六自由度并联减摇隔振舱示意图中，六条结构相同的SPU隔振分支中的第一连杆3的一端通过球铰2与基座1连接，该第一连杆的另一端与隔振器4的一端连接，该隔振器的另一端与第二连杆5的一端连接，该第二连杆的另一端通过万向铰6与液压缸8的动杆7的端部连接，与基座连接的六个球铰呈六边形布置；舱体9为六棱柱结构，六个液压缸两两一组，驱动方向平行，均匀地固接在六棱柱的相隔侧面上；三条结构相同的助力承载分支均是由球铰和带有导向结构的弹簧组成，其中，导杆11通过球铰10与舱体9的底部连接，导套13通过球铰14与基座1连接，弹簧12套在导杆和导套的外面，其一端与导杆的端部固连，另一端与导套的底部固连，与基座连接的三个球铰和与舱体底部连接的三个球铰均成正三角形布置。In the schematic diagram of the six-degree-of-freedom parallel anti-vibration cabin shown in Figure 1, one end of the first connecting rod 3 in the six SPU vibration-isolation branches with the same structure is connected to the base 1 through a spherical joint 2, and the first connecting rod The other end of the vibration isolator is connected to one end of the vibration isolator 4, the other end of the vibration isolator is connected to one end of the second connecting rod 5, and the other end of the second connecting rod is connected to the moving rod 7 of the hydraulic cylinder 8 through the universal joint 6 The six spherical joints connected to the base are arranged in a hexagonal shape; the cabin body 9 is a hexagonal prism structure, and the six hydraulic cylinders are in groups of two. On the side; the three power-assisted load-bearing branches with the same structure are all composed of a ball joint and a spring with a guide structure, wherein the guide rod 11 is connected to the bottom of the cabin body 9 through the ball joint 10, and the guide sleeve 13 is connected to the base through the ball joint 14. The seat 1 is connected, the spring 12 is set on the outside of the guide rod and the guide sleeve, one end of which is fixedly connected with the end of the guide rod, and the other end is fixedly connected with the bottom of the guide sleeve, and the three spherical hinges connected with the base and the cabin body The three spherical hinges connected at the bottom are arranged in an equilateral triangle.
实施例2：Example 2:
在图2所示的六自由度并联减摇隔振舱示意图中，第二连杆5为L形结构，其两段夹角为60°，第二连杆的一端与隔振器4连接，另一端通过万向铰6与直线模组8的滑块7固连；舱体9为倒置的六棱台结构，六个直线模组两两一组，驱动方向平行，均匀地固接在六棱台的相隔侧面上。其它构件和连接方式与实施例1相同。In the schematic diagram of the six-degree-of-freedom parallel anti-vibration isolation cabin shown in Figure 2, the second connecting rod 5 is an L-shaped structure, and the angle between its two sections is 60°. One end of the second connecting rod is connected to the vibration isolator 4, The other end is fixedly connected with the slider 7 of the linear module 8 through a universal hinge 6; the cabin body 9 is an inverted hexagonal platform structure, and the six linear modules are in groups of two, and the driving direction is parallel, and are evenly fixed on the six On the other sides of the prism. Other components and connections are the same as in Embodiment 1.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610061346.1ACN105570378B (en) | 2016-01-28 | 2016-01-28 | A kind of six-freedom parallel, which subtracts, shakes vibration isolation cabin |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610061346.1ACN105570378B (en) | 2016-01-28 | 2016-01-28 | A kind of six-freedom parallel, which subtracts, shakes vibration isolation cabin |
| Publication Number | Publication Date |
|---|---|
| CN105570378Atrue CN105570378A (en) | 2016-05-11 |
| CN105570378B CN105570378B (en) | 2018-01-23 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610061346.1AExpired - Fee RelatedCN105570378B (en) | 2016-01-28 | 2016-01-28 | A kind of six-freedom parallel, which subtracts, shakes vibration isolation cabin |
| Country | Link |
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| CN (1) | CN105570378B (en) |
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