CN108032281A - 6-dof motion platform and electronic equipment - Google Patents
6-dof motion platform and electronic equipment Download PDFInfo
- Publication number
- CN108032281A CN108032281A CN201711116330.7A CN201711116330A CN108032281A CN 108032281 A CN108032281 A CN 108032281A CN 201711116330 A CN201711116330 A CN 201711116330A CN 108032281 A CN108032281 A CN 108032281A
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- platform
- rotating connector
- motion platform
- dof motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/006—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-universal
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of 6-dof motion platform and electronic equipment.The motion platform includes fixed platform, moving platform and three branch chain components, each branch chain component includes device of rotation driving, rotating connector and automatic extending-contracting apparatus, device of rotation driving is configured to driving rotating connector and rotates, rotating connector is rotatablely connected with fixed platform, one end along telescopic direction of automatic extending-contracting apparatus is hinged with rotating connector, and the other end is connected by spherical hinge with moving platform, the line of three rotating connectors is triangle, and the line of three hinge joints is triangle.The motion platform is simple in structure, and can realize the various movements in space.
Description
Technical field
The present invention relates to motion platform technical field, more particularly, to a kind of 6-dof motion platform and electronics
Equipment.
Background technology
In recent years, 6-dof parallel platform is widely used, such as motion simulator, parallel machine, aircraft wind
Hole experiment, VR experience chairs etc..Parallel connection platform is due to rigidity is high, bearing capacity is strong, precision is high, compact-sized etc. many excellent
Point.
Most commonly six telescoping cylinder drivings, and as the Stewart platforms of side chain at present.Traditional Stewart is put down
The mechanism own vols of six side chains of platform is big, quality is big, and impulse stroke is small, very flexible, due to interrelated coupling between side chain
Closing, Singularity is relatively more, and forward kinematics solution is complicated, seldom tries to achieve effective analytic solutions, so few branch chain six-freedom degree
Mechanism becomes the hot spot of research six-degree-of-freedom parallel connection mechanism.
In view of the above-mentioned problems, it is suggested using platform of the multi link closed loop moving chain as side chain.This platform can be with
Accomplish three side chains, but this structure causes that platform overall stiffness is not high, and bearing capacity is not strong, limits the use scope of the platform.
The content of the invention
It is an object of the present invention to provide a kind of new solution of 6-dof motion platform.
According to the first aspect of the invention, there is provided a kind of 6-dof motion platform.The motion platform include fixed platform,
Moving platform and three branch chain components, each branch chain component include device of rotation driving, rotating connector and automatic telescopic dress
Put, the device of rotation driving is configured to driving rotating connector and rotates, the rotating connector and the fixed platform
Rotation connection, one end along telescopic direction of the automatic extending-contracting apparatus is hinged with the rotating connector, and the other end leads to
Cross spherical hinge to be connected with the moving platform, the line of three rotating connectors is triangle, the line of three hinge joints
It is triangle.
Alternatively, the line of three rotating connectors forms equilateral triangle, and the line of three hinge joints forms positive three
It is angular.
Alternatively, the size for the equilateral triangle that the line of the rotating connector is formed is more than the line structure of the hinge joint
Into equilateral triangle size.
Alternatively, base is further included, the base is connected with the fixed platform, between the base and the fixed platform
Accommodating space is formed, the device of rotation driving is arranged in the accommodating space.
Alternatively, the rotating connector is rotatablely connected by bearing and the fixed platform.
Alternatively, the automatic extending-contracting apparatus is electric cylinders or cylinder.
Alternatively, the device of rotation driving includes servomotor and corner planetary reduction gear, the servomotor and institute
The drive connection of corner planetary reduction gear is stated, the corner planetary reduction gear is sequentially connected with the rotating connector.
Alternatively, the size of three branch chain components and model are identical.
According to another embodiment of the invention, there is provided a kind of electronic equipment.The electronic equipment includes the present invention and provides
The 6-dof motion platform.
According to one embodiment of the disclosure, fixed platform is formed by three branch chain components and moving platform is supported, and is passed through
The various movements of moving platform are realized in the coordinated movement of various economic factors of three branch chain components.The motion platform has six-freedom degree.
In addition, the structure of the motion platform is simple, assembling is easy.
In addition, the rigidity of the motion platform is high, bearing capacity is strong, has a wide range of application.
By referring to the drawings to the present invention exemplary embodiment detailed description, further feature of the invention and its
Advantage will be made apparent from.
Brief description of the drawings
It is combined in the description and the attached drawing of a part for constitution instruction shows the embodiment of the present invention, and even
It is used to explain the principle of the present invention together with its explanation.
Fig. 1 is the structure diagram of 6-dof motion platform according to an embodiment of the invention.
Fig. 2-4 is that the structure of the 6-dof motion platform of different motion state according to an embodiment of the invention is shown
It is intended to.
Fig. 5 is freedom calculation schematic diagram according to an embodiment of the invention.
Description of reference numerals：
10：Moving platform；11：Spherical hinge；12：Electric cylinders；12a：First electric cylinders；12b：Second electric cylinders；12c：3rd electric cylinders；
13：Rotating connector；13a：First rotating connector；13b：Second rotating connector；13c：3rd rotating connector；14：Turn
Angle planetary reduction gear；15：Servomotor；20：Fixed platform；21：Base.
Embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should be noted that：Unless in addition have
Body illustrates that the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The scope of invention.
The description only actually at least one exemplary embodiment is illustrative to be never used as to the present invention below
And its application or any restrictions that use.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent attached drawing in a attached drawing.
According to one embodiment of present invention, there is provided a kind of 6-dof motion platform, it is used for motion simulator, simultaneously
Online bed, aircraft flow tunnel testing device, VR experience chairs etc..The motion platform includes fixed platform 20, moving platform 10 and three branch
Chain component.Fixed platform 20 is fixed platform.In the process of running, fixed platform 20 is not moved.Moving platform 10 is that movement is flat
Platform movement output portion.Three side chain component coordination effects, and movement output is carried out by moving platform 10.For example, 10 energy of moving platform
Enough translated, lifted, overturn, waved.
Each branch chain component includes device of rotation driving, rotating connector 13 and automatic extending-contracting apparatus.Device of rotation driving
Driving rotating connector 13 is configured to rotate.Rotating connector 13 is rotatablely connected with fixed platform 20.Rotating connector 13
It can rotate relative to fixed platform 20.
In one example, rotating connector 13 is rotatablely connected by bearing and fixed platform 20.Set on fixed platform 20
There is mounting hole.For example, mounting hole is through hole.Rotating connector 13 is connected at mounting hole by bearing.Bearing can have
Effect reduces the frictional force between rotating connector 13 and fixed platform 20, so that the rotation of rotating connector 13 is more flexible.
One end along telescopic direction of automatic extending-contracting apparatus is hinged with rotating connector 13, and the other end passes through spherical hinge
11 are connected with moving platform 10.Automatic extending-contracting apparatus can automatically be stretched along direction initialization, be contracted.For example, automatic extending-contracting apparatus is electricity
Cylinder 12 or cylinder.When mounted, the cylinder body of electric cylinders 12 or cylinder is as a connecting pin, to be cut with scissors with rotating connector 13
Connect.Telescopic rod is as another connecting pin, to be connected by spherical hinge 11 with moving platform 10.In this way, moving platform 10 can be relative to
Fixed platform 20 is stretched, is contracted.In addition, electric cylinders 12 or the bearing capacity of cylinder are strong.
Spherical hinge 11 includes bulb and spherical shell.Bulb rotates in spherical shell around the centre of sphere of setting.For example, in telescopic rod one end
It is provided with bulb.Spherical shell is provided with moving platform 10.In this way, automatic extending-contracting apparatus can be swung around the centre of sphere, so that
The movements such as translation, upset, torsion occur for moving platform 10.Certainly other distressed structure components of similar functions can be also used, herein
No longer repeated.
In one example, the size of three branch chain components and model are identical.This cause motion platform stress, with
And movement is more balanced, avoids the occurrence of interfering for various components.
In addition, the motion amplitude of moving platform 10 being capable of bigger.
In one example, the line of three rotating connectors 13 is triangle.The line of three hinge joints forms three
It is angular.This structure make it that the overall stiffness of motion platform is high.
In embodiments of the present invention, fixed platform 20 is formed by three branch chain components and moving platform 10 is supported, and passes through three
The various movements of moving platform are realized in the coordinated movement of various economic factors of a branch chain component.
In addition, the structure of the motion platform is simple, assembling is easy, and light weight, and small, flexibility is good.
In addition, the rigidity of the motion platform is high, bearing capacity is strong, has a wide range of application.
In addition, the motion platform has six-freedom degree.It is as follows with reference to Fig. 5, freedom calculation process：
Freedom calculation formula is：
Wherein, F is the free degree, and n is number of components, and g is kinematic pair number, fiFor the free degree of i-th of kinematic pair.
In the platform, number of components n is 11, it includes：Fixed platform 20, the rotating connector 13,3 of moving platform 10,3 are certainly
Dynamic telescopic device (each automatic extending-contracting apparatus includes two components of relative motion, such as cylinder body and telescopic rod).
Kinematic pair g is 12, it includes：The movement that the spherical pair of 3 compositions of spherical hinges 11,3 automatic extending-contracting apparatus are formed
Revolute pair between revolute pair, 3 device of rotation driving and rotating connector 13 that secondary, 3 hinge joints are formed.
Wherein, the free degree for the spherical pair that spherical hinge 11 is formed is 3, the free degree for the prismatic pair that automatic extending-contracting apparatus is formed
The free degree of revolute pair formed for 1, hinge joint is 1, the revolute pair between device of rotation driving and rotating connector 13 from
By spending for 1.
The value of above-mentioned parameters is substituted into formula (I), draws the free degree of the motion platform：
F=6 (11-12-1)+3*3+1*3+1*3+1*3=6
According to freedom calculation result and the design feature of the motion platform, it can be deduced that the free degree of the motion platform
For 6, any forms of motion in three dimensions can be realized, as shown in Figs 1-4.
Several movements of 6-dof motion platform are illustratively described below：
1st, traversing (being moved along Y-axis)：3rd rotating connector 13c is driven by corresponding device of rotation driving, so as to swing
Face is parallel to Y direction.First rotating connector 13a and the second rotating connector 13b are driven by respective device of rotation driving,
So that two rotating connectors 13a, 13b are located at the both sides of the plane of oscillation of the 3rd rotating connector 13c respectively.First electric cylinders 12a
Synchronously stretched out with the second electric cylinders 12b, the 3rd electric cylinders 12c retracts, and keeps moving platform parallel；Either the first electric cylinders 12a and the
Two electric cylinders 12b synchronously retract, and the 3rd electric cylinders 12c stretches out, and keeps moving platform parallel, so that moving platform 10 is moved along Y-axis.
2nd, vertical shift (moving along the x-axis)：First rotating connector 13a is driven by corresponding device of rotation driving, so as to swing
Face is parallel to X-direction.3rd rotating connector 13c and the second rotating connector 13b are driven by respective device of rotation driving,
So that two rotating connectors 13c, 13b are located at the both sides of the plane of oscillation of the 3rd rotating connector 13a respectively.3rd electric cylinders 12c
Synchronously stretched out with the second electric cylinders 12b, the first electric cylinders 12a retracts, and keeps moving platform parallel；Either the 3rd electric cylinders 12c and the
Two electric cylinders 12b synchronously retract, the first electric cylinders 12a, and keep moving platform parallel, so that moving platform 10 is moved along Y-axis.
3rd, heave (being moved along Z axis), three electric cylinders 12a, 12b, 12c are centrosymmetric distribution, and synchronously stretching or
It is synchronous to retract, and keep moving platform parallel, to realize that moving platform 10 is moved along Z axis.
4th, pitching (being rotated around Y-axis)：3rd rotating connector 13c is driven by corresponding device of rotation driving, so as to swing
Face is parallel to Y direction.First rotating connector 13a and the second rotating connector 13b are driven by respective device of rotation driving,
So that two rotating connectors 13a, 13b are located at the both sides of the plane of oscillation of the 3rd rotating connector 13c respectively.Second electric cylinders 12b
Retract, the first electric cylinders 12a synchronously stretches out, and the stroke of the 3rd electric cylinders 12c is constant；Either the second electric cylinders 12b stretches out, the first electricity
Cylinder 12a synchronously retracts, and the stroke of the 3rd electric cylinders 12c is constant, so that moving platform 10 is rotated around Y.
5th, (turning about the X axis) is rolled：First rotating connector 13a is driven by corresponding device of rotation driving, so as to swing
Face is parallel to X-direction.3rd rotating connector 13c and the second rotating connector 13b are driven by respective device of rotation driving,
So that two rotating connectors 13c, 13b are located at the both sides of the plane of oscillation of the first rotating connector 13a respectively.Second electric cylinders 12b
Retract, the 3rd electric cylinders 12c synchronously stretches out, and the stroke of the first electric cylinders 12a is constant；Either the second electric cylinders 12b stretches out, the 3rd electricity
Cylinder 12c synchronously retracts, and the stroke of the first electric cylinders 12a is constant, so that moving platform 10 is rotated around X.
6th, (turning about the Z axis) is yawed：Three electric cylinders 12a, 12b, 12c are centrosymmetric distribution, and along clockwise or inverse
Hour hands synchronously stretch out in the same direction or synchronous retraction, and keep moving platform parallel, to realize that moving platform 10 turns about the Z axis.
Certainly, the movement of the 6-dof motion platform is not limited to above-mentioned several, additionally it is possible to realizes the movement of various combinations.
Those skilled in the art can be configured according to actual needs.
In one example, as shown in Figs 1-4, the line of three rotating connectors 13 forms equilateral triangle.Three hinged
The line of point forms equilateral triangle.In this example embodiment, three automatic extending-contracting apparatus are set in a manner of space symmetr, this to move
The stress of platform 10 can be stronger with equilibrium, the rigidity higher of motion platform entirety, bearing capacity.
In addition, the movement of the motion platform is more flexible, action more in place, avoids the occurrence of the mutually dry of various components
Relate to, improve user experience.
In one example, as shown in Figs 1-4, the size for the equilateral triangle that the line of rotating connector 13 is formed is more than hinge
The size for the equilateral triangle that the line of contact is formed.In this example embodiment, fixed platform 20 by three branch chain components to moving platform 10
Form support.The equilateral triangle that the hinge joint that the size for the equilateral triangle that rotating connector 13 is formed is more than spherical hinge 11 is formed
Size, this make it that support of the fixed platform 20 to moving platform 10 is more firm.
In addition, the light weight at the top of motion platform, this causes during the motion, and the barycenter of motion platform is lower, no
Easy run-off the straight, reliability higher.
In addition, in this way, the projection of the barycenter of motion platform falls within fixed platform, rather than falls in fixed platform
In addition, so effectively it can prevent motion platform from toppling over.
In one example, motion platform further includes base 21.Base 21 is connected with fixed platform 20.In base 21 with allocating
Accommodating space is formed between platform 20.Device of rotation driving is arranged in accommodating space.
As shown in Figs 1-4, fixed platform 20 and the plate-like structure of base 21, and the two is arranged in parallel, it is accommodating to be formed
Space.Fixed platform 20 and base 21 are fixed together by support column.In this way, the structure of motion platform is tighter
Gather, volume smaller, easy to the transhipment of motion platform.
In addition, accommodating space provides working space for motion platform, this causes the installation of branch chain component, dismounting to become to hold
Easily.
In one example, as shown in Figs 1-4, device of rotation driving includes servomotor 15 and corner planetary reduction gear
14.Servomotor 15 is sequentially connected with corner planetary reduction gear 14.Corner planetary reduction gear 14 connects with the transmission of rotating connector 13
Connect.The structure of the device is simple, and installation is easy.
Corner planetary reduction gear includes gear ring, umbrella tooth component, sun gear and multiple planetary gears.The rotation axis of multiple planetary gears
It is hinged on connecting plate.Connecting plate is provided centrally with output shaft.Sun gear is located at the center of multiple planetary gears, and sun gear
Engaged with multiple planetary gears.Multiple sun gears are engaged with the gear ring positioned at outside.Umbrella tooth component includes intermeshing two umbrellas
Tooth.Umbrella tooth component is used to turn to movement.One umbrella tooth of umbrella tooth component and the output axis connection of servomotor, another umbrella tooth
It is connected with sun gear.
When mounted, servomotor 15 and corner starshaped reducing gear are placed into accommodating space, and are fixed on base
On 21.For example, three servomotors 15 and corner starshaped reducing gear are arranged symmetrically on base 21 in space center.By this
Mode, the more compact structure of motion platform, volume smaller.
In addition, the quality of servomotor 15 and corner planetary reduction gear 14 is usually larger, this setup to move
The barycenter of platform is lower, during exercise can be more steady.
According to another embodiment of the invention, there is provided a kind of electronic equipment.The electronic equipment includes the present invention and provides
6-dof motion platform.The electronic equipment has simple in structure, light weight, and small, forms of motion is more, and structural strength is high
The characteristics of.
Although some specific embodiments of the present invention are described in detail by example, the skill of this area
Art personnel it should be understood that example above merely to illustrating, the scope being not intended to be limiting of the invention.The skill of this area
Art personnel are it should be understood that without departing from the scope and spirit of the present invention can modify above example.This hair
Bright scope is defined by the following claims.
Claims (9)
1. a kind of 6-dof motion platform, it is characterised in that including fixed platform, moving platform and three branch chain components, Mei Gesuo
Stating branch chain component includes device of rotation driving, rotating connector and automatic extending-contracting apparatus, and the device of rotation driving is configured to
For driving rotating connector to rotate, the rotating connector is rotatablely connected with the fixed platform, the automatic extending-contracting apparatus
It is hinged along one end of telescopic direction and the rotating connector, and the other end is connected by flexural pivot chain structure and the moving platform
Connect, the line of three rotating connectors is triangle, and the line of three hinge joints is triangle.
2. 6-dof motion platform according to claim 1, it is characterised in that the line of three rotating connectors
Equilateral triangle is formed, the line of three hinge joints forms equilateral triangle.
3. 6-dof motion platform according to claim 2, it is characterised in that the line of the rotating connector is formed
Equilateral triangle size be more than the hinge joint line form equilateral triangle size.
4. 6-dof motion platform according to claim 1, it is characterised in that further include base, the base and institute
Fixed platform connection is stated, accommodating space is formed between the base and the fixed platform, the device of rotation driving is arranged on
In the accommodating space.
5. 6-dof motion platform according to claim 1, it is characterised in that the rotating connector by bearing with
The fixed platform rotation connection.
6. 6-dof motion platform according to claim 1, it is characterised in that the automatic extending-contracting apparatus for electric cylinders or
Person's cylinder.
7. 6-dof motion platform according to claim 1, it is characterised in that the device of rotation driving includes servo
Motor and corner planetary reduction gear, the servomotor are sequentially connected with the corner planetary reduction gear, and the corner planet subtracts
Fast device is sequentially connected with the rotating connector.
8. 6-dof motion platform according to claim 1, it is characterised in that the size of three branch chain components and
Model is identical.
9. a kind of electronic equipment, it is characterised in that including the six-freedom motion as described in any one in claim 1-8
Platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711116330.7A CN108032281A (en) | 2017-11-13 | 2017-11-13 | 6-dof motion platform and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711116330.7A CN108032281A (en) | 2017-11-13 | 2017-11-13 | 6-dof motion platform and electronic equipment |
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| Publication Number | Publication Date |
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| CN108032281A true CN108032281A (en) | 2018-05-15 |
Family
ID=62093184
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| CN201711116330.7A Pending CN108032281A (en) | 2017-11-13 | 2017-11-13 | 6-dof motion platform and electronic equipment |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108956765A (en) * | 2018-06-06 | 2018-12-07 | 中国农业大学 | Gas spring space three-freedom adaptive mechanism for curved surface non-destructive testing |
| CN111037336A (en) * | 2019-12-31 | 2020-04-21 | 朱骏 | Drilling machine convenient to adjust |
| CN112454335A (en) * | 2020-11-30 | 2021-03-09 | 重庆理工大学 | Six-degree-of-freedom robot based on active ball pair |
| CN112483786A (en) * | 2020-11-12 | 2021-03-12 | 华中科技大学 | Six-degree-of-freedom platform and application thereof |
| CN113670718A (en) * | 2021-08-09 | 2021-11-19 | 南京中车浦镇城轨车辆有限责任公司 | Locomotive cable joint mechanics and life test device |
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| CN101178306A (en) * | 2007-11-22 | 2008-05-14 | 山东理工大学 | Six dimensions position attitude detecting device |
| CN101999970A (en) * | 2010-12-24 | 2011-04-06 | 上海电机学院 | Parallel multi-degree-of-freedom ankle joint rehabilitation trainer |
| CN106002955A (en) * | 2016-07-14 | 2016-10-12 | 安庆里外里工业产品设计有限公司 | Three-freedom-degree walk device for building construction transfer robot |
| CN206123643U (en) * | 2016-10-10 | 2017-04-26 | 燕山大学 | Five redundant degree of freedom series -parallel connection robots move |
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| FR2529333A1 (en) * | 1982-06-25 | 1983-12-30 | Onera (Off Nat Aerospatiale) | Robot wrist-band for detection of six stress components - has two plates linked by lattice of six rods having stress pick=ups |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108956765A (en) * | 2018-06-06 | 2018-12-07 | 中国农业大学 | Gas spring space three-freedom adaptive mechanism for curved surface non-destructive testing |
| CN111037336A (en) * | 2019-12-31 | 2020-04-21 | 朱骏 | Drilling machine convenient to adjust |
| CN112483786A (en) * | 2020-11-12 | 2021-03-12 | 华中科技大学 | Six-degree-of-freedom platform and application thereof |
| CN112454335A (en) * | 2020-11-30 | 2021-03-09 | 重庆理工大学 | Six-degree-of-freedom robot based on active ball pair |
| CN113670718A (en) * | 2021-08-09 | 2021-11-19 | 南京中车浦镇城轨车辆有限责任公司 | Locomotive cable joint mechanics and life test device |
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Application publication date: 20180515 |