CN103394202B - Multifunctional 3-DOF (degree of freedom) lifting platform and control method thereof - Google Patents
Multifunctional 3-DOF (degree of freedom) lifting platform and control method thereof Download PDFInfo
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- CN103394202B CN103394202B CN201310359414.9A CN201310359414A CN103394202B CN 103394202 B CN103394202 B CN 103394202B CN 201310359414 A CN201310359414 A CN 201310359414A CN 103394202 B CN103394202 B CN 103394202B
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Abstract
The invention relates to a multifunctional 3-DOF (degree of freedom) lifting platform and a control method thereof. The lifting platform comprises a movable platform, a support frame, a first driving cylinder, a second driving cylinder and a third driving cylinder, wherein a first connection point, a second connection point and a third connection point which are distributed in a triangular manner are arranged on the lower surface of the movable platform; the support frame is positioned below the movable platform; the lower part of the first driving cylinder is rotationally connected to a first position on the support frame, and an output rod at the upper part of the first driving cylinder is rotationally connected to the first connection point on the movable platform; the lower part of the second driving cylinder is rotationally connected to a second position on the support frame, and an output rod at the upper part of the second driving cylinder is rotationally connected to the second connection point on the movable platform; the lower part of the third driving cylinder is rotationally connected to a third position on the support frame, and an output rod at the upper part of the third driving cylinder is connected to the third connection point on the movable platform in a manner that the output rod can rotate along at least two mutually perpendicular axes. With adoption of the lifting platform and the control method thereof, multiple states such as natural oscillation, inclination, rising and falling of the movable platform can be realized; moreover, the structure is simple and the cost is low.
Description
Technical field
The present invention relates to lowering or hoisting gear, particularly the multi-functional 3DOF hoistable platform of one.
Background technology
In recent years, along with the raising of living standards of the people, tourist industry development rapidly.Meanwhile, the continuous renewal of modern science and technology and industrialization, promoted the development of tourist recreation industry further.People no longer meet traditional formula visit mode of having a glance at of visitor being had no regard for, and hanker after active participate, hands-on modern tourism entertainment way.
And namely multidimensional seat is rotate change by hoistable platform lifting in dynamic cinema, shuttles back and forth between the empty scape of solid that truly finishing scene and screen frame are formed to simulate people, in the track rotated up and down, experience the overweight of roller-coaster and weightlessness etc. really.But the hoistable platform of the multidimensional seat of prior art will realize multiple degrees of freedom lifting upset, and its structure is comparatively complicated, and control difficulty large, cost is high.
Summary of the invention
Main purpose of the present invention is, for above-mentioned deficiency of the prior art, provides a kind of structure simple, can realize multi-functional 3DOF hoistable platform and the control method thereof of multi-angle swing flexibly.
The present invention solves the technical scheme that prior art problem adopts: a kind of multi-functional 3DOF hoistable platform, and it comprises:
Moving platform, this moving platform lower surface has the first tie point, the second tie point and the 3rd tie point that distribute in triangular shape;
Bracing frame, this bracing frame is positioned at the below of described moving platform, and this bracing frame comprises underframe and swing span, and described swing span lower end comprises left part and right part, and described right part is rotationally connected by a rotating shaft and described underframe;
First driving cylinder, is connected to the primary importance on support frame as described above this first driving cylinder lower rotatable, and the take-off lever on top is connected to the first tie point of described moving platform rotationally;
Second driving cylinder, is connected to the second place on support frame as described above this second driving cylinder lower rotatable, and the take-off lever on top is connected to the second tie point of described moving platform rotationally;
3rd driving cylinder, is connected to the 3rd position on support frame as described above the lower rotatable of the 3rd driving cylinder, and the take-off lever on top can be connected to the 3rd tie point of described moving platform along at least two articles of mutual vertical axis thereof; Described primary importance, the second place and the 3rd position are triangular shape distribution, and described primary importance and the second place lay respectively at the upper surface of described right part, and described 3rd position is positioned at the position near described left part on described underframe.
Below technique scheme is further elaborated:
Take-off lever and the described swing span on described 3rd driving cylinder top are rotationally connected, and described swing span upper end is connected with described 3rd tie point by a Hooks coupling universal coupling.
Described first driving cylinder, the second driving cylinder and the 3rd driving cylinder are any one in cylinder, oil cylinder and electric cylinder.
Described Hooks coupling universal coupling is universal coupling with spider.
The invention has the beneficial effects as follows: one, the present invention adopt three driving cylinders (namely described the first driving cylinder, the second driving cylinder and the 3rd driving cylinder) to drive moving platform, namely there is three degree of freedom, simultaneously, each driving cylinder can reach different travel point as required, can arbitrarily be coordinated by multiple travel point, realize the multiple controllable state of moving platform, such as, each driving cylinder can reach three travel point (upper limit, lower limit and interposition), then the accessible controllable state of moving platform is 3*3*3=27, namely has 27 controllable state; Two, adopt underframe and swing span as support, ensure integrally-built rigid requirements, make this hoistable platform more firm, use more safe and reliable; More steady when three, moving platform is from a State Transferring to another state, better experience to user.
Accompanying drawing explanation
Fig. 1 is structural representation Fig. 1 of the embodiment of the present invention;
Fig. 2 is structural representation Fig. 2 of the embodiment of the present invention;
Fig. 3 is the schematic diagram of the embodiment of the present invention;
Fig. 4 is the flow chart of method in the embodiment of the present invention;
In figure: underframe 10; Swing span 11; Left part 110; Right part 111; First driving cylinder 20; Second driving cylinder 21; 3rd driving cylinder 22; Universal coupling with spider 221; Moving platform 30.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Detailed description of the invention
Describe technical scheme of the present invention in detail below with reference to drawings and the specific embodiments, so as clearer, understand invention essence of the present invention intuitively.
Shown in Fig. 2, the invention provides a kind of multi-functional 3DOF hoistable platform, it comprises moving platform 30, bracing frame, the first driving cylinder 20, second driving cylinder 21 and the 3rd driving cylinder 22, wherein, moving platform 30 is under the cooperation of the first driving cylinder 20, second driving cylinder 21 and the 3rd driving cylinder 22 drives, multi-angle can be realized swing or lifting, to form different states, concrete, this moving platform 30 lower surface has the first tie point, the second tie point and the 3rd tie point that distribute in triangular shape; This bracing frame is positioned at the below of described moving platform 30, is mainly used in fixing the first driving cylinder 20, second driving cylinder 21 and the 3rd driving cylinder 22.
Be connected to the primary importance on support frame as described above, the take-off lever on top is connected to the first tie point of described moving platform 30 rotationally first driving cylinder 20 lower rotatable; Be connected to the second place on support frame as described above, the take-off lever on top is connected to the second tie point of described moving platform 30 rotationally second driving cylinder 21 lower rotatable; Be connected to the 3rd position on support frame as described above, the take-off lever on top can be connected to the 3rd tie point of described moving platform 30 along at least two articles of mutual vertical axis thereof the lower rotatable of the 3rd driving cylinder 22; Described primary importance, the second place and the 3rd position are triangular shape distribution.
Be understandable that, between first driving cylinder 20, second driving cylinder 21 bottom and bracing frame, and first driving cylinder 20, second driving cylinder 21 top take-off lever and being connected rotationally between moving platform 30, specifically can adopt the connection such as ball bearing, Hooks coupling universal coupling.
In the present embodiment, as better embodiment, support frame as described above comprises underframe 10 and swing span 11, described underframe 10 can one piece of base plate, also can be skeleton structure, specifically arrange as required, swing span 11 lower end comprises left part 110 and right part 111, and described right part 111 is rotationally connected by the connectors such as a rotating shaft and described underframe 10; Described primary importance and the second place lay respectively at the upper surface of described right part 111, and namely the first driving cylinder 20 and the second driving cylinder 21 are all connected to the right part 111 of described swing span 11 bottom; Described 3rd position is positioned at the position near described left part 110 on described underframe 10, and namely the 3rd driving cylinder 22 connects the position near swing span 11 bottom left portion 110 on underframe 10.Take-off lever and the described swing span 11 on described 3rd driving cylinder 22 top are rotationally connected, and described swing span 11 upper end is connected with described 3rd tie point by a Hooks coupling universal coupling.
With reference to shown in Fig. 3, Fig. 3 is the schematic diagram of operation principle of the present invention, in figure, A is the first described tie point, and B is the second described tie point, and C is the 3rd described tie point, it is that the region that described moving platform 30, BDEFG is formed is described swing span 11 that ABC surrounds region; When the take-off lever of the first driving cylinder 20 stretches out, when the second driving cylinder 21 and the 3rd driving cylinder 22 are failure to actuate, A point is subject to active force upwards, then moving platform 30 rotates around BC axis; When the take-off lever of the second driving cylinder 21 stretches out, when the first driving cylinder 20 and the 3rd driving cylinder 22 are failure to actuate, B point is subject to active force upwards, then moving platform 30 rotates around AC axis; When the take-off lever of the 3rd driving cylinder 22 stretches out, when the first driving cylinder 20 and the second driving cylinder 21 are failure to actuate, C point is subject to active force upwards, then promote swing span 11 and rotate around EF axis with moving platform 30 entirety; When in the first driving cylinder 20, first driving cylinder 20, the 3rd driving cylinder 22 kinds arbitrarily two or three simultaneously interoperation time, then can rotate around A, B or C point, or lifting etc., therefore, in the action by control first driving cylinder 20, second driving cylinder 21 and the 3rd driving cylinder 22, moving platform 30 can be made to be in, and each tilts, water level playing field, and in the first driving cylinder 20, second driving cylinder 21 and the 3rd driving cylinder 22 continuous action, then can realize the conversion of each each different conditions, finally realize upset, swing, rising, lower degradation action.
Be understandable that, described first driving cylinder 20, second driving cylinder 21 and the 3rd driving cylinder 22 are any one in cylinder, oil cylinder and electric cylinder, can requirement as required, and described Hooks coupling universal coupling can adopt universal coupling with spider 221, other Hooks coupling universal couplings can certainly be adopted.
With reference to shown in Fig. 4, present invention also offers a kind of control method of multi-functional 3DOF hoistable platform, it comprises the following steps:
Step one, host computer sending controling instruction are to PLC, and PLC responds described control instruction, control described first driving cylinder 20, second driving cylinder 21 and the 3rd driving cylinder 22 action, reach a certain state to make moving platform 30;
Under step 2, locator will detect described a certain state, the travel point position that the first driving cylinder 20, second driving cylinder 21 and the 3rd driving cylinder 22 arrive separately, and the data feedback extremely described host computer that will detect; The quantity of travel point is more, the controllable state that moving platform 30 reaches is more, such as each driving cylinder can reach three travel point (upper limit, lower limit and interposition), then the accessible controllable state of moving platform 30 is 3*3*3=27, namely there are 27 controllable state, the number of travel point specifically can be set as required.
Step 3, host computer, to described data analysis, obtain the state of current first driving cylinder 20, second driving cylinder 21 and the 3rd driving cylinder 22.
Wherein, during in order to ensure from a certain State Transferring to another state, can ensure steadily, adopt multiple spot to control simultaneously, namely when described PLC responds described control instruction described first driving cylinder 20, second driving cylinder 21 of control and the 3rd driving cylinder 22 action, host computer sends next control instruction simultaneously, switches to another state reposefully to make moving platform 30 by described a certain state.
Above-mentioned control method, be by a kind of compared with based on programme-control complete, support frame as described above oneself can detect the location status of each driving cylinder, feedback normal data and abnormal data.Concrete, program, by reading editable status file, sends operating instruction to PLC, then by PLC direct controlling and driving cylinder.Above-mentioned editable status file can be write by the personnel entering training, can coordinate the state be consistent like this according to different scenes.Be platform based on program, host computer sends controlledization that status file realizes various position.
In sum, hoistable platform of the present invention adopts three driving cylinders (the first namely described driving cylinder 20, second driving cylinder 21 and the 3rd driving cylinder 22) to drive moving platform 30, namely there is three degree of freedom, simultaneously, each driving cylinder can reach different travel point as required, arbitrarily can be coordinated by multiple travel point, realize the multiple controllable state of moving platform 30; Secondly, adopt underframe 10 and swing span 11 as support, ensure integrally-built rigid requirements, make this hoistable platform more firm, use more safe and reliable; Again, moving platform 30 from a State Transferring to another state time more steady, better experience to user.
The foregoing is only the preferred embodiments of the present invention; not thereby its scope of the claims is limited; every utilize description of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; directly or indirectly be used in the technical field that other are relevant, be all in like manner included in scope of patent protection of the present invention.
Claims (4)
1. a multi-functional 3DOF hoistable platform, is characterized in that: it comprises:
Moving platform, this moving platform lower surface has the first tie point, the second tie point and the 3rd tie point that distribute in triangular shape;
Bracing frame, this bracing frame is positioned at the below of described moving platform, and this bracing frame comprises underframe and swing span, and described swing span lower end comprises left part and right part, and described right part is rotationally connected by a rotating shaft and described underframe;
First driving cylinder, is connected to the primary importance on support frame as described above this first driving cylinder lower rotatable, and the take-off lever on top is connected to the first tie point of described moving platform rotationally;
Second driving cylinder, is connected to the second place on support frame as described above this second driving cylinder lower rotatable, and the take-off lever on top is connected to the second tie point of described moving platform rotationally;
3rd driving cylinder, is connected to the 3rd position on support frame as described above the lower rotatable of the 3rd driving cylinder, and the take-off lever on top can be connected to the 3rd tie point of described moving platform along at least two articles of mutual vertical axis thereof; Described primary importance, the second place and the 3rd position are triangular shape distribution, and described primary importance and the second place lay respectively at the upper surface of described right part, and described 3rd position is positioned at the position near described left part on described underframe.
2. multi-functional 3DOF hoistable platform according to claim 1, is characterized in that: take-off lever and the described swing span on described 3rd driving cylinder top are rotationally connected, and described swing span upper end is connected with described 3rd tie point by a Hooks coupling universal coupling.
3. multi-functional 3DOF hoistable platform according to claim 1 and 2, is characterized in that: described first driving cylinder, the second driving cylinder and the 3rd driving cylinder are any one in cylinder, oil cylinder and electric cylinder.
4. multi-functional 3DOF hoistable platform according to claim 2, is characterized in that: described Hooks coupling universal coupling is universal coupling with spider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310359414.9A CN103394202B (en) | 2013-08-16 | 2013-08-16 | Multifunctional 3-DOF (degree of freedom) lifting platform and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310359414.9A CN103394202B (en) | 2013-08-16 | 2013-08-16 | Multifunctional 3-DOF (degree of freedom) lifting platform and control method thereof |
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| Publication Number | Publication Date |
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| CN103394202A CN103394202A (en) | 2013-11-20 |
| CN103394202B true CN103394202B (en) | 2015-07-01 |
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| CN201310359414.9A Expired - Fee Related CN103394202B (en) | 2013-08-16 | 2013-08-16 | Multifunctional 3-DOF (degree of freedom) lifting platform and control method thereof |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104984548B (en) * | 2015-08-07 | 2017-09-29 | 深圳华强智能技术有限公司 | A kind of guide driver and RV |
| CN105487462B (en) * | 2015-12-14 | 2018-06-08 | 大连理工大学 | A kind of PLC motion-control modules function verification device and verification method |
| CN106139600B (en) * | 2016-08-31 | 2018-07-03 | 西安灵境科技有限公司 | A kind of Three Degree Of Freedom rocking equipment of railcar |
| CN113573788A (en) | 2019-01-31 | 2021-10-29 | 保证信息技术有限公司 | Motion simulator |
| CN112440207B (en) * | 2020-11-13 | 2022-06-14 | 上海瑞尔实业有限公司 | Four-axis linkage trimming and polishing workbench |
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| CN201643743U (en) * | 2010-03-24 | 2010-11-24 | 上海恒润数码影像科技有限公司 | Novel multi-stage bilaterally-controlled pneumatic 4D dynamic seat |
| CN203123593U (en) * | 2013-02-28 | 2013-08-14 | 济南科明数码技术有限公司 | Dynamic seat for four-dimensional (4D) movie theater based on programmable logic controller (PLC) control |
| CN203379614U (en) * | 2013-08-16 | 2014-01-08 | 深圳环维文化旅游科技有限公司 | Multifunctional three-freedom-degree lifting platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004113817A (en) * | 2003-11-27 | 2004-04-15 | Thk Co Ltd | Level/tilt adjustment device |
| US9078523B2 (en) * | 2008-10-11 | 2015-07-14 | D-Box Technologies Inc. | Electronic display for vibro-kinetic platform |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201643743U (en) * | 2010-03-24 | 2010-11-24 | 上海恒润数码影像科技有限公司 | Novel multi-stage bilaterally-controlled pneumatic 4D dynamic seat |
| CN203123593U (en) * | 2013-02-28 | 2013-08-14 | 济南科明数码技术有限公司 | Dynamic seat for four-dimensional (4D) movie theater based on programmable logic controller (PLC) control |
| CN203379614U (en) * | 2013-08-16 | 2014-01-08 | 深圳环维文化旅游科技有限公司 | Multifunctional three-freedom-degree lifting platform |
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