Three-degree-of-freedom parallel attitude-adjusting and vibration-isolating platform comprising tower-shaped telescopic branches

Abstract

A three-degree-of-freedom parallel attitude-adjusting and vibration-isolating platform comprising tower-shaped telescopic branches comprises a base, three mounting seats, three linear driving units, the three tower-shaped telescopic branches, three vibration isolators, a boosting spring and a moving platform, wherein the mounting seats are fixedly connected onto the base; double linear modules of the linear driving units are fixedly connected onto the mounting seats and driven by driving motors; each tower-shaped telescopic branch comprises two closed-loop connecting rods and a planar scissor structure, two tower feet at the lower end of the planar scissor structure of the tower-shaped telescopic branch are connected with two sliding blocks of the double linear modules by the aid of first and second kinematic pairs, the upper end of the tower-shaped telescopic branch is a rotating pair for connecting the two closed-loop connecting rods, a rotating shaft of the rotating pair is connected with one end of the vibration isolator by the aid of a third universal hinge, and the other end of the vibration isolator is fixedly connected with the moving platform; the lower end of the boosting spring is fixedly connected onto the base, and the upper end of the boosting spring is a free end. The three-degree-of-freedom parallel attitude-adjusting and vibration-isolating platform is high in rigidity, high in bearing capacity and large in working space.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel attitude adjustment vibration isolation platform. Background technique [0002] Affected by the unevenness of the road surface during driving, the vehicle will produce multi-dimensional compound bumps such as vertical, roll and pitch of the vehicle body. If the on-board items are directly rigidly connected to the car body, the multi-dimensional vibration generated by the vehicle under poor road conditions will have a serious impact on the transportation of fragile and delicate items and on-board equipment that require attitude adjustment. In addition, when a ship sails at sea, due to the influence of weather and waves, it will cause six degrees of freedom: roll, pitch, yaw, sway, surge, and heave, among which roll, pitch and heave The disturbance in the direction of three degrees of freedom has the greatest impact on the ship. At the same time, vibrations will be generated due ...

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Problems solved by technology

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 It has the functions of adjusting the attitude of the working platform and isolating vibration in multiple dimensions, but the working space is small

Chinese patent 201310210861.8 proposes a folding five-degree-of-freedom parallel attitude adjustment platform, which consists of an upper platform, a lower platform, five driving branches connecting the two platforms and a restraining branch. This invention occupies a small volume and has a large space for attitude adjustment. But the bearing capacity is poor, the rigidity is low, there is no vibration isolation function, the number of drives is large at the same time, and the control is cumbersome

Chinese patent 201420687868.9 proposes a three-degree-of-freedom mobile lifting platform, which can move in three directions through front and rear sliding platforms, left and right sliding platforms and scissor lifting mechanisms. This invention has a relatively large carrying capacity, but its structure is series, more complicated

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