CN102941571A - Low-space dual-rod guide type three-degree of freedom moving platform - Google Patents
Low-space dual-rod guide type three-degree of freedom moving platform Download PDFInfo
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- CN102941571A CN102941571A CN2012105236350A CN201210523635A CN102941571A CN 102941571 A CN102941571 A CN 102941571A CN 2012105236350 A CN2012105236350 A CN 2012105236350A CN 201210523635 A CN201210523635 A CN 201210523635A CN 102941571 A CN102941571 A CN 102941571A
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Abstract
The invention discloses a low-space dual-rod guide type three-degree of freedom moving platform. The low-space dual-rod guide type three-degree of freedom moving platform comprises three sets of dual-rod horizontal guide type electric actuators, a lower platform rigid structural component and an upper platform rigid structural component. Each set of dual-rod horizontal guide type electric actuator comprises a motor on a lower fixing assembly and a synchronizing wheel synchronizing belt assembly connected with the motor, and two ends of the synchronizing wheel synchronizing belt assembly respectively pass through a left bearing and fixed bearing block pair and a right bearing and fixed bearing block pair, and then are connected with a left lead-screw driving device and a right lead-screw driving device. Each of the left lead-screw driving device and the right lead-screw driving device comprises a left lead screw, a left lead-screw nut pair, a right lead screw and a right lead-screw nut pair, and a left fixed-length rod lower hinge and a right fixed-length rod lower hinge are respectively connected to the left lead-screw nut pair and the right lead-screw nut pair. The three sets of dual-rod horizontal guide type electric actuators are arranged in a specific way and are connected with and support the upper platform rigid structural component and the lower platform rigid structural component. By adopting the low-space dual-rod guide type three-degree of freedom moving platform, high cost performance can be achieved, and the operating stability with high precision, large stroke, high speed, high acceleration and low space can be fulfilled.
Description
Technical field
The present invention relates to the two bar guide type Three-degree-of-freedom motion platforms of a kind of low spatial, belong to multifreedom motion simulator technology field.
Background technology
But Three-degree-of-freedom motion platform is often referred to the motion platform of virtual space three degree of freedom, for example simulates in the translational motion of space Z-axis direction and rotatablely moving around X, Y-axis.This kind platform is in defense industrial sector and the civilian industry department extensive uses such as earthquake, traffic such as drive simulating, cinema virtual reality, game man-machine interaction, weapons, boats and ships, space flight, aviation, electronics, higher with respect to the 6-dof motion platform cost performance, easily marketing, and safeguard that use cost is low, be easy to use.
Three-degree-of-freedom motion platform comprises three groups of executing agencies, can adopt hydraulic pressure, pneumatic or electronic mode, minute series, parallel and hybrid motion mechanism on the structure, the parallel institution platform has the advantages that load is large, structural rigidity is good, simple and reliable, development along with the Modern Electrical Drive technology, the parallel institution platform is transferred to by hydraulic-driven gradually and adopts servomotor motorized motions mode, have low in energy consumption, low noise, pollution-free, precision is high, the high characteristics of little load dynamic property.
Tradition parallel 3-DOF motion platform typical structure as shown in Figure 1, mainly be tilted to by upper rigid platfor, lower rigid platfor, three or vertical linear actuator (every actuator established up and down a hinge and be connected with upper lower platform), independently all around form with the constraint mechanism of going off course, because inclination or vertically arranged linear actuator per unit rectilinear path need the above actuator structure volume of 2 times of unit rectilinear paths at least, so the space availability ratio of traditional parallel 3-DOF motion platform vertical direction is lower, can't satisfy the low spatial platform application.
But in low-position platform game man-machine interaction application, drive the field at the low height spatial simulation, the two bar guide type Three-degree-of-freedom motion platforms of traditional a kind of low spatial are difficult to the platform total height is controlled at below the 300mm because of drives structure characteristics about it, refer to that carrying is greater than more than the 300KG, the support distribution circle is greater than 600mm, and stroke is greater than the motion platform of 100mm up and down.Product in the market, the design of the actuator that it is vertical can only can not realize continuous space control in the low precision operation of the low load of harmonic motion scope low speed, can not satisfy high-performance low spatial Three-degree-of-freedom motion platform needs.
Summary of the invention
The space availability ratio that technical problem to be solved by this invention provides a kind of vertical direction is higher, satisfies the Three-degree-of-freedom motion platform of low spatial platform application.
Technical scheme of the present invention is:
The two bar guide type Three-degree-of-freedom motion platforms of a kind of low spatial, comprise three groups of two bar horizontally-guided formula actuators, the lower platform rigid structural member, the upper mounting plate rigid structural member, every group of two bar horizontally-guided formula actuator comprise the power source that is arranged on the lower fixation kit and the transmission component of connection thereof, left bearing is passed respectively at the transmission component two ends and fixed bearing block is secondary, the secondary left side that connects of right bearing and fixed bearing block, right spindle gear, left, right spindle gear comprises respectively left screw mandrel and left feed screw nut pair, right screw mandrel and right feed screw nut pair, left, the right screw mandrel hand of spiral is opposite, be connected with respectively under the left connecting-rods with constant lengh hinge under the hinge and right connecting-rods with constant lengh on left feed screw nut pair and the right feed screw nut pair, under the left connecting-rods with constant lengh hinge be connected hinge under the connecting-rods with constant lengh and connect respectively the lower end of left connecting-rods with constant lengh and right connecting-rods with constant lengh, left connecting-rods with constant lengh be connected the upper end of connecting-rods with constant lengh and connect top mounting subassembly by left connecting-rods with constant lengh upper hinge and the connecting-rods with constant lengh upper hinge of being connected, the below of left feed screw nut pair and right feed screw nut pair is respectively arranged with left rail slide block and right guide rail slide block, left rail slide block and right guide rail slide block can slide in left line slideway that lower fixation kit arranges and right line slideway
Three groups of two bar horizontally-guided formula actuators are installed and are connected and support upper mounting plate rigid structural member and lower platform rigid structural member.
Every group of two bar horizontally-guided formula actuator, transmission component is Timing Belt synchronizing wheel assembly or turbine and worm assembly or chain kit or gear case assembly.
Every group of two bar horizontally-guided formula actuator, power source is motor or hydraulic motor or air motor.
Every group of two bar horizontally-guided formula actuator, the connecting-rods with constant lengh upper hinge is left connecting-rods with constant lengh upper hinge and the right connecting-rods with constant lengh upper hinge that arranges respectively.
Beneficial effect: the present invention is that the two bar guide type Three-degree-of-freedom motion platforms of a kind of low spatial adopt three groups of two bar horizontally-guided formula actuator driven, the spatial movement that every group of two bar horizontally-guided formula actuator are a kind of following length variations is trapezoidal, or a kind of spatial movement triangle of following length variations, no matter be the trapezoidal or motion triangle of motion, utilize movement characteristic that its following horizontal movement changes so that Dan Zushuan bar horizontally-guided formula actuator vertical space height utilization rate improves greatly.This means that this type Three-degree-of-freedom motion platform can be applicable to low level, low spatial platform game field of human-computer interaction, the low height spatial simulation is driven the field, this type platform is the version that simplifies the internal structure of an organization of deriving of 6-dof motion platform in parallel, can realize the reliability service of high performance-price ratio, high accuracy, large stroke, high-speed, high acceleration, Low Altitude Space when satisfying low spatial and using.
Description of drawings
Fig. 1 is existing Three-degree-of-freedom motion platform schematic diagram;
Fig. 2 is the structural representation of Dan Zushuan bar horizontally-guided formula actuator of the present invention;
Fig. 3 is structural representation of the present invention.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in the figure, the two bar guide type Three-degree-of-freedom motion platforms of a kind of low spatial, comprise three groups of two bar horizontally-guided formula actuators, the lower platform rigid structural member, the upper mounting plate rigid structural member, every group of two bar horizontally-guided formula actuators comprise the motor 20 that is arranged on the lower fixation kit 10 and the transmission component 19 of connection thereof, left bearing and fixed bearing block pair 11 are passed respectively in transmission component 19 two ends, right bearing and fixed bearing block secondary 1 connects left, right spindle gear, left, right spindle gear comprises respectively left screw mandrel 14 and left feed screw nut pair 12, right screw mandrel 4 and right feed screw nut pair 2, left, the right screw mandrel hand of spiral is opposite, be connected with respectively under the left connecting-rods with constant lengh hinge 6 under the hinge 16 and right connecting-rods with constant lengh on left feed screw nut pair 12 and the right feed screw nut pair 2, under the left connecting-rods with constant lengh hinge 16 be connected hinge 6 under the connecting-rods with constant lengh and connect respectively the lower end of left connecting-rods with constant lengh 17 and right connecting-rods with constant lengh 7, left connecting-rods with constant lengh 17 be connected the upper end of connecting-rods with constant lengh 7 and connect top mounting subassemblies 9 by left connecting-rods with constant lengh upper hinge 18 and the connecting-rods with constant lengh upper hinge 8 of being connected, the below of left feed screw nut pair 12 and right feed screw nut pair 2 is respectively arranged with left rail slide block 13 and right guide rail slide block 3, left rail slide block 13 and right guide rail slide block 3 can be in left line slideway 15 and the 5 interior slips of right line slideway of lower fixation kit 10 settings
Three groups of two bar horizontally-guided formula actuators are installed and are connected and support upper mounting plate rigid structural member 25 and lower platform rigid structural member 24.
Every group of two bar horizontally-guided formula actuator, its transmission component 19 types can be Timing Belt synchronizing wheel assembly, turbine and worm assembly, chain kit, gear case assembly.
Every group of two bar horizontally-guided formula actuator, its, power source can be that motor or hydraulic motor also can be air motors.
Every group of two bar horizontally-guided formula actuator, the connecting-rods with constant lengh upper hinge is left connecting-rods with constant lengh upper hinge 18 and the right connecting-rods with constant lengh upper hinge 8 that arranges respectively.Left connecting-rods with constant lengh upper hinge, right connecting-rods with constant lengh upper hinge unite two into one, and form the spatial movement triangle of a following length variations.
The Dan Zushuan bar horizontally-guided formula actuator course of work is: servomotor 20 output speeds and moment of torsion arrive left screw mandrel 14 and right screw mandrel 4 by transmission component 19 transferring rotational motion, left screw mandrel 14 and right screw mandrel 4 hands of spiral are opposite, and secondary 1 perfect rigidity of left bearing and fixed bearing block secondary 11 and right bearing and fixed bearing block is connected on the lower fixation kit 10, left like this screw mandrel 14, rotatablely moving of right screw mandrel 4 is converted into the left feed screw nut pair 12 of driving and simultaneously outside or inwardly motion of right feed screw nut pair 2, because left connecting-rods with constant lengh upper hinge 18, hinge 16 under the left connecting-rods with constant lengh, right connecting-rods with constant lengh upper hinge 8, hinge 6 has consisted of with four spatial movements without the formation of constraint hinge trapezoidal under the right connecting-rods with constant lengh, its top is left connecting-rods with constant lengh upper hinge 18 and right connecting-rods with constant lengh upper hinge 8 lines of centres, the left side is hinge 16 lines of centres under left connecting-rods with constant lengh upper hinge 18 and the left connecting-rods with constant lengh, the right is that hinge 8 line of centres length are changeless under right connecting-rods with constant lengh upper hinge 8 and the right connecting-rods with constant lengh, bottom be under the left connecting-rods with constant lengh under hinge 16 and the right connecting-rods with constant lengh length of hinge 6 lines of centres produce and move up and down with respect to the approximate of lower fixation kit 10 so drive top mounting subassembly 9 along with left feed screw nut pair 12 and right feed screw nut pair 2 outside or inside motion change simultaneously.
When above-mentioned three groups of two bar horizontally-guided formula actuators 21,22,23 horizontal plane adopt 120 degree angle distributing installations and connect support upper mounting plate rigid structural member 25 and lower platform rigid structural member 24 after (figure two), the two bar guide type Three-degree-of-freedom motion platforms of the two a kind of low spatials of bar horizontally-guided formula of low spatial just consisted of, the three groups pairs of bar horizontally-guided formula actuators 21,22,23 and lower platform rigid structural member 24, upper mounting plate rigid structural member 25 have formed complete kinematic constraint.
Dan Zushuan bar horizontally-guided formula actuator is that motor passes through the left and right sides screw mandrel that the transmission component transferring rotational motion arrives, the left and right sides screw mandrel hand of spiral is opposite, and the secondary perfect rigidity of left and right sides bearing and fixed bearing block is connected on the lower fixation kit, rotatablely moving of left and right sides screw mandrel directly drives the simultaneously outside or inwardly motion of left and right sides feed screw nut pair like this, cause the top mounting subassembly generation with respect to approximate the moving up and down (still having a direction to be in without the kinematic constraint state) of lower fixation kit, by left connecting-rods with constant lengh upper hinge, hinge under the left connecting-rods with constant lengh, right connecting-rods with constant lengh upper hinge, hinge then consists of with four spatial movements without the formation of constraint hinge trapezoidal under the right connecting-rods with constant lengh, its top (left and right sides connecting-rods with constant lengh upper hinge line of centres), the left side (left connecting-rods with constant lengh upper hinge, the hinge line of centres under the left connecting-rods with constant lengh), the right (right connecting-rods with constant lengh upper hinge, the hinge line of centres under the right connecting-rods with constant lengh) length is changeless, following (hinge under the left connecting-rods with constant lengh, the hinge line of centres under the right connecting-rods with constant lengh) length is variable.
Like this for Dan Zushuan bar horizontally-guided formula actuator, its principle is that the spatial movement of a following length variations is trapezoidal, left connecting-rods with constant lengh upper hinge, right connecting-rods with constant lengh upper hinge also can unite two into one, form the spatial movement triangle of a following length variations, no matter be the trapezoidal or motion triangle of motion, utilize movement characteristic that its following horizontal movement changes so that Dan Zushuan bar horizontally-guided formula actuator vertical space height utilization rate improves greatly, meaning that actuator can be installed in realizes significantly upper and lower displacement in the narrow height space, its upper and lower displacement amplitude and height space take than greater than 300%.When three groups of two bar horizontally-guided formula actuators (generally adopt 120 degree angles to distribute at horizontal plane) at a certain angle to install and connect support upper lower platform rigid structural member after, the two bar guide type Three-degree-of-freedom motion platforms of the two a kind of low spatials of bar horizontally-guided formula of low spatial have just consisted of, three groups of two bar horizontally-guided formula actuators and lower platform rigid structural member, when the upper mounting plate rigid structural member does not turn round at motor (when lower edge lengths is constant) form complete kinematic constraint
The two bar horizontally-guided formula Three-degree-of-freedom motion platforms of low spatial are Three-degree-of-freedom motion platforms of a kind of brand-new design, can when satisfying low spatial and using, realize the reliability service of high performance-price ratio, high accuracy, large stroke, high-speed, high acceleration, have widely market application potential.
Claims (4)
1. two bar guide type Three-degree-of-freedom motion platforms of a low spatial, comprise three groups of two bar horizontally-guided formula actuators, the lower platform rigid structural member, the upper mounting plate rigid structural member, it is characterized in that: every group of two bar horizontally-guided formula actuators comprise the power source (20) that is arranged on the lower fixation kit (10) and the transmission component (19) of connection thereof, left bearing and fixed bearing block secondary (11) are passed respectively in transmission component (19) two ends, right bearing and fixed bearing block secondary (1) connect left, right spindle gear, left, right spindle gear comprises respectively left screw mandrel (14) and left feed screw nut pair (12), right screw mandrel (4) and right feed screw nut pair (2), left, the right screw mandrel hand of spiral is opposite, be connected with respectively hinge (6) under hinge under the left connecting-rods with constant lengh (16) and the right connecting-rods with constant lengh on left feed screw nut pair (12) and the right feed screw nut pair (2), hinge under the left connecting-rods with constant lengh (16) be connected hinge (6) under the connecting-rods with constant lengh and connect respectively the lower end of left connecting-rods with constant lengh (17) and right connecting-rods with constant lengh (7)
Left connecting-rods with constant lengh (17) be connected the upper end of connecting-rods with constant lengh (7) and connect top mounting subassembly (9) by the connecting-rods with constant lengh upper hinge,
The below of left feed screw nut pair (12) and right feed screw nut pair (2) is respectively arranged with left rail slide block (13) and right guide rail slide block (3), left rail slide block (13) and right guide rail slide block (3) can slips in left line slideway (15) that lower fixation kit (10) arranges and right line slideway (5)
Three groups of two bar horizontally-guided formula actuators are installed and are connected and support upper mounting plate rigid structural member (25) and lower platform rigid structural member (24).
2. two bar guide type Three-degree-of-freedom motion platforms of low spatial according to claim 1, it is characterized in that: every group of two bar horizontally-guided formula actuator, transmission component (19) is Timing Belt synchronizing wheel assembly or turbine and worm assembly or chain kit or gear case assembly.
3. two bar guide type Three-degree-of-freedom motion platforms of low spatial according to claim 1, it is characterized in that: every group of two bar horizontally-guided formula actuator, power source (20) is motor or hydraulic motor or air motor.
4. two bar guide type Three-degree-of-freedom motion platforms of low spatial according to claim 1, it is characterized in that: every group of two bar horizontally-guided formula actuator, the connecting-rods with constant lengh upper hinge be left connecting-rods with constant lengh upper hinge (18) and the right connecting-rods with constant lengh upper hinge (8) of respectively setting.
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| CN106695759A (en) * | 2016-12-13 | 2017-05-24 | 九江精密测试技术研究所 | Three DOF (Degree of Freedom) parallel stable platform provided with symmetrical hybrid branches |
| CN107727375A (en) * | 2017-08-30 | 2018-02-23 | 江西昌河航空工业有限公司 | Motion loading device and method is used in a kind of propeller hub detection |
| CN108227517A (en) * | 2017-12-14 | 2018-06-29 | 李明泽 | Three Degree Of Freedom tilter |
| CN108581409A (en) * | 2018-05-07 | 2018-09-28 | 陈笑笑 | A kind of LED operating systems with the adjusting position function in perpendicular |
| CN110107228A (en) * | 2018-11-28 | 2019-08-09 | 四川电力送变电建设有限公司 | Hole digging machine depth feed arrangement |
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| CN102941571B (en) | 2015-04-15 |
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Denomination of invention: Low space dual pole guided three degree of freedom motion platform Effective date of registration: 20230803 Granted publication date: 20150415 Pledgee: Bank of China Wuxi Binhu sub branch Pledgor: WUXI IVOYAGE CONTROL TECHNOLOGY CO.,LTD. Registration number: Y2023980050831 |
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