CN106181974A - A kind of freedom degree parallel connection platform mechanism - Google Patents

Abstract

The invention provides a three-degree-of-freedom parallel platform mechanism, which includes a frame, a moving platform, and first, second and third legs connected between the frame and the moving platform. The first, second and third legs can be Telescopic, the lower part of the first leg is rotated and installed on the frame through the first rotating shaft, the upper part of the first leg is rotated and mounted on the moving platform through the second rotating shaft, and the lower part of the second leg is mounted on the frame through the first cross connector , the upper part of the second leg is rotatably connected to the moving platform through the first spherical hinge, the lower part of the third leg is installed on the frame through the second cross connector, and the upper part of the third leg is rotatably connected to the moving platform through the second spherical hinge Above; the mechanism of the present invention can be used as a marine motion simulator and a stable leveling platform for marine drilling. Simple and other characteristics, has a good application prospect.

Description

A three-degree-of-freedom parallel platform mechanism

technical field

The invention relates to the technical field of parallel mechanisms, in particular to a three-degree-of-freedom parallel platform mechanism.

Background technique

Compared with the serial mechanism, the parallel mechanism has the advantages of large rigidity, strong bearing capacity, small cumulative error, and high precision, and the six-degree-of-freedom parallel mechanism can realize six-degree-of-freedom pose adjustment, but in general, due to the increase in the number of degrees of freedom, The number of branches will increase accordingly, and the complexity of the control process will increase accordingly.

In recent years, the three-degree-of-freedom parallel mechanism among the few-degree-of-freedom parallel mechanisms has received more and more attention and favor from researchers, especially the space parallel mechanism that can realize two-dimensional movement and one-dimensional rotation degrees of freedom. Scholars from various countries have synthesized There are a variety of parallel mechanisms with two shifts and one rotation and three degrees of freedom, but they have high rigidity, fewer kinematic pairs, simple geometric structure, easy processing and assembly, larger work space, good motion flexibility, and simple control. There are very few patents, and there are few patents on using the two-shift-one-rotation three-degree-of-freedom parallel mechanism as an ocean motion simulator, and there are almost no patents on using it as a stable leveling platform for ocean drilling.

Contents of the invention

In view of this, the present invention provides a three-degree-of-freedom parallel platform mechanism with simple structure, large working space and easy control.

The invention provides a three-degree-of-freedom parallel platform mechanism, the three-degree-of-freedom parallel platform mechanism includes a frame and a moving platform, and the three-degree-of-freedom parallel platform mechanism also includes a first leg connected between the frame and the moving platform , the second leg and the third leg, the first leg, the second leg and the third leg are all telescopic, the lower part of the first leg is mounted on the frame through a first rotating shaft, the first leg The upper part of one leg is rotatably mounted on the moving platform through a second rotating shaft, and the lower part of the second leg is rotatably mounted on the frame through a first cross connection, and the first cross connection includes mutually perpendicular The third rotating shaft and the fourth rotating shaft, the second supporting leg can rotate around the third rotating shaft and the fourth rotating shaft respectively, the upper part of the second supporting leg is connected to the moving platform through the first spherical hinge rotation, so The lower part of the third leg is rotatably mounted on the frame through a second cross connector, the second cross connector includes a fifth shaft and a sixth shaft perpendicular to each other, and the third leg can respectively rotate around the The fifth rotating shaft and the sixth rotating shaft rotate, and the upper part of the third leg is rotatably connected to the moving platform through a second spherical hinge.

Further, the frame is fixed with a first base, a second base and a third base distributed in an equilateral triangle, the first rotating shaft is rotatably connected to the first base, and the third rotating shaft The second base is rotatably connected, and the fifth rotating shaft is rotatably connected to the third base.

Further, the moving platform is fixed with a fourth base, a fifth base and a sixth base distributed in an equilateral triangle, the second rotating shaft is rotatably connected to the fourth base, and the first spherical The hinge is rotatably connected to the fifth base, and the second spherical hinge is rotatably connected to the sixth base.

Further, the first leg includes a first drive rod and a second drive rod, the second drive rod performs telescopic movement in the first drive rod through the first moving pair, and the second leg includes a third A driving rod and a fourth driving rod, the fourth driving rod performs telescopic movement in the third driving rod through the second moving pair, the third leg includes a fifth driving rod and a sixth driving rod, the first The six driving rods perform telescopic movement in the fifth driving rod through the third moving pair.

Further, the axis of the first rotating shaft is parallel to the axis of the second rotating shaft and perpendicular to the axis of the first moving pair, the axis of the fourth rotating shaft is perpendicular to the axis of the second moving pair, so The axis of the sixth rotating shaft is perpendicular to the axis of the third moving pair.

Further, the first moving pair, the second moving pair and the third moving pair are respectively driven, and the first leg, the second leg and the third leg control the position of the braking platform to realize its two degrees of freedom of movement , one is the direction perpendicular to the plane of the frame, and the other is the direction parallel to the plane of the frame and perpendicular to the first rotating shaft. The three legs can simultaneously control the attitude of the braking platform to realize its rotation around the axis of the first rotating shaft degrees of freedom.

Further, the first moving pair, the second moving pair and the third moving pair are all used as active driving moving pairs, and the driving mode is driven by a motor or a hydraulic cylinder.

The beneficial effects brought by the technical solution of the present invention are: the three-degree-of-freedom parallel platform mechanism of the present invention includes three legs, the rigidity of the mechanism is high, the number of movement pairs of the mechanism is small, the geometric structure is simple, the processing and assembly are easy, the working space is large, and the movement The utility model has good flexibility and simple control, can be used as an ocean motion simulator and an ocean drilling stable leveling platform, and has good application prospects.

Description of drawings

Fig. 1 is a schematic structural view of a three-degree-of-freedom parallel platform mechanism of the present invention.

Fig. 2 is another structural schematic diagram of the three-degree-of-freedom parallel platform mechanism of the present invention.

Fig. 3 is a structural schematic diagram of the three-degree-of-freedom parallel platform mechanism of the present invention used as a stable leveling platform for offshore drilling.

In the figure: 1-frame, 11-first base, 12-second base, 13-third base, 2-moving platform, 21-fourth base, 22-fifth base, 23- The sixth base, 3-the first leg, 31-the first rotating shaft, 32-the first driving rod, 33-the first moving pair, 34-the second driving rod, 35-the second rotating shaft, 4-the second supporting leg, 41-the first cross connector, 411-the third rotating shaft, 412-the fourth rotating shaft, 44-the third driving rod, 45-the second moving pair, 46-the fourth driving rod, 47-the first spherical hinge, 5- The third leg, 51-the second cross connector, 511-the fifth shaft, 512-the sixth shaft, 54-the fifth driving rod, 55-the third moving pair, 56-the sixth driving rod, 57-the second spherical Hinge, 6-offshore drilling platform or drilling ship, 7-three degrees of freedom parallel platform, 8-drilling rig.

detailed description

In order to make the purpose, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

Please refer to FIG. 1 , the embodiment of the present invention provides a three-degree-of-freedom parallel platform mechanism, including a frame 1, a moving platform 2, and a parallel first leg 3 and a second leg between the frame 1 and the moving platform 2 4 and the third leg 5, the first base 11, the second base 12 and the third base 13 that are distributed in an equilateral triangle are fixed on the frame 1, and the lower side of the moving platform 2 is fixed with a base that is distributed in an equilateral triangle. The fourth base 21 , the fifth base 22 and the sixth base 23 .

The first leg 3 includes a first driving rod 32 and a second driving rod 34 . The lower end of the first driving rod 32 is rotatably connected to the first base 11 through the first rotating shaft 31 , so the first driving rod 32 can rotate around the first rotating shaft 31 . The first driving rod 32 is connected to the second driving rod 34 through the first moving pair 33, the first driving rod 32 (equivalent to the cylinder barrel) is hollow, and the second driving rod 34 (equivalent to the piston rod) passes through the first moving pair 33 The first driving rod 32 performs telescopic movement, thereby adjusting the height of the first leg 3 . The upper end of the second driving rod 32 is rotatably connected to the fourth base 21 through the second rotating shaft 35 , so the second driving rod 34 can rotate around the second rotating shaft 35 . Wherein, the axis of the first rotating shaft 31 is parallel to the axis of the second rotating shaft 35 and perpendicular to the axis of the first moving pair 33 .

The second leg 4 includes a first cross link 41 , a third driving rod 44 and a fourth driving rod 46 . The lower end of the third driving rod 44 is rotatably connected to the second base 12 through the first cross connecting member 41. The first cross connecting member 41 includes a third rotating shaft 411 and a fourth rotating shaft 412 perpendicular to each other. Therefore, the third driving rod 44 can It rotates around the third shaft 411 and can also rotate around the fourth shaft 412 . The third driving rod 44 is connected to the fourth driving rod 46 by the second moving pair 45, the third driving rod 44 (cylinder barrel) is hollow, and the fourth driving rod 46 (piston rod) is connected to the third driving rod by the second moving pair 45 44 to do telescopic movement, thereby adjusting the height of the second leg 4. The upper end of the fourth driving rod 46 is rotatably connected to the fifth base 22 through the first spherical hinge 47, and the connection point between the fourth driving rod 46 and the first spherical hinge 47 can be used as a fulcrum within the conical space restricted by the first spherical hinge 47. Make a turn. Wherein, the axis of the fourth rotating shaft 412 is perpendicular to the axis of the second moving pair 45 .

The third leg 5 includes a second cross connector 51 , a fifth driving rod 54 and a sixth driving rod 56 . The lower end of the fifth driving rod 54 is rotatably connected to the third base 13 through the second cross connecting member 51. The second cross connecting member 51 includes a fifth rotating shaft 511 and a sixth rotating shaft 512 perpendicular to each other. Therefore, the fifth driving rod 54 can be It rotates around the fifth axis of rotation 511 and can also rotate around the sixth axis of rotation 512 . The fifth driving rod 54 is connected to the sixth driving rod 56 through the third moving pair 55, the fifth driving rod 54 (cylinder barrel) is hollow, and the sixth driving rod 56 (piston rod) is connected to the fifth driving rod through the third moving pair 55. 54 to do telescopic movement, thereby adjusting the height of the third leg 5. The upper end of the sixth driving rod 56 is connected to the sixth base 23 through the second spherical hinge 57, and the connection point between the sixth driving rod 56 and the second spherical hinge 57 can be used as a fulcrum to carry out the operation within the conical space restricted by the second spherical hinge 57. turn. Wherein, the axis of the sixth rotating shaft 512 is perpendicular to the axis of the third moving pair 55 .

Referring to FIG. 2 , FIG. 2 is a structural diagram of the mechanism in FIG. 1 after movement. The first moving pair 33, the second moving pair 45 and the third moving pair 55 are respectively driven, and the second leg 3, the second leg 4 and the third leg 5 control the position of the braking platform 2 to realize its two degrees of freedom of movement, one is the direction b perpendicular to the plane of the frame 1, and the other is the direction a parallel to the plane of the frame 1 and perpendicular to the first rotation axis 31. The three legs can simultaneously control the attitude of the moving platform 2 to realize its rotation around the first rotation axis 31. Rotational degrees of freedom for axis c rotation. The two-shift-one-turn three-degree-of-freedom parallel platform mechanism can be used as a marine motion simulator.

Referring to Fig. 3, Fig. 3 is a structural diagram of the mechanism in Fig. 1 as a stable leveling platform for offshore drilling. Comprise offshore drilling platform or drilling ship 6, three degrees of freedom stable leveling platform 7 and drilling rig 8 among Fig. 3; The frame 1 of this three degrees of freedom stable leveling platform 7 is installed on this offshore drilling platform or drilling ship 6, drilling rig 8 is installed on the moving platform 2 of the three-degree-of-freedom stable leveling platform 7. On the frame 1 of the three-degree-of-freedom stable leveling platform 7, the moving platform 2, and the offshore drilling platform or drilling ship 6, through holes are provided to allow drill pipes to pass through. This three-degree-of-freedom parallel platform can High degree of pose compensation to keep the pose of the drilling rig unchanged in three directions.

In the embodiment of the present invention, the first moving pair 33 , the second moving pair 45 and the third moving pair 55 are all used as active driving moving pairs, and the driving mode can be driven by a motor or a hydraulic cylinder.

In this article, the orientation words such as front, rear, upper, and lower involved are defined by the parts in the drawings and the positions between the parts in the drawings, just for the clarity and convenience of expressing the technical solution. It should be understood that the use of the location words should not limit the scope of protection claimed in this application.

In the case of no conflict, the above-mentioned embodiments and features in the embodiments herein may be combined with each other.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (7)

1. a freedom degree parallel connection platform mechanism, including frame and moving platform, it is characterised in that: described freedom degree parallel connection is put down Platform mechanism also includes the first leg, the second leg and the 3rd leg being connected between frame and moving platform, described first leg, Second leg and the 3rd leg are the most scalable, and the bottom of described first leg is arranged on described frame by one first axis of rotation On, the top of described first leg is arranged on described moving platform by one second axis of rotation, the bottom of described second leg Being rotatably installed in described frame by the first cross connecting piece, described first cross connecting piece includes orthogonal 3rd turn Axle and the 4th rotating shaft, described second leg can be rotating around described 3rd rotating shaft and the 4th axis of rotation, described second leg upper Portion is rotatably connected on described moving platform by the first spherical linkage, and the second cross connecting piece is passed through in the bottom of described 3rd leg Being rotatably installed in described frame, described second cross connecting piece includes orthogonal 5th rotating shaft and the 6th rotating shaft, described 3rd leg can be rotating around described 5th rotating shaft and the 6th axis of rotation, and the second spherical linkage is passed through on the top of described 3rd leg It is rotatably connected on described moving platform.

2. freedom degree parallel connection platform mechanism as claimed in claim 1, it is characterised in that: it is fixed with in equilateral in described frame First pedestal of Triangle-Profile, the second pedestal and the 3rd pedestal, described first axis of rotation connects described first pedestal, described 3rd axis of rotation connects described second pedestal, and described 5th axis of rotation connects described 3rd pedestal.

3. freedom degree parallel connection platform mechanism as claimed in claim 1, it is characterised in that: be fixed with on described moving platform in etc. 4th pedestal, the 5th pedestal and the 6th pedestal of limit Triangle-Profile, described second axis of rotation connects described 4th pedestal, institute Stating the first spherical linkage and be rotationally connected described 5th pedestal, described second spherical linkage is rotationally connected described 6th pedestal.

4. freedom degree parallel connection platform mechanism as claimed in claim 1, it is characterised in that: described first leg includes that first drives Lever and the second drive rod, described second drive rod does stretching motion by the first moving sets in described first drive rod, institute Stating the second leg and include the 3rd drive rod and the 4th drive rod, described 4th drive rod is driven the described 3rd by the second moving sets Doing stretching motion in lever, described 3rd leg includes the 5th drive rod and the 6th drive rod, and described 6th drive rod is by the Three moving sets does stretching motion in described 5th drive rod.

5. freedom degree parallel connection platform mechanism as claimed in claim 4, it is characterised in that: the axis of described first rotating shaft and institute The axis stating the second rotating shaft is parallel and vertical with the axis of described first moving sets, the axis and described second of described 4th rotating shaft The axis of moving sets is vertical, and the axis of described 6th rotating shaft is vertical with the axis of described three moving sets.

6. freedom degree parallel connection platform mechanism as claimed in claim 4, it is characterised in that: described first moving sets, described the Two moving sets and described three moving sets are driven respectively, and the first leg, the second leg and the 3rd leg control the position of moving platform Putting and realize two one-movement-freedom-degrees, a direction being perpendicular to plane of rack, another is parallel to plane of rack and vertical In the direction of the first rotating shaft, these three legs can control the attitude of moving platform simultaneously and realize the axis rotation around the first rotating shaft Rotational freedom.

7. freedom degree parallel connection platform mechanism as claimed in claim 4, it is characterised in that: described first moving sets, described the Two moving sets and described three moving sets are all as active drive kinematic pair, and type of drive is that motor drives or Driven by Hydraulic Cylinder.