CN108818503A - A kind of four-degree-of-freedom posture adjustment platform - Google Patents
A kind of four-degree-of-freedom posture adjustment platform Download PDFInfo
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- CN108818503A CN108818503A CN201810719362.4A CN201810719362A CN108818503A CN 108818503 A CN108818503 A CN 108818503A CN 201810719362 A CN201810719362 A CN 201810719362A CN 108818503 A CN108818503 A CN 108818503A
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- electric cylinder
- silent flatform
- revolute pair
- moving platform
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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Abstract
The present invention relates to a kind of four-degree-of-freedom posture adjustment platforms, it includes into upper and lower spaced moving platform and silent flatform, there are four electric cylinders for connection between the moving platform and silent flatform, and four electric cylinders successively end to end can surround quadrangle on any section, four electric cylinders are respectively the first electric cylinder, the second electric cylinder, third electric cylinder and the 4th electric cylinder；The motion control card for further including industrial personal computer and being connected on industrial personal computer, each electric cylinder is respectively connected with servo-driver, and is controlled respectively by respective servo-driver, and each servo-driver is both connected on motion control card.Therefore the present invention only has there are four freedom degree, eliminates the freedom degree of redundancy, and biggish stroke can be obtained under lesser size, motion platform working space is big, and overall structure is simple.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of four-degree-of-freedom posture adjustment platform.
Background technique
Satellite borne equipment is placed on its moving platform, no by pose adjustment platform, that is, posture adjustment platform as a kind of universal platform
The case where only pose of analog satellite borne equipment changes, and is also used as other skimulated motion postures.
Wherein, it when solar irradiation is to the influence of satellite borne equipment under research and analysis space environment, needs on ground
The variation and response condition when illumination of the satellite borne equipment by different direction and angle are tested under vacuum environment, it is common practice to
The fixed light source in vacuum chamber is occurred by the change of satellite borne equipment pose come the received quantity of illumination of analog machine and direction of illumination
Change, to test out satellite borne equipment to the response condition of light source azimuth.For the attitudes vibration of satellite borne equipment, need by mould
Intend the platform of athletic posture to realize, posture adjustment platform is moved by continuously adjusting moving platform, to realize the change of satellite borne equipment posture
Change.By the variation of posture as the independent variable input in experimentation, effectively to reflect attitudes vibration to satellite borne equipment work feelings
The influence of condition.But existing pose adjustment platform, often using six degree of freedom platform, it has certain limitation
Property.
Such as：Chinese invention patent (CN102528796A) it disclose a kind of controllable-mechanism type six-degree-of-freedom parallel device
People's platform, including fixed platform, moving platform and six branches are constituted, and on the fixed platform, are distributed with 12 fraisings, and described the
One fraising, the second fraising, third fraising, the 4th fraising, the 5th fraising, the 6th fraising are evenly distributed on a circumference, and described the
Seven fraisings, the 8th fraising, the 9th fraising, the tenth fraising, the 11st fraising, the 12nd fraising are evenly distributed on another circumference,
And two circumferential concentrics, the robot platform fixed platform, moving platform are by six branch chain links, and six branches are respectively by pacifying
Six servo motors driving on fixed platform.It is disadvantageous in that：It needs to occupy biggish bulk, and has
There is the freedom degree of redundancy, structure is complicated.
Summary of the invention
The purpose of the present invention is to provide a kind of four-degree-of-freedom posture adjustment platforms, big to solve bulk in the prior art
And there is the technical issues of freedom degree of redundancy.
Above-mentioned technical problem of the invention is mainly to be addressed by following technical proposals：A kind of four-degree-of-freedom posture adjustment
Platform, including at upper and lower spaced moving platform and silent flatform, pass through four electricity between the moving platform and the silent flatform
Dynamic cylinder connection, the four-degree-of-freedom posture adjustment platform further include the industrial personal computer for having control electric cylinder running；
Four electric cylinders are respectively the first electric cylinder, the second electric cylinder, third electric cylinder and the 4th electric cylinder, institute
The top for stating the first electric cylinder is equipped with the first telescopic rod, and first telescopic rod is connected by the first upper cardan and the moving platform
It connects, the bottom of first electric cylinder is connect by the first lower cardan with the silent flatform；
The top of second electric cylinder is equipped with the second telescopic rod, and second telescopic rod passes through the second upper cardan and institute
Moving platform connection is stated, the bottom of second electric cylinder is connect by the second lower cardan with the silent flatform；
The top of the third electric cylinder is equipped with third telescopic rod, and the third telescopic rod passes through third upper cardan and institute
Moving platform connection is stated, the bottom of the third electric cylinder is connect by third revolute pair with the silent flatform；
The top of 4th electric cylinder is equipped with the 4th telescopic rod, and the 4th telescopic rod is moved by the 4th upper cardan with described
The bottom of platform connection, the 4th electric cylinder is connect by the 4th revolute pair with the silent flatform；
First electric cylinder and second electric cylinder are at being disposed adjacent, the third electric cylinder and the described 4th electronic
For cylinder at being disposed adjacent, four electric cylinders successively end to end can surround quadrangle on any section.
The present invention is connected between moving platform and silent flatform by four electric cylinders, is transported using industrial personal computer control electric cylinder
Make, and four points of four electric cylinders on any section successively can be such that four electric cylinders have by the end to end quadrangle that surrounds
Linkage.Again by realizing the shifting of moving platform using the cooperative motion of four electric cylinders using four electric cylinders as driving link
It is dynamic.Wherein electric cylinder is low pair as electric cylinder, has a relative freedom.Four electric cylinders are divided into two groups again, respectively
For UPU branch and RPU branch, wherein first group of electric cylinder passes through universal joint and connect with moving platform and silent flatform, and second group
Electric cylinder is compared with first group of electric cylinder, and being with the connection of silent flatform is to connect by revolute pair, rather than universal joint.Cause
For, revolute pair is low pair, only has a relative freedom, and universal joint is higher pair, and there are two relative freedoms for tool, so, lead to
The revolute pair that two pivot centers of setting are located along the same line is crossed, so that second group of electric cylinder may only be around the pivot center
Rotation, limits it along the displacement in the pivot center direction.Therefore the present invention only has there are four freedom degree, eliminates redundancy oneself
By spending, and biggish stroke can be obtained under lesser size, motion platform working space is big, and overall structure is simply right
Claim, be easy installation and manufacture, bearing capacity is big, rigidity is high, flexibility is good, the scope of application is big, moving platform has each to the translation same sex
Advantage, have very strong practical value.
Wherein, universal joint can use Hooke's hinge, and due to the good rigidity of the structure of Hooke's hinge, running accuracy is high, can make
Positioning accuracy of the invention is obtained to be greatly enhanced because the precision of Hooke's hinge improves.
Preferably, being electrically connected with motion control card on the industrial personal computer, servo is powered on each electric cylinder
Driver, each servo-driver are electrically connected on the motion control card.
In practical application, after industrial personal computer receives the instruction in relation to analog platform kinematic parameter, by spatial movement model
Transformation, anti-solution solves the elongation of each electric cylinder, using motion control card by instruction map at analog quantity through motion control card
Send electric cylinder to, four electric cylinder coordinations can make platform make required movement.
Preferably, being respectively equipped with grating scale on each electric cylinder, each grating scale is connected by encoder respectively
It connects on motion control card.
Using grating scale as displacement sensor, electric cylinder absolute position is detected, to carry out electric cylinder stroke interpretation, as
Correction amount feeds back to servo motor, realizes close loop negative feedback control, improves platform courses precision, detection range is big, detection accuracy
Height, fast response time.
Preferably, the pivot center of the third revolute pair and the 4th revolute pair is located along the same line, and institute
State the pivot center of third revolute pair and the 4th revolute pair with first electric cylinder and the second electric cylinder institute shape
At plane be in a parallel set.
The pivot center of two revolute pairs is located along the same line, and is formed by with the first electric cylinder and the second electric cylinder
Plane is in a parallel set, and can limit the rotation direction of third electric cylinder and the 4th electric cylinder, it is not possible to along pivot center direction
It is mobile, i.e., coordinate system is established as Y-direction using the pivot center direction of revolute pair in third electric cylinder and the 4th electric cylinder, then may be used
With say the moving platform in the present invention have in X direction move, the rotation around X-direction, the rotation around Y-direction, moving along Z-direction
Four freedom degrees.
Preferably, the third revolute pair be located along the same line into the pivot center of the 4th revolute pair it is parallel
Setting, and the pivot center of the third revolute pair and the 4th revolute pair with first electric cylinder and it is described second electricity
Dynamic cylinder is formed by plane and is arranged at intersection.
The pivot center of two revolute pairs is in a parallel set, and is formed by plane with the first electric cylinder and the second electric cylinder
It is arranged at intersection, the rotation direction of third electric cylinder and the 4th electric cylinder can be limited, it is not possible to move along pivot center direction.
Coordinate system is established as Y-direction using the line direction of revolute pair in third electric cylinder and the 4th electric cylinder, it can be said that this hair
Moving platform in bright have the rotation around X-direction, the rotation around Y-direction, move along Y-direction, along Z-direction four moved from
By spending.
Preferably, the pivot center of the third revolute pair and the 4th revolute pair is set with the top surface of silent flatform at parallel
It sets.
The pivot center of each revolute pair and the top surface of silent flatform are in a parallel set, i.e., in second group of electric cylinder around this turn
When shaft line rotates, cross jamming can be formed to avoid two electric cylinders in second group of electric cylinder, to guarantee the fortune of moving platform
Dynamic stationarity, can also expand its motion range.
Preferably, the bottom surface of each electric cylinder top surface in the same plane and relative to silent flatform is at parallel
Setting.
Due to silent flatform be it is fixed, then the bottom surface of each electric cylinder is in the same plane and relative to silent flatform
Top surface be in a parallel set, i.e. four electric cylinders in four electric cylinders are located at sustained height, then when needing to adjust moving platform
When pose, the stroke realized required for each electric cylinder can be easily conversed, reduces machine error of the invention, control
Algorithm Error processed is to promote precision of the invention.
Preferably, first upper cardan, first lower cardan, second upper cardan, described second
The rotation axis of lower cardan, the third upper cardan and the 4th upper cardan is with the top surface of the silent flatform at vertical
Straight setting.
The rotation axis and silent flatform of i.e. each universal joint are at being vertically arranged, then each universal joint in four electric cylinders
Rotation axis is in a parallel set, so that the electric cylinder in each electric cylinder is opposite around the rotation axis perpendicular to moving platform
In moving platform rotation, and it can be convenient and simplify kinematics and Dynamic solving in the present invention.
The moving platform and the silent flatform are cuboid, and four of four angles of the moving platform and the silent flatform
Angle passes through four electric cylinders connection respectively.
Preferably, the area of the moving platform is less than the area of silent flatform, and the weight of moving platform is less than silent flatform
Weight, the moving platform, silent flatform and four electric cylinders constitute truncated rectangular pyramids.
The weight that the weight of moving platform is less than silent flatform can then make the decentralization of this fermentation, be promoted of the invention steady
It is qualitative.The area of the moving platform is less than the area of silent flatform, and moving platform, silent flatform and four electric cylinders constitute truncated rectangular pyramids,
I.e. four electric cylinders can be as the lateral edges of same truncated rectangular pyramids.Then the space structure in the present invention can be bottom surface and top surface as length
Rectangular or square, side is all a kind of stage body of isosceles trapezoid, and symmetrical configuration is easy installation and manufacture, and flexibility
It is good.Moving platform section is long side shape, and four electric cylinders are located on four angles of moving platform and silent flatform, can make electric cylinder pair
The thrust direction that moving platform generates is located on four angles of moving platform, so that kinematics and power when the pose adjustment of moving platform
It is simpler to learn solution, convenient for conversion, and there is better accuracy, promote its pose accuracy.The section of silent flatform is long side
Shape, four electric cylinders are located on four angles of silent flatform, can make the section of silent flatform and the section constitution similar diagram of moving platform
Shape, convenient for manufacture, also facilitates the pose of adjustment moving platform so that structure of the invention is more succinct.
Preferably, each electric cylinder is all made of same model ball screw and servo motor.
Using same model ball screw and servo motor as executive component, can be convenient simplify in the present invention kinematics and
Dynamic solving, and the size of each electric cylinder, power, at identical setting, interchangeability is good, is easy installation and manufacture, makes simultaneously
Structure of the invention is symmetrical, precision is high, movement is steady, transmission efficiency is high, synchronism is good, durability is high.
Based on this, for the present invention compared with original technology, have can get biggish stroke under lesser size, save simultaneously
The freedom degree of redundancy, there is very strong practical value and structure is simple.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Attached drawing 1 is a kind of structural schematic diagram of the invention；
Attached drawing 2 is the structural schematic diagram of first group of electric cylinder of the invention；
Attached drawing 3 is the structural schematic diagram of second group of electric cylinder of the invention；
Attached drawing 4 is circuit diagram of the invention.
Appended drawing reference：
1- moving platform；2- silent flatform；The first electric cylinder of 3-；
The second electric cylinder of 4-；5- third electric cylinder；The 4th electric cylinder of 6-；
The first telescopic rod of 31-；The first upper cardan of 32-；The first lower cardan of 33-；
The second telescopic rod of 41-；The second upper cardan of 42-；The second lower cardan of 43-；
51- third telescopic rod；62- third upper cardan；53- third revolute pair；
The 4th telescopic rod of 61-；The 4th upper cardan of 62-；The 4th revolute pair of 63-；
7- industrial personal computer；71- motion control card；72- servo-driver；
8- grating scale；9- encoder.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "front", "rear", "vertical",
The orientation or positional relationship of the instructions such as " liquid flat ", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Embodiment one：
See Fig. 1, Fig. 2, Fig. 3, Fig. 4, a kind of four-degree-of-freedom posture adjustment platform, including at upper and lower spaced 1 He of moving platform
Silent flatform 2, there are four electric cylinders for connection between moving platform 1 and silent flatform 2, and four electric cylinders can be successively on any section
End to end to surround quadrangle, four electric cylinders are respectively the first electric cylinder 3, the second electric cylinder 4, third electric cylinder 55 and the 4th
Electric cylinder 6；
The motion control card 71 for further including industrial personal computer 7 and being connected on industrial personal computer 7, each electric cylinder are respectively connected with servo drive
Dynamic device 72, and controlled respectively by respective servo-driver 72, each servo-driver 72 is both connected on motion control card 71；
The top of first electric cylinder 3 is equipped with can be to moving platform 1 at the first telescopic rod 31 of flexible setting, the first telescopic rod 31
It is connect by the first upper cardan 32 with moving platform 1, the bottom of the first electric cylinder 3 passes through the first lower cardan 33 and silent flatform 2
Connection；
The top of second electric cylinder 4 is equipped with can be to moving platform 1 at the second telescopic rod 41 of flexible setting, the second telescopic rod 41
It is connect by the second upper cardan 42 with moving platform 1, the bottom of the second electric cylinder 4 passes through the second lower cardan 43 and silent flatform 2
Connection；
The top of third electric cylinder 55 is equipped with can be to moving platform 1 at the third telescopic rod 51 of flexible setting, third telescopic rod
51 are connect by third upper cardan 52 with moving platform 1, and the bottom of third electric cylinder 55 passes through third revolute pair 53 and silent flatform 2
Connection；
The top of 4th electric cylinder 6 is equipped with can be to moving platform 1 at the 4th telescopic rod 61 of flexible setting, the 4th telescopic rod 61
It is connect by the 4th upper cardan 62 with moving platform 1, the bottom of the 4th electric cylinder 6 is connected by the 4th revolute pair 63 with silent flatform 2
It connects；
First electric cylinder 3, the second electric cylinder 4 are at being disposed adjacent and constitute first group of electric cylinder, third electric cylinder the 55, the 4th
At being disposed adjacent and constituting second group of electric cylinder, the pivot center of third revolute pair and the 4th revolute pair 63 is located at same electric cylinder 6
On one straight line.
The present invention is connected between moving platform and silent flatform by four electric cylinders, and four electric cylinders are on any section
Four points successively can make four electric cylinders have linkage by the end to end quadrangle that surrounds.Again by being made using four electric cylinders
The movement of moving platform is realized using the cooperative motion of four electric cylinders for driving link.Wherein electric cylinder is low as electric cylinder
Pair has a relative freedom.Four electric cylinders are divided into two groups, respectively UPU branch and RPU branch again, wherein first
Group electric cylinder passes through universal joint and connect with moving platform and silent flatform, and second group of electric cylinder be compared with first group of electric cylinder,
Being with the connection of silent flatform is to connect by revolute pair, rather than universal joint.Because revolute pair is low pair, only there is a phase
To freedom degree, universal joint is higher pair, and there are two relative freedoms for tool, so, it is located at by two pivot centers of setting with always
Revolute pair on line limits it along the pivot center so that second group of electric cylinder may only be rotated around the pivot center
The displacement in direction.After furthermore industrial personal computer receives the instruction in relation to analog platform kinematic parameter, converted by spatial movement model,
Anti- solution solves the elongation of each electric cylinder, sends instruction map through motion control card at analog quantity to using motion control card
Electric cylinder, four electric cylinder coordinations can make platform make required movement.Therefore the present invention only has there are four freedom degree,
The freedom degree of redundancy is eliminated, and biggish stroke can be obtained under lesser size, motion platform working space is big, whole
Body structure simple symmetric is easy installation and manufacture, bearing capacity is big, rigidity is high, flexibility is good, the scope of application is big, and moving platform has
Respectively to the advantage of the translation same sex, there is very strong practical value.
Wherein, universal joint can use Hooke's hinge, and due to the good rigidity of the structure of Hooke's hinge, running accuracy is high, can make
Positioning accuracy of the invention is obtained to be greatly enhanced because the precision of Hooke's hinge improves.
See Fig. 4, grating scale 8 is respectively equipped on each electric cylinder, each grating scale 8 is connected to fortune by encoder 9 respectively
In dynamic control card 71.
Using grating scale as displacement sensor, electric cylinder absolute position is detected, to carry out electric cylinder stroke interpretation, as
Correction amount feeds back to servo motor, realizes close loop negative feedback control, improves platform courses precision, detection range is big, detection accuracy
Height, fast response time.
The pivot center of third revolute pair 53 and the 4th revolute pair 63 is located along the same line, and third revolute pair 53 and
The pivot center of four revolute pairs 63 is formed by plane and is in a parallel set with the first electric cylinder 3 and the second electric cylinder 4.
The pivot center of two revolute pairs is located along the same line, and is formed by with the first electric cylinder and the second electric cylinder
Plane is in a parallel set, and can limit the rotation direction of third electric cylinder and the 4th electric cylinder, it is not possible to along pivot center direction
It is mobile, i.e., coordinate system is established as Y-direction using the pivot center direction of revolute pair in third electric cylinder and the 4th electric cylinder, then may be used
With say the moving platform in the present invention have in X direction move, the rotation around X-direction, the rotation around Y-direction, moving along Z-direction
Four freedom degrees.
See Fig. 1, the pivot center of third revolute pair 53 and the 4th revolute pair 63, which is located along the same line, to be in a parallel set, and
The pivot center of third revolute pair 53 and the 4th revolute pair 63 is formed by plane with the first electric cylinder 3 and the second electric cylinder 4
It is arranged at intersection.
The pivot center of two revolute pairs is in a parallel set, and is formed by plane with the first electric cylinder and the second electric cylinder
It is arranged at intersection, the rotation direction of third electric cylinder and the 4th electric cylinder can be limited, it is not possible to move along pivot center direction.
Coordinate system is established as Y-direction using the line direction of revolute pair in third electric cylinder and the 4th electric cylinder, it can be said that this hair
Moving platform in bright have the rotation around X-direction, the rotation around Y-direction, move along Y-direction, along Z-direction four moved from
By spending.
See that Fig. 1, Fig. 2, Fig. 3, moving platform 1 and silent flatform 2 are cuboid, four electric cylinders are located at 1 He of moving platform
On four angles of silent flatform 2.
Moving platform section is long side shape, and four electric cylinders are located on four angles of moving platform and silent flatform, can make electricity
Dynamic cylinder is located on four angles of moving platform the thrust direction that moving platform generates, so that the kinematics when pose adjustment of moving platform
It is simpler with Dynamic solving, convenient for conversion, and there is better accuracy, promotes its pose accuracy.The section of silent flatform
For long side shape, four electric cylinders are located on four angles of silent flatform, can make the section of silent flatform and the section constitution of moving platform
Similar fitgures, convenient for manufacture, also facilitate the pose of adjustment moving platform so that structure of the invention is more succinct.
See Fig. 1, the bottom surface of each electric cylinder top surface in the same plane and relative to silent flatform 2 is in a parallel set.
The top surface of the pivot center and silent flatform 2 of 4th revolute pair third revolute pair and the 4th revolute pair 63 is in a parallel set.
Due to silent flatform be it is fixed, then the bottom surface of each electric cylinder is in the same plane and relative to silent flatform
Top surface be in a parallel set, i.e. four electric cylinders in four electric cylinders are located at sustained height, then when needing to adjust moving platform
When pose, the stroke realized required for each electric cylinder can be easily conversed, reduces machine error of the invention, control
Algorithm Error processed is to promote precision of the invention.The pivot center of each revolute pair and the top surface of silent flatform are in a parallel set, i.e.,
When second group of electric cylinder is rotated around the pivot center, it can be formed to intersect to avoid two electric cylinders in second group of electric cylinder and done
It disturbs, to guarantee the robust motion of moving platform, its motion range can also be expanded.
See Fig. 1, Fig. 2, Fig. 3, it is universal under the first upper cardan 32, the first lower cardan 33, the second upper cardan 42, second
Section 43, third upper cardan 52 and the 4th upper cardan 62 top surface of the rotation axis with silent flatform 2 at being vertically arranged.
The rotation axis and silent flatform of i.e. each universal joint are at being vertically arranged, then each universal joint in four electric cylinders
Rotation axis is in a parallel set, so that the electric cylinder in each electric cylinder is opposite around the rotation axis perpendicular to moving platform
In moving platform rotation, and it can be convenient and simplify kinematics and Dynamic solving in the present invention.
See Fig. 1, Fig. 2, Fig. 3, the area of moving platform 1 is less than the area of silent flatform 2, and the weight of moving platform 1 is less than quiet put down
The weight of platform 2, moving platform 1, silent flatform 2 and four electric cylinders constitute truncated rectangular pyramids.Each electric cylinder is all made of same model ball
Screw rod and servo motor.
The weight that the weight of moving platform is less than silent flatform can then make the decentralization of this fermentation, be promoted of the invention steady
It is qualitative.The area of the moving platform is less than the area of silent flatform, and moving platform, silent flatform and four electric cylinders constitute truncated rectangular pyramids,
It is rectangle or square that then the space structure in the present invention, which can be bottom surface and top surface, and side is all one kind of isosceles trapezoid
Stage body, symmetrical configuration are easy installation and manufacture, and flexibility is good.Using same model ball screw and servo motor as holding
Units can be convenient and simplify kinematics and Dynamic solving in the present invention, and the size of each electric cylinder, power are set at identical
Set, interchangeability is good, be easy installation and manufacture, while make structure of the invention is symmetrical, precision is high, movement is steady, transmission efficiency is high,
Synchronism is good, durability is high.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that：Its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of four-degree-of-freedom posture adjustment platform, including at upper and lower spaced moving platform and silent flatform, it is characterised in that：It is described
By four electric cylinder connections between moving platform and the silent flatform, the four-degree-of-freedom posture adjustment platform further includes having control electricity
The industrial personal computer of dynamic cylinder running；
Four electric cylinders are respectively the first electric cylinder, the second electric cylinder, third electric cylinder and the 4th electric cylinder, and described
One electric cylinder and second electric cylinder at being disposed adjacent, the third electric cylinder and the 4th electric cylinder at being disposed adjacent,
Four electric cylinders successively end to end can surround quadrangle on any section；
The top of first electric cylinder is equipped with the first telescopic rod, and first telescopic rod is moved by the first upper cardan with described
The bottom of platform connection, first electric cylinder is connect by the first lower cardan with the silent flatform；
The top of second electric cylinder is equipped with the second telescopic rod, and second telescopic rod is moved by the second upper cardan with described
The bottom of platform connection, second electric cylinder is connect by the second lower cardan with the silent flatform；
The top of the third electric cylinder is equipped with third telescopic rod, and the third telescopic rod is moved by third upper cardan with described
The bottom of platform connection, the third electric cylinder is connect by third revolute pair with the silent flatform；
The top of 4th electric cylinder is equipped with the 4th telescopic rod, and the 4th telescopic rod passes through the 4th upper cardan and the moving platform
The bottom of connection, the 4th electric cylinder is connect by the 4th revolute pair with the silent flatform.
2. four-degree-of-freedom posture adjustment platform according to claim 1, it is characterised in that：Movement is electrically connected on the industrial personal computer
Control card is powered with servo-driver on each electric cylinder, and each servo-driver is electrically connected with the fortune
In dynamic control card.
3. four-degree-of-freedom posture adjustment platform according to claim 2, it is characterised in that：It is set respectively on each electric cylinder
There is grating scale, each grating scale passes through encoder respectively and is connected on the motion control card.
4. four-degree-of-freedom posture adjustment platform according to claim 1, it is characterised in that：The third revolute pair and the described 4th
The pivot center of revolute pair is located along the same line, and the pivot center of the third revolute pair and the 4th revolute pair with
First electric cylinder and second electric cylinder are formed by plane and are in a parallel set.
5. four-degree-of-freedom posture adjustment platform according to claim 1, it is characterised in that：The third revolute pair and the described 4th
The pivot center of revolute pair, which is located along the same line, to be in a parallel set, and turn of the third revolute pair and the 4th revolute pair
Shaft line be formed by with first electric cylinder and second electric cylinder plane at intersect setting.
6. four-degree-of-freedom posture adjustment platform according to any one of claims 1 to 5, it is characterised in that：The third revolute pair
It is in a parallel set with the top surface of the pivot center and the silent flatform of the 4th revolute pair.
7. four-degree-of-freedom posture adjustment platform according to claim 6, it is characterised in that：The bottom surface of each electric cylinder is located at
Top surface on same plane and relative to the silent flatform is in a parallel set.
8. four-degree-of-freedom posture adjustment platform according to claim 6, it is characterised in that：First upper cardan, described
It is one lower cardan, second upper cardan, second lower cardan, universal on the third upper cardan and the described 4th
Top surface of the rotation axis of section with the silent flatform is at being vertically arranged.
9. four-degree-of-freedom posture adjustment platform according to claim 8, it is characterised in that：The moving platform and the silent flatform are equal
For cuboid, four angles of the moving platform pass through four electric cylinders with four angles of the silent flatform respectively and connect, institute
The area for stating moving platform is less than the area of silent flatform, and the weight of moving platform is less than the weight of silent flatform, the moving platform, described
Silent flatform and four electric cylinders constitute truncated rectangular pyramids.
10. four-degree-of-freedom posture adjustment platform according to any one of claims 1 to 5, it is characterised in that：Each electric cylinder
It is all made of the ball screw and servo motor of same model.
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