CN101255943A - Saddle type parallel tracking station - Google Patents
Saddle type parallel tracking station Download PDFInfo
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- CN101255943A CN101255943A CNA2008100526416A CN200810052641A CN101255943A CN 101255943 A CN101255943 A CN 101255943A CN A2008100526416 A CNA2008100526416 A CN A2008100526416A CN 200810052641 A CN200810052641 A CN 200810052641A CN 101255943 A CN101255943 A CN 101255943A
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- fixed platform
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Abstract
The invention discloses a movable platform capable of rotating with multiple degrees of freedom. A saddle-shaped parallel track station is composed of a stationary platform, a movable platform, a driving rod, a straight line guide rail, and a universal joint. Four driving rods support with a saddle shape between the stationary platform and the movable platform, and the two ends of each driving rod are connected to the stationary platform and the movable platform by a spherical hinge respectively. The straight line guide rail is composed of a guide lever and a cover, the top of the guide lever is fixed with the universal joint, and the cover of the straight line guide rail is fixed with the stationary platform. The upper end of the universal joint and the lower end of the straight line guide rail cover are disposed respectively at the geometric centre of the movable platform hinge point rectangle and the stationary platform hinge point rectangle, and the directions of the universal joint crossing shaft are parallel to the long and short edges of the movable platform hinge point rectangular respectively. The lower end of the stationary platform is connected to the rotating platform coaxially to implement orientation rotation. The advantages of the invented platform are: the tract station is provided with a saddle-shaped parallel support with multiple motion freedom degrees and large load capacity, and maximization and miniaturization of the track platform are easy to be implemented.
Description
Technical field
The invention belongs to mechanical device, be specifically related to a kind of movable platform that realizes that multi-freedom degree turns to.
Technical background
Generally adopt the tracking table technology to realize at present for the tracking of moving target, be about to the target following instrument and place on the movable platform.With three common tracking tables is example, and its principle is to adjust the tracking angle by the rotation of azimuth axis, elevation axis and beat axle around himself, realizes the tracking to moving target.Though this technology is comparatively ripe at present, because it adopts the tracking mode of angular motion, three rotary freedoms is arranged at most, when it uses on motion carriers such as vehicle-mounted or boat-carrying, can not satisfy the requirement that the carrier vertical motion was followed the tracks of and isolated in angular motion simultaneously.In view of the above, the present invention proposes a kind of new equipment of the motion target tracking platform that possesses multi-freedom degree, is suitable for using on the motion carrier.
Summary of the invention
The purpose of this invention is to provide a kind of movable platform that four degrees of freedom turn to that has, can be implemented on the motion carrier tracking moving target.
Followingly technological scheme of the present invention is illustrated with reference to accompanying drawing.Saddle type parallel tracking station has: (as Fig. 1) such as fixed platform 1, moving platform 2, driveshaft 3, linear rail 4, universal joint 5 and turntables 6.Be saddle type support in parallel with four driveshaft 3-1 to 3-4 between fixed platform 1 and moving platform 2, the two ends of each driveshaft are connected with moving platform 2 with fixed platform 1 respectively with spherical hinge.Linear rail 4 is formed (as Fig. 2) by guide rod and overcoat two-part, fixedlys connected with universal joint 5 in guide rod 7 tops in the linear rail 4, and the overcoat of linear rail 4 and fixed platform 1 are fixing.The lower end of the upper end of universal joint 5 and linear rail overcoat lays respectively at the geometrical center position (as Fig. 3) of moving platform hinge rectangle (dotted portion among the figure) and fixed platform hinge rectangle (dotted portion among the figure), universal joint intersect cross axle 8 direction respectively with the long limit a of moving platform 2 hinge rectangles and minor face b in the same way and parallel.The orientation rotation is realized in the lower end of fixed platform 1 and 6 coaxial connections of turntable.Four driveshaft 3-1～3-4 all adopt linear motor driving, and driveshaft is scalable, and the number of driveshaft can be 3 bars, 5 bars or 6 bars as required.The shape of fixed platform 1 and moving platform 2 can be circle, hexagon or polygonal.
Follower in parallel with four degrees of freedom proposed by the invention comprises three rotational freedoms and a translational degree of freedom.To have four driveshafts tracking console that supports fixed platform and moving platform in parallel is example: four driveshafts can pass through its elongation of linear motor driving and shortening; Moving platform can be realized any stack of elevating movement, pitching movement, beat motion and three kinds of motions.The stack of motion can be regarded as, if make the position of moving platform and attitude possess lifting displacement, pitching angle and three features of deflection angle, the motion mode of realization has two kinds, and a kind of is that elevating movement, pitching movement and beat motion are carried out in order and realized; Another kind is to elongate or shorten different length synchronously by four driveshafts of linear motor driving to realize that its movement effects that reaches is consistent with first kind of motion mode, is called the stack of motion; Turntable 6 is realized azimuth rotation by step motor drive.Guide rod 7 and guide rod overcoat adopt the guide structure of wounded in the battle key, have anti-rotating function; Universal joint 5 itself is degrees of freedom without spin, and linear rail 4 is fixedlyed connected rotatablely moving of producing when in parallel the driving can be eliminated by mechanism with universal joint 5.
Description of drawings
Fig. 1 is a structural drawing of the present invention.Fig. 2 looks the amplification three-dimensional effect diagram at the bottom of for Fig. 1.Fig. 3 is the three-dimensional effect diagram of Fig. 1.
Embodiment
Below by specific embodiment structural principle of the present invention is described further.
The driveshaft of present embodiment design is four, and the present invention is placed the tracking of carrying out moving target on the ship, settles tracking camera on the tracking console.Moving platform 2 hinge rectangle: a=100mm, b=80mm; Fixed platform 1 hinge rectangle: a=260mm, b=200mm; Linear rail 4 and the long 230mm of universal joint combination, wherein universal joint intersection cross axle distance of shaft centers is 25mm from moving platform, chooses 30 ° of the maximum pendulum angles of spherical hinge.As shown in Figure 3.
Embodiment 1: adjust first driveshaft 3-1 and second driveshaft 3-2 extends 73.2mm synchronously; The 3rd driveshaft 3-3 and the 4th driveshaft 3-4 all extend 19.1mm synchronously, and moving platform 2 is realized ascending motion and superpose with pitching movement that its climb reaches 50mm, 30 ° at pitch attitude angle.
Embodiment 2: adjust first driveshaft 3-1 and the 4th driveshaft 3-4 extends 66.9mm synchronously; Second driveshaft 3-2 and the 3rd driveshaft 3-3 extend 23.9mm synchronously, and moving platform 2 realizes ascending motion and motion superposes with beat, and its climb reaches 50mm, 30 ° of beat attitude angle.
Embodiment 3: adjust first driveshaft 3-1 elongation 2.4mm, second driveshaft 3-2 elongation 34.9mm, the 3rd driveshaft 3-3 elongation 92.8mm, the 4th driveshaft 3-4 elongation 49.4mm, moving platform 2 is realized ascending motion, pitching movement and beat motion stack, its climb reaches 50mm, 30 ° at pitch attitude angle, 30 ° of beat attitude angle.
The foregoing description explanation, by any stack that drives lifting motion, pitching movement, beat motion and three kinds of motions in parallel of four bars, if cooperate the orientation rotation of bottom turntable, can implementation space four-degree-of-freedom motion.
The invention has the advantages that: (1) tracking console adopts support arrangement in parallel, and by four bar parallel drives, decapacitation realizes The rotation of two axles can also realize translation; (2) supporting construction in parallel, its kinematic chain sealing, bearing capacity is big; (3) saddle Type tracking console in parallel can be realized three rotations and a translation, and its design feature is easy to realize large-scale tracking console and small-sized following The track platform.
Claims (3)
1. saddle type parallel tracking station, has fixed platform (1), moving platform (2), driveshaft (3), linear rail (4), universal joint (5) and turntable (6), it is characterized in that between fixed platform (1) and the moving platform (2) with four driveshafts (3-1～3-4) be the saddle type parallel connection to support, the two ends of each driveshaft are connected with moving platform (2) with fixed platform (1) respectively with spherical hinge, linear rail (4) is made up of guide rod and overcoat two-part, fixedly connected with universal joint (5) in guide rod (7) top in the linear rail (4), the overcoat of linear rail (4) and fixed platform (1) are fixing, the upper end of universal joint (5) and the lower end of linear rail overcoat lay respectively at the geometrical center position of moving platform hinge rectangle and fixed platform hinge rectangle, universal joint intersect cross axle (8) direction respectively with the long limit (a) of moving platform (2) hinge rectangle and minor face (b) in the same way and parallel, the orientation rotation is realized in the lower end of fixed platform (1) and coaxial connection of turntable (6).
2. saddle type parallel tracking station according to claim 1, it is characterized in that described four driveshafts (3-1～3-4) all adopt linear motor driving, driveshaft is scalable, the number of driveshaft can be 3 bars, 5 bars or 6 bars as required.
3. saddle type parallel tracking station according to claim 1, the shape that it is characterized in that described fixed platform (1) and described moving platform (2) can be circle, hexagon or polygonal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100526416A CN101255943A (en) | 2008-04-08 | 2008-04-08 | Saddle type parallel tracking station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100526416A CN101255943A (en) | 2008-04-08 | 2008-04-08 | Saddle type parallel tracking station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101255943A true CN101255943A (en) | 2008-09-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008100526416A Pending CN101255943A (en) | 2008-04-08 | 2008-04-08 | Saddle type parallel tracking station |
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| CN (1) | CN101255943A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103207623A (en) * | 2013-05-07 | 2013-07-17 | 江苏燕山光伏设备有限公司 | Dual-axis tracking photovoltaic power generator |
| CN104180132A (en) * | 2014-08-22 | 2014-12-03 | 北京航空航天大学 | Self-adaptive rotating platform mechanism |
| CN104259700A (en) * | 2014-09-16 | 2015-01-07 | 芜湖市华益阀门制造有限公司 | Supporting rack for special multifunctional welding platform for cylinder and square |
| CN105127807A (en) * | 2015-09-23 | 2015-12-09 | 山东科技大学 | Precise clamp used for micro-miniature complex thin-walled part machining and control method of precise clamp |
| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
| CN105548751A (en) * | 2015-12-09 | 2016-05-04 | 上海大学 | Three-degrees-of-freedom test platform |
| CN105858535A (en) * | 2016-05-16 | 2016-08-17 | 安庆米锐智能科技有限公司 | Electric power overhauling supporting device |
| CN106712383A (en) * | 2017-01-11 | 2017-05-24 | 中国科学院合肥物质科学研究院 | Mechanical swing arm with force applying mechanism |
| CN107140585A (en) * | 2017-05-09 | 2017-09-08 | 深圳市深信创联智能科技有限责任公司 | Hoistable platform and its control method based on multi straight motor |
| CN109662867A (en) * | 2019-02-22 | 2019-04-23 | 苏州大学 | Based on the improved ankle rehabilitation institution of Stewart platform |
| CN110174051A (en) * | 2019-05-30 | 2019-08-27 | 中国科学院长春光学精密机械与物理研究所 | A kind of online accuracy detecting device of Hooke's hinge |
-
2008
- 2008-04-08 CN CNA2008100526416A patent/CN101255943A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103207623A (en) * | 2013-05-07 | 2013-07-17 | 江苏燕山光伏设备有限公司 | Dual-axis tracking photovoltaic power generator |
| CN104180132A (en) * | 2014-08-22 | 2014-12-03 | 北京航空航天大学 | Self-adaptive rotating platform mechanism |
| CN104259700A (en) * | 2014-09-16 | 2015-01-07 | 芜湖市华益阀门制造有限公司 | Supporting rack for special multifunctional welding platform for cylinder and square |
| CN105127807A (en) * | 2015-09-23 | 2015-12-09 | 山东科技大学 | Precise clamp used for micro-miniature complex thin-walled part machining and control method of precise clamp |
| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
| CN105548751B (en) * | 2015-12-09 | 2019-04-16 | 上海大学 | Three Degree Of Freedom test platform |
| CN105548751A (en) * | 2015-12-09 | 2016-05-04 | 上海大学 | Three-degrees-of-freedom test platform |
| CN105858535A (en) * | 2016-05-16 | 2016-08-17 | 安庆米锐智能科技有限公司 | Electric power overhauling supporting device |
| CN105858535B (en) * | 2016-05-16 | 2018-04-20 | 国网江苏省电力有限公司宿迁供电分公司 | A kind of electric power overhaul support device |
| CN106712383A (en) * | 2017-01-11 | 2017-05-24 | 中国科学院合肥物质科学研究院 | Mechanical swing arm with force applying mechanism |
| CN106712383B (en) * | 2017-01-11 | 2023-09-26 | 中国科学院合肥物质科学研究院 | Mechanical swing arm with stress application mechanism |
| CN107140585A (en) * | 2017-05-09 | 2017-09-08 | 深圳市深信创联智能科技有限责任公司 | Hoistable platform and its control method based on multi straight motor |
| CN107140585B (en) * | 2017-05-09 | 2019-02-19 | 深圳市深信创联智能科技有限责任公司 | Hoistable platform and its control method based on multi straight motor |
| CN109662867A (en) * | 2019-02-22 | 2019-04-23 | 苏州大学 | Based on the improved ankle rehabilitation institution of Stewart platform |
| CN110174051A (en) * | 2019-05-30 | 2019-08-27 | 中国科学院长春光学精密机械与物理研究所 | A kind of online accuracy detecting device of Hooke's hinge |
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Open date: 20080903 |