CN105818116A - Two-degree-of-freedom motion platform, three-degree-of-freedom motion platform, four-degree-of-freedom motion platform and six-degree-of-freedom motion platform used for analog simulation - Google Patents
Two-degree-of-freedom motion platform, three-degree-of-freedom motion platform, four-degree-of-freedom motion platform and six-degree-of-freedom motion platform used for analog simulation Download PDFInfo
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- CN105818116A CN105818116A CN201610356884.3A CN201610356884A CN105818116A CN 105818116 A CN105818116 A CN 105818116A CN 201610356884 A CN201610356884 A CN 201610356884A CN 105818116 A CN105818116 A CN 105818116A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
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Abstract
The invention discloses a two-degree-of-freedom motion platform, a three-degree-of-freedom motion platform, a four-degree-of-freedom motion platform and a six-degree-of-freedom motion platform used for analog simulation. According to the motion platforms, transmission is achieved in the mode that motors drive crank-connecting rod mechanisms, and various platform actions such as inclination, pitching, yawing, lifting and movement are achieved by combining the set number and positions of driving devices as well as the installation positions of connecting rods on the platforms. Compared with the prior art, restrictions on the height adjustment ranges and threshold values of traditional servo electric cylinders are overcome, the height adjustment ranges and height descending ranges of the platforms are improved, and thus the application ranges of the platforms are widened. Besides, speed reducers are arranged, so that the output torque, speed and accelerated speed can be adjusted according to working conditions, and the bearing capacity, speed and accelerated speed meet using requirements. Moreover, working noise is lowered, the service life is prolonged, the bearing capacity is improved, smooth motion of the mechanisms is guaranteed, and therefore the using performance of the motion platforms is improved, and the motion platforms can be more effectively applied in a wide range of fields.
Description
Technical field
The present invention relates to emulation platform technical field, particularly relate to a kind of two-freedom-degree motion platform for analog simulation, Three-degree-of-freedom motion platform, four-degree-of-freedom motion platform and 6-dof motion platform.
Background technology
Along with the development of industrial technology, in the multiple fields such as device emulation, remote job, scenario simulation game, introduce the motion platform of multiple degree of freedom more and more widely.Such as, by the simulation hull action on sea, the instrument performance preparing to be arranged on hull can be tested, in order to realize the analogue simulation of real working condition, improve accuracy and the safety of instrument test；The most such as, motion platform can imitate the action needed in gaming in conjunction with games, bring to games personnel and experience more really.
Existing multi-degree-of-freedom motion platform generally comprises platform, drives this platform to make the servo electric jar of different action, and controls the main control unit of this servo electric jar motion；Wherein, servo electric jar arranges multiple, and platform is in transmission connection with each servo electric jar, and forms fulcrum between the expansion link of servo electric jar and platform, by the height of each fulcrum of the telescopic adjustment of piston rod, to change the attitude of described platform.But, owing to the actuating speed of servo electric jar is relatively slow, acceleration is less and cannot adjust, and causes simulating the fluctuation such as sea or earthquake, instantaneous weight loss uniform acceleration scene faster, limits the scope of application of motion platform；Simultaneously, servo electric jar of the prior art needs to realize fulcrum height adjustment by the flexible of piston rod, then servo electric jar needs vertical direction to arrange, the height-limited flexible stroke in piston rod of fulcrum adjustment and the oneself height of servo electric jar, the lowest threshold causing platform to adjust height and height is all restricted, it is impossible to meet use demand；Further, since the structural constraint of servo electric jar, the operating noise also resulting in motion platform is relatively big, and service life is shorter, and load ability is poor, and to occur machinery stuck.
Therefore, a kind of two-freedom-degree motion platform for analog simulation, Three-degree-of-freedom motion platform, four-degree-of-freedom motion platform and 6-dof motion platform are provided, to the kind of drive of platform can be changed, thus the scope of application of expansion platform, improve height adjustment range and the height fall of platform, reduce operating noise, increase the service life, improve bearing capacity, ensure that mechanism kinematic is smooth, and then the serviceability of raising motion platform, it is allowed to realize more effectively application in widely field, just becomes those skilled in the art's problem demanding prompt solution.
Summary of the invention
It is an object of the invention to provide a kind of two-freedom-degree motion platform for analog simulation, Three-degree-of-freedom motion platform, four-degree-of-freedom motion platform and 6-dof motion platform, to the kind of drive of platform can be changed, thus the scope of application of expansion platform, improve height adjustment range and the height fall of platform, reduce operating noise, increase the service life, improve bearing capacity, ensure that mechanism kinematic is smooth, and then the serviceability of raising motion platform, it is allowed to realize more effectively application in widely field.
To achieve these goals, the present invention provides a kind of two-freedom-degree motion platform for analog simulation, including: pedestal, it is arranged at the platform above described pedestal, the driving means being installed between described pedestal and described platform, and is installed on the support bar between described pedestal and described platform；The lower end of described support bar is installed on described pedestal, and its upper end is universal with described platform at the 3rd fulcrum to be connected；
Described driving means includes the crank that the outfan of reductor that the output shaft of the motor being installed on pedestal and described motor is in transmission connection and described reductor is in transmission connection, and the connecting rod being connected away from one end of described motor with described crank, one end of described connecting rod is rotatably coupled with described crank with predetermined angle, and its other end is universal with described platform to be connected；
Described driving means is two groups, and the connecting rod of driving means described in one of which is connected at the first fulcrum with described platform, and another connecting rod organizing described driving means is connected at the second fulcrum with described platform；Described first fulcrum, described second fulcrum and described 3rd fulcrum form triangle on the platform.
Alternatively, described connecting rod is articulated with described crank.
Alternatively, described support bar universal with described platform is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke；Described connecting rod universal with described platform is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke.
The present invention provides a kind of Three-degree-of-freedom motion platform for analog simulation, including: pedestal, is arranged at the platform above described pedestal, and is installed on the driving means between described pedestal and described platform；
Described driving means includes the crank that the outfan of reductor that the output shaft of the motor being installed on pedestal and described motor is in transmission connection and described reductor is in transmission connection, and the connecting rod being connected away from one end of described motor with described crank, one end of described connecting rod is rotatably coupled with described crank with predetermined angle, and its other end is universal with described platform to be connected；
Described driving means is three groups, wherein described in first group, the connecting rod of driving means is connected at the first junction point with described platform, described in second group, the connecting rod of driving means is connected at the second junction point with described platform, and described in the 3rd group, the connecting rod of driving means is connected at the 3rd junction point with described platform；Described first junction point, described second junction point and described 3rd junction point form triangle on the platform.
Alternatively, the triangle that described first junction point, described second junction point and described 3rd junction point are formed on the platform is isosceles triangle, and the high line that described isosceles triangle is on base is positioned on the axis in the same direction of described platform.
Alternatively, described connecting rod is articulated with described crank.
Alternatively, one end of described connecting rod universal with described crank is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke, its other end pass through Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke hinged in one universal with described platform be connected.
The present invention provides a kind of four-degree-of-freedom motion platform for analog simulation, including: pedestal, is arranged at the platform above described pedestal, and is installed on the driving means between described pedestal and described platform；
Described driving means includes the crank that the outfan of reductor that the output shaft of the motor being installed on pedestal and described motor is in transmission connection and described reductor is in transmission connection, and the connecting rod being connected away from one end of described motor with described crank, one end of described connecting rod and described crank pivot joint or universal be connected, its other end is universal with described platform to be connected；
Described driving means is four groups, wherein described in first group, the connecting rod of driving means is connected at the first mount point with described platform, described in second group, the connecting rod of driving means is connected at the second mount point with described platform, described in 3rd group, the connecting rod of driving means is connected at the 3rd mount point with described platform, and described in the 4th group, the connecting rod of driving means is connected at the 4th mount point with described platform；Described first mount point, described second mount point, described 3rd mount point and described 4th mount point form tetragon on the platform.
Alternatively, one end of described connecting rod universal with described crank is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke, its other end pass through Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke hinged in one universal with described platform be connected.
The present invention provides a kind of 6-dof motion platform for analog simulation, including: pedestal, is arranged at the platform above described pedestal, and is installed on the driving means between described pedestal and described platform；
Described driving means includes the crank that the outfan of reductor that the output shaft of the motor being installed on pedestal and described motor is in transmission connection and described reductor is in transmission connection, and the connecting rod being connected away from one end of described motor with described crank, one end of described connecting rod is universal with described crank to be connected, and its other end is universal with described platform to be connected；
nullDescribed driving means is six groups，Wherein one end of the connecting rod of driving means described in first group and crank are connected the first lower node is universal，Its other end is universal at node on first with described platform to be connected，One end of the connecting rod of driving means described in second group and crank are connected the second lower node is universal，Its other end is universal at node on second with described platform to be connected，One end of the connecting rod of driving means described in 3rd group and crank are connected the 3rd lower node is universal，Its other end is universal at node on the 3rd with described platform to be connected，One end of the connecting rod of driving means described in 4th group is universal at the 4th lower node with crank to be connected，Its other end is universal at node on the 4th with described platform to be connected，One end of the connecting rod of driving means described in 5th group and crank are connected the 5th lower node is universal，Its other end is universal at node on the 5th with described platform to be connected，One end of the connecting rod of driving means described in 6th group and crank are connected the 6th lower node is universal，Its other end is universal at node on the 6th with described platform to be connected；
Described first lower node and described second lower node form the first lower node group, described 3rd lower node and described 4th lower node form the second lower node group, described 5th lower node and described 6th lower node form the 3rd lower node group, and described first lower node group, described second lower node group and the projection on described pedestal of the described 3rd lower node group form the first equilateral triangle；
On described second, on node and the described 3rd, node forms node group on first, on described 4th, on node and the described 5th, node forms node group on second, on described 6th, on node and described first, node forms node group on the 3rd, and node group on described first, in node group and the described 3rd, node group forms the second equilateral triangle on described second；
The described first equilateral triangle high line with described first lower node group as summit, it is the angle of 0 °-120 ° with the node group high line as summit on described first with described second equilateral triangle, the described first equilateral triangle high line with described second lower node group as summit, it is the angle of 0 °-120 ° with the node group high line as summit on described second with described second equilateral triangle, the described first equilateral triangle high line with described 3rd lower node group as summit, with the angle that described second equilateral triangle with the node group high line as summit on the described 3rd is 0 °-120 °.
Preferably, each described angle is 60 °.
Alternatively, one end of described connecting rod universal with described crank is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke, its other end pass through Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke hinged in one universal with described platform be connected.
The present invention provide for analog simulation two, three, four, 6-dof motion platform, the form of driven by motor toggle is all used to realize transmission, and the combination of quantity, position and the connecting rod installation site on platform is set by driving means, it is achieved inclination, pitching, go off course, lift, the kinds of platform action such as move；Compared with prior art, overcome height adjustment range and the threshold restriction of traditional servo electric cylinder, improve height adjustment range and the height fall of platform, thus extend the scope of application of platform；Further, by arranging reductor so that the big I of output torque, speed and acceleration adjusts according to working condition requirement, makes bearing capacity, speed and acceleration meet use demand；And reduce operating noise, extend service life, improve bearing capacity, it is ensured that mechanism kinematic is smooth, and then improve the serviceability of motion platform, enable to realize more effectively application in widely field.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of detailed description of the invention of two-freedom-degree motion platform provided by the present invention；
Fig. 2 is the top view of two-freedom-degree motion platform shown in Fig. 1；
Fig. 3 is the structural representation of a kind of detailed description of the invention of Three-degree-of-freedom motion platform provided by the present invention；
Fig. 4 is the top view of Three-degree-of-freedom motion platform shown in Fig. 3；
Fig. 5 is the structural representation of a kind of detailed description of the invention of four-degree-of-freedom motion platform provided by the present invention；
Fig. 6 is the top view of four-degree-of-freedom motion platform shown in Fig. 5；
Fig. 7 is the structural representation of a kind of detailed description of the invention of 6-dof motion platform provided by the present invention；
Fig. 8 is the top view of 6-dof motion platform shown in Fig. 7.
Description of reference numerals:
100-pedestal 200-platform 300-driving means 400-support bar
301-motor 302-reductor 303-crank 304-connecting rod
Detailed description of the invention
The core of the present invention is to provide a kind of two-freedom-degree motion platform for analog simulation, Three-degree-of-freedom motion platform, four-degree-of-freedom motion platform and 6-dof motion platform, to the kind of drive of platform can be changed, thus the scope of application of expansion platform, improve height adjustment range and the height fall of platform, reduce operating noise, increase the service life, improve bearing capacity, ensure that mechanism kinematic is smooth, and then the serviceability of raising motion platform, it is allowed to realize more effectively application in widely field.
Embodiments of the invention are described below in detail, and the example of described embodiment is shown in the drawings, and the most same or similar label represents same or similar element or has the element of same or like function.The embodiment described below with reference to accompanying drawing is exemplary, it is intended to is used for explaining the present invention, and is not considered as limiting the invention.
Embodiment 1
Refer to Fig. 1, Fig. 2, Fig. 1 is the structural representation of a kind of detailed description of the invention of two-freedom-degree motion platform provided by the present invention；Fig. 2 is the top view of two-freedom-degree motion platform shown in Fig. 1.
In this embodiment 1, the invention provides a kind of two-freedom-degree motion platform can realize platform 200 is carried out tilt adjustment, comprising: pedestal 100, be arranged at the platform 200 above described pedestal 100, the driving means 300 being installed between described pedestal 100 and described platform 200, and it is installed on the support bar 400 between described pedestal 100 and described platform 200；The lower end of described support bar 400 is installed on described pedestal 100, and its upper end is universal with described platform 200 at the 3rd fulcrum to be connected；Wherein, described driving means 300 includes the crank 303 that the outfan of reductor 302 that the output shaft of the motor 301 and described motor 301 being installed on pedestal 100 is in transmission connection and described reductor 302 is in transmission connection, and the connecting rod 304 being connected away from one end of described motor 301 with described crank 303, one end of described connecting rod 304 is rotatably coupled with described crank 303 with predetermined angle, and its other end is universal with described platform 200 to be connected.
Reductor 302 is set in driving means 300 output speed of motor 301 and torque can be adjusted to speed and the thrust meeting working condition, to ensure that bearing capacity, speed and acceleration under different simulated scenario adjust demand；From theory, driving means 300 can not include reductor 302, is now connected with crank 303 integral drive by the output shaft of motor 301.
In two-freedom-degree motion platform, described driving means 300 is two groups, the connecting rod 304 of driving means 300 described in one of which is connected at the first fulcrum with described platform 200, and another connecting rod 304 organizing described driving means 300 is connected at the second fulcrum with described platform 200；Described first fulcrum, described second fulcrum and described 3rd fulcrum form triangle on described platform 200.This triangle can be any form of triangle, it is also possible to be preferably isosceles triangle or equilateral triangle, to improve platform 200 stability during motion.
Owing to two degrees of freedom platform is without realizing rotating emulation, in order to reduce constructive difficulty, saving production cost, above-mentioned connecting rod 304 is articulated with described crank 303.It is apparent that connecting rod 304 and crank 303 can also use Hooks coupling universal coupling or Hooke is hinged etc. that mode realizes being rotationally connected.
Specifically, above-mentioned support bar 400 is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke is universal with described platform 200；Described connecting rod 304 is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke is universal with described platform 200.
In the course of the work, motor 301 rotates and passes through its output shaft output speed, and this output speed transmits to crank 303 through reductor 302, thus drives crank 303 to rotate around the connecting shaft between itself and reductor 302, swing with drivening rod 304, and drive platform 200 to do corresponding motion；When arbitrary group of driving means 300 is individually taken exercises, platform 200 can realize banking motion to the left or to the right, and when two groups of driving means 300 synchronize to take exercises, platform 200 can realize pitch motion.
Embodiment 2
Refer to Fig. 3, Fig. 4, Fig. 3 is the structural representation of a kind of detailed description of the invention of Three-degree-of-freedom motion platform provided by the present invention；Fig. 4 is the top view of Three-degree-of-freedom motion platform shown in Fig. 3.
In this embodiment 2, Three-degree-of-freedom motion platform for analog simulation provided by the present invention can realize platform 200 is carried out tilt adjustment and/or pitch regulation and/or lift adjustment, comprising: pedestal 100, be arranged at the platform 200 above described pedestal 100, and it is installed on the driving means 300 between described pedestal 100 and described platform 200；Wherein, described driving means 300 includes the crank 303 that the outfan of reductor 302 that the output shaft of the motor 301 and described motor 301 being installed on pedestal 100 is in transmission connection and described reductor 302 is in transmission connection, and the connecting rod 304 being connected away from one end of described motor 301 with described crank 303, one end of described connecting rod 304 is rotatably coupled with described crank 303 with predetermined angle, and its other end is universal with described platform 200 to be connected.
Reductor 302 is set in driving means 300 output speed of motor 301 and torque can be adjusted to speed and the thrust meeting working condition, to ensure that bearing capacity, speed and acceleration under different simulated scenario adjust demand；From theory, driving means 300 can not include reductor 302, is now connected with crank 303 integral drive by the output shaft of motor 301.
Described driving means 300 is three groups, wherein the connecting rod 304 of driving means 300 described in first group is connected at the first junction point with described platform 200, the connecting rod 304 of driving means 300 described in second group is connected at the second junction point with described platform 200, and described in the 3rd group, the connecting rod 304 of driving means 300 is connected at the 3rd junction point with described platform 200；Described first junction point, described second junction point and described 3rd junction point form triangle on described platform 200.This triangle can be any form of triangle, isosceles triangle or equilateral triangle can also be preferably, preferably, the triangle that described first junction point, described second junction point and described 3rd junction point are formed on described platform 200 is isosceles triangle, and the high line that described isosceles triangle is on base is positioned on the axis in the same direction of described platform 200, to improve platform 200 stability during motion.
Owing to 3-dimensional freedom platform is without realizing rotating emulation, in order to reduce constructive difficulty, saving production cost, above-mentioned connecting rod 304 is articulated with described crank 303.It is apparent that connecting rod 304 and crank 303 can also use Hooks coupling universal coupling or Hooke is hinged etc. that mode realizes being rotationally connected.
Specifically, one end of described connecting rod 304 universal with described crank 303 is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke, its other end pass through Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke hinged in one universal with described platform 200 be connected.
In the course of the work, motor 301 rotates and passes through its output shaft output speed, and this output speed transmits to crank 303 through reductor 302, thus drives crank 303 to rotate around the connecting shaft between itself and reductor 302, swing with drivening rod 304, and drive platform 200 to do corresponding motion；When arbitrary group of driving means 300 is moved or two groups of driving means 300 are synchronized with the movement, platform 200 can realize and elevating movement, when three groups of driving means 300 synchronize to take exercises, can realize the elevating movement of platform 200.
Embodiment 3
Refer to Fig. 5, Fig. 6, Fig. 5 is the structural representation of a kind of detailed description of the invention of four-degree-of-freedom motion platform provided by the present invention；Fig. 6 is the top view of four-degree-of-freedom motion platform shown in Fig. 5.
In this embodiment 3, four-degree-of-freedom motion platform for analog simulation provided by the present invention can realize platform 200 is carried out tilt adjustment and/or lift adjustment and/or pitch regulation, comprising: pedestal 100, be arranged at the platform 200 above described pedestal 100, and it is installed on the driving means 300 between described pedestal 100 and described platform 200；Wherein, described driving means 300 includes the crank 303 that the outfan of reductor 302 that the output shaft of the motor 301 and described motor 301 being installed on pedestal 100 is in transmission connection and described reductor 302 is in transmission connection, and the connecting rod 304 being connected away from one end of described motor 301 with described crank 303, one end of described connecting rod 304 and the pivot joint of described crank 303 or universal be connected, its other end is universal with described platform 200 to be connected.
Reductor 302 is set in driving means 300 output speed of motor 301 and torque can be adjusted to speed and the thrust meeting working condition, to ensure that bearing capacity, speed and acceleration under different simulated scenario adjust demand；From theory, driving means 300 can not include reductor 302, is now connected with crank 303 integral drive by the output shaft of motor 301.
Described driving means 300 is four groups, wherein the connecting rod 304 of driving means 300 described in first group is connected at the first mount point with described platform 200, the connecting rod 304 of driving means 300 described in second group is connected at the second mount point with described platform 200, described in 3rd group, the connecting rod 304 of driving means 300 is connected at the 3rd mount point with described platform 200, and described in the 4th group, the connecting rod 304 of driving means 300 is connected at the 4th mount point with described platform 200；Described first mount point, described second mount point, described 3rd mount point and described 4th mount point form tetragon on described platform 200.
Specifically, one end of described connecting rod 304 universal with described crank 303 is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke, its other end pass through Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke hinged in one universal with described platform 200 be connected.
In the course of the work, motor 301 rotates and passes through its output shaft output speed, and this output speed transmits to crank 303 through reductor 302, thus drives crank 303 to rotate around the connecting shaft between itself and reductor 302, swing with drivening rod 304, and drive platform to do corresponding motion；When adjacent two groups or three groups of driving means 300 are taken exercises, platform can realize pitching and banking motion, when four groups of driving means 300 synchronize to take exercises, can realize the elevating movement of platform.
Embodiment 4
Refer to Fig. 7, Fig. 8, Fig. 7 is the structural representation of a kind of detailed description of the invention of 6-dof motion platform provided by the present invention；Fig. 8 is the top view of 6-dof motion platform shown in Fig. 7.
In this embodiment 4,6-dof motion platform for analog simulation provided by the present invention can realize carrying out platform tilt adjustment, the combination in any of regulation, lift adjustment or these regulative modes is moved in pitch regulation, yaw adjustment, back and forth or left and right, comprising: pedestal 100, be arranged at the platform above described pedestal 100, and it is installed on the driving means 300 between described pedestal 100 and described platform；Wherein, described driving means 300 includes the crank 303 that the outfan of reductor 302 that the output shaft of the motor 301 and described motor 301 being installed on pedestal 100 is in transmission connection and described reductor 302 is in transmission connection, and the connecting rod 304 being connected away from one end of described motor 301 with described crank 303, one end of described connecting rod 304 is universal with described crank 303 to be connected, and its other end is universal with described platform 200 to be connected.
Reductor 302 is set in driving means 300 output speed of motor 301 and torque can be adjusted to speed and the thrust meeting working condition, to ensure that bearing capacity, speed and acceleration under different simulated scenario adjust demand；From theory, driving means 300 can not include reductor 302, is now connected with crank 303 integral drive by the output shaft of motor 301.
nullDescribed driving means 300 is six groups，Wherein one end of the connecting rod 304 of driving means 300 described in first group and crank 303 are connected the first lower node is universal，Its other end is universal at node on first with described platform 200 to be connected，One end of the connecting rod 304 of driving means 300 described in second group and crank 303 are connected the second lower node is universal，Its other end is universal at node on second with described platform 200 to be connected，One end of the connecting rod 304 of driving means 300 described in 3rd group and crank 303 are connected the 3rd lower node is universal，Its other end is universal at node on the 3rd with described platform 200 to be connected，One end of the connecting rod 304 of driving means 300 described in 4th group is universal at the 4th lower node with crank 303 to be connected，Its other end is universal at node on the 4th with described platform 200 to be connected，One end of the connecting rod 304 of driving means 300 described in 5th group and crank 303 are connected the 5th lower node is universal，Its other end is universal at node on the 5th with described platform 200 to be connected，One end of the connecting rod 304 of driving means 300 described in 6th group and crank 303 are connected the 6th lower node is universal，Its other end is universal at node on the 6th with described platform 200 to be connected；Described first lower node and described second lower node form the first lower node group, described 3rd lower node and described 4th lower node form the second lower node group, described 5th lower node and described 6th lower node form the 3rd lower node group, and described first lower node group, described second lower node group and the projection on described pedestal 100 of the described 3rd lower node group form the first equilateral triangle；On described second, on node and the described 3rd, node forms node group on first, on described 4th, on node and the described 5th, node forms node group on second, on described 6th, on node and described first, node forms node group on the 3rd, and node group on described first, in node group and the described 3rd, node group forms the second equilateral triangle on described second；
The described first equilateral triangle high line with described first lower node group as summit, it is the angle of 0 °-120 ° with the node group high line as summit on described first with described second equilateral triangle, the described first equilateral triangle high line with described second lower node group as summit, it is the angle of 0 °-120 ° with the node group high line as summit on described second with described second equilateral triangle, the described first equilateral triangle high line with described 3rd lower node group as summit, with the angle that described second equilateral triangle with the node group high line as summit on the described 3rd is 0 °-120 °.
Preferably, above-mentioned each angle is 60 °, the motion of mechanism can be made when angle is 60 ° the most smooth and easy and balance, have preferable exercise performance.
Specifically, one end of described connecting rod 304 universal with described crank 303 is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke, its other end pass through Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke hinged in one universal with described platform 200 be connected.
In the course of the work, by six groups of the most named first driving means of driving means 300 to the 6th driving means, when independent some driving means or adjacent two, three, four, five driving means motions time, platform 200 can be driven to realize or elevating movement, when six motors 301 are synchronized with the movement, and platform 200 can realize elevating movement；When the first driving means, the 3rd driving means and the 5th driving means are synchronized with the movement or the second driving means, four-drive device and the 6th driving means can realize platform 200 yawing rotation when being synchronized with the movement；When the first driving means with four-drive device is synchronized with the movement or the second driving means and the 5th driving means is synchronized with the movement or the 3rd driving means and the 6th driving means are synchronized with the movement, before and after platform 200 can be realized or move left and right motion, now, if four additional motor 301 is according to default algorithm motion, the left and right of platform 200 or movable motion can be realized.
The present invention provide for analog simulation two, three, four, 6-dof motion platform, motor 301 is all used to drive the form of toggle to realize transmission, and the combination of quantity, position and the connecting rod installation site on platform 200 is set by driving means, it is achieved inclination, pitching, go off course, lift, kinds of platform 200 action such as move；Compared with prior art, overcome height adjustment range and the threshold restriction of traditional servo electric cylinder, improve height adjustment range and the height fall of platform 200, thus extend the scope of application of platform 200；Further, by arranging reductor 302 so that the big I of output acceleration adjusts according to working condition requirement, makes acceleration meet use demand, and can adjust moment of torsion, to improve the bearing capacity of platform 200；And reduce operating noise, extend service life, improve bearing capacity, it is ensured that mechanism kinematic is smooth, and then improve the serviceability of motion platform, enable to realize more effectively application in widely field.
Should be understood that, described " universal connection " everywhere in literary composition refer to, with the junction point of associated components as initial point, it is possible to freely rotatable in all directions realize predetermined angle, this universal connection should be the rotation direction scope that common Hooks coupling universal coupling is i.e. capable of.
Preferably, above-mentioned involved reductor everywhere all can use planetary reducer or other kinds of reductor, if the speed change of being capable of, the effect of raising moment of torsion.
In describing the invention, it will be appreciated that, term " " center ", " longitudinally ", " laterally ", " length ", " width ", " thickness ", on " ", D score, " front ", " afterwards ", " left ", " right ", " vertically ", " level ", " push up ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axially ", " radially ", orientation or the position relationship of the instruction such as " circumferential " are based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or implicitly include one or more this feature.In describing the invention, " multiple " are meant that two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " is installed ", " being connected ", " connection ", the term such as " fixing " should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, or integral；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be connection or the interaction relationship of two elements of two element internals.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height less than second feature.
In the description of this specification, the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means that the specific features, structure, material or the feature that combine this embodiment or example description are contained at least one embodiment or the example of the present invention.In this manual, the schematic representation of above-mentioned term is necessarily directed to identical embodiment or example.And, the specific features of description, structure, material or feature can be to combine in one or more embodiments in office or example in an appropriate manner.Additionally, in the case of the most conflicting, the feature of the different embodiments described in this specification or example and different embodiment or example can be combined and combine by those skilled in the art.
Although above it has been shown and described that embodiments of the invention, it is understandable that, above-described embodiment is exemplary, it is impossible to be interpreted as limitation of the present invention, and above-described embodiment can be changed, revises, replace and modification by those of ordinary skill in the art within the scope of the invention.
Claims (12)
1. the two-freedom-degree motion platform for analog simulation, it is characterized in that, including: pedestal (100), the driving means (300) being arranged at the platform (200) above described pedestal (100), being installed between described pedestal (100) and described platform (200), and the support bar (400) being installed between described pedestal (100) and described platform (200)；The lower end of described support bar (400) is installed on described pedestal (100), and its upper end is universal with described platform (200) at the 3rd fulcrum to be connected；
Described driving means (300) includes the crank (303) that the outfan of reductor (302) that the output shaft of motor (301) and the described motor (301) being installed on pedestal (100) is in transmission connection and described reductor (302) is in transmission connection, and the connecting rod (304) being connected away from one end of described motor (301) with described crank (303), one end of described connecting rod (304) is rotatably coupled with described crank (303) with predetermined angle, and its other end is universal with described platform (200) to be connected；
Described driving means (300) is two groups, the connecting rod (304) of driving means described in one of which (300) is connected at the first fulcrum with described platform (200), and another connecting rod (304) organizing described driving means (300) is connected at the second fulcrum with described platform (200)；Described first fulcrum, described second fulcrum and described 3rd fulcrum form triangle on described platform (200).
Two-freedom-degree motion platform the most according to claim 1, it is characterised in that described connecting rod (304) is articulated with described crank (303).
Two-freedom-degree motion platform the most according to claim 2, it is characterised in that described support bar (400) universal with described platform (200) is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke；Described connecting rod (304) universal with described platform (200) is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke.
4. the Three-degree-of-freedom motion platform for analog simulation, it is characterized in that, including: pedestal (100), the platform (200) that is arranged at described pedestal (100) top, and the driving means (300) being installed between described pedestal (100) and described platform (200)；
Described driving means (300) includes the crank (303) that the outfan of reductor (302) that the output shaft of motor (301) and the described motor (301) being installed on pedestal (100) is in transmission connection and described reductor (302) is in transmission connection, and the connecting rod (304) being connected away from one end of described motor (301) with described crank (303), one end of described connecting rod (304) is rotatably coupled with described crank (303) with predetermined angle, and its other end is universal with described platform to be connected；
Described driving means (300) is three groups, wherein the connecting rod (304) of driving means (300) described in first group is connected at the first junction point with described platform, the connecting rod (304) of driving means (300) described in second group is connected at the second junction point with described platform, and the connecting rod (304) of driving means (300) described in the 3rd group is connected at the 3rd junction point with described platform；Described first junction point, described second junction point and described 3rd junction point form triangle on the platform.
Three-degree-of-freedom motion platform the most according to claim 4, it is characterized in that, the triangle that described first junction point, described second junction point and described 3rd junction point are formed on the platform is isosceles triangle, and the high line that described isosceles triangle is on base is positioned on the axis in the same direction of described platform.
Three-degree-of-freedom motion platform the most according to claim 5, it is characterised in that described connecting rod (304) is articulated with described crank (303).
Three-degree-of-freedom motion platform the most according to claim 5, it is characterized in that, one end of described connecting rod (304) universal with described crank (303) is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke, its other end pass through Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke hinged in one universal with described platform (200) be connected.
8. the four-degree-of-freedom motion platform for analog simulation, it is characterized in that, including: pedestal (100), the platform (200) that is arranged at described pedestal (100) top, and the driving means (300) being installed between described pedestal (100) and described platform (200)；
Described driving means (300) includes the crank (303) that the outfan of reductor (302) that the output shaft of motor (301) and the described motor (301) being installed on pedestal (100) is in transmission connection and described reductor (302) is in transmission connection, and the connecting rod (304) being connected away from one end of described motor (301) with described crank (303), one end of described connecting rod (304) and (303) pivot joint of described crank or universal be connected, its other end is universal with described platform (200) to be connected；
Described driving means (300) is four groups, wherein the connecting rod (304) of driving means (300) described in first group is connected at the first mount point with described platform (200), the connecting rod (304) of driving means (300) described in second group is connected at the second mount point with described platform (200), the connecting rod (304) of driving means (300) described in the 3rd group is connected at the 3rd mount point with described platform (200), the connecting rod (304) of driving means (300) described in the 4th group is connected at the 4th mount point with described platform (200)；Described first mount point, described second mount point, described 3rd mount point and described 4th mount point form tetragon on described platform (200).
Four-degree-of-freedom motion platform the most according to claim 8, it is characterized in that, one end of described connecting rod (304) universal with described crank (303) is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke, its other end pass through Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke hinged in one universal with described platform (200) be connected.
10. the 6-dof motion platform for analog simulation, it is characterized in that, including: pedestal, it is arranged at the platform (200) above described pedestal, and the driving means (300) being installed between described pedestal and described platform (200)；
Described driving means (300) includes the crank (303) that the outfan of reductor (302) that the output shaft of motor (301) and the described motor (301) being installed on pedestal is in transmission connection and described reductor (302) is in transmission connection, and the connecting rod (304) being connected away from one end of described motor (301) with described crank (303), one end of described connecting rod (304) is universal with described crank (303) to be connected, and its other end is universal with described platform (200) to be connected；
nullDescribed driving means (300) is six groups，Wherein one end of the connecting rod (304) of driving means (300) described in first group and crank (303) are connected the first lower node is universal，Its other end is universal at node on first with described platform (200) to be connected，One end of the connecting rod (304) of driving means (300) described in second group and crank (303) are connected the second lower node is universal，Its other end is universal at node on second with described platform (200) to be connected，One end of the connecting rod (304) of driving means (300) described in the 3rd group and crank (303) are connected the 3rd lower node is universal，Its other end is universal at node on the 3rd with described platform (200) to be connected，One end of the connecting rod (304) of driving means (300) described in the 4th group is universal at the 4th lower node with crank (303) to be connected，Its other end is universal at node on the 4th with described platform (200) to be connected，One end of the connecting rod (304) of driving means (300) described in the 5th group and crank (303) are connected the 5th lower node is universal，Its other end is universal at node on the 5th with described platform (200) to be connected，One end of the connecting rod (304) of driving means (300) described in the 6th group and crank (303) are connected the 6th lower node is universal，Its other end is universal at node on the 6th with described platform (200) to be connected；
Described first lower node and described second lower node form the first lower node group, described 3rd lower node and described 4th lower node form the second lower node group, described 5th lower node and described 6th lower node form the 3rd lower node group, and described first lower node group, described second lower node group and the projection on described pedestal (100) of the described 3rd lower node group form the first equilateral triangle；
On described second, on node and the described 3rd, node forms node group on first, on described 4th, on node and the described 5th, node forms node group on second, on described 6th, on node and described first, node forms node group on the 3rd, and node group on described first, in node group and the described 3rd, the projection on described pedestal (100) of the node group forms the second equilateral triangle on described second；
The described first equilateral triangle high line with described first lower node group as summit, it is the angle of 0 °-120 ° with the node group high line as summit on described first with described second equilateral triangle, the described first equilateral triangle high line with described second lower node group as summit, it is the angle of 0 °-120 ° with the node group high line as summit on described second with described second equilateral triangle, the described first equilateral triangle high line with described 3rd lower node group as summit, with the angle that described second equilateral triangle with the node group high line as summit on the described 3rd is 0 °-120 °.
11. 6-dof motion platforms according to claim 10, it is characterised in that each described angle is 60 °.
12. 6-dof motion platforms according to claim 10, it is characterized in that, one end of described connecting rod (304) universal with described crank (303) is connected by one in hinged of Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke, its other end pass through Hooks coupling universal coupling, flake spherical plain bearing rod end and Hooke hinged in one universal with described platform (200) be connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610356884.3A CN105818116A (en) | 2016-05-25 | 2016-05-25 | Two-degree-of-freedom motion platform, three-degree-of-freedom motion platform, four-degree-of-freedom motion platform and six-degree-of-freedom motion platform used for analog simulation |
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| CN201610356884.3A CN105818116A (en) | 2016-05-25 | 2016-05-25 | Two-degree-of-freedom motion platform, three-degree-of-freedom motion platform, four-degree-of-freedom motion platform and six-degree-of-freedom motion platform used for analog simulation |
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| CN105818116A true CN105818116A (en) | 2016-08-03 |
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