CN114378779A - Multi-degree-of-freedom motion platform capable of being controlled greatly in vertical direction and method - Google Patents
Multi-degree-of-freedom motion platform capable of being controlled greatly in vertical direction and method Download PDFInfo
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- CN114378779A CN114378779A CN202111559796.0A CN202111559796A CN114378779A CN 114378779 A CN114378779 A CN 114378779A CN 202111559796 A CN202111559796 A CN 202111559796A CN 114378779 A CN114378779 A CN 114378779A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
- B25H1/16—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top in height
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Abstract
The invention relates to the technical field of multi-degree-of-freedom motion platforms, in particular to a multi-degree-of-freedom motion platform and a method which are greatly controllable in the vertical direction, wherein the multi-degree-of-freedom motion platform comprises a six-degree-of-freedom motion platform used for multi-degree-of-freedom lifting and steering motion; the three-degree-of-freedom motion platform comprises a three-degree-of-freedom motion base, a bearing table, a driving part and a control part, wherein the three-degree-of-freedom motion base is used for realizing adjustment in three-degree-of-freedom space and carrying out auxiliary enhancement on the height and angle of the six-degree-of-freedom motion platform; the three-freedom-degree motion base is arranged below the six-freedom-degree motion platform to be used as an assistant, the deflection angle in the vertical direction is further expanded, and the multi-freedom-degree simulation motion which is greatly controllable in the vertical direction is realized.
Description
Technical Field
The invention relates to the technical field of multi-degree-of-freedom motion platforms, in particular to a multi-degree-of-freedom motion platform and a method which are greatly controllable in the vertical direction.
Background
The multi-degree-of-freedom motion platform mainly comprises a three-degree-of-freedom platform and a six-degree-of-freedom motion platform, and the multi-degree-of-freedom motion control of the upper platform is realized through the cooperation of the upper platform, the lower platform and a plurality of electric cylinders (or air cylinders and hydraulic cylinders) arranged in the upper platform and the lower platform as linear driving units.
In practical motion platform applications, the spatial adjustment of the motion platform is often limited by the manner of use of the driving part and the movement stroke of the driving part, for example, by the manner of using a hydraulic cylinder, an electric driving cylinder as a direct pushing arm, the pushing stroke of which is limited by the overall length of the piston, and the adjustment height in the vertical direction is limited.
In order to improve the simulation or simulation stroke and angle (realize large-amplitude motions such as horizontal translation, turnover, deflection and the like), an electric cylinder with heavy load and larger length is usually selected, so that the occupied space of the equipment is greatly increased. In special working conditions, when large-angle adjustment in the vertical direction needs to be carried out, the multi-degree-of-freedom motion platform is often limited by self structural design and cannot realize the action, and in the rotating process, the problem that the motion interference between push arms can only rotate within a certain range and cannot be operated in an omnidirectional continuous rotation mode is solved, so that the existing multi-degree-of-freedom motion platform cannot be suitable for special working condition environments is solved.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom motion platform and a method which are controllable in a large range in the vertical direction.
In order to achieve the above object, a first aspect of the present invention provides a multi-degree-of-freedom motion platform capable of being controlled substantially in a vertical direction, including:
the six-degree-of-freedom motion platform is used for multi-degree-of-freedom lifting and steering motion and comprises a plurality of electric linear guide rails which are horizontally arranged, the sliding ends of the electric linear guide rails are connected with connecting rods, and the top ends of the connecting rods which are sequentially arranged control and lift the same top plate;
the three-degree-of-freedom motion base is used for realizing adjustment in three-degree-of-freedom space, performing auxiliary enhancement adjustment on the height and the deflection angle of the six-degree-of-freedom motion platform, and comprises an adjusting frame a and an adjusting frame b for enhancing the support strength, wherein the adjusting frame a and the adjusting frame b are driven by an electric telescopic cylinder;
the bearing platform is arranged between the six-degree-of-freedom motion platform and the three-degree-of-freedom motion base, the top of the three-degree-of-freedom motion base supports the bearing platform, the bearing platform supports the six-degree-of-freedom motion platform, and the bearing platform quickly assembles and loads the six-degree-of-freedom motion platform.
Furthermore, the bearing platform further comprises a rotating body, the rotating body is used for carrying out full-angle continuous rotation on the multi-degree-of-freedom motion platform, the rotating body drives a gear transmission piece through a motor, and the gear transmission piece walks on the annular guide rail to push the whole bearing platform to rotate.
Furthermore, the gear transmission part comprises a driving gear, annular teeth are arranged on the inner annular surface side of the annular guide rail, and a belt wheel b is integrally arranged on the coaxial side of the driving gear;
the belt wheel a connected to the output shaft side of the motor drives the belt wheel b through a belt, and the driving gear is meshed with the annular teeth to drive the bearing table and the upper structure of the bearing table to rotate.
Furthermore, a protection frame is arranged at the top of the motor, a protection pad is arranged at the top of the protection frame, and the protection pad is used as a placing base of the top plate when the top plate is at the lowest point in a folding state.
Furthermore, a through hole is formed in the center of the bearing table, a cylindrical motor base is fixedly installed in the through hole, and the motor is installed inside the cylindrical motor base.
Furthermore, the electric linear guide rail is provided with double independently controlled lead screw drives, the two sliding block bodies can be simultaneously and independently driven to slide, and the sliding of the sliding block bodies independently pushes the connecting rod to operate.
Furthermore, the plummer includes stage body and the supporter of stage body outside extension, set up the equipment groove on the stage body, the supporter sets up along the direction of equipment groove, and electronic linear guide rail can insert and carry out rapid Assembly through the fastener in the equipment groove, and the supporter provides the support to the bottom of electronic linear guide rail.
Further, alignment jig an and alignment jig b are the combination of double-frame body, all carry out parallel arrangement through the welding cross axle between the double-frame body, articulate through the axle between alignment jig a and the alignment jig b, alignment jig b bottom is articulated to be installed on rotating seat a to connect the base through rotating seat a, the articulated seat b that rotates in alignment jig b top, it passes through the universal ball and installs the bottom at ring rail to rotate seat b top intermediate position.
Furthermore, the cross shaft between the adjusting bracket a and the adjusting bracket b is respectively sleeved with a shaft seat in a rotating manner, and a cylinder body and a piston of the electric telescopic cylinder are respectively connected between the two shaft seats.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the multi-degree-of-freedom motion platform capable of being controlled in a large range in the vertical direction, the six-degree-of-freedom motion platform and the three-degree-of-freedom motion superposition design are adopted, large-range angle adjustment in the vertical direction is achieved, the height adjustment is greatly improved, continuous rotation can be performed, and the multi-degree-of-freedom motion platform is suitable for more complex working condition requirements.
2. The driving part of the six-degree-of-freedom motion platform is designed into the electric linear guide rail driven by the horizontally arranged double independent screw rods, so that the assembly difficulty of equipment is saved, and more space adjusting ranges can be provided in the vertical direction;
3. the three-freedom-degree motion base is arranged below the six-freedom-degree motion platform to be used as an assistant, the three-freedom-degree motion base has strong supporting performance, the adjustment action in a space can be completed by designing the small-stroke electric telescopic cylinder, the deflection angle of the whole equipment in the vertical direction is further increased, the defect of the deflection range of the six-freedom-degree motion platform in the vertical direction is overcome, the height adjustment distance can be further increased in the vertical direction, and the action with higher difficulty can be completed;
4. the continuous rotation capacity of the bearing table and the upper structure thereof can be realized through the design of the rotating body, and the defect that the six-degree-of-freedom motion platform can only be adjusted within a certain rotation range is overcome;
5. the invention has the characteristics of stability and large adjusting range, and is suitable for more complicated working conditions.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a vertically largely controllable multi-degree-of-freedom motion platform according to the present invention;
FIG. 2 is an exploded view of the multiple degree of freedom motion platform of the present invention with substantial control in the vertical direction;
FIG. 3 is an exploded view of another embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a six-DOF motion platform according to the present invention;
FIG. 5 is a schematic view of a structure of the present invention for matching the carrier and the rotating body;
FIG. 6 is a schematic view of a carrier stage according to the present invention;
FIG. 7 is an exploded view of the rotating body of the present invention;
FIG. 8 is an enlarged view of portion A of FIG. 5 according to the present invention;
FIG. 9 is a schematic diagram of a matching structure of the plummer, the rotator and the three-degree-of-freedom motion base of the present invention;
FIG. 10 is a schematic structural diagram of a three-degree-of-freedom motion base according to the present invention;
in the drawings, the components represented by the respective reference numerals are listed below:
1-six-degree-of-freedom motion platform;
101-electric linear guide rail, 1011-screw rod, 1012-slide block body, 1013-mounting lug, 1014-bolt piece, 102-connecting rod, 1021-universal joint and 103-top plate;
2-a bearing platform;
201-table body, 2011-support body, 2012-threaded hole, 202-assembly groove, 2021-through hole;
3-three-degree-of-freedom motion base;
301-base, 302-rotating seat a, 303-adjusting frame a, 304-adjusting frame b, 305-rotating seat b, 306-universal ball, 307-horizontal shaft, 308-electric telescopic cylinder and 309-shaft seat;
4-a rotator;
401-motor, 402-belt wheel a, 403-belt, 404-belt wheel b, 405-driving gear, 406-cylindrical motor base, 4061-fixing hole, 407-protective frame, 4071-protective pad, 408-annular guide rail and 409-annular tooth.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described below clearly and completely with reference to the accompanying drawings of the embodiments of the present disclosure.
It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.
To maintain the following description of the embodiments of the present disclosure clear and concise, a detailed description of known functions and known components have been omitted from the present disclosure.
As shown in fig. 1-3, the multi-degree-of-freedom motion platform with large controllable amplitude in the vertical direction of the exemplary embodiment includes a main body composed of a six-degree-of-freedom motion platform 1, a bearing platform 2 and a three-degree-of-freedom motion base 3. Wherein, the six-freedom-degree motion platform 1 carries out lifting and steering motions with multiple degrees of freedom. And the three-degree-of-freedom motion base 3 is used for realizing adjustment in three-degree-of-freedom space, performing auxiliary enhancement adjustment on the height and deflection angle of the six-degree-of-freedom motion platform 1 and realizing motion simulation of the whole motion platform with larger controllable amplitude in the vertical direction.
In the prior art, a conventional hydraulic telescopic cylinder or an electric telescopic cylinder is generally used as a telescopic arm to directly push an upper bearing body (the traditional commodity concrete of a multi-degree-of-freedom platform), so that space action can be performed only within a certain range, and the equipment occupies larger longitudinal space, so that the equipment is larger in size. In order to save longitudinal space, referring to fig. 4, the six-degree-of-freedom motion platform 1 of the present invention includes a plurality of horizontal electric linear guide rails 101, specifically, three sets of electric linear guide rails 101 are adopted and arranged around the circle center of the plummer 2 at equal intervals of 360 degrees. Different from a common linear guide rail, the electric linear guide rail 101 adopted in the embodiment has a double-independently-controlled lead screw 1011 drive, the lead screw 1011 can be independently driven to rotate by a lead screw motor, meanwhile, the lead screw 1011 independently drives two slider bodies 1012 to slide, and the sliding of the slider bodies 1012 independently pushes the connecting rod 102 to operate, so that the design further reduces the required space and enables the equipment to be more miniaturized.
In combination with the figure, the sliding end of the electric linear guide rail 101 is connected with the connecting rod 102, two ends of the connecting rod 102 are respectively connected with the top plate 103 and the slider body 1012 on the electric linear guide rail 101 through the universal joint 1021, and the top ends of a plurality of sequentially arranged connecting rods 102 control and lift the same top plate 103, so that the transverse movement and the deflection movement in the x, y and z-axis directions with six degrees of freedom are realized.
The bearing platform 2 is arranged between the six-degree-of-freedom motion platform 1 and the three-degree-of-freedom motion base 3, the bearing platform 2 is supported by the top of the three-degree-of-freedom motion base 3, and the bearing platform 2 supports the six-degree-of-freedom motion platform 1.
Specifically, in this embodiment, as shown in fig. 6, the plummer 2 includes a table body 201 and a support 2011 extending outward from the table body 201, the table body 201 is provided with an assembly groove 202, the support 2011 is disposed along the direction of the assembly groove 202, the electric linear guide 101 can be inserted into the assembly groove 202 to be quickly assembled by a fastener, and the fastener can be a bolt 1014. Mounting lugs 1013 are arranged on two sides of the electric linear guide rail 101, bolt pieces 1014 penetrate into the mounting lugs 1013, the electric linear guide rail 101 is locked in threaded holes 2012 formed in the table body 201, and the six-DOF motion platform 1 is tightly mounted on the table body 201, so that the six-DOF motion platform 1 is quickly assembled and loaded through the bearing table 201.
The invention relates to a design of a multi-freedom-degree motion platform based on a six-freedom-degree motion platform and a three-freedom-degree motion superposition design, in particular to a design of a multi-freedom-degree motion platform used in simulation training simulation of a large aircraft such as a flight simulator, wherein the simulation range of pitching and swinging multi-posture is large.
In combination with the drawings, the support 2011 supports the bottom of the electric linear guide rail 101, so that unstable operation of the equipment caused by uneven stress on the outer side of the electric linear guide rail 101 is avoided, and the support 2011 can be replaced by a plate body, a strip body, a frame body and other structures capable of achieving the functions.
In the invention, in order to solve the problem that the existing multi-degree-of-freedom motion platform cannot realize large-angle adjustment in the vertical direction and large-range adjustment of height due to self structural design, a three-degree-of-freedom motion base 3 is designed to perform adjustment in three-degree-of-freedom space and perform auxiliary enhancement on the height and the angle of a six-degree-of-freedom motion platform 1.
Specifically, as shown in fig. 10, the three-degree-of-freedom motion base 3 includes an adjustment bracket a303 and an adjustment bracket b304 that enhance the support strength, and the two are driven by an electric telescopic cylinder 308.
Meanwhile, in order to keep the bottom to have stronger supporting force, the adjusting frame a303 and the adjusting frame b304 are a double-frame combination, the structural strength is higher, the supporting force is larger, the double frames are arranged in parallel by welding a transverse shaft 307, and the adjusting frame a303 and the adjusting frame b304 are hinged by a shaft.
Axle seats 309 are respectively rotatably sleeved on a transverse shaft 307 between the adjusting frames a303 and b304, a cylinder body and a piston of an electric telescopic cylinder 308 are respectively connected between the two axle seats 309, the bottom of the adjusting frame b304 is hinged on the rotating seat a302 and is connected with the base 301 through the rotating seat a302, and the top of the adjusting frame b304 is hinged with the rotating seat b 305. Thereby, the overall length of the adjustment frame a303 and the adjustment frame b304 is adjustable.
Referring to the figure, the middle position of the top of the rotating seat b305 is mounted at the bottom of the circular guide rail 408 through the universal ball 306, the three-degree-of-freedom motion base 3 can realize deflection in a three-degree-of-freedom space through control, the deflection angle in the vertical direction of the six-degree-of-freedom motion platform 1 is increased, and the height adjusting distance in the vertical direction can be further increased.
As shown in fig. 5 and 7-9, in order to solve the problem that the movement interference between the pushing arms is avoided in the rotating process, the rotating body 4 can only rotate within a certain range and cannot perform full-angle continuous rotation operation, in the invention, the rotating body 4 is designed on the bearing platform 2, the rotating body 4 drives a gear transmission piece through a motor 401, and the gear transmission piece travels on an annular guide rail 408 to push the whole bearing platform 2 to rotate and perform full-angle continuous rotation of the multi-degree-of-freedom movement platform.
Specifically, a through hole 2021 is formed in the center of the susceptor 2, a cylindrical motor base 406 is fixedly mounted in the through hole 2121, the motor 401 is mounted inside the cylindrical motor base 406, and a fixing hole 4061 is formed in the cylindrical motor base 406 as a screw mounting position for fixing the motor 401 and the solid rotary body 4 to the susceptor 2.
In specific operation, a belt wheel a402 connected to the output shaft side of the motor 401 drives a belt wheel b404 through a belt 403, the belt wheel b404 drives a driving gear 405 on the coaxial side, the driving gear 405 is installed at the bottom of the table body 201 through a rotating shaft (not shown in the figure), an annular tooth 409 is further arranged on the inner annular surface side of the annular guide rail 408, when the driving gear 405 rotates, the driving gear 405 is meshed with the annular tooth 409 to drive the bearing table 2 and the upper structure thereof to rotate, the bearing table 2 and the upper structure thereof realize continuous rotation, and the defect that the six-degree-of-freedom motion platform 1 can only be adjusted within a certain rotation range is overcome.
The steering angle sensor and the controller which are required to be adopted in the invention are taken as the control devices in the prior art.
As another embodiment, a protective frame 407 is disposed on the top of the motor 401, a protective pad 4071 is disposed on the top of the protective bracket 4071, when the device is not used, the protective frame 407 serves as a seat for placing the top plate 103 when the top plate 103 is at the lowest point in the folded state, and the protective pad 4071 serves as a buffer.
In combination with the multi-degree-of-freedom motion platform which is controllable in a large range in the vertical direction of the embodiment, in the operation process, initialization is performed firstly, the initial three-degree-of-freedom motion base 3 is in a balanced state, and according to the position required by the top plate 103, the independent six connecting rods 102 are controlled by independent sliding of the double independent lead screws in the three groups of electric linear guide rails 101, six-degree-of-freedom adjustment is constructed, and the six-degree-of-freedom adjustment can perform transverse movement and deflection movement in the directions of the x axis, the y axis and the z axis; when the deflection angle in the required vertical direction needs to be adjusted greatly or the required large lifting displacement in the y direction needs to be performed, at this time, the six-degree-of-freedom motion platform 1 is limited by the stroke of the electric linear guide rail 101 and the length of the connecting rod 102, the electric telescopic cylinder 308 drives the adjusting frame a303 and the adjusting frame b304 to extend by controlling the three-degree-of-freedom motion base 3, the three-degree-of-freedom motion base 3 performs three-degree-of-freedom deflection on the bearing platform 2 and the upper part thereof, the deflection angle in the vertical direction of the six-degree-of-freedom motion platform 1 is increased, and the height adjusting distance in the vertical direction can be further increased.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (9)
1. A multi-degree-of-freedom motion platform capable of being controlled in a large range in the vertical direction is characterized by comprising
The six-degree-of-freedom motion platform is used for multi-degree-of-freedom lifting and steering motion and comprises a plurality of electric linear guide rails which are horizontally arranged, the sliding ends of the electric linear guide rails are connected with connecting rods, and the top ends of the connecting rods which are sequentially arranged control and lift the same top plate;
the three-degree-of-freedom motion base is used for realizing adjustment in three-degree-of-freedom space, performing auxiliary enhancement adjustment on the height and the deflection angle of the six-degree-of-freedom motion platform, comprises an adjusting frame a and an adjusting frame b for enhancing the support strength, and drives the adjusting frame a and the adjusting frame b through an electric telescopic cylinder;
the bearing platform is arranged between the six-degree-of-freedom motion platform and the three-degree-of-freedom motion base, the top of the three-degree-of-freedom motion base supports the bearing platform, the bearing platform supports the six-degree-of-freedom motion platform, and the six-degree-of-freedom motion platform is rapidly assembled and loaded through the bearing platform.
2. The multiple degree of freedom motion platform of claim 1, wherein: the multi-degree-of-freedom motion platform further comprises a rotating body, the rotating body is used for realizing full-angle continuous rotation of the multi-degree-of-freedom motion platform, the rotating body drives a gear transmission piece through a motor, and the gear transmission piece walks on the annular guide rail to drive the bearing platform to rotate.
3. The multiple degree of freedom motion platform of claim 2, wherein: the gear transmission part comprises a driving gear, annular teeth are arranged on the inner ring surface side of the annular guide rail, a belt wheel b is integrally arranged on the coaxial side of the driving gear, the belt wheel b is driven by a belt through a belt connected with the output shaft side of the motor, and the driving gear is meshed with the bearing table and rotates through the upper structure of the bearing table on the annular teeth.
4. The multiple degree of freedom motion platform of claim 1 or 2, wherein: the top of the motor is provided with a protection frame, the top of the protection frame is provided with a protection pad, and the protection pad is used as a placing base of the motor when the top plate is at the lowest point in a folding state.
5. The multiple degrees of freedom motion platform according to claim 4, wherein a through hole is formed in the center of the bearing table, a cylindrical motor base is fixedly installed in the through hole, and the motor is installed inside the cylindrical motor base.
6. The multiple degree of freedom motion platform of claim 1, wherein: the electric linear guide rail is driven by the double independently controlled lead screws, the two sliding block bodies can be simultaneously and independently driven to slide, and the sliding of the sliding block bodies independently drives the connecting rod to move.
7. The multiple degree of freedom motion platform of any one of claims 1-6, wherein: the bearing table comprises a table body and a support body, wherein the table body extends outwards, an assembling groove is formed in the table body, the support body is arranged along the direction of the assembling groove, the electric linear guide rail can be inserted into the assembling groove to be rapidly assembled through a fastening piece, and the support body supports the bottom of the electric linear guide rail.
8. The multiple degree of freedom motion platform of claim 7, wherein: the adjusting frame a and the adjusting frame b are combined by double frames, and the double frames are arranged in parallel by welding a transverse shaft;
still articulate through the axle between alignment jig a and the alignment jig b, alignment jig b bottom is articulated to be installed on rotating seat a to connect the base through rotating seat a, alignment jig b top is articulated to rotate seat b, it installs the bottom at ring rail through universal ball to rotate seat b top intermediate position.
9. The multiple degree of freedom motion platform of claim 8, wherein: and the transverse shafts between the adjusting frames a and b are respectively rotatably sleeved with shaft seats, and a cylinder body and a piston of the electric telescopic cylinder are respectively connected between the two shaft seats.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111559796.0A CN114378779B (en) | 2021-12-20 | 2021-12-20 | Multi-freedom-degree motion platform and method capable of being controlled greatly in vertical direction |
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| CN202111559796.0A CN114378779B (en) | 2021-12-20 | 2021-12-20 | Multi-freedom-degree motion platform and method capable of being controlled greatly in vertical direction |
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| CN114378779B CN114378779B (en) | 2024-04-26 |
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| CN114378779B (en) | 2024-04-26 |
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