CN102941571B - 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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- CN102941571B CN102941571B CN201210523635.0A CN201210523635A CN102941571B CN 102941571 B CN102941571 B CN 102941571B CN 201210523635 A CN201210523635 A CN 201210523635A CN 102941571 B CN102941571 B CN 102941571B
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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 platform of a kind of low spatial, belong to multifreedom motion simulator technology field.
Background technology
Three-degree-of-freedom motion platform is often referred to can the motion platform of virtual space three degree of freedom, such as, simulate in the translational motion of space Z-axis direction and the rotary motion around X, Y-axis.This kind of platform is in defense industrial sector and the extensive use of the civilian industry such as earthquake, traffic department such as drive simulating, cinema virtual reality, game man-machine interaction, weapons, boats and ships, space flight, aviation, electronics, higher relative to 6-dof motion platform cost performance, easy marketing, and safeguard that use cost is low, be easy to application.
Three-degree-of-freedom motion platform comprises three groups of executing agencies, hydraulic pressure, pneumatic or electronic mode can be adopted, point series, parallel and hybrid motion mechanism in structure, parallel institution platform has that load is large, structural rigidity good, simple and reliable feature, along with the development of Modern Electrical Drive technology, parallel institution platform is transferred to by hydraulic-driven gradually and adopts servomotor motorized motions mode, has low in energy consumption, low noise, the feature that pollution-free, precision is high, Smaller load dynamic property is high.
Conventional parallel Three-degree-of-freedom motion platform typical structure as shown in Figure 1, primarily of upper rigid platfor, lower rigid platfor, three tilt upward or vertical linear actuator (every actuator establishes a hinge to be connected with upper lower platform up and down), independently all around form with driftage constraint mechanism, because inclination or vertically arranged linear actuator per unit rectilinear path at least need the actuator structure volume of more than 2 times of per linear strokes, so the space availability ratio of conventional parallel Three-degree-of-freedom motion platform vertical direction is lower, low spatial platform application cannot be met.
But in low-position platform game man-machine interaction application, field is driven at low height spatial simulation, platform total height controls at below 300mm because its upper and lower drives structure feature is very difficult by the two bar guide type Three-degree-of-freedom motion platform of traditional a kind of low spatial, refer to that carrying is greater than more than 300KG, support distribution circle is greater than 600mm, and upper and lower stroke is greater than the motion platform of 100mm.Product in the market, the design of its vertical actuator can only run in the low precision of the low load of harmonic motion scope low speed, can not realize continuous space and control, can not meet 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 is to provide a kind of vertical direction is higher, meets 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 platform of a kind of low spatial, comprise three groups of two bar horizontally-guided formula actuators, lower platform rigid structural member, upper mounting plate rigid structural member, often the two bar horizontally-guided formula actuator of group comprises the transmission component being arranged on power source on lower fixation kit and connection thereof, transmission component two ends are each passed through left bearing and fixed bearing block is secondary, right bearing and fixed bearing block pair connect left, right spindle gear, left, right spindle gear comprises left screw mandrel and left feed screw nut pair respectively, right screw mandrel and right feed screw nut pair, left, the right screw mandrel hand of spiral is contrary, left feed screw nut pair and right feed screw nut pair to be connected under left connecting-rods with constant lengh hinge under hinge and right connecting-rods with constant lengh, under left connecting-rods with constant lengh, hinge and hinge under right connecting-rods with constant lengh are connected the lower end of left connecting-rods with constant lengh and right connecting-rods with constant lengh respectively, left connecting-rods with constant lengh is connected top mounting subassembly by left connecting-rods with constant lengh upper hinge with right connecting-rods with constant lengh upper hinge with the upper end of right connecting-rods with constant lengh, 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, slide in the left line slideway that left rail slide block and right guide rail slide block can be arranged on lower fixation kit 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.
The often two bar horizontally-guided formula actuator of group, transmission component is Timing Belt synchronizing wheel assembly or turbine and worm assembly or chain kit or gear case assembly.
The often two bar horizontally-guided formula actuator of group, power source is motor or hydraulic motor or air motor.
The often two bar horizontally-guided formula actuator of group, connecting-rods with constant lengh upper hinge is the left connecting-rods with constant lengh upper hinge and right connecting-rods with constant lengh upper hinge that arrange respectively.
Beneficial effect: the present invention is that the two bar guide type Three-degree-of-freedom motion platform of a kind of low spatial adopts three groups of two bar horizontally-guided formula actuator driven, often the two bar horizontally-guided formula actuator of group is that a kind of spatial movement 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 the movement characteristic of its following horizontal movement change that Dan Zushuan bar horizontally-guided formula actuator vertical space height utilization rate is improved 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, low height spatial simulation drives field, this type platform is the derivative version that simplifies the internal structure of an organization of 6-dof motion platform in parallel, can realize the reliability service of high performance-price ratio, high accuracy, Long Distances, high speed, high acceleration, Low Altitude Space while meeting low spatial application.
Accompanying drawing explanation
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.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in the figure, the two bar guide type Three-degree-of-freedom motion platform of a kind of low spatial, comprise three groups of two bar horizontally-guided formula actuators, lower platform rigid structural member, upper mounting plate rigid structural member, often the two bar horizontally-guided formula actuator of group comprises the motor 20 be arranged on lower fixation kit 10 and the transmission component 19 connected thereof, transmission component 19 two ends are each passed through left bearing and fixed bearing block pair 11, right bearing and fixed bearing block secondary 1 connect left, right spindle gear, left, right spindle gear comprises left screw mandrel 14 and left feed screw nut pair 12 respectively, right screw mandrel 4 and right feed screw nut pair 2, left, the right screw mandrel hand of spiral is contrary, left feed screw nut pair 12 and right feed screw nut pair 2 to be connected under left connecting-rods with constant lengh hinge 6 under hinge 16 and right connecting-rods with constant lengh, under left connecting-rods with constant lengh, hinge 16 and hinge 6 under right connecting-rods with constant lengh are connected the lower end of left connecting-rods with constant lengh 17 and right connecting-rods with constant lengh 7 respectively, left connecting-rods with constant lengh 17 is connected top mounting subassembly 9 by left connecting-rods with constant lengh upper hinge 18 with right connecting-rods with constant lengh upper hinge 8 with the upper end of right connecting-rods with constant lengh 7, 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, slide in the left line slideway 15 that left rail slide block 13 and right guide rail slide block 3 can be arranged on lower fixation kit 10 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.
The often two bar horizontally-guided formula actuator of group, its transmission component 19 type can be Timing Belt synchronizing wheel assembly, turbine and worm assembly, chain kit, gear case assembly.
The often two bar horizontally-guided formula actuator of group, it, power source can be motor or hydraulic motor also can be air motor.
The often two bar horizontally-guided formula actuator of group, connecting-rods with constant lengh upper hinge is the left connecting-rods with constant lengh upper hinge 18 and right connecting-rods with constant lengh upper hinge 8 that arrange 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.
Left screw mandrel 14 or the right screw mandrel 4 stroke two ends of often organizing two bar horizontally-guided formula actuator arrange a stroke inductive switch respectively, the extreme position of the left feed screw nut pair of inductive switch induction screw mandrel 12 and right feed screw nut pair 2, left feed screw nut pair 12 and right feed screw nut pair 2 arrange inside and outside limit travel block simultaneously.Inductive switch induced signal is used for left feed screw nut pair 12 and the protection of right feed screw nut pair 2 extreme position electric signal and zero-bit and judges, left feed screw nut pair 12 and right feed screw nut pair 2 arrange inside and outside limit travel block simultaneously, to avoid pair of nut slippage fault.
The Dan Zushuan bar horizontally-guided formula actuator course of work is: servomotor 20 output speed and moment of torsion pass through transmission component 19 transferring rotational motion to left screw mandrel 14 and right screw mandrel 4, left screw mandrel 14 and right screw mandrel 4 hand of spiral are contrary, and left bearing and fixed bearing block secondary 11 and right bearing and secondary 1 perfect rigidity of fixed bearing block are connected on lower fixation kit 10, left like this screw mandrel 14, the rotary motion of right screw mandrel 4 is converted into and drives left feed screw nut pair 12 and right feed screw nut pair 2 outwards or inwardly to move simultaneously, due to left connecting-rods with constant lengh upper hinge 18, hinge 16 under left connecting-rods with constant lengh, right connecting-rods with constant lengh upper hinge 8, under right connecting-rods with constant lengh, hinge 6 constitutes with four spatial movements without the formation of constraint hinge trapezoidal, its top and left connecting-rods with constant lengh upper hinge 18 and right connecting-rods with constant lengh upper hinge 8 line of centres, hinge 16 line of centres under the left side and left connecting-rods with constant lengh upper hinge 18 and left connecting-rods with constant lengh, under the right and right connecting-rods with constant lengh upper hinge 8 and right connecting-rods with constant lengh, hinge 8 line of centres length is changeless, below namely under left connecting-rods with constant lengh under hinge 16 and right connecting-rods with constant lengh the length of hinge 6 line of centres along with left feed screw nut pair 12 and right feed screw nut pair 2 outside or inside motion change simultaneously, move up and down so drive top mounting subassembly 9 to produce relative to lower the approximate of fixation kit 10.
After above-mentioned three groups of two bar horizontally-guided formula actuators 21,22,23 adopt 120 degree of angle distributing installations in the horizontal plane and connect support upper mounting plate rigid structural member 25 and lower platform rigid structural member 24, (figure bis-), the two bar guide type Three-degree-of-freedom motion platform of a kind of low spatial of the two bar horizontally-guided formula of low spatial just constitute, and three groups of two bar horizontally-guided formula actuators 21,22,23 and lower platform rigid structural member 24, upper mounting plate rigid structural member 25 define complete kinematic constraint.
Dan Zushuan bar horizontally-guided formula actuator is the left and right screw mandrel that motor is arrived by transmission component transferring rotational motion, the left and right screw mandrel hand of spiral is contrary, and left and right bearing and the secondary perfect rigidity of fixed bearing block are connected on lower fixation kit, the rotary motion Direct driver left and right feed screw nut pair of such left and right screw mandrel outwards or inwardly moves simultaneously, cause top mounting subassembly generation relative to approximate move up and down (the still having a direction to be in without kinematic constraint state) of lower fixation kit, by left connecting-rods with constant lengh upper hinge, hinge under left connecting-rods with constant lengh, right connecting-rods with constant lengh upper hinge, under right connecting-rods with constant lengh, hinge then forms with four spatial movements without the formation of constraint hinge trapezoidal, its top (the left and right connecting-rods with constant lengh upper hinge line of centres), the left side (left connecting-rods with constant lengh upper hinge, hinge centres line under left connecting-rods with constant lengh), the right (right connecting-rods with constant lengh upper hinge, hinge centres line under right connecting-rods with constant lengh) length is changeless, (hinge under left connecting-rods with constant lengh below, hinge centres line under 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 the movement characteristic of its following horizontal movement change that Dan Zushuan bar horizontally-guided formula actuator vertical space height utilization rate is improved greatly, mean that actuator can be arranged in narrow height space and realize significantly upper and lower displacement, its upper and lower displacement amplitude and height space take than being greater than 300%.When three groups of two bar horizontally-guided formula actuators (generally adopt 120 degree angles distributions in the horizontal plane) at a certain angle and install and connects support upper lower platform rigid structural member after, low spatial pair bar horizontally-guided formula one low spatial pair bar guide type Three-degree-of-freedom motion platform just constitutes, three groups of two bar horizontally-guided formula actuators and lower platform rigid structural member, upper mounting plate rigid structural member (when lower edge lengths is constant) when motor does not operate form complete kinematic constraint
The two bar horizontally-guided formula Three-degree-of-freedom motion platform of low spatial is a kind of Three-degree-of-freedom motion platform of brand-new design, the reliability service of high performance-price ratio, high accuracy, Long Distances, high speed, high acceleration can be realized while meeting low spatial application, there is market application potential widely.
Claims (4)
1. the two bar guide type Three-degree-of-freedom motion platform of low spatial, comprise three groups of two bar horizontally-guided formula actuators, lower platform rigid structural member, upper mounting plate rigid structural member, it is characterized in that: often the two bar horizontally-guided formula actuator of group comprises the power source (20) be arranged on lower fixation kit (10) and the transmission component (19) connected thereof, transmission component (19) two ends are each passed through left bearing and fixed bearing block pair (11), right bearing and fixed bearing block pair (1) connect left, right spindle gear, left, right spindle gear comprises left screw mandrel (14) and left feed screw nut pair (12) respectively, right screw mandrel (4) and right feed screw nut pair (2), left, the right screw mandrel hand of spiral is contrary, left feed screw nut pair (12) and right feed screw nut pair (2) to be connected under left connecting-rods with constant lengh hinge (6) under hinge (16) and right connecting-rods with constant lengh, under left connecting-rods with constant lengh, hinge (16) is connected the lower end of left connecting-rods with constant lengh (17) and right connecting-rods with constant lengh (7) respectively with hinge (6) under right connecting-rods with constant lengh,
Left connecting-rods with constant lengh (17) is connected top mounting subassembly (9) with the upper end of right connecting-rods with constant lengh (7) by 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 slide in the left line slideway (15) of the upper setting of lower fixation kit (10) and right line slideway (5)
Three groups of two bar horizontally-guided formula actuators are installed at a certain angle and are connected and support upper mounting plate rigid structural member (25) and lower platform rigid structural member (24).
2. the two bar guide type Three-degree-of-freedom motion platform of low spatial according to claim 1, it is characterized in that: the often two bar horizontally-guided formula actuator of group, transmission component (19) is Timing Belt synchronizing wheel assembly or turbine and worm assembly or chain kit or gear case assembly.
3. the two bar guide type Three-degree-of-freedom motion platform of low spatial according to claim 1, is characterized in that: the often two bar horizontally-guided formula actuator of group, and power source (20) is motor or hydraulic motor or air motor.
4. the two bar guide type Three-degree-of-freedom motion platform of low spatial according to claim 1, is characterized in that: the often two bar horizontally-guided formula actuator of group, connecting-rods with constant lengh upper hinge is the left connecting-rods with constant lengh upper hinge (18) and right connecting-rods with constant lengh upper hinge (8) that arrange respectively.
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| CN106695759B (en) * | 2016-12-13 | 2023-04-11 | 九江精密测试技术研究所 | Three-degree-of-freedom parallel stable platform with symmetrical parallel-serial 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 |
| CN108581409B (en) * | 2018-05-07 | 2019-08-02 | 绍兴市华获智能装备有限公司 | A kind of LED operating system with adjusting position function in perpendicular |
| CN110107228B (en) * | 2018-11-28 | 2021-04-06 | 四川电力送变电建设有限公司 | Deep feeding device of hole digging machine |
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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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