A 4-SPU three-degree-of-freedom parallel heavy-load swing platform with a constraint mechanism

Abstract

The present invention discloses a 4-SPU three-degree-of-freedom parallel heavy-load swing platform containing a constraint mechanism. The moving platform is located above the foundation and is arranged horizontally; the constraint mechanism and the driving hydraulic cylinder are both located between the moving platform and the foundation, the top of each constraint mechanism is hinged to the middle of each side of the moving platform through an upper ball joint, the bottom of the constraint mechanism is fixedly connected to the foundation, the top of each driving hydraulic cylinder is hinged to each corner point of the moving platform through a Hooke's hinge, and the bottom of the driving hydraulic cylinder is connected to the foundation through a lower ball joint; the constraint mechanism is used to limit the lateral swing, longitudinal swing and bow swing movement of the moving platform; the four constraint mechanisms include a PRRS branch chain type constraint mechanism and three PRS branch chain type constraint mechanisms. The present invention is installed in parallel with four groups of vertically installed driving hydraulic cylinders and four groups of constraint mechanisms, and has the characteristics of large bearing capacity, easy control, strong anti-torsion and anti-overturning capabilities, and high out-of-control safety.

Description

Technical Field

[0001] The invention belongs to the technical field of motion simulation equipment, and in particular relates to a 4-SPU three-degree-of-freedom parallel heavy-load swing platform with a constraint mechanism. Background Art

[0002] In the verification test of large-scale ship equipment, it is necessary to simulate the movement posture of the ship under high sea conditions. As a commonly used motion simulation equipment, the swing table is widely used to simulate the movement of ships under different sea conditions. These swing tables need to have the characteristics of large load-bearing capacity, easy control, anti-overturning ability and high safety. Since the parallel mechanism has the characteristics of high rigidity, the application of parallel swing tables is very extensive. The common Stewart six-degree-of-freedom parallel platform is used in force loading tests, vehicle tests of large vehicle systems, wave compensation and offshore wind turbine installation. However, the load capacity of these swing tables is almost within 100 tons. The large number of drive devices leads to complex control, limited movement space and easy overturning. The existing technology lacks a swing table with a load capacity of more than 100 tons, easy control, strong anti-overturning ability and high safety. Summary of the invention

[0003] In order to solve the problems existing in the background technology, the purpose of the present invention is to provide a 4-SPU three-degree-of-freedom parallel heavy-load swing platform with a constraint mechanism.

[0004] The technical solution adopted by the present invention is as follows:

[0005] The swing platform includes a moving platform, an upper ball joint, four constraint mechanisms, a foundation, a Hooke's joint, four driving hydraulic cylinders and a lower ball joint; the moving platform is located above the foundation and is horizontally arranged; the constraint mechanism and the driving hydraulic cylinder are both located between the moving platform and the foundation, the top of each constraint mechanism is hinged to the middle of each side of the moving platform through the upper ball joint, the bottom of the constraint mechanism is fixedly connected to the foundation, the top of each driving hydraulic cylinder is hinged to each corner point of the moving platform through the Hooke's joint, and the bottom of the driving hydraulic cylinder is connected to the foundation through the lower ball joint; the constraint mechanism is used to limit the lateral swing, longitudinal swing and bow roll motion of the moving platform; the four constraint mechanisms include a PRRS branch chain type constraint mechanism and three PRS branch chain type constraint mechanisms.

[0006] The four constraint mechanisms are mainly composed of a first constraint mechanism, a second constraint mechanism, a third constraint mechanism and a fourth constraint mechanism arranged in sequence along the circumference of the moving platform; the four constraint mechanisms and the four driving hydraulic cylinders are located in the same circumferential direction, and each constraint mechanism and each driving hydraulic cylinder are arranged alternately along the circumference of the moving platform; the first constraint mechanism adopts a PRRS branch chain type constraint mechanism; the second constraint mechanism, the third constraint mechanism and the fourth constraint mechanism adopt a PRS branch chain type constraint mechanism.

[0007] The PRRS branch chain type constraint mechanism includes a first constraint slot rod, a first constraint rod, a rotating shaft and a first slider; the bottom of the first constraint slot rod is fixedly connected to the foundation, the first constraint slot rod is provided with a first strip constraint slot arranged along its own axial direction, the first slider can be connected to the first strip constraint slot of the first constraint slot rod so as to be movable up and down, the rotating shaft is horizontally installed on the first slider, and the rotating shaft can rotate around its own axial direction, the bottom end of the first constraint rod is hinged to the rotating shaft and the first constraint rod can swing left and right relative to the rotating shaft, and the top end of the first constraint rod is connected to the moving platform through an upper ball joint.

[0008] The PRS branch chain type constraint mechanism includes a second constraint slot rod, a second constraint rod, and a second slider; the bottom of the second constraint slot rod is fixedly connected to the foundation, and the second constraint slot rod is provided with a second strip constraint slot arranged along its own axial direction. The second slider is connected to the second strip constraint slot of the second constraint slot rod so as to be movable up and down. The bottom end of the second constraint rod is hinged to the second slider, and the second constraint rod can swing up and down relative to the second slider. The top end of the second constraint rod is connected to the moving platform through an upper ball joint.

[0009] The driving hydraulic cylinder is used to drive the moving platform to perform rolling motion around the X-axis, pitching motion around the Y-axis, heaving motion along the Z-axis, and a composite motion of the three motions of rolling, pitching and heaving.

[0010] The first constraint mechanism and the third constraint mechanism are used to limit the longitudinal motion of the moving platform along the X-axis direction, the second constraint mechanism and the fourth constraint mechanism are used to limit the transverse motion of the moving platform along the Y-axis direction, and the four constraint mechanisms are used to jointly limit the yaw motion of the moving platform around the Z-axis.

[0011] The Hooke's joints are evenly distributed at the four corners of the bottom of the moving platform, and the two rotation axes of the Hooke's joints are parallel to the X-axis and the Y-axis respectively.

[0012] The lower ball joints are evenly distributed at the four corners of the upper part of the foundation, and the axis of the driving hydraulic cylinder is perpendicular to the foundation plane.

[0013] The upper ball joints are evenly distributed at the middle positions of the four sides of the moving platform, and the connecting surface between the upper ball joints and the moving platform is a 45-degree inclined plane.

[0014] The present invention has four groups of vertically installed driving hydraulic cylinders and four groups of constraint mechanisms installed in parallel, and has the characteristics of large load-bearing capacity, easy control, strong anti-torsion and anti-overturning capabilities, and high loss of control safety. It is suitable for motion simulation tests in verification tests of large ship equipment.

[0015] The beneficial effects of the present invention are:

[0016] 1. The dynamic platform has a large structure size and sufficient upper and lower space, which can be used to install or carry different large equipment for swing tests. At the same time, four sets of driving hydraulic cylinders are installed vertically, which fully utilizes the output force of the hydraulic cylinders and further improves the carrying capacity of the dynamic platform.

[0017] 2. Four sets of constraint mechanisms are used to limit the lateral swing, longitudinal swing and pitch motion of the moving platform, so that the moving platform can only perform lateral roll, pitch and heave motion under the action of four sets of driving hydraulic cylinders. In this way, the six-degree-of-freedom motion is reduced to three-degree-of-freedom motion through the constraint mechanism, reducing the motion coupling effect and reducing the control difficulty.

[0018] 3. When the four sets of driving hydraulic cylinders lose driving force, due to the four sets of restraint mechanisms limiting the lateral, longitudinal and bow swing movements of the moving platform, the moving platform will only move downward without the danger of overturning, and the loss of control safety is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a left and right isometric view of the present invention;

[0020] Figure 2 It is a front view of the present invention;

[0021] Figure 3 A top view of the present invention;

[0022] Figure 4 It is a PRRS branch chain type restraint mechanism of the present invention;

[0023] Figure 5 It is a PRS branch type restraint mechanism of the present invention;

[0024] In the figure: 1. moving platform; 2. upper ball joint; 3. constraint mechanism; 31. first constraint mechanism; 311. first constraint groove; 312. first constraint rod; 313. rotating shaft; 314. first slider; 32. second constraint mechanism; 321. second constraint groove; 322. second constraint rod; 323. second slider; 33. third constraint mechanism; 34. fourth constraint mechanism; 4. foundation; 5. Hooke's hinge; 6. driving hydraulic cylinder; 7. lower ball joint. DETAILED DESCRIPTION

[0025] The present invention is described in detail below in conjunction with specific implementation cases. The following implementation cases will help those skilled in the art to further understand the present invention, but will not limit the present invention in any form.

[0026] like Figure 1 and Figure 2As shown, the swing platform includes a moving platform 1, an upper ball joint 2, four constraint mechanisms 3, a foundation 4, a Hooke's hinge 5, four driving hydraulic cylinders 6 and a lower ball joint 7; the moving platform 1 is located above the foundation 4 and is horizontally arranged; the constraint mechanism 3 and the driving hydraulic cylinder 6 are both located between the moving platform 1 and the foundation 4, the top of each constraint mechanism 3 is hinged to the middle of each side of the moving platform 1 through the upper ball joint 2, the bottom of the constraint mechanism 3 is fixedly connected to the foundation 4, the top of each driving hydraulic cylinder 6 is hinged to each corner point of the moving platform 1 through the Hooke's hinge 5, and the bottom of the driving hydraulic cylinder 6 is connected to the foundation 4 through the lower ball joint 7; the constraint mechanism 3 is used to limit the lateral swing, longitudinal swing and bow roll motion of the moving platform 1; the four constraint mechanisms 3 include a PRRS branch chain type constraint mechanism and three PRS branch chain type constraint mechanisms.

[0027] The upper ball joint 2 is installed at the middle position of each side of the moving platform 1, and four constraint mechanisms 3 are arranged in the middle position of each side of the moving platform 1, three of which are PRS branch chain type constraint mechanisms, and the other is a PRRS branch chain type constraint mechanism. The four constraint mechanisms 3 are all connected to the moving platform 1 through the upper ball joint 2; the Hooke's joint 5 is installed at the four corners of the bottom of the moving platform 1, and the lower ball joint 7 is installed at the four corners of the upper part of the foundation 4. The two ends of the driving hydraulic cylinder 6 are respectively connected to the Hooke's joint 5 and the lower ball joint 7, and the driving hydraulic cylinder 6 is vertically installed at the four corners of the moving platform 1.

[0028] Driven by the four driving hydraulic cylinders 6, the movable platform 1 can perform rolling motion around the X-axis, pitching motion around the Y-axis, heaving motion along the Z-axis, and a composite motion of the three motions of rolling, pitching and heaving.

[0029] like Figure 3 As shown, the four constraint mechanisms 3 are mainly composed of a first constraint mechanism 31, a second constraint mechanism 32, a third constraint mechanism 33 and a fourth constraint mechanism 34 arranged in sequence along the circumference of the moving platform 1, the first constraint mechanism 31 and the third constraint mechanism 33 are arranged opposite to each other, and the second constraint mechanism 32 and the fourth constraint mechanism 34 are arranged opposite to each other; the four constraint mechanisms 3 and the four driving hydraulic cylinders 6 are located in the same circumferential direction, and each constraint mechanism 3 and each driving hydraulic cylinder 6 are arranged alternately along the circumference of the moving platform 1, and at least one driving hydraulic cylinder 6 is arranged between each adjacent two constraint mechanisms 3; the first constraint mechanism 31 adopts a PRRS branch chain type constraint mechanism; the second constraint mechanism 32, the third constraint mechanism 33 and the fourth constraint mechanism 34 adopt a PRS branch chain type constraint mechanism.

[0030] In a specific implementation, four driving hydraulic cylinders 6 and four restraining mechanisms 3 are installed in parallel on the moving platform 1. The moving platform 1 has sufficient upper and lower spaces and can be used to install or carry different large equipment for the swing test.

[0031] like Figure 4As shown, the PRRS branch chain type constraint mechanism includes a first constraint slot rod 311, a first constraint rod 312, a rotating shaft 313 and a first slider 314; the bottom of the first constraint slot rod 311 is fixedly connected to the foundation 4, and the first constraint slot rod 311 is provided with a first strip constraint slot arranged along its own axial direction. The first slider 314 is connected to the first strip constraint slot of the first constraint slot rod 311 so as to be movable up and down. The rotating shaft 313 is horizontally installed on the first slider 314, and the rotating shaft 313 can rotate around its own axial direction. The bottom end of the first constraint rod 312 is hinged to the rotating shaft 313 and the first constraint rod 312 can swing left and right relative to the rotating shaft 313. The top end of the first constraint rod 312 is connected to the moving platform 1 through the upper ball joint 2.

[0032] The PRS branch chain type constraint mechanism includes a second constraint slot rod 321, a second constraint rod 322, and a second slider 323; the bottom of the second constraint slot rod 321 is fixedly connected to the foundation 4, and the second constraint slot rod 321 is provided with a second strip constraint slot arranged along its own axial direction. The second slider 323 is connected to the second strip constraint slot of the second constraint slot rod 321 so as to be movable up and down. The bottom end of the second constraint rod 322 is hinged to the second slider 323, and the second constraint rod 322 can swing up and down relative to the second slider 323. The top end of the second constraint rod 322 is connected to the moving platform 1 through the upper ball joint 2.

[0033] The driving hydraulic cylinder 6 is used to drive the moving platform 1 to perform a roll motion around the X-axis, a pitch motion around the Y-axis, a heave motion along the Z-axis, and a composite motion of the three motions of roll, pitch, and heave.

[0034] The first constraint mechanism 31 and the third constraint mechanism 33 of the four constraint mechanisms 3 are used to limit the longitudinal swing movement of the moving platform 1 along the X-axis direction, the second constraint mechanism 32 and the fourth constraint mechanism 34 are used to limit the lateral swing movement of the moving platform 1 along the Y-axis direction, and the four constraint mechanisms 3 are used to jointly limit the yaw movement of the moving platform 1 around the Z-axis.

[0035] The Hooke's hinges 5 are evenly distributed at the four corners of the bottom of the moving platform 1, and the two rotation axes of the Hooke's hinges 5 are parallel to the X-axis and the Y-axis respectively.

[0036] The lower ball joints 7 are evenly distributed at the four corners of the upper part of the foundation 4 , and the axis of the driving hydraulic cylinder 6 is perpendicular to the plane of the foundation 4 .

[0037] The upper ball joints 2 are evenly distributed at the middle positions of the four sides of the moving platform 1, and the connecting surface between the upper ball joints 2 and the moving platform 1 is a 45-degree inclined surface.

[0038] The above embodiments are only used to illustrate the present invention, but not to limit the present invention. Ordinary technicians in the relevant technical field can make various changes without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention.

Claims

1. A 4-SPU three-degree-of-freedom parallel heavy-load swing table with a constraint mechanism, characterized in that: The invention comprises a moving platform (1), an upper ball joint (2), four constraint mechanisms (3), a foundation (4), a Hooke's joint (5), four driving hydraulic cylinders (6) and a lower ball joint (7); the moving platform (1) is located above the foundation (4) and is arranged horizontally; the constraint mechanism (3) and the driving hydraulic cylinder (6) are both located between the moving platform (1) and the foundation (4); the top of each constraint mechanism (3) is hinged to the middle of each side of the moving platform (1) through the upper ball joint (2); the bottom of the constraint mechanism (3) is fixedly connected to the foundation (4); the top of each driving hydraulic cylinder (6) is hinged to each corner point of the moving platform (1) through the Hooke's joint (5); the bottom of the driving hydraulic cylinder (6) is connected to the foundation (4) through the lower ball joint (7); the constraint mechanism (3) is used to limit the lateral swing, longitudinal swing and pitching motion of the moving platform (1); the four constraint mechanisms (3) include a PRRS branch chain type constraint mechanism and three PRS branch chain type constraint mechanisms; The four constraint mechanisms (3) are mainly composed of a first constraint mechanism (31), a second constraint mechanism (32), a third constraint mechanism (33) and a fourth constraint mechanism (34) arranged in sequence along the circumference of the moving platform (1); the four constraint mechanisms (3) and the four driving hydraulic cylinders (6) are located in the same circumferential direction, and each constraint mechanism (3) and each driving hydraulic cylinder (6) are arranged alternately along the circumferential direction; the first constraint mechanism (31) adopts a PRRS branch chain type constraint mechanism; the second constraint mechanism (32), the third constraint mechanism (33) and the fourth constraint mechanism (34) adopt a PRS branch chain type constraint mechanism; The PRRS branch chain type constraint mechanism comprises a first constraint slot rod (311), a first constraint rod (312), a rotating shaft (313) and a first slider (314); the bottom of the first constraint slot rod (311) is fixedly connected to the foundation (4); the first constraint slot rod (311) is provided with a first strip constraint slot arranged along its own axial direction; the first slider (314) is connected to the first strip constraint slot of the first constraint slot rod (311) so as to be movable up and down; the rotating shaft (313) is horizontally mounted on the first slider (314), and the rotating shaft (313) can rotate around its own axial direction; the bottom end of the first constraint rod (312) is hinged to the rotating shaft (313) and the first constraint rod (312) can swing relative to the rotating shaft (313); the top end of the first constraint rod (312) is connected to the moving platform (1) through an upper ball joint (2); The PRS branch chain type constraint mechanism comprises a second constraint slot rod (321), a second constraint rod (322), and a second slider (323); the bottom of the second constraint slot rod (321) is fixedly connected to the foundation (4); the second constraint slot rod (321) is provided with a second strip constraint slot arranged along its own axial direction; the second slider (323) is connected to the second strip constraint slot of the second constraint slot rod (321) so as to be movable up and down; the bottom end of the second constraint rod (322) is hinged to the second slider (323), and the second constraint rod (322) can swing up and down relative to the second slider (323); the top end of the second constraint rod (322) is connected to the moving platform (1) via an upper ball joint (2); The driving hydraulic cylinder (6) is used to drive the moving platform (1) to perform a rolling motion around the X-axis, a pitching motion around the Y-axis, a heave motion along the Z-axis, and a composite motion of the three motions of rolling, pitching, and heaving; The first constraint mechanism (31) and the third constraint mechanism (33) are used to limit the longitudinal swing movement of the moving platform (1) along the X-axis direction, the second constraint mechanism (32) and the fourth constraint mechanism (34) are used to limit the transverse swing movement of the moving platform (1) along the Y-axis direction, and the four constraint mechanisms (3) are used to jointly limit the yaw movement of the moving platform (1) around the Z-axis.

2. A 4-SPU three-degree-of-freedom parallel heavy-load swing platform with a constraint mechanism according to claim 1, characterized in that: The Hooke's joints (5) are evenly distributed at the four corners of the bottom of the moving platform (1), and the two rotation axes of the Hooke's joints (5) are parallel to the X-axis and the Y-axis respectively.

3. A 4-SPU three-degree-of-freedom parallel heavy-load swing platform with a constraint mechanism according to claim 1, characterized in that: The lower ball joints (7) are evenly distributed at the four corners of the upper part of the foundation (4), and the axis of the driving hydraulic cylinder (6) is perpendicular to the plane of the foundation (4).

4. A 4-SPU three-degree-of-freedom parallel heavy-load swing platform with a constraint mechanism according to claim 1, characterized in that: The upper ball joints (2) are evenly distributed at the middle positions of the four sides of the moving platform (1), and the connection surface between the upper ball joints (2) and the moving platform (1) is a 45-degree inclined plane.

Images