Folding static load balance adjusting parallel platform

Abstract

The invention relates to a folding static load balancing adjusting parallel platform, which comprises a movable platform, a stationary platform and four branches for connecting the two platforms, wherein three branches have the same structure and are SUR drive branches distributed around, and the other branch is a UP middle constraint branch; each SUP drive branch consists of a ball joint, a first universal joint and a rotating pair, and the rotating pairs are connected with a motor which is fixedly arranged on the stationary platform; the UP middle restraint branch is positioned on a central connecting line of the movable platform and the stationary platform and consists of a second universal joint and a moving pair with a spring, and the spring in the moving pair is sleeved on a guide shaft which is fixedly arranged on the stationary platform; and a supporting sleeve is arranged at the outer side of the moving pair. The folding static load balancing adjusting parallel platform provided by the invention has the advantages that the structure is simple, the occupied volume is small, the work space is larger, and the middle branch is used to balance the static load, so that the load capacity of the platform is increased, and the torque and the power of the motor are reduced; and the motor is used for driving, and the platform can be widely applied to stable carrier-based and vehicle-mounted devices and motion simulation.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel platform. Background technique [0002] With the application and development of mechanism science and ground motion simulation technology, many experiments and training conducted in space, air and ocean are carried out on land. Ground experiments are safe, reliable and save money. The parallel stable platform is more suitable for the motion simulation of aircraft, ships, automobiles, etc. because of its advantages such as high rigidity, stable structure, strong bearing capacity, high precision, small motion inertia, difficult forward solution but easy reverse solution, etc. At present, most parallel stable platforms have six degrees of freedom, which have high manufacturing costs and high control technology. Generally, large-load parallel mechanisms use hydraulic cylinders, which are costly and difficult to maintain, and many experiments do not require six degrees of freedom. T...

AI Technical Summary

Problems solved by technology

Patent CN201010136427.6 proposes a two-degree-of-freedom rotation decoupling parallel robot mechanism. The rotation of the moving platform of this mechanism is completely decoupled, but the assembly accuracy is not easy to guarantee; Parallel mechanism, the invention controls the movement of the platform through a closed-loop sub-chain, which results in a smaller working space; the two-degree-of-freedom parallel mechanism proposed by patent CN201110160345.X can realize one-dimensional rotation and one-dimensional movement, and the structure is simple, but its carrying capacity lower

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