CN105243911A - Structure parameter-adjustable parallel motion table with combined spring bearing branches - Google Patents

Abstract

A structural parameter-adjustable parallel motion platform with combined spring-loaded branches, which includes: a base platform, a power platform, six active branches with the same structure, three spherical joint connection blocks with the same structure, and three The universal joint connecting combination block and three passive bearing branches with the same structure, the six active branches are composed of electric cylinders and motors, the two ends of which are connected to the moving platform through the ball joint connecting combination block and the universal joint connecting combination block respectively. Connected with the base platform, the three passive bearing branches are composed of a guide rod, a guide sleeve, a first bearing spring, a second bearing spring, and a bearing spring guide sleeve, and the two ends of the bearing are respectively connected to the motion platform and the base platform through a spherical hinge with a seat. The platform of the invention has strong carrying capacity, simple active and passive branch control, and is suitable for multi-purpose simulators and multi-purpose stable platforms.

Description

Structural parameter adjustable parallel kinematic table with combined spring-loaded branches

technical field

The invention relates to a parallel mechanism, in particular to a parallel motion platform.

Background technique

A common parallel motion table consists of six mobile units, a base and a motion platform. There are many options for the mobile unit. When the mobile unit is an electric cylinder, the motion platform generally has the characteristics of high load capacity and high motion precision, but the output force of the electric cylinder is limited, and it cannot simulate the movement of large equipment such as cars and tanks; when the mobile When the unit is a hydraulic cylinder, the motion platform can bear heavy loads, but the hydraulic servo control is complicated and costly, and the oil leakage pollution of the hydraulic system is relatively serious and requires high environmental requirements.

With the continuous development of the simulator market for large-scale equipment such as automobiles and tanks, the requirements for parallel motion platforms are getting higher and higher. Obviously, single-purpose motion platforms can only be applied to a single device. Moreover, the parallel platform with the electric cylinder as the mobile unit has the disadvantage of limited driving force, and the problem of complicated driving of the hydraulic cylinder and large pollution. In order to solve the above problems, Chinese patent 201410022367.3 discloses a high-precision and high-load hexapod parallel robot. This patent focuses on improving the parallel motion accuracy and improving the parallel carrying capacity. Chinese patent 201210530430.5 discloses a double-parallel heavy-duty static balance motion simulation platform suitable for parallel high-load-bearing environments. Chinese patent 200820004705.0 discloses a large-load six-degree-of-freedom electric platform. The structure in the patent includes six electric cylinders and three air cylinders to improve the carrying capacity. In order to improve the bearing capacity in the above-mentioned related technologies, a double parallel mechanism or a cylinder is used as an auxiliary bearing, which will make the mechanism more complicated and increase the design cost. The force that the cylinder can provide as an auxiliary branch is relatively limited, and its reliability is average.

Chinese patent 201410835996.8 discloses a parallel platform with adjustable working space, which uses three sets of sliding drive devices to realize adjustable structural parameters and solve the problem of small movement space. Chinese patent 200510012898.5 discloses an adjustable 3,4,5-SPS type parallel mechanism experimental platform, which realizes the adjustable function of the parallel platform by designing a ball joint with variable rotational freedom. Among the above-mentioned technologies, among the adjustable parallel mechanisms, the former is a slider driving device with a complex structure, and the control method is relatively complicated. The second is a self-designed adjustable joint, which has weakened structural rigidity, precision, and load-bearing capacity.

Contents of the invention

The purpose of the present invention is to provide a structure-parameter-adjustable parallel kinematic table with combined spring-loaded branches, which has a simple structure, high load-carrying capacity, high dynamic response, simple control, and can meet the requirements of various application occasions.

Technical scheme of the present invention is as follows:

The invention mainly includes a base platform, a motion platform, six active branches with the same structure, three ball joint connection combination blocks with the same structure, three universal joint connection combination blocks with the same structure and three passive bearing branches with the same structure.

The motion platform is provided with three multi-position mounts with an angle of 120 degrees along the radial direction, and the base platform consists of a hexagonal central positioning seat and three positions with an angle of 120 degrees along the radial direction. The upper ends of the six active branches are connected to the multi-position mounting seats on the motion platform through the ball joint combination block, and the lower ends are connected to the multi-position mounting seats on the base platform through the universal hinge combination block; three The two ends of each bearing branch are respectively connected to the motion platform and the base platform through a spherical joint with a seat;

The ball hinge connection combination block includes a rectangular plate with two through holes, a split shaft seat and a ball seat with a ball hinge, and split shaft seats are arranged on the rectangular plates on both sides of the through hole, with The protruding shafts on both sides of the ball seat of the ball joint are rotatably connected with the split shaft seat; the ball joint assembly blocks are evenly distributed on the moving platform in an equilateral triangle, and are connected to the multi-position mounting seat on the moving platform through positioning pins and bolts. On both sides of the multi-position mounting seat on the motion platform and the rectangular plate, there are corresponding positioning pin holes and screw holes that can adjust the position of the combination block;

The universal hinge connection combination block includes a rectangular frame with a protruding shaft on both sides, a shaft seat and a universal hinge, and two universal hinges that are rotatably connected with the rectangular frame are arranged in the rectangular frame, and the two sides of the rectangular frame The output shafts of the output shafts are respectively connected to the shaft seat in rotation, and the shaft seat is connected to the multi-position mounting seat on the base platform through a spigot and bolts. There are longitudinal adjustment holes on both sides of the multi-position mounting seat on the base platform for adjusting the multi-position Front and rear positions of the hinged combination block;

The six active branches are all UPS structures, including electric cylinders and motors. The tails of the electric cylinders are respectively connected to the universal hinges in the universal joint connection block, and the ends of the telescopic rods of the electric cylinder are respectively connected to the universal joints in the ball joint connection block. ball hinge connection;

The three load-bearing branches are all SPS structures, including guide sleeves, guide rods, spherical hinges with seats, first load springs, second load springs, and load-bearing spring guide sleeves. The ball hinge is connected with the base platform, and the guide rod is connected with the motion platform through the ball hinge with seat fixed on the motion platform; the first load spring, the second load spring and the load spring guide sleeve are outside the guide sleeve and guide rod, and the first One end of the bearing spring is fixedly connected with the bottom of the guide sleeve, the other end is fixedly connected with one end of the bearing spring guide sleeve, one end of the second bearing spring is fixedly connected with the end of the guide rod, and the other end is connected with the other end of the bearing spring guide sleeve One end is fixed. The above three load-bearing branches are connected with the moving platform and the base platform through the spherical joints with seats. The centers of the three spherical joints on the moving platform and the base platform form two equilateral triangles. The side length of the triangle on the base is smaller than that on the moving platform. The sides of the triangle are long, and the triangle of the moving platform, the three bearing branches and the triangle of the base form an inverted triangular prism.

The electric cylinder is mainly used to drive the motion platform and the load to achieve the desired motion, and the first load spring and the second load spring are used to further improve the bearing capacity of the entire motion simulation platform. By adjusting the preload of the load-bearing spring, the three load-bearing branches provide a force close to the gravity of the motion platform and load to the motion platform, which can overcome the gravity of most motion platforms and loads. During the working process, the bearing branch moves with the motion platform without controlling it, and can generate a certain driving force, so that the electric cylinder can realize specific motion with only a small force.

Compared with the prior art, the present invention has the following advantages:

1. The motion platform and the base platform are reserved for the installation positions of multiple ball joint blocks and universal joint blocks, which can easily change the installation positions of ball joints and (or) universal joints and adjust the structure of the simulation table Parameters, it is relatively simple to meet the needs of various occasions.

2. The ball joint and the universal joint respectively use a ball joint connection block and a universal joint joint block. The installation angle can be adjusted and fixed when the structural parameters remain unchanged, and the auxiliary joint module realizes the platform requirements of adjustable structural parameters.

3. The use of passive load-bearing branches greatly improves the load-bearing capacity of the simulation platform, and the use of large-stroke series-connected double load-bearing springs with guide rods can fully meet the motion stroke of the simulation platform.

4. The double-loaded spring of the movable guide rod guide sleeve type is used, and the spring guide sleeve, guide cylinder, and guide rod are used to guide together, which solves the problem of unstable springs with large strokes.

5. On the basis of the large simulation platform, the basic platform adopts a separate structure, consisting of a central positioning seat and three multi-position mounting seats with an angle of 120 degrees along the radial direction, which solves the problem of multi-structural parameter platforms. Features. The positional relationship and fixing strength of parts can be guaranteed by positioning pins and bolts and nuts.

Description of drawings

Fig. 1 is a schematic diagram of the three-dimensional structure of the present invention.

Fig. 2 is a schematic diagram of the ball joint connection combination block of the present invention.

Fig. 3 is a schematic diagram of the universal joint connecting combination block of the present invention.

Fig. 4 is a schematic cross-sectional schematic diagram of the bearing branch of the present invention.

detailed description

In the schematic diagram of a parallel motion platform with adjustable structural parameters as shown in Figure 1 with combined spring bearing branches, the motion platform 5 is provided with three multi-position mounts with an angle of 120 degrees that can be adjusted along the radial direction. The base platform 6 is composed of a hexagonal central positioning seat and three multi-position mounting seats with an angle of 120 degrees along the radial direction; three spherical joint blocks 4 with the same structure are evenly distributed on the moving platform in the form of a regular triangle. It is connected with the multi-position mounting seat on the moving platform through positioning pins and bolts, as shown in Figure 2, the rectangular plate 13 with two through holes in the ball joint connection combination block is equipped with a split shaft seat 10. The protruding shafts on both sides of the ball seat 12 with the ball joint 11 are rotationally connected with the split shaft seat; the multi-position mounting seat on the motion platform and both sides of the rectangular plate are provided with relative parts that can adjust the position of the combination block. Corresponding positioning pins and screw holes; as shown in Figure 3, two universal joints connected with the rectangular frame are arranged in the rectangular frame 16 with the extension shaft in the two sides of the three universal joints with the same structure. To the hinge 15, the output shafts on both sides of the rectangular frame are respectively rotatably connected to the shaft seat 14, and the shaft seat is connected to the multi-position mounting seat on the base platform through a stopper and bolts, and on both sides of the multi-position mounting seat on the base platform There is a longitudinal adjustment hole for adjusting the front and rear positions of the universal hinge connecting block; the six active branches with the same structure are all UPS structures, including the electric cylinder and the motor, and the tail 2 of the electric cylinder is respectively connected to the universal hinge connecting block The universal joint in the connection, the ends of the telescopic rod 3 of the electric cylinder are respectively connected with the ball joint in the ball joint connection block;

The three load-bearing branches with the same structure are all SPS structures. The guide sleeve 17 in this branch is connected to the base platform 6 through the seated ball joint 7 fixed on the base platform, and the guide rod 19 is connected to the base platform 6 through the seated ball joint fixed on the motion platform. The hinge is connected with the motion platform; the first bearing spring 8, the second bearing spring 9 and the bearing spring guide sleeve 18 are set on the outside of the guide sleeve and the guide rod, one end of the first bearing spring is fixedly connected with the bottom of the guide sleeve, and the other end It is fixedly connected with one end of the bearing spring guide sleeve, one end of the second bearing spring is fixedly connected with the end of the guide rod, and the other end is fixedly connected with the other end of the bearing spring guide sleeve, as shown in FIG. 4 . The above three load-bearing branches are connected with the moving platform and the base platform through the spherical joints with seats. The centers of the three spherical joints on the moving platform and the base platform form two equilateral triangles. The side length of the triangle on the base is smaller than that on the moving platform. The sides of the triangle are long, and the triangle of the moving platform, the three bearing branches and the triangle of the base form an inverted triangular prism.

Claims (6)

1. the adjustable parallel kinematic platform of structural parameters with cluster spring carrying branch, it comprises base platform, motion platform, the active branch that six structures are identical, the ball pivot link pack that three structures are identical, three structures identical universal is hinged the combination block passive carrying branch identical with three structures, it is characterized in that: described motion platform is provided with the multiposition mount pad adjustable along radial direction position that three angles are 120 degree, base platform is that 120 degree of multiposition mount pads adjustable along radial direction position form by a hexagonal centralized positioning seat and three angles, described six active branch upper ends are connected with the multiposition mount pad on motion platform by ball pivot combination block, and its lower end is connected with the multiposition mount pad on base platform by universal hinge combination block, three carrying branch two ends are connected with motion platform and base platform respectively by ball pivot of usheing to seat.

2. the adjustable parallel kinematic platform of structural parameters with cluster spring carrying branch according to claim 1, it is characterized in that: described ball pivot link pack comprises with the rectangular slab of two through holes, split type axle bed and the ball seat with ball pivot, the rectangular slab of through hole both sides is equipped with split type axle bed, is rotationally connected with the projecting shaft of the ball seat both sides of ball pivot and split type axle bed; Described ball pivot combination block is that equilateral triangle is on the moving platform uniform, be connected with the multiposition mount pad on moving platform with bolt by register pin, multiposition mount pad on the moving platform and rectangular slab both sides are equipped with the corresponding dowel hole and screw that can regulate the position of combination block.

3. the adjustable parallel kinematic platform of structural parameters with cluster spring carrying branch according to claim 1, it is characterized in that: the described universal combination block that is hinged comprises the rectangle frame of both sides with projecting shaft, axle bed and universal hinge, two universal hinges be rotationally connected with rectangle frame are provided with in rectangle frame, the output shaft of these rectangle frame both sides is rotationally connected with axle bed respectively, this axle bed is connected with the multiposition mount pad on base platform with bolt by seam, multiposition mount pad both sides on base platform are provided with longitudinal adjustment hole, for regulating the universal front and back position being hinged combination block.

4. the adjustable parallel kinematic platform of structural parameters with cluster spring carrying branch according to claim 1, it is characterized in that: described six active branches are UPS structure, comprise electric cylinder and motor, the afterbody of its electric cylinder is respectively with universal to be hinged in block universal is hinged, and the end of electric cylinder expansion link is connected with the ball pivot in ball pivot contiguous block respectively.

5. the adjustable parallel kinematic platform of structural parameters with cluster spring carrying branch according to claim 1, it is characterized in that: described three carrying branches are SPS structure, comprise guide pin bushing, guide rod, the ball pivot of usheing to seat, the first bearing spring, the second bearing spring, bearing spring guide pin bushing, guide pin bushing is connected with base platform by the ball pivot of usheing to seat be fixed on base platform, and guide rod is connected with motion platform by fixing ball pivot of usheing to seat on the moving platform; First bearing spring, the second bearing spring and bearing spring guide pin bushing are enclosed within the outside of guide pin bushing and guide rod, one end of first load bearing spring and the bottom of guide pin bushing are connected, one end of its other end and bearing spring guide pin bushing is connected, one end of second load bearing spring and the end of guide rod are connected, and the other end of its other end and bearing spring guide pin bushing is connected.

6. the adjustable parallel kinematic platform of structural parameters with cluster spring carrying branch according to claim 1, it is characterized in that: described three carrying branches are connected with motion platform and base platform by ball pivot of usheing to seat, three ball pivot centers of usheing to seat on motion platform and base platform form two equilateral triangles, the triangle length of side on base is less than the triangle length of side on moving platform, and triangle, three triangles carrying branches and base of moving platform form three terrace with edges.