CN112460432A - Centrosymmetric multi-degree-of-freedom rotating platform - Google Patents
Centrosymmetric multi-degree-of-freedom rotating platform Download PDFInfo
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- CN112460432A CN112460432A CN202011219229.6A CN202011219229A CN112460432A CN 112460432 A CN112460432 A CN 112460432A CN 202011219229 A CN202011219229 A CN 202011219229A CN 112460432 A CN112460432 A CN 112460432A
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- platform body
- platform
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- ball
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- 210000004907 gland Anatomy 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000003014 reinforcing effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 4
- 238000003466 welding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
Abstract
The invention relates to the technical field related to mechanical rotating platforms, in particular to a centrosymmetric multi-degree-of-freedom rotating platform, and aims to solve the technical problem that the existing multi-degree-of-freedom rotating platform with a simple structure is difficult to keep a center not to deviate. Including base and platform body, be equipped with the pneumatic cylinder on the base, every pneumatic cylinder all articulates on the base through the first articulated shaft of controlling arranging, the piston rod of every pneumatic cylinder is vertical all to be arranged up, the tip of every piston rod all articulates through the second articulated shaft of arranging around has the bulb pole, the pole body and the articulated shaft of second of bulb pole are connected, be fixed with the ball socket on the platform body, be fixed with first spacing arc board and the spacing arc board of second on the platform body, the axis of first spacing arc board and the coincidence of the central axis of platform body fore-and-aft direction, the axis of the spacing arc board of second and the coincidence of the central axis of platform body left and right directions, the convex surface of first spacing arc board and the spacing arc board of second all contacts and is provided with the stand, the stand is vertical to be.
Description
Technical Field
The invention relates to the technical field of mechanical rotating platforms, in particular to a centrosymmetric multi-degree-of-freedom rotating platform.
Background
In recent years, with the continuous development of high-end intelligence and VR technology, the multi-degree-of-freedom rotary platform technology in China is rapidly developed and matures day by day. The mechanical rotating platform on some specific occasions only needs to rotate back and forth, rotate left and right and lift, but the center of the mechanical rotating platform needs to be kept from horizontal deviation in the whole process, namely, the mechanical rotating platform always keeps central symmetry. The rotation center of most of the existing multi-degree-of-freedom rotating platforms is not fixed during rotation, and always deviates, so that the requirements of the specific conditions cannot be met; a few structures can meet the requirements of the specific situations, but the design structure is very complex, the structure is overstaffed, and the practical popularization significance is poor.
Disclosure of Invention
The invention aims to solve the technical problem that the center of the existing multi-degree-of-freedom rotary platform is difficult to keep not to deviate on the basis of simple structure.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a centrosymmetric multi freedom rotary platform, platform body including base and rectangle, four angles that correspond the platform body on the base all are equipped with the pneumatic cylinder, every pneumatic cylinder all articulates on the base through first articulated shaft, first articulated shaft is arranged about (being that first pneumatic cylinder can rotate around relative base), the piston rod of every pneumatic cylinder all vertically arranges up (under the state of not rotatory, the follow-up description is all based on this state), the tip of every piston rod all articulates through the second articulated shaft has the bulb pole (the bulb pole is about to the structure that the bulb replacement obtained with the bulb replacement of the one end of ordinary pole structure), the second articulated shaft is arranged around (being that the bulb pole can rotate about relative piston rod), the pole body and the second articulated shaft of bulb pole are connected, it is fixed with the ball socket to correspond the bulb pole on the platform body, the head ball pivot of bulb pole is in, be fixed with at least a pair of relative first spacing arc board about and at least a pair of relative first ball socket in front and back on the Two spacing arc boards, the axis of first spacing arc board and the central axis coincidence of platform body fore-and-aft direction (need ask with the concave surface of the first spacing arc board of pair relatively relative), the axis of the spacing arc board of second and the central axis coincidence of the platform body left right direction (need ask with the concave surface of the spacing arc board of pair relatively), the convex surface of each first spacing arc board and the spacing arc board of second all contacts and is provided with the stand (the stand is used for spacing to spacing arc board), the stand is vertical to be fixed in on the base.
Furthermore, first spacing arc board and the spacing arc board of second all are equipped with two pairs and are fixed in the same group opposite side of platform body, and the stand is equipped with four, every first spacing arc board and the spacing arc board of second share a stand (first spacing arc board, the spacing arc board of second and stand constitute one set promptly, total four groups, two sets of front edge that are located the platform body and two sets of rear edge that are located the platform, or two sets of left edge that are located the platform body and two sets of right edge that are located the platform).
Further, the ball socket is welded on the edge of the platform body, the ball socket and the first and second limit arc plates are located on the same group of edges of the platform body, and the ball socket is located on the outer sides of the first and second limit arc plates (namely, the two ball sockets are located at the two ends of the front edge of the platform body and the two ball sockets are located at the two ends of the rear edge of the platform body, or the two ball sockets are located at the two ends of the left edge of the platform body and the two ball sockets are located at the two ends of the right edge of the platform body and correspond to the positions of the aforementioned limit arc plates).
Furthermore, the ball socket comprises a ball socket body and a ball socket gland, and the ball socket body and the ball socket gland are fixedly connected and jointly form a multi-semispherical space for accommodating the head of the ball head rod.
Furthermore, a reinforcing rib plate is integrally formed on the concave surface of the first limiting arc plate or the second limiting arc plate.
Furthermore, a displacement sensor for detecting the lifting height of the platform body and an angle sensor for detecting the inclination angle of the platform body are arranged on the cylinder body of the hydraulic cylinder.
Furthermore, a hydraulic lock is arranged on the hydraulic cylinder.
The invention has the beneficial effects that:
the invention provides a multi-degree-of-freedom rotary platform with central symmetry, which is supported by four hydraulic cylinders to rotate and drive the platform to rotate left and right, rotate front and back and lift, and is provided with an upright post and a limit arc plate, wherein the first limit arc plate is matched with the upright post to ensure that the center does not deviate in the left and right directions when the platform body rotates left and right, the second limit arc plate is matched with the upright post to ensure that the center does not deviate in the front and back directions when the platform body rotates front and back, and the platform body is connected with a piston rod of the hydraulic cylinder through a ball socket and a ball head rod to compensate displacement generated when the platform body rotates, so that the center can be ensured not deviate when the platform body rotates left and right and front and back, and the requirement of the multi-degree-of freedom rotary platform under a.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a front view of a rotary platform according to the present invention;
fig. 2 is a schematic top view of the rotary platform of the present invention.
In the figure:
1 ┄ base plate; 2 ┄ platform body; 3 ┄ hydraulic cylinder; 4 ┄ a first hinge axis; 5 ┄ second hinge axis; 6 ┄ bulb bar; 7 ┄ ball and socket; 7-1 ┄ ball and socket body; 7-2 ┄ ball and socket gland; 8 ┄ a first limit arc plate; 9 ┄ second limit arc plate; 10 ┄ upright posts; 11 ┄ reinforcing rib plates; 12 ┄ displacement sensor; 13 ┄ angle sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Referring to fig. 1 to 2, the centrosymmetric multi-degree-of-freedom rotating platform of the invention comprises a base 1 and a rectangular platform body 2, wherein hydraulic cylinders 3 are arranged on the base 1 corresponding to four corners of the platform body 2, each hydraulic cylinder 3 is hinged on the base 1 through a first hinge shaft 4, the first hinge shafts 4 are arranged on the left and right sides, piston rods of each hydraulic cylinder 3 are arranged vertically upwards, the end parts of each piston rod are hinged with a ball head rod 6 through second hinge shafts 5, the second hinge shafts 5 are arranged in the front and back, rod bodies of the ball head rods 6 are connected with the second hinge shafts 5, ball sockets 7 are fixed on the platform body 2 corresponding to the ball head rods 6, head parts of the ball head rods 6 are hinged in the ball sockets 7, at least one pair of left and right opposite first limit arc plates 8 and at least one pair of front and back opposite second limit arc plates 9 are fixed on the edge of the platform body 2, the axis of the first limit arc plates 8 is coincident with the central axis of, the axis of the spacing arc board 9 of second coincides with the central axis of the direction about platform body 2, the convex surface of each first spacing arc board 8 and the spacing arc board 9 of second all contacts and is provided with stand 10, stand 10 is vertical to be fixed in on the base 1, here the position of first spacing arc board 8 and the spacing arc board 9 of second is not limited, as long as satisfy with the axis position requirement to spacing arc board can, for example, can fix a pair of first spacing arc board 8 respectively on the edge of controlling of platform body 2, fix a pair of spacing arc board 9 of second respectively on the front and back edge of platform body 2, dispose eight stand 10. During the use, four pneumatic cylinders 3 support platform body 2 through bulb pole 6 and ball socket 7. When needing to go up and down, four pneumatic cylinders 3 flexible drive platform body 2 go up and down to suitable position simultaneously, and two pneumatic cylinders 3 simultaneous extensions on right side order about platform body 2 rotatory left, and two pneumatic cylinders 3 simultaneous extensions on left side order about platform body 2 rotatory right, and two pneumatic cylinders 3 simultaneous extensions on front side order about platform body 2 backward rotation, and two pneumatic cylinders 3 simultaneous extensions on rear side order about platform body 2 rotatory forward. The principle that the center of the rotation process of the invention is not deviated is as follows: taking the left-right rotation as an example, the axes of the first limiting arc plates 8 in the same pair are all coincided with the central axis of the platform body 2 in the front-back direction, that is, it can be understood that the two limiting arc plates in the same pair are located on the surface of the same cylinder which takes the central axis of the platform body 2 in the front-back direction as the axis, and the cylinder is tangent to the upright post 10 all the time, so that no matter how the limiting arc plates rotate, the central axis of the platform body 2 is always located in the middle of the left upright post 10 and the right upright post 10, and the left-. The same applies to the front and back directions.
In other embodiments, the first limiting arc plates 8 and the second limiting arc plates 9 are provided with two pairs of opposite sides fixed to the platform body 2, the number of the upright columns 10 is four, each of the first limiting arc plates 8 and the second limiting arc plates 9 shares one upright column 10, for example, two first limiting arc plates 8 and two second limiting arc plates 9 are provided at the front edge and the rear edge of the platform body 2 shown in fig. 2, and one first limiting arc plate 8 and one second limiting arc plate 9 are adjacently located on two perpendicular tangent planes of the same upright column 10. The two pairs of limiting arc plates can improve the stability of the limiting arc plates for limiting the platform body 2 and improve the limiting precision; the two pairs of limiting arc plates are ingeniously arranged, four upright posts 10 can be saved, and the equipment cost is lower.
In other embodiments, the ball socket 7 is welded on the edge of the platform body 2, the ball socket 7 and the first and second limit arc plates 8 and 9 are located on the same group of edges of the platform body 2, and the ball socket 7 is located outside the first and second limit arc plates 8 and 9. The welding of the ball socket 7 to the edge is easier to process than the welding of the ball socket 7 to the bottom of the platform; the structure that ball socket 7 is located spacing arc inboard outside for ball socket 7, when needs rotary platform rotate the same angle, required arc length is littleer, and equipment cost is lower.
In other embodiments, the ball socket 7 comprises a ball socket body 7-1 and a ball socket gland 7-2, wherein the ball socket body 7-1 and the ball socket gland 7-2 are fixedly connected and jointly form a multi-semi-spherical space for accommodating the head of the ball head rod 6. The structure is more convenient to process and easier to assemble.
In other embodiments, the concave surface of the first limit arc plate 8 or the second limit arc plate 9 is integrally formed with a reinforcing rib plate 11. Here, the term "or" is used because when a structure is adopted in which the first limit arc plate 8 and the second limit arc plate 9 share the column 10, the concave surface of only one limit arc plate is exposed, and only the side wall in the thickness direction of the arc plate is fixedly connected with the platform body 2, so that the rigidity is insufficient, and the arc plate is easily extruded and deformed by the platform body 2, and it is the concave surface of the limit arc plate that needs to be provided with the reinforcing rib plate 11 for improving the rigidity. The concave surface of the other limit arc plate is directly fixedly connected with the platform body 2, and the arrangement of the reinforcing rib plate 11 is not needed.
In other embodiments, the cylinder body of the hydraulic cylinder 3 is provided with a displacement sensor 12 for detecting the lifting height of the platform body 2 and an angle sensor 13 for detecting the inclination angle of the platform body 2. The displacement sensor 12 and the angle sensor 13 cooperate to realize the automatic operation of the rotary platform. It is known to those skilled in the art that sensors may also be used to configure the control system.
In other embodiments, the hydraulic cylinder 3 is configured with a hydraulic lock to lock the hydraulic cylinder 3 when the platform body 2 moves to the target position, so as to ensure the stability of the platform body 2. The hydraulic lock uses better with above-mentioned sensor cooperation, and sensor control pneumatic cylinder 3 moves to the target location, and then hydraulic lock locking realizes automaticly.
The same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components; in the description of the present application, it is to be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the above terms may be understood by those skilled in the art according to specific situations.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (7)
1. A centrosymmetric multi-degree-of-freedom rotating platform is characterized in that: comprises a base (1) and a rectangular platform body (2), hydraulic cylinders (3) are arranged on the base (1) corresponding to four corners of the platform body (2), each hydraulic cylinder (3) is hinged on the base (1) through a first hinged shaft (4), the first hinged shafts (4) are arranged left and right, piston rods of each hydraulic cylinder (3) are vertically arranged upwards, the end parts of each piston rod are hinged with a ball head rod (6) through second hinged shafts (5), the second hinged shafts (5) are arranged front and back, rod bodies of the ball head rods (6) are connected with the second hinged shafts (5), ball sockets (7) are fixed on the platform body (2) corresponding to the ball head rods (6), the head parts of the ball head rods (6) are hinged in the ball sockets (7), at least one pair of first limiting arc plates (8) which are opposite left and right and at least one pair of second limiting arc plates (9) which are opposite front and back are fixed on the edge of the platform body (2), the axis of first spacing arc board (8) and the coincidence of the central axis of platform body (2) fore-and-aft direction, the axis of the spacing arc board of second (9) and the coincidence of the central axis of the left and right sides direction of platform body (2), the convex surface of each first spacing arc board (8) and the spacing arc board of second (9) all contacts and is provided with stand (10), stand (10) vertical be fixed in on base (1).
2. The centrosymmetric multi-degree-of-freedom rotating platform as claimed in claim 1, wherein: the first limiting arc plate (8) and the second limiting arc plate (9) are provided with two pairs of opposite sides which are matched with each other and fixed on the platform body (2), the number of the upright columns (10) is four, and each first limiting arc plate (8) and each second limiting arc plate (9) share one upright column (10).
3. The centrosymmetric multi-degree-of-freedom rotating platform as claimed in claim 2, wherein: ball socket (7) weld on the edge of platform body (2), and ball socket (7) and first spacing arc board (8) and second spacing arc board (9) are located the same group's edge of platform body (2), and ball socket (7) are located the outside of first spacing arc board (8) and second spacing arc board (9).
4. The centrosymmetric multi-degree-of-freedom rotating platform of claim 3, wherein: the ball socket (7) comprises a ball socket body (7-1) and a ball socket gland (7-2), wherein the ball socket body (7-1) and the ball socket gland (7-2) are fixedly connected and jointly form a multi-semispherical space for accommodating the head of the ball head rod (6).
5. The centrosymmetric multi-degree-of-freedom rotating platform as claimed in claim 2, wherein: the concave surface of the first limit arc plate (8) or the second limit arc plate (9) is integrally formed with a reinforcing rib plate (11).
6. A centrosymmetric multi-degree-of-freedom rotating platform according to any of claims 1-5, wherein: and a displacement sensor (12) for detecting the lifting height of the platform body (2) and an angle sensor (13) for detecting the inclination angle of the platform body (2) are arranged on the cylinder body of the hydraulic cylinder (3).
7. The centrosymmetric multi-degree-of-freedom rotating platform of claim 6, wherein: the hydraulic cylinder (3) is provided with a hydraulic lock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011219229.6A CN112460432B (en) | 2020-11-04 | 2020-11-04 | Centrosymmetric multi-degree-of-freedom rotating platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011219229.6A CN112460432B (en) | 2020-11-04 | 2020-11-04 | Centrosymmetric multi-degree-of-freedom rotating platform |
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| Publication Number | Publication Date |
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| CN112460432A true CN112460432A (en) | 2021-03-09 |
| CN112460432B CN112460432B (en) | 2022-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011219229.6A Active CN112460432B (en) | 2020-11-04 | 2020-11-04 | Centrosymmetric multi-degree-of-freedom rotating platform |
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|---|---|---|---|---|
| GB338948A (en) * | 1929-08-22 | 1930-11-24 | Scovill Manufacturing Co | Improvements in apparatus for extruding and coiling rods |
| ES257730U (en) * | 1981-04-15 | 1981-11-16 | Industrias Llull,S.L. | Brake for extensible platforms for appliances (Machine-translation by Google Translate, not legally binding) |
| US4877204A (en) * | 1988-10-21 | 1989-10-31 | International Business Machines Corporation | Tilt/swivel display base |
| US5520361A (en) * | 1993-04-20 | 1996-05-28 | Inkel Corporation | Monitor tilting device |
| CN2531476Y (en) * | 2002-02-27 | 2003-01-15 | 上海科技馆 | Apparatus capable of demonstrating moment of inertia of rolling object |
| KR20100074745A (en) * | 2008-12-24 | 2010-07-02 | 엘지전자 주식회사 | Supporting appatust of display device |
| CN202252660U (en) * | 2011-08-16 | 2012-05-30 | 信锦企业股份有限公司 | Support device |
| US9992885B1 (en) * | 2015-03-11 | 2018-06-05 | Mark Smith | Retention system |
| CN108953897A (en) * | 2018-09-27 | 2018-12-07 | 深圳市雷迪奥视觉技术有限公司 | A kind of rotation lock, rotation latch mechanism and display device |
| CN208409006U (en) * | 2018-06-01 | 2019-01-22 | 福建庆翔机械有限公司 | A kind of position rotating platform of auto parts and components trial-production fixture |
| CN209698917U (en) * | 2019-04-03 | 2019-11-29 | 渭南师范学院 | A kind of machining solid mechanical fixture |
-
2020
- 2020-11-04 CN CN202011219229.6A patent/CN112460432B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB338948A (en) * | 1929-08-22 | 1930-11-24 | Scovill Manufacturing Co | Improvements in apparatus for extruding and coiling rods |
| ES257730U (en) * | 1981-04-15 | 1981-11-16 | Industrias Llull,S.L. | Brake for extensible platforms for appliances (Machine-translation by Google Translate, not legally binding) |
| US4877204A (en) * | 1988-10-21 | 1989-10-31 | International Business Machines Corporation | Tilt/swivel display base |
| US5520361A (en) * | 1993-04-20 | 1996-05-28 | Inkel Corporation | Monitor tilting device |
| CN2531476Y (en) * | 2002-02-27 | 2003-01-15 | 上海科技馆 | Apparatus capable of demonstrating moment of inertia of rolling object |
| KR20100074745A (en) * | 2008-12-24 | 2010-07-02 | 엘지전자 주식회사 | Supporting appatust of display device |
| CN202252660U (en) * | 2011-08-16 | 2012-05-30 | 信锦企业股份有限公司 | Support device |
| US9992885B1 (en) * | 2015-03-11 | 2018-06-05 | Mark Smith | Retention system |
| CN208409006U (en) * | 2018-06-01 | 2019-01-22 | 福建庆翔机械有限公司 | A kind of position rotating platform of auto parts and components trial-production fixture |
| CN108953897A (en) * | 2018-09-27 | 2018-12-07 | 深圳市雷迪奥视觉技术有限公司 | A kind of rotation lock, rotation latch mechanism and display device |
| CN209698917U (en) * | 2019-04-03 | 2019-11-29 | 渭南师范学院 | A kind of machining solid mechanical fixture |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112460432B (en) | 2022-03-18 |
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