Paired-cylinder reverse-communication driving double-shaft swinging platform system

Abstract

The invention provides a paired-cylinder reverse-communication driving double-shaft swinging motion platform system. According to the system, the two ends of a lower swing frame are connected to a base plate through a first revolute pair, a swinging platform is connected to the lower swing frame through a second revolute pair, the axes of the first revolute pair and the second revolute pair are perpendicularly intersected, driving oil cylinders are connected to the base plate through universal hinges, the upper ends of cylinder rods are connected to the swinging platform through spherical hinges, the four driving oil cylinders are symmetrically distributed with the intersection point of the axes of the first revolute pair and the second revolute pair as the center and are divided into two pairs, upper cavities and lower cavities of each pair of oil cylinders reversely communicate with each other, the two corresponding oil cylinders are controlled by a servo valve to move reversely in a one-pushing and one-pulling mode, and the four oil cylinders are controlled by two input signals to realize two-pushing and two-pulling to directly drive the swinging platform to realize double-shaft swinging motion. The system has the advantages that the problems of asymmetry of two-cylinder driving acting force and multi-cylinder driving redundancy control of a double-shaft swinging platform can be solved, a moving module and a rotating module can be connected in series to form a multi-shaft motion platform, and a crane, a shore gangway, an excavator and the like can be further additionally arranged to form equipment with the compensation function.

Description

Technical field [0001] The present invention belongs to the hydraulic drive field, and in particular, the present invention relates generally to a biaxial swing platform system in which the cylinder reversal is driven. Background technique [0002] At present, countries pay more and more attention to the ocean, and the mining methods of marine resources are also increasingly diverse. Due to the operation of the ship, the ship has a six-dimensional swaying, which requires a multi-dimensional sports platform. Stable work platform to ensure safety. At present, the traditional six-degree-freedom Stewart platform is more applications, but this six-degree-of-freedom parallel institution, small work space, complex control, application cannot bear large loads, especially heavy bias, unable to meet large load work need. The traditional two-degree-of-freedom rocking platform is mostly inner and outer frame series, driving is mostly driven to drive, it is difficult to achieve large-scale an...

AI Technical Summary

Problems solved by technology

[0004] In view of the shortcomings of the existing inner and outer frame series swing platform in terms of large-scale heavy and eccentric loads, the present invention proposes a dual-axis swing platform system driven by reverse communication with the cylinders. By forming a pair of four drive cylinders and forming a symmetrical arrangement, The upper and lower chambers of each pair of oil cylinders are connected in reverse, and the four drive cylinders are directly connected to the base and the swing platform, which realizes the need for redundant drive control, and the four cylinders are symmetrically directly connected in parallel to drive the swing platform to realize biaxial swing motion, which effectively solves the existing internal and external problems. Frame series swing platform has problems such as small rigidity difference of bearing load in stages and series drive, asymmetric direct drive force of two cylinders, and difficulty in multi-cylinder direct drive redundant drive control, etc., especially suitable for large-scale, heavy and eccentric load motion platforms

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