CN216697561U - Supporting device based on reverse gravity balance six-degree-of-freedom motion platform system - Google Patents
Supporting device based on reverse gravity balance six-degree-of-freedom motion platform system Download PDFInfo
- Publication number
- CN216697561U CN216697561U CN202122920044.4U CN202122920044U CN216697561U CN 216697561 U CN216697561 U CN 216697561U CN 202122920044 U CN202122920044 U CN 202122920044U CN 216697561 U CN216697561 U CN 216697561U
- Authority
- CN
- China
- Prior art keywords
- support
- electric cylinder
- platform
- support rod
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Machine Tool Units (AREA)
Abstract
The utility model discloses a supporting device for a six-degree-of-freedom motion platform system based on reverse gravity balance, which comprises an electric cylinder mechanism and a hydraulic supporting rod mechanism nested inside the electric cylinder mechanism; the electric cylinder mechanism is arranged between the upper platform plate and the lower platform bottom plate of the platform according to a regular triangle and comprises an electric cylinder lower hinge and a support component, an electric cylinder assembly, an electric cylinder upper hinge and a support component; the hydraulic support rod mechanism comprises a support rod lower hinge and a support, a support rod assembly and a support rod upper hinge and a support; when the hydraulic support rod assembly is used, the hydraulic support rod assembly moves along with the six groups of electric cylinder assemblies to play a role in balancing partial gravity; the reverse gravity balance six-freedom-degree motion platform can bear larger load under the condition that the power of the motors is the same, or the dynamic platform can realize better motion characteristics under the condition that the power of the servo motors is the same, so that the safety of the six-freedom-degree motion platform is greatly improved, and the six-freedom-degree motion platform has the characteristics of novel structure, good safety and convenience in use.
Description
Technical Field
The utility model relates to the technical field of automation equipment, in particular to a supporting device for a six-degree-of-freedom motion platform system based on reverse gravity balance.
Background
The motion simulation device of the driving training simulator usually adopts a motion platform system with three degrees of freedom of pitch rotation, roll rotation and vertical movement or six degrees of freedom of axial movement along X, Y, Z and axial rotation around X, Y, Z to simulate the posture of a vehicle in the driving process; the cockpit is connected with the upper bedplate of the platform of the motion platform system and moves along with the upper bedplate of the platform, so that the motion experience of a trainee in the process of driving a vehicle is realized;
the existing six-degree-of-freedom motion platform is a parallel mechanism which completes any spatial position and attitude through 6 motions of axial movement along X, Y, Z and axial rotation around X, Y, Z, and consists of a motion execution mechanism and a control part; the total power of the six-degree-of-freedom motion platform system is determined by load and motion speed, and the existing motion platform system is not used in the application occasions of large load, high-speed motion and certain limit on power;
therefore, it is urgently needed to design a supporting device based on a reverse gravity balance six-degree-of-freedom motion platform system, and the reverse gravity balance six-degree-of-freedom motion platform system can bear larger load under the condition that the power of servo motors is the same when the supporting device is used.
SUMMERY OF THE UTILITY MODEL
Aiming at the existing problems, the utility model aims to provide a supporting device for balancing a six-degree-of-freedom motion platform system based on reverse gravity, which comprises an electric cylinder mechanism and a hydraulic supporting rod mechanism, wherein the electric cylinder mechanism and the hydraulic supporting rod mechanism are arranged between an upper platform plate and a lower platform bottom plate of a platform; namely, the reverse gravity balance six-freedom-degree motion platform can bear larger load under the condition that the power of the servo motors is the same, or the dynamic platform can realize better motion characteristics under the condition that the power of the servo motors is the same, the safety of the six-freedom-degree motion platform is greatly improved, and the six-freedom-degree motion platform has the characteristics of novel structure, good safety and convenience in use.
In order to achieve the purpose, the technical scheme adopted by the utility model is as follows:
a supporting device for balancing a six-degree-of-freedom motion platform system based on reverse gravity comprises an electric cylinder mechanism and a hydraulic supporting rod mechanism nested inside the electric cylinder mechanism;
the electric cylinder mechanism is arranged between the upper platform plate and the lower platform plate of the platform in a regular triangle distribution mode and comprises an electric cylinder mechanism, an electric cylinder assembly, an electric cylinder upper hinge and a support assembly, wherein the electric cylinder mechanism comprises an electric cylinder lower hinge and a support assembly;
the hydraulic support rod mechanism comprises a support rod lower hinge and support, a support rod assembly and a support rod upper hinge and support, wherein third bearings are arranged at the upper end and the lower end of the support rod assembly, the lower end of the support rod assembly is connected with the lower bottom plate of the platform through the support rod lower hinge and support, and the upper end of the support rod assembly is connected with the upper bottom plate of the platform through the support rod upper hinge and support.
Preferably, the lower hinge and the support assembly of the electric cylinder are arranged on the lower bottom plate of the platform, and the upper hinge and the support assembly of the electric cylinder are arranged on the upper bedplate of the platform.
Preferably, the electric cylinder lower hinge and support assembly and the electric cylinder upper hinge and support assembly comprise a connecting support, a first rotating connecting shaft and a second rotating connecting shaft, the connecting support is symmetrically arranged, connecting holes are formed in the connecting support, the connecting holes are respectively connected with the platform upper bedplate or the platform lower bedplate, the first rotating connecting shaft is arranged between the two connecting supports which are symmetrically arranged, the first rotating connecting shaft is rotatably connected with the connecting support through a first bearing, the second rotating connecting shaft is arranged on the first rotating connecting shaft and is perpendicular to the first rotating connecting shaft, the second rotating connecting shaft is rotatably connected with the U-shaped connecting groove through a second bearing, and the U-shaped connecting groove is arranged at the lower end of the electric cylinder assembly.
Preferably, electronic cylinder assembly include servo motor, cylinder body base, cylinder body, ball, piston, driven pulley, hold-in range and driving pulley, the cylinder body base sets up in the bottom of cylinder body, and hinge and support subassembly cooperation are used under the lower extreme of cylinder body base and the electronic cylinder, just one side of cylinder body base still is provided with servo motor, servo motor's power take off end is provided with driving pulley, and driving pulley passes through the hold-in range and couples with driven pulley, driven pulley couples with ball, and ball sets up in the cylinder body, and ball and piston threaded connection.
Preferably, the upper end and the lower end of the support rod assembly are provided with third bearings, the lower hinge and the support of the support rod are arranged on the lower bottom plate of the platform and connected with the third bearing at the lower end of the support rod assembly, and the upper hinge and the support of the support rod are arranged on the upper bedplate of the platform and connected with the third bearing at the upper end of the support rod assembly.
Preferably, the support rod assembly comprises a hydraulic pipe sleeve and a piston rod, the piston rod is movably arranged in the hydraulic pipe sleeve and makes reciprocating linear motion along the axis of the sleeve, a first hydraulic pipe connecting column is arranged at the upper end of the hydraulic pipe sleeve, a second hydraulic pipe connecting column is arranged at the lower end of the hydraulic pipe sleeve, and third bearings are arranged at the lower end of the hydraulic pipe sleeve and the upper end of the piston rod.
Preferably, the lower support rod hinge and the upper support rod hinge and the lower support rod support include a connecting seat, a cross joint intermediate connecting piece and a third rotating connecting shaft, a mounting groove is formed in the cross joint intermediate connecting piece, the third bearing is arranged in the mounting groove and connected with the cross joint intermediate connecting piece through the third rotating connecting shaft, fourth rotating connecting shafts are further arranged at two ends of the cross joint intermediate connecting piece and connected with the connecting seat through fourth bearings, connecting holes are formed in the connecting seat, and the connecting holes are respectively connected with the upper platform plate or the lower platform plate of the platform.
The utility model has the beneficial effects that: the utility model discloses a supporting device for balancing a six-degree-of-freedom motion platform system based on reverse gravity, which has the following improvement compared with the prior art:
(1) the utility model designs a supporting device for balancing a six-degree-of-freedom motion platform system based on reverse gravity, which comprises an electric cylinder mechanism and a hydraulic supporting rod mechanism, wherein the hydraulic supporting rod mechanism is connected in parallel in the middle of the electric cylinder mechanism, and two ends of the hydraulic supporting rod mechanism are respectively hinged with an upper platform plate and a lower platform bottom plate of a platform and move together with six groups of electric cylinder mechanisms to play a role in balancing partial gravity to form the six-degree-of-freedom motion platform system based on reverse gravity balance; the six-degree-of-freedom motion platform has the advantages that the reverse gravity balance six-degree-of-freedom motion platform can bear larger load under the condition that the power of the servo motors is the same, or the dynamic platform can realize better motion characteristics under the condition that the power of the servo motors is the same, the safety of the six-degree-of-freedom motion platform is greatly improved, and the six-degree-of-freedom motion platform has the advantages of novel structure, good safety and convenience in use;
(2) the platform system is characterized in that six groups of hydraulic support rod mechanisms are nested in six groups of electric cylinder mechanisms, when a nut ball screw in an electric cylinder is driven by a motor to rotate, a piston is pushed to do reciprocating linear motion, and an upper bedplate of a platform is driven to do various compound motions, so that the reproduction of various motion postures in the running process of a vehicle is completed; meanwhile, six groups of hydraulic support rods nested in the six groups of electric cylinders move along with the upper bedplate of the platform to play a role in offsetting partial gravity;
drawings
Fig. 1 is a schematic structural diagram I of a supporting device of a six-degree-of-freedom motion platform system based on counter-gravity balance according to the present invention.
Fig. 2 is a schematic structural diagram II of the supporting device of the six-degree-of-freedom motion platform system based on counter-gravity balance according to the present invention.
Fig. 3 is a schematic structural view of the lower hinge and bracket assembly of the electric cylinder of the present invention.
Fig. 4 is a schematic structural view of the hinge and bracket assembly of the electric cylinder according to the present invention.
Fig. 5 is a schematic structural view of the electric cylinder assembly of the present invention.
Fig. 6 is an exploded view of the electric cylinder assembly of the present invention.
Fig. 7 is a schematic structural view of the hinge and the support of the support bar mechanism of the present invention.
Fig. 8 is a schematic structural view of the lower hinge and the support of the support bar mechanism of the present invention.
FIG. 9 is a schematic structural diagram of the support bar mechanism assembly of the present invention.
Fig. 10 is a schematic structural view of the valve block and the valve block of the present invention.
Fig. 11 is a schematic structural view of a pneumatic accumulator according to the present invention.
Fig. 12 is a schematic structural diagram of the hydraulic filling device of the present invention.
Wherein: 1. an upper platform bedplate, 2 electric cylinder lower hinge and support components, 21 a connecting support, 22 a first rotating connecting shaft, 23 a first bearing, 24 a second rotating connecting shaft, 25 a second bearing, 3 an electric cylinder assembly, 31 a U-shaped connecting groove, 32 a servo motor, 33 a cylinder body base, 34 a cylinder body, 35 a ball screw, 36 a piston, 37 a driven pulley, 38 a synchronous belt, 39 a driving pulley, 4 electric cylinder upper hinge and support components, 5 a lower platform bottom plate, 51 a first connecting screw hole, 52 a second connecting screw hole, 6 a balancing weight, 7 a support rod lower hinge and support, 71 a connecting seat, 711 a connecting hole, 72 a cross joint middle connecting piece, 721, an installation groove, 722, a fourth rotating connecting shaft, 73 a third bearing, 74 a fourth bearing, 75 a third rotating connecting shaft, 8 a valve group and a valve block, 81. the hydraulic pressure oil-saving valve comprises a valve block, a 82 hydraulic hose connector, 83 an electromagnetic valve, 84 a valve block plug, 85 a valve block support, 86 a pressure measuring connector, 87 a main oil way accumulator connector, 88 a main oil way branch connector, 9 a support rod assembly, 91 a hydraulic pipe sleeve, 92 a piston rod, 93 a first hydraulic pipe connecting column, 74 a second hydraulic pipe connecting column, 10 a support rod upper hinge and support, 11 a pneumatic pressure accumulator, 111 an accumulator support, 112 an accumulator hoop, 113 an accumulator body, 114 a ball valve, 12 a hydraulic pressure filling device, 121 an oil filling and draining valve block, 122 a manual pump, 123 an unloading valve, 124 a pressure measuring connector, 125 a pressure measuring point adapter, 126 a pressure sensor, 127 a pressure gauge, 128 an oil suction port, 129 a filling valve, 13 a carrying pry block and 14 a trapezoid clamping groove.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following further describes the technical solution of the present invention with reference to the drawings and the embodiments.
Referring to fig. 1-12, a supporting device for balancing a six-degree-of-freedom motion platform system based on reverse gravity comprises an electric cylinder mechanism and a hydraulic supporting rod mechanism nested inside the electric cylinder mechanism;
the electric cylinder mechanism is arranged between the platform upper bedplate 1 and the platform lower bedplate 5 in a regular triangle distribution mode and comprises an electric cylinder mechanism, an electric cylinder assembly and a platform lower bedplate, wherein the electric cylinder mechanism comprises an electric cylinder lower hinge and support component 2, an electric cylinder assembly 3 and an electric cylinder upper hinge and support component 4, the lower end of the electric cylinder assembly 3 is connected with the platform lower bedplate 5 through the electric cylinder lower hinge and support component 2, and the upper end of the electric cylinder assembly 3 is connected with the platform upper bedplate 1 through the electric cylinder upper hinge and support component 4;
the hydraulic support rod mechanism comprises a support rod lower hinge and support 7, a support rod assembly 9 and a support rod upper hinge and support 10, third bearings 73 are arranged at the upper end and the lower end of the support rod assembly 9, the lower end of the support rod assembly 9 is connected with the platform lower bottom plate 5 through the support rod lower hinge and support 7, the upper end of the support rod assembly 9 is connected with the platform upper bottom plate 1 through the support rod upper hinge and support 10, the effect of balancing partial gravity is achieved, and a reverse gravity balancing six-degree-of-freedom motion platform is formed.
Preferably, the lower hinge and support assembly 2 of the electric cylinder is arranged on the lower bottom plate 5 of the platform, and the upper hinge and support assembly 4 of the electric cylinder is arranged on the upper bedplate 1 of the platform.
Preferably, the electric cylinder lower hinge and support assembly 2 and the electric cylinder upper hinge and support assembly 4 both comprise a connecting support 21, a first rotating connecting shaft 22 and a second rotating connecting shaft 24, the connecting supports 21 are symmetrically arranged on the platform upper bedplate 1 or/and the platform lower bottom plate 5, and the connecting support 21 is provided with connecting holes which are respectively connected with the platform upper bedplate 1 or the platform lower soleplate 5, the first rotation connecting shaft 22 is arranged between two symmetrically arranged connecting supports 21, and both ends of the first rotation connecting shaft 22 are rotatably connected with the connecting support 21 through first bearings 23, the second rotation connecting shaft 24 is arranged on the first rotation connecting shaft 22, and is mutually perpendicular to the first rotation connecting shaft 22, the second rotation connecting shaft 24 is rotatably connected with the U-shaped connecting groove 31 through the second bearing 25, namely, the electric cylinder assembly 3 is installed between the platform upper bedplate 1 and the platform lower bottom plate 5.
Preferably, the electric cylinder assembly 3 includes a servo motor 32, a cylinder base 33, a cylinder 34, a ball screw 35, a piston 36, a driven pulley 37, a synchronous belt 38 and a driving pulley 39, the cylinder base 33 is disposed at the bottom of the cylinder 34, the lower end of the cylinder base 33 is used in cooperation with the electric cylinder lower hinge and the support assembly 2, the servo motor 32 is further disposed at one side of the cylinder base 33, the driving pulley 39 is disposed at the power output end of the servo motor 32, the driving pulley 39 is coupled to the driven pulley 37 through the synchronous belt 38, the driven pulley 37 is coupled to the ball screw 35, the ball screw 35 is disposed in the cylinder 34, and a nut on the ball screw 35 is coupled to the piston 36, that is, when the servo motor 32 of the electric cylinder mechanism rotates, the ball screw 35 rotates under the driving of the motor, the nut on the ball screw 35 pushes the piston 36 to reciprocate in the cylinder 34, the platform upper bedplate 1 makes various complex motions so as to complete the simulation of various motion postures of the cabin body, the front end part of the piston 36 is matched with the upper hinge of the electric cylinder and the support assembly 4 for use, and the U-shaped connecting groove 31 is respectively arranged at the front end part of the screw rod 36 and the bottom of the cylinder body base 33.
Preferably, the upper end and the lower end of the support rod assembly 9 are both provided with a third bearing 73, and the third bearing 73 is respectively matched with the support rod lower hinge and support 7 and the support rod upper hinge and support 10 for use; the lower support rod hinge and support 7 and the upper support rod hinge and support 10 both comprise a connecting seat 71, a cross joint intermediate connecting piece 72 and a third rotating connecting shaft 75, the cross joint intermediate connecting piece 72 is provided with a mounting groove 721, the third bearing 73 is arranged in the mounting groove 721 and connected with the cross joint intermediate connecting piece 72 through the third rotating connecting shaft 75, both ends of the cross joint intermediate connecting piece 72 are further provided with fourth rotating connecting shafts 722, the fourth rotating connecting shafts 722 are connected with the connecting seat 71 through fourth bearings 74, the connecting seat 71 is provided with connecting holes 711, and the connecting holes 711 are respectively connected with the upper platform plate 1 or the lower platform plate 5.
Preferably, the hydraulic support rod mechanism of the present application further includes a valve set and valve block 8, a pneumatic accumulator 11 and a hydraulic filling device 12, the oil outlet end of the valve set and valve block 8 is connected to the support rod assembly 9, the oil pressure of the six support rod assemblies 9 is controlled by the valve set and valve block 8, a main oil path accumulator interface 87 of the valve set and valve block 8 is connected to the pneumatic accumulator 11, pre-charged nitrogen gas with a certain pressure is stored in the pneumatic accumulator 11 for energy storage, the hydraulic filling device 12 is connected to a main oil path branch interface 88 of the valve set and valve block 8 to provide pressure for the valve set and valve block 8, that is, when the hydraulic support rod mechanism is in use, the electromagnetic valve 83 is opened, firstly, the compression characteristic of nitrogen gas is used as an elastic body of the movement executing mechanism to drive the support rod assembly 9 to move along with the extension and retraction of the electric cylinder, so as to perform the function of the hydraulic support rod following support, part of gravity load is offset, the follow-up load gravity balance is completed, and the hydraulic follow-up support rod mechanism and the air pressure accumulator 11 form a completely closed state, so that no loss of hydraulic oil is realized; when an emergency state occurs, the electromagnetic valve 83 is closed rapidly, the hydraulic loop is closed, and the hydraulic follow-up support rod forms a rigid support rod due to the locking of the hydraulic oil circuit, so that when the system is powered off or the emergency state occurs, the hydraulic follow-up enters a safe state to play a supporting role, the flat plate on the platform is guaranteed to stay at any position, and the interlocking control protection is realized.
Preferably, the valve group and the valve block 8 are mounted on the platform lower base plate 5 through a valve block bracket 85, and include a valve block 81, a hydraulic hose connector 82, an electromagnetic valve 83, a valve block plug 84, a pressure measuring connector 86, a main oil path accumulator connector 87 and a main oil path branch connector 88, the hydraulic hose connector 82 is provided with a plurality of connectors, the hydraulic hose connector 82 is connected with a first hydraulic pipe connecting column 93 and a second hydraulic pipe connecting column 94 through a hydraulic hose to supply oil to the support rod assembly 9, the electromagnetic valve 83 is used for controlling the valve block plug 84 to act to plug the hydraulic hose connector 82, the pressure measuring connector 86 is connected with a pressure gauge, the main oil path accumulator connector 87 is connected with the accumulator 11 through a ball valve 114, the main oil path branch connector 88 is connected with the hydraulic filling device 12 through a filling valve 129, that when the system is powered off or in an emergency state, and the interlocking control protection is realized, and the hydraulic filling device 12 is used for filling oil for the hydraulic supporting mechanism, so that a closed hydraulic elastic system is established with the energy accumulator 11 and the supporting rod assembly 9.
Preferably, the support rod assembly 9 includes a hydraulic pipe sleeve 91 and a piston rod 92, the piston rod 92 is movably disposed in the hydraulic pipe sleeve 91, and a first hydraulic pipe connection post 93 and a second hydraulic pipe connection post 94 are respectively disposed at the upper and lower ends of the hydraulic pipe sleeve 91, the third bearing 73 is disposed at the lower end of the hydraulic pipe sleeve 91 and the upper end of the piston rod 92, the first hydraulic pipe connection post 93 and the second hydraulic pipe connection post 94 are respectively connected with the valve block 8 through a hydraulic pipe, the flow of the hydraulic filling device 12 is controlled by the valve block and the valve block 8, and the support rod assembly 9 is charged to be flexible.
Preferably, the pneumatic accumulator 11 is installed on the platform lower base plate 5 through an accumulator support 111 and an accumulator hoop 112, and is specifically an accumulator body 113, and the accumulator body 113 is connected with the main oil passage accumulator interface 87 through a connecting pipe and a ball valve 114.
Preferably, the working principle of the pneumatic accumulator 11 is as follows: the pressure nitrogen is pre-charged in the air pressure accumulator 11, the purpose of storing energy is achieved by utilizing the elastic compression characteristic of the nitrogen, namely the nitrogen is used as a pressure closed type hydraulic circulating oil source to realize the function of servo support of a hydraulic support rod mechanism; hydraulic oil of the supporting rod mechanism and nitrogen of the air pressure accumulator are filled in advance, and the oil inlet and the accumulator valve are closed after filling is completed to form a closed elastic system with pressure.
Preferably, the hydraulic filling device 12 includes an oil filling and draining valve block 121, a manual pump 122, an unloading valve 123, a pressure measuring joint 124, a pressure measuring joint 125, a pressure sensor 126, a pressure gauge 127, an oil suction port 128 and a filling valve 129, the oil suction port 128 is connected to the oil tank, the manual pump 122 and the unloading valve 123 are respectively used for adjusting oil pressure, and the pressure sensor 126 and the pressure gauge 127 are used for displaying the oil pressure.
The foregoing shows and describes the general principles, essential features, and advantages of the utility model. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the utility model, and such changes and modifications are within the scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a strutting arrangement based on six degree of freedom motion platform systems of reverse gravity balance which characterized in that: the hydraulic support rod mechanism is nested inside the electric cylinder mechanism;
the electric cylinder mechanism is arranged between the platform upper bedplate (1) and the platform lower bedplate (5) in a regular triangle distribution mode and comprises an electric cylinder mechanism, an electric cylinder assembly and a support component (2), an electric cylinder assembly (3) and an electric cylinder upper hinge and a support component (4), wherein the lower end of the electric cylinder assembly (3) is connected with the platform lower bedplate (5) through the electric cylinder lower hinge and the support component (2), and the upper end of the electric cylinder assembly (3) is connected with the platform upper bedplate (1) through the electric cylinder upper hinge and the support component (4);
the hydraulic support rod mechanism comprises a support rod lower hinge and support (7), a support rod assembly (9) and a support rod upper hinge and support (10), wherein third bearings (73) are arranged at the upper end and the lower end of the support rod assembly (9), the lower end of the support rod assembly (9) is connected with the platform lower bottom plate (5) through the support rod lower hinge and support (7), and the upper end of the support rod assembly (9) is connected with the platform upper bedplate (1) through the support rod upper hinge and support (10).
2. The supporting device for balancing six-degree-of-freedom motion platform system based on reverse gravity as claimed in claim 1, wherein: the lower hinge and the support assembly (2) of the electric cylinder are arranged on the lower bottom plate (5) of the platform, and the upper hinge and the support assembly (4) of the electric cylinder are arranged on the upper bedplate (1) of the platform.
3. The supporting device for balancing six-degree-of-freedom motion platform system based on reverse gravity as claimed in claim 2, wherein: the lower hinge and support assembly (2) of the electric cylinder and the upper hinge and support assembly (4) of the electric cylinder comprise a connecting support (21), a first rotating connecting shaft (22) and a second rotating connecting shaft (24), the connecting support (21) is symmetrically arranged, the connecting support (21) is provided with connecting holes, the connecting holes are respectively connected with the upper platform plate (1) or the lower platform bottom plate (5), the first rotating connecting shaft (22) is arranged between the two symmetrically arranged connecting supports (21), the first rotating connecting shaft (22) is rotatably connected with the connecting support (21) through a first bearing (23), the second rotating connecting shaft (24) is arranged on the first rotating connecting shaft (22) and is mutually vertical to the first rotating connecting shaft (22), and the second rotating connecting shaft (24) is rotatably connected with the U-shaped connecting groove (31) through a second bearing (25), the U-shaped connecting groove (31) is arranged at the lower end of the electric cylinder assembly (3).
4. The supporting device for balancing six-degree-of-freedom motion platform system based on reverse gravity as claimed in claim 1, wherein: the electric cylinder assembly (3) comprises a servo motor (32), a cylinder body base (33), a cylinder body (34), a ball screw (35), a piston (36), a driven pulley (37), a synchronous belt (38) and a driving pulley (39), the cylinder body base (33) is arranged at the bottom of the cylinder body (34), the lower end of the cylinder body base (33) is matched with the lower hinge of the electric cylinder and the support assembly (2) for use, and a servo motor (32) is arranged on one side of the cylinder body base (33), the power output end of the servo motor (32) is provided with a driving belt wheel (39), the driving belt wheel (39) is connected with a driven belt wheel (37) through a synchronous belt (38), the driven pulley (37) is connected with the ball screw (35), the ball screw (35) is arranged in the cylinder body (34), and the ball screw (35) is in threaded connection with the piston (36).
5. The supporting device for balancing six-degree-of-freedom motion platform system based on reverse gravity as claimed in claim 1, wherein: the upper end and the lower end of the support rod assembly (9) are respectively provided with a third bearing (73), the lower support rod hinge and the support (7) are arranged on the lower platform bottom plate (5) and are connected with the third bearing (73) at the lower end of the support rod assembly (9), and the upper support rod hinge and the support (10) are arranged on the upper platform plate (1) of the platform and are connected with the third bearing (73) at the upper end of the support rod assembly (9).
6. The support device for balancing six-degree-of-freedom motion platform system based on reverse gravity as claimed in claim 5, wherein: the support rod assembly (9) comprises a hydraulic pipe sleeve (91) and a piston rod (92), the piston rod (92) is movably arranged in the hydraulic pipe sleeve (91) and linearly reciprocates along the axis of the sleeve, a first hydraulic pipe connecting column (93) is arranged at the upper end of the hydraulic pipe sleeve (91), a second hydraulic pipe connecting column (94) is arranged at the lower end of the hydraulic pipe sleeve (91), and a third bearing (73) is arranged at the lower end of the hydraulic pipe sleeve (91) and the upper end of the piston rod (92).
7. The support device for balancing six-degree-of-freedom motion platform system based on reverse gravity as claimed in claim 5, wherein: the lower hinge and support (7) of the support rod, the upper hinge and support (10) of the support rod comprise a connecting seat (71), a cross joint middle connecting piece (72) and a third rotating connecting shaft (75), a mounting groove (721) is formed in the cross joint middle connecting piece (72), a third bearing (73) is arranged in the mounting groove (721) and is connected with the cross joint middle connecting piece (72) through the third rotating connecting shaft (75), fourth rotating connecting shafts (722) are further arranged at two ends of the cross joint middle connecting piece (72), the fourth rotating connecting shafts (722) are connected with the connecting seat (71) through fourth bearings (74), connecting holes (711) are formed in the connecting seat (71), and the connecting holes (711) are respectively connected with an upper platform plate (1) or a lower platform bottom plate (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122920044.4U CN216697561U (en) | 2021-11-25 | 2021-11-25 | Supporting device based on reverse gravity balance six-degree-of-freedom motion platform system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122920044.4U CN216697561U (en) | 2021-11-25 | 2021-11-25 | Supporting device based on reverse gravity balance six-degree-of-freedom motion platform system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216697561U true CN216697561U (en) | 2022-06-07 |
Family
ID=81835129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122920044.4U Active CN216697561U (en) | 2021-11-25 | 2021-11-25 | Supporting device based on reverse gravity balance six-degree-of-freedom motion platform system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216697561U (en) |
-
2021
- 2021-11-25 CN CN202122920044.4U patent/CN216697561U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103950524B (en) | Injecting type bionic underwater vehicle and mode of operation thereof | |
| CN112109819B (en) | Hydraulic control cheetah bionic quadruped robot | |
| CN112936231B (en) | Three-freedom-degree motion simulation platform for realizing gravity balance | |
| CN103963867B (en) | Biomimetic mechanical dinosaur | |
| CN103035161A (en) | Two-degree-of-freedom static load balancing in-parallel movement simulation platform | |
| CN103934823A (en) | Six-PTRT type parallel robot with self-calibration function | |
| CN200962993Y (en) | Pneumatic dynamic chair base | |
| CN109048808A (en) | A kind of Three Degree Of Freedom waves turntable | |
| CN106903676A (en) | The four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives | |
| CN109352631B (en) | Three-branch five-degree-of-freedom parallel platform | |
| CN210323892U (en) | Large-inertia electromechanical six-degree-of-freedom motion platform | |
| CN216697561U (en) | Supporting device based on reverse gravity balance six-degree-of-freedom motion platform system | |
| CN107860545A (en) | The six degree of freedom system of large-scale transonic wind tunnel big load model captive trajectory testing | |
| CN109176474B (en) | Rope and rod hybrid drive super-redundancy robot | |
| CN109571444B (en) | Two-translation one-rotation partial decoupling parallel mechanism | |
| CN113199458B (en) | Wearable robot controller for follow-up control | |
| CN206249652U (en) | A kind of flight simulation triaxial movement platform | |
| Cui et al. | Design and control method of a hydraulic power unit for a wheel-legged robot | |
| CN214724353U (en) | Industrial robot with built-in moment balancing device | |
| CN210323891U (en) | Large-load electromechanical six-degree-of-freedom motion platform | |
| CN114120748A (en) | Six-degree-of-freedom motion platform system based on reverse gravity balance | |
| CN105841944B (en) | Gas spring cycling life test tooling | |
| CN113442165A (en) | Industrial robot with built-in moment balancing device | |
| CN207423485U (en) | The six degree of freedom system of large-scale transonic wind tunnel big load model captive trajectory testing | |
| CN106584511A (en) | Gravity balance device used for pitching joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |