CN106963160A - A kind of four-freedom hybrid motion platform and dynamic simulating device - Google Patents
A kind of four-freedom hybrid motion platform and dynamic simulating device Download PDFInfo
- Publication number
- CN106963160A CN106963160A CN201710300294.3A CN201710300294A CN106963160A CN 106963160 A CN106963160 A CN 106963160A CN 201710300294 A CN201710300294 A CN 201710300294A CN 106963160 A CN106963160 A CN 106963160A
- Authority
- CN
- China
- Prior art keywords
- main body
- moving platform
- order moving
- freedom
- drive unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C7/00—Parts, details, or accessories of chairs or stools
- A47C7/002—Chair or stool bases
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C1/00—Chairs adapted for special purposes
- A47C1/02—Reclining or easy chairs
- A47C1/031—Reclining or easy chairs having coupled concurrently adjustable supporting parts
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C7/00—Parts, details, or accessories of chairs or stools
- A47C7/62—Accessories for chairs
Landscapes
- Health & Medical Sciences (AREA)
- Dentistry (AREA)
- General Health & Medical Sciences (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a kind of four-freedom hybrid motion platform and dynamic simulating device.The four-freedom hybrid motion platform includes base, 3-freedom parallel mechanism, low order moving platform, rotation serial mechanism and high-order moving platform, wherein, 3-freedom parallel mechanism includes at least three first drive components, and the first drive component includes the first linear drive unit, rotating connector and sliding part；Rotating serial mechanism includes the second linear drive unit, driving member and revolving part.One purposes of the four-freedom hybrid motion platform of the present invention is to be used for dynamic simulating device.
Description
Technical field
The present invention relates to lower-mobility motion platform field, more particularly, to a kind of four-freedom hybrid motion platform
And dynamic simulating device.
Background technology
Multi-degree-of-freedom motion platform is widely used in the fields such as industrial production, sensation simulation.For example, Three Degree Of Freedom and
The lower-mobility motion platform of four-degree-of-freedom has simple in construction, low cost, work empty relative to the motion platform of six degree of freedom
Between it is big the features such as, with more wide application prospect.
Platform is driven to move by the way of driver element bearing diagonal more than existing lower-mobility motion platform.Above-mentioned driving
Unit bearing diagonal refers to there is certain angle between the driving outbound course of driver element and base all the time.It is this to employ drive
The motion platform size of moving cell bearing diagonal is larger, and floor space is big.In addition, this motion for employing driver element bearing diagonal
Requirement of the platform to its building block is high, the problem of cost directly resulted in is higher.
The content of the invention
It is an object of the present invention to provide a kind of new solution of four-freedom hybrid motion platform.
There is provided a kind of four-freedom hybrid motion platform according to the first aspect of the invention.
The four-freedom hybrid motion platform includes base, 3-freedom parallel mechanism, low order moving platform, rotation cascade machine
Structure and high-order moving platform, wherein,
The 3-freedom parallel mechanism includes at least three first drive components, and first drive component includes first
Linear drive unit, rotating connector and sliding part；
First linear drive unit is arranged to vertically be arranged on the base, the described first linear drive
The drive output of moving cell, which is arranged to rotate with the sliding part by the rotating connector, to be connected, the sliding part quilt
It is set to be slidably connected with the low order moving platform；
The rotation serial mechanism includes the second linear drive unit, driving member and revolving part, second Linear Driving
Unit is arranged to be arranged on the low order moving platform, and the revolving part is arranged on the low order moving platform and the high-order is dynamic
Between platform；
The drive output of second linear drive unit is arranged to dynamic flat by the driving member and the high-order
Platform is connected, and to cause second linear drive unit to drive the high-order moving platform, the high-order moving platform passes through described
Revolving part rotates relative to the low order moving platform.
Alternatively, the rotating connector is spherical plain bearing rod end；
The rod end of the spherical plain bearing rod end is connected with the drive output of first linear drive unit, the bar
Hold the joint shaft socket end of oscillating bearing to rotate with the sliding part to be connected.
Alternatively, the 3-freedom parallel mechanism includes three the first drive components；
Straight line intersection where the glide direction of each sliding part in a bit, and the glide direction of the adjacent sliding part
Angle between the straight line at place is 120 °.
Alternatively, the sliding part includes lower main body and upper main body, wherein,
The lower main body, which is arranged to rotate with the rotating connector, to be connected, and the lower main body is provided with chute；
The upper main body is arranged to be fixedly connected with the low order moving platform, and the upper main body and the slide
Coordinate.
Alternatively, the sliding part also includes left limit arm, right limit arm, left bolster and right bolster, wherein,
The lower main body includes connector and cushion block, and the connector is rotated with the rotating connector and is connected, the company
Junctor is provided with cushion block mounting groove, and the cushion block is installed in the cushion block mounting groove, and the chute is located on the cushion block；
The two ends of the left limit arm and the right limit arm respectively with the upper main body are connected, the left limit arm and
The right limit arm is oppositely arranged with the lower main body；
The left bolster is connected with the left limit arm in face of the surface of the lower main body, with the main body edge on described
When the slide, the left bolster is contacted with the surface buffer of the lower main body；
The right bolster is connected with the right limit arm in face of the surface of the lower main body, with the main body edge on described
When the slide, the right bolster is contacted with the surface buffer of the lower main body.
Alternatively, the driving member includes fork and power transmission shaft, wherein,
The fork is connected with the drive output of second linear drive unit, and the fork is provided with transmission
Hole；
The power transmission shaft is arranged to be arranged on the high-order moving platform；
The end of the power transmission shaft is located in the driving hole, and hole of the diameter less than the driving hole of the power transmission shaft
Footpath.
Alternatively, the revolving part is bearing.
Alternatively, the 3-freedom parallel mechanism also includes support unit；
The support unit includes pinboard, fixture and buffer stopper, wherein,
First linear drive unit is arranged on the pinboard, and the pinboard is arranged on by the fixture
On the base, the buffer stopper is arranged to be used for the vibration that buffering is passed over from first linear drive unit.
Alternatively, each described first linear drive unit is arranged on the different support units.
There is provided a kind of dynamic simulating device according to the second aspect of the invention.
The dynamic simulating device includes the four-freedom hybrid motion platform of seat, pedal and the present invention, wherein,
The seat and pedal are installed on the high-order moving platform.
The 3-freedom parallel mechanism of four-freedom hybrid motion platform of the present invention passes through at least three first drive components
Realize the three-degree-of-freedom motion of four-freedom hybrid motion platform.Realize that four-freedom hybrid motion is flat by rotating serial mechanism
The rotary motion of platform.The four-freedom hybrid motion platform of the present invention can effectively reduce the volume of whole motion platform, favorably
In reducing cost.
By referring to the drawings to the detailed description of the exemplary embodiment of the present invention, further feature of the invention and its
Advantage will be made apparent from.
Brief description of the drawings
The accompanying drawing for being combined in the description and constituting a part for specification shows embodiments of the invention, and even
It is used for the principle for explaining the present invention together with its explanation.
Fig. 1 is the structural representation of four-freedom hybrid motion platform embodiment of the present invention.
Fig. 2 is Fig. 1 explosive view.
Fig. 3 is the structural representation of the sliding part embodiment of four-freedom hybrid motion platform of the present invention.
Fig. 4 is Fig. 3 explosive view.
Fig. 5 is real for the base, 3-freedom parallel mechanism and low order moving platform of four-freedom hybrid motion platform of the present invention
Apply the structural representation of example.
Fig. 6 is the low order moving platform, rotation serial mechanism and high-order moving platform of four-freedom hybrid motion platform of the present invention
The structural representation of embodiment.
Fig. 7 is Fig. 6 explosive view.
Fig. 8 is the structural representation of dynamic simulating device embodiment of the present invention.
Fig. 9 is Fig. 8 explosive view.
Indicated in figure as follows：
Base -1,3-freedom parallel mechanism -2, the first drive component -21, the first linear drive unit -211, the company of rotation
Fitting -212, sliding part -213, lower main body -2131, connector -21311, cushion block mounting groove -213110, cushion block -21312 are sliding
Groove -213120, upper main body -2132, left limit arm -2133, right limit arm -2134, left bolster -2135, right bolster -
2136, support unit -22, pinboard -221, fixture -222, buffer stopper -223, low order moving platform -3, rotation serial mechanism -
4, the second linear drive unit -41, driving member -42, fork -421, driving hole -4211, power transmission shaft -422, revolving part -43 are high
Rank moving platform -5, seat -6, pedal -7.
Embodiment
The various exemplary embodiments of the present invention are described in detail now with reference to accompanying drawing.It should be noted that：Unless had in addition
Body illustrates that the part and the positioned opposite of step, numerical expression and numerical value otherwise illustrated in these embodiments does not limit this
The scope of invention.
The description only actually at least one exemplary embodiment is illustrative below, never as to the present invention
And its any limitation applied or used.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as a part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
In order to solve the problem of lower-mobility motion platform is present, the invention provides a kind of motion of four-freedom hybrid is flat
Platform.
As shown in Figures 1 to 7, the four-freedom hybrid motion platform includes base 1,3-freedom parallel mechanism 2, low order
Moving platform 3, rotation serial mechanism 4 and high-order moving platform 5.
3-freedom parallel mechanism 2 includes at least three first drive components 21.According to demand, 3-freedom parallel mechanism
2 may include three the first drive components 21, or more than three the first drive components.
First drive component 21 includes the first linear drive unit 211, rotating connector 212 and sliding part 213.First Line
Property driver element 211 can realize the output of linear motion.First linear drive unit 211 may be, for example, electric cylinders or cylinder or hydraulic pressure
Cylinder etc..
First linear drive unit 211 is arranged to vertically be arranged on base 1.The vertical direction is typically referred to
Perpendicular to the direction for being used to install the surface of the first linear drive unit 211 of base 1.First linear drive unit 211 is the bottom of at
Mounting means on seat 1 mode such as can be bolted and realize.First linear drive unit 211 has drive output, should
Drive output refers to one end of linear motion output.The drive output of first linear drive unit 211 may be, for example, linear
The output shaft of motor.Vertically-mounted on base 1 by the first linear drive unit 211, the first linear drive unit 211 can
Export the linear motion along vertical direction.
The drive output of first linear drive unit 211 is arranged to by 213 turns of rotating connector 212 and sliding part
Dynamic connection.Rotating connector 212 may be, for example, candan universal joint or oscillating bearing etc..It is linear by rotating connector 212, first
Driver element 211 can drive sliding part 213 to realize rotational motion.
Sliding part 213 is arranged to be slidably connected with low order moving platform 3, so that sliding part 213 can be with the phase of low order moving platform 3
To sliding.Sliding part 213 generally has rotates the one end being connected with rotating connector 212, and slides company with low order moving platform 3
The one end connect.Being slidably connected between sliding part 213 and low order moving platform 3 can be sliding by setting chute on low order moving platform 3
One end of moving part 213 and the slide such as coordinate to realize at the mode.
The concrete shape structure of sliding part 213 can have multiple choices.For example, sliding part 213 has block-shaped main body, the bulk
Main body is provided with rotates the hanger being connected with rotating connector 213, and convex with the slide cooperation on low order moving platform 3
Rise.
First linear drive unit 211 is connected along vertical direction linear movement output with the first linear drive unit 211
The rotating connector 212 connect is driven by the linear motion that the first linear drive unit 211 is exported.Sliding part 213 is relative to quilt
The rotating connector 212 of driving is rotated.By the self-movement of multiple first drive components 21, it is slidably matched with sliding part 213
Low order moving platform 3 realize three-degree-of-freedom motion under the drive of sliding part 213.The three-degree-of-freedom motion bag of low order moving platform 3
Above and below including, left and right and move forward and backward.
When four-freedom hybrid motion platform is applied to dynamic simulating device, the three-degree-of-freedom motion of low order moving platform 3
Can be lifting, pitching and tumbling motion.
Rotating serial mechanism 4 includes the second linear drive unit 41, driving member 42 and revolving part 43.Second Linear Driving list
Member 41 can realize the output of linear motion.Second linear drive unit 41 may be, for example, electric cylinders or cylinder or hydraulic cylinder etc..
Second linear drive unit 41 is arranged to be arranged on low order moving platform 3.Second linear drive unit 41 is low
Mounting means on rank moving platform 3 mode such as can be bolted and realize.Second linear drive unit 41 can be directly mounted at
On low order moving platform 3, or, it is arranged on by mounting bracket on low order moving platform 3.Second linear drive unit 41 has driving
Output end, the drive output refers to one end of linear motion output.The drive output of second linear drive unit 41 can example
Such as it is the output shaft of linear electric machine.
Revolving part 43 is arranged between low order moving platform 3 and high-order moving platform 5.Revolving part 43 can be bearing or rotary shaft
Deng.Installation between revolving part 43 and low order moving platform 3 and high-order moving platform 5 is determined according to the concrete structure of revolving part 43.Example
Such as, when revolving part 43 is rotary shaft, one end of revolving part 43 is fixedly connected with low order moving platform 3, the other end of revolving part 43
Rotate and be connected with high-order moving platform 5.
The drive output of second linear drive unit 41 is arranged to high-order moving platform 5 be connected by driving member 42
Connect, to cause the second linear drive unit 41 to drive high-order moving platform 5.Now, high-order moving platform 5 is driven to：Pass through rotation
Part 43 rotates relative to low order moving platform 3.Driving member 43 can change the linear motion of the second linear drive unit 41
For the rotary motion of high-order moving platform 5.Driving member 43 may be, for example, fork or connecting rod etc..
Rotation serial mechanism 4 can realize the rotary motion of high-order moving platform 5, be transported with reference to the Three Degree Of Freedom of low order moving platform 3
It is dynamic, the four-degree-of-freedom motion of the high-order moving platform 5 of final achievable four-freedom hybrid motion platform.Above-mentioned four-degree-of-freedom motion
Including top to bottom, left and right, front and rear and rotary motion.
When four-freedom hybrid motion platform is applied to dynamic simulating device, the four-degree-of-freedom motion of high-order moving platform 5
Can be lifting, pitching, rolling and yawing rotation.
The 3-freedom parallel mechanism 2 of four-freedom hybrid motion platform of the present invention passes through at least three first drive components
21 realize the three-degree-of-freedom motion of four-freedom hybrid motion platform.Realize that four-freedom hybrid is transported by rotating serial mechanism 4
The rotary motion of moving platform.The four-freedom hybrid motion platform of the present invention can effectively reduce the volume of whole motion platform,
Advantageously reduce cost.
In addition, the Stability Analysis of Structures of four-freedom hybrid motion platform of the present invention, reliable, and four-degree-of-freedom can be simplified mix
The control algolithm of through transport moving platform athletic posture, obtains more accurately trajectory planning.
Alternatively, rotating connector 212 is spherical plain bearing rod end.The rod end of spherical plain bearing rod end and the first Linear Driving list
The drive output of member 21 is connected, and the joint shaft socket end of spherical plain bearing rod end is rotated with sliding part 213 to be connected.Rod end and first
Connection between linear drive unit 21 can be realized by modes such as welding or bolt connections.
Further, in order to protect spherical plain bearing rod end and sliding part 213, sleeve member can be set in sliding part 213.Lining
External member is made up of high-abrasive material.Sleeve member is arranged in the mounting hole that sliding part 213 is connected with spherical plain bearing rod end, namely
It is that sleeve member is located between sliding part 213 and spherical plain bearing rod end.Being provided with for sleeve member is beneficial to protection sliding part 213, and
Play a part of noise reduction.In addition, sleeve member also helps guarantee sliding part relative to spherical plain bearing rod end rotation amplitude.
Alternatively, 3-freedom parallel mechanism 2 includes three the first drive components 21.The slip of each first actuator 21
Straight line intersection where the glide direction of part 213 is in a bit, and between straight line where the glide direction of adjacent sliding part 213
Angle is 120 °.The glide direction of above-mentioned sliding part 213 refers to sliding part 213 relative to the direction that low order moving platform 3 is slided.This
It is the Stability Analysis of Structures of 3-freedom parallel mechanism 2 of kind of structure, reliable, and the control of the athletic posture of low order moving platform 3 can be simplified
Algorithm, obtains more accurately trajectory planning.
In one embodiment of four-freedom hybrid motion platform of the present invention, sliding part 213 includes the lower He of main body 2131
Upper main body 2132.The shape and structure of lower main body 2131 and upper main body 2132 can be set according to the actual requirements.For example, lower main body 2131
Block structure is respectively provided with upper main body 2132.Or, lower main body 2131 and upper main body 2132 are respectively provided with column structure.It should be noted that
, the term " on ", " under " in the present invention merely illustrates the relative position between each part of four-freedom hybrid motion platform
Put relation, without representing its position form in resulting devices, therefore when four-freedom hybrid motion platform is carried out displacement,
When overturning or be reverse, this relative position relation will not change.
Lower main body 2131, which is arranged to rotate with rotating connector 212, to be connected.When rotating connector 212 is rod end joint shaft
It can be provided with when holding, in lower main body 2131 and rotate the cavernous structure being connected with the joint shaft socket end of spherical plain bearing rod end.Lower main body
2131 are provided with chute 213120.
Upper main body 2132 is arranged to be fixedly connected with low order moving platform 3, and upper main body 2132 is slided with chute 213120
Coordinate.So, with low order moving platform 3 that upper main body 2132 is fixed together can with together with upper main body 2132 along chute
213120 slide relative to lower main body 2131.Between upper main body 2132 and low order moving platform 3 be fixedly connected can by welding or
The modes such as bolt connection are realized.Being slidably matched between upper main body 2132 and chute 213120 can be by convex in upper main body 2132
The realization that is slidably matched with chute 213120 is played, or, matched somebody with somebody by the outer surface and the slip of chute 213120 of upper main body 2132
Close and realize.
Sliding part 213 in the embodiment is slided flexibly, Stability Analysis of Structures, and reliability is high.
Further, sliding part 213 is also slow including left limit arm 2133, right limit arm 2134, left bolster 2135 and the right side
Stamping 2136.It should be noted that to merely illustrate four-freedom hybrid motion platform each for the term "left", "right" in the present invention
Relative position relation between part, without representing its position form in resulting devices, therefore when to four-freedom hybrid
Motion platform carry out displacement, upset or it is reverse when, this relative position relation will not change.
Lower main body 2131 includes connector 21311 and cushion block 21312.Connector 21311 is rotated with rotating connector 212 to be connected
Connect.Connector 21311 is provided with cushion block mounting groove 213110, and cushion block 21312 is installed in cushion block mounting groove 213110.Cushion block
21312 mounting means in cushion block mounting groove 213110 may be, for example, interference fit or bolt connection etc..Chute 213120
In on cushion block 21312.Connector 21311 and being provided with for cushion block 21312 are beneficial to more easily assemble sliding part 213, it is ensured that sliding
The structural stability of moving part 213.
The two ends of left limit arm 2133 and right limit arm 2134 respectively with upper main body 2132 are connected, the He of left limit arm 2133
Right limit arm 2134 is oppositely arranged with lower main body 2131.Connection between left and right position limit arm and upper main body 2132 can be connected by bolt
Connect or the mode such as pin connection is realized.Left limit arm 2133 and right limit arm 2134 can play the sliding stroke of the upper main body 2132 of limitation
Effect.
Left bolster 2135 is connected with left limit arm 2133 in face of the surface of lower main body 2131, with the upper edge of main body 2132
When the slip of chute 213120, left bolster 2135 is contacted with the surface buffer of lower main body 2131.When upper main body 2132 is in chute
When left bolster 2135 is slid into 213120 being in contact with the surface of lower main body 2131, elasticity occurs for the left stress of bolster 2135
Deformation, so as to play protection sliding part 213, it is to avoid produce the effect of abnormal sound.In addition, left bolster 2135 also advantageously improves four
Free degree series parallel movement platform traveling comfort.Above-mentioned snubber contact refers to the surface of left bolster 2135 and lower main body 2131
When being in contact, elastic deformation occurs for left bolster 2135, the scattered decrease of power that lower main body 2131 is subject to.
Right bolster 2136 is connected with right limit arm 2134 in face of the surface of lower main body 2131, with the upper edge of main body 2132
When the slip of chute 213120, right bolster 2136 is contacted with the surface buffer of lower main body 2131.When upper main body 2132 is in chute
When right bolster 2136 is slid into 213120 being in contact with the surface of lower main body 2131, elasticity occurs for the right stress of bolster 2136
Deformation, so as to play protection sliding part 213, it is to avoid produce the effect of abnormal sound.In addition, right bolster 2136 also advantageously improves four
Free degree series parallel movement platform traveling comfort.Above-mentioned snubber contact refers to the surface of right bolster 2136 and lower main body 2131
When being in contact, elastic deformation occurs for right bolster 2136, the scattered decrease of power that lower main body 2131 is subject to.
When it is implemented, left bolster 2135 and right bolster 2136 are generally made up of elastomeric material, such as rubber or silicon
Glue etc..The shape and structure of left bolster 2135 and right bolster 2136 can be set according to the actual requirements.For example, left bolster 2135
There is truncated conical shape with right bolster 2136, the less bottom surface of area of the truncated cones faces lower main body 2131.And example
Such as, left bolster 2135 and right bolster 2136 have cylindrical shape.For another example left bolster 2135 and right bolster 2136 have
There are blob-like shapes.Generally, left bolster 2135 and right bolster 2136 are symmetrical arranged.
Sliding part 213 in the embodiment is slided flexibly, Stability Analysis of Structures, and reliability is high.
In another embodiment of four-freedom hybrid motion platform of the present invention, driving member 42 includes fork 421 and passed
Moving axis 4211.
Fork 421 is connected with the drive output of the second linear drive unit 41.The Linear Driving list of fork 421 and second
Connection between the drive output of member 41 mode such as can be connected through a screw thread or weld and realize.Fork 421 is provided with driving hole
4211。
Power transmission shaft 422 is arranged to be arranged on high-order moving platform 5.Installation between power transmission shaft 422 and high-order moving platform 5
The mode such as it can be connected through a screw thread or weld to realize.When it is implemented, power transmission shaft 422 may be, for example, installed in high-order moving platform 5
On screw, the head of the screw is towards driving hole 4211.Or, power transmission shaft 422 may be, for example, to be plugged on high-order moving platform 5
Pin-shaped structure.
The end of power transmission shaft 422 is located in driving hole 4211, and hole of the diameter less than driving hole 4211 of power transmission shaft 422
Footpath.So, when fork 421 is driven by the second linear drive unit 41, fork 421 be moved to the inwall of driving hole 4211 with
Power transmission shaft 4211 is in contact, so that fork 421 applies pressure to the high-order moving platform 5 for being provided with power transmission shaft 422.Pass through revolving part
42, the stress of high-order moving platform 5 rotates relative to low order moving platform 3.
By selecting the relative position of fork 421 and power transmission shaft 422, and power transmission shaft 422 diameter and driving hole 4211
Aperture between difference, can control the anglec of rotation of high-order moving platform 5.
The Stability Analysis of Structures of rotation serial mechanism 4 of this structure, reliable, cost is relatively low.And it is mixed to simplify four-degree-of-freedom
The control algolithm of through transport moving platform athletic posture, obtains more accurately trajectory planning.
Alternatively, revolving part 43 is bearing.The flexible rotation of revolving part 43 of bearing-type, reliability is high.
In another embodiment of four-freedom hybrid motion platform of the present invention, 3-freedom parallel mechanism 2 also includes
Support unit 22.
Support unit 22 includes pinboard 221, fixture 52 and buffer stopper 223.First linear drive unit 211 is arranged on
On pinboard 221.First linear drive unit 211 can be fixedly connected by its stator with pinboard 221, and above-mentioned be fixedly connected can
Realized by modes such as welding or bolt connections.Pinboard 221 is arranged on base 1 by fixture 222.Fixture 222 can
For example, bolt or screw rod etc..
When it is implemented, welded nut can be set on pinboard 221, by between fixture 222 and welded nut
Screw thread coordinates, and pinboard 221 and fixture 222 are linked together；And pass through fixture 222 and the spiral shell of the mounting hole of base 1
Line coordinates, and pinboard 221 is arranged on base 1.
Buffer stopper 223 is arranged to be used for the vibration that buffering is passed over from the first linear drive unit 211, is subtracted with playing
The effect shaken.Buffer stopper 223 may be provided between pinboard 221 and base 1.Buffer stopper 223 is generally by being, for example, rubber etc.
Elastomeric material is made.The vibration that first linear drive unit 211 is passed over may include the first linear drive unit 211 itself
Shaking when vibration and high-order moving platform 5 when vibration, the vibration of the second linear drive unit 41, low order moving platform 3 are moved are moved
Move.
Support unit 22 be provided with beneficial to improve the present invention four-freedom hybrid motion platform structure stability and
Reliability.
When it is implemented, the first all linear drive units 211 can be arranged on same support unit 22.It that is to say,
The first all linear drive units 211 is arranged on same pinboard 221.
Or, can be set with the quantity identical support unit 22 of the first linear drive unit 211, each is first linear
Driver element 211 is arranged on different support units 22.It that is to say, each first linear drive unit 211 is arranged on not
On same pinboard 221.Each support unit 22 is respectively provided with independent pinboard 221, fixture 222 and buffer stopper 223.Often
One the first linear drive unit 211, which is arranged on different pinboards 221, to be conducive to further strengthening the effect of vibration damping.
Below, by taking the specific embodiment shown in Fig. 2 as an example, the four-freedom hybrid motion platform of the present invention is illustrated：
As shown in Figure 2, the four-freedom hybrid motion platform is moved including base 1,3-freedom parallel mechanism 2, low order
Platform 3, rotation serial mechanism 4 and high-order moving platform 5.
3-freedom parallel mechanism 2 includes three the first drive components 21 and three support units 22.First drive component
21 include the first linear drive unit 211, rotating connector 212 and sliding part 213.First linear drive unit 211 is set
To be vertically arranged on base 1.Rotating connector 212 is spherical plain bearing rod end.The rod end of spherical plain bearing rod end and
The drive output of one linear drive unit 21 is connected, and the oscillating bearing of spherical plain bearing rod end is connected with sliding part 213.
Sliding part 213 includes lower main body 2131, upper main body 2132, left limit arm 2133, right limit arm 2134, left bolster
2135 and right bolster 2136.Lower main body 2131 includes connector 21311 and cushion block 21312.Connector 21311 is connected with rotating
Part 212 rotates connection.Connector 21311 is provided with cushion block mounting groove 213110, and cushion block 21312 is installed on cushion block mounting groove
In 213110.Upper main body 2132 is arranged to be fixedly connected with low order moving platform 3, and upper main body 2132 is slided with chute 213120
Coordinate.The two ends of left limit arm 2133 and right limit arm 2134 respectively with upper main body 2132 are connected, left limit arm 2133 and the right side
Position limit arm 2134 is oppositely arranged with lower main body 2131.Left bolster 2135 faces the surface of lower main body 2131 with left limit arm 2133
It is connected, with when upper main body 2132 is slided along chute 213120, left bolster 2135 and the surface buffer of lower main body 2131
Contact.Right bolster 2136 and right limit arm 2134 are connected in face of the surface of lower main body 2131, with upper main body 2132 along
When chute 213120 is slided, right bolster 2136 is contacted with the surface buffer of lower main body 2131.Left bolster 2135 and right buffering
Part 2136 has truncated conical shape.
Straight line intersection where the glide direction of the upper main body 2132 of each first drive component 21 in a bit, and it is adjacent on
The angle between straight line where the glide direction of main body 2132 is 120 °.
Support unit 22 includes pinboard 221, fixture 52 and buffer stopper 223.Each first linear drive unit 211 is pacified
On different pinboards 221.Pinboard 221 is arranged on base 1 by fixture 222.Buffer stopper 223 is arranged on switching
Between plate 221 and base 1, to play a part of vibration damping.
Rotating serial mechanism 4 includes the second linear drive unit 41, driving member 42 and revolving part 43.Second Linear Driving list
Member 41 is arranged to be arranged on low order moving platform 3.Revolving part 43 is bearing, and it is arranged on low order moving platform 3 and high-order is dynamic flat
Between platform 5.
Driving member 42 includes fork 421 and power transmission shaft 4211.The driving output of the linear drive unit 41 of fork 421 and second
End is connected.Power transmission shaft 422 is arranged to be arranged on high-order moving platform 5.The end of power transmission shaft 422 is located at driving hole 4211
It is interior, and aperture of the diameter less than driving hole 4211 of power transmission shaft 422.
First linear drive unit 211 is connected along vertical direction linear movement output with the first linear drive unit 211
The rotating connector 212 connect is driven by the linear motion that the first linear drive unit 211 is exported.The lower main body of sliding part 213
2131 rotate relative to powered rotating connector 212, and lower main body 2131 drives upper main body 2132 to be slided along chute 213120
It is dynamic.When upper main body 2132 is slided in chute 213120, left bolster 2135 and right bolster 2136 can be with lower main bodys 2131
Surface be in contact.
The drive output of second linear drive unit 41 is arranged to transmit power by fork 421 and power transmission shaft 422
To high-order moving platform 5.By revolving part 43, high-order moving platform 5 rotates relative to low order moving platform 3.
By the self-movement of multiple first drive components 21, the low order moving platform 3 being fixedly connected with upper main body 2132 exists
Three-degree-of-freedom motion is realized under the drive of sliding part 213.The three-degree-of-freedom motion of low order moving platform 3 include above and below, left and right and it is preceding
After move.The rotary motion of high-order moving platform 5 can be realized by rotating serial mechanism 4.High-order moving platform 5 can realize four-degree-of-freedom
Motion, including top to bottom, left and right, front and rear and rotary motion.
As shown in Figure 8 and Figure 9, present invention also offers a kind of dynamic simulating device.
The dynamic simulating device includes the four-freedom hybrid motion platform of seat 6, pedal 7 and the present invention.
Seat 6 and pedal 7 are installed on high-order moving platform 5.Seat 6 and pedal 7 are installed on high-order moving platform 5
Mode can be realized by mode well known in the art, for example, being realized by way of bolt is installed.The setting of pedal 7 is favourable
In innervation experiencing person more easily seat seat 6.Further can be set on seat 6 has safety belt.
Below, by taking the specific embodiment shown in Fig. 9 as an example, the dynamic simulating device of the present invention is illustrated：
As shown in Figure 9, the dynamic simulating device includes base 1,3-freedom parallel mechanism 2, low order moving platform 3, rotation
Turn serial mechanism 4, high-order moving platform 5, seat 6 and pedal 7.
3-freedom parallel mechanism 2 includes three the first drive components 21.First drive component 21 includes the first linear drive
Moving cell 211, rotating connector 212 and sliding part 213.First linear drive unit 211 is arranged to vertically install
On base 1.Rotating connector 212 is spherical plain bearing rod end.The rod end of spherical plain bearing rod end and the first linear drive unit 21
Drive output be connected, the oscillating bearing of spherical plain bearing rod end is connected with sliding part 213.
Sliding part 213 includes lower main body 2131, upper main body 2132, left limit arm 2133, right limit arm 2134, left bolster
2135 and right bolster 2136.Lower main body 2131 includes connector 21311 and cushion block 21312.Connector 21311 is connected with rotating
Part 212 rotates connection.Connector 21311 is provided with cushion block mounting groove 213110, and cushion block 21312 is installed on cushion block mounting groove
In 213110.Upper main body 2132 is arranged to be fixedly connected with low order moving platform 3, and upper main body 2132 is slided with chute 213120
Coordinate.The two ends of left limit arm 2133 and right limit arm 2134 respectively with upper main body 2132 are connected, left limit arm 2133 and the right side
Position limit arm 2134 is oppositely arranged with lower main body 2131.Left bolster 2135 faces the surface of lower main body 2131 with left limit arm 2133
It is connected, with when upper main body 2132 is slided along chute 213120, left bolster 2135 and the surface buffer of lower main body 2131
Contact.Right bolster 2136 and right limit arm 2134 are connected in face of the surface of lower main body 2131, with upper main body 2132 along
When chute 213120 is slided, right bolster 2136 is contacted with the surface buffer of lower main body 2131.Left bolster 2135 and right buffering
Part 2136 has truncated conical shape.
Straight line intersection where the glide direction of the upper main body 2132 of each first drive component 21 in a bit, and it is adjacent on
The angle between straight line where the glide direction of main body 2132 is 120 °.
Support unit 22 includes pinboard 221, fixture 52 and buffer stopper 223.Each first linear drive unit 211 is pacified
On different pinboards 221.Pinboard 221 is arranged on base 1 by fixture 222.Buffer stopper 223 is arranged on switching
Between plate 221 and base 1, to play a part of vibration damping.
Rotating serial mechanism 4 includes the second linear drive unit 41, driving member 42 and revolving part 43.Second Linear Driving list
Member 41 is arranged to be arranged on low order moving platform 3.Revolving part 43 is bearing, and it is arranged on low order moving platform 3 and high-order is dynamic flat
Between platform 5.
Driving member 42 includes fork 421 and power transmission shaft 4211.The driving output of the linear drive unit 41 of fork 421 and second
End is connected.Power transmission shaft 422 is arranged to be arranged on high-order moving platform 5.The end of power transmission shaft 422 is located at driving hole 4211
It is interior, and aperture of the diameter less than driving hole 4211 of power transmission shaft 422.
Seat 6 and pedal 7 are installed on high-order moving platform 5.
First linear drive unit 211 is connected along vertical direction linear movement output with the first linear drive unit 211
The rotating connector 212 connect is driven by the linear motion that the first linear drive unit 211 is exported.The lower main body of sliding part 213
2131 rotate relative to powered rotating connector 212, and lower main body 2131 drives upper main body 2132 to be slided along chute 213120
It is dynamic.When upper main body 2132 is slided in chute 213120, left bolster 2135 and right bolster 2136 can be with lower main bodys 2131
Surface be in contact.
The drive output of second linear drive unit 41 is arranged to transmit power by fork 421 and power transmission shaft 422
To high-order moving platform 5.By revolving part 43, high-order moving platform 5 rotates relative to low order moving platform 3.
By the self-movement of multiple first drive components 21, the low order moving platform 3 being slidably matched with sliding part 213 is in cunning
Three-degree-of-freedom motion is realized under the drive of moving part 213.The three-degree-of-freedom motion of low order moving platform 3 include above and below, left and right and it is front and rear
Motion.The yawing rotation of the seat 6 on high-order moving platform 5 can be realized by rotating serial mechanism 4.
Seat 6 on high-order moving platform 5 can realize lifting, pitching, rolling and driftage four-degree-of-freedom motion.
Although some specific embodiments of the present invention are described in detail by example, the skill of this area
Art personnel are it should be understood that example above is merely to illustrate, the scope being not intended to be limiting of the invention.The skill of this area
Art personnel to above example it should be understood that can modify without departing from the scope and spirit of the present invention.This hair
Bright scope is defined by the following claims.
Claims (10)
1. a kind of four-freedom hybrid motion platform, it is characterised in that dynamic flat including base, 3-freedom parallel mechanism, low order
Platform, rotation serial mechanism and high-order moving platform, wherein,
The 3-freedom parallel mechanism includes at least three first drive components, and it is linear that first drive component includes first
Driver element, rotating connector and sliding part；
First linear drive unit is arranged to vertically be arranged on the base, the first Linear Driving list
The drive output of member, which is arranged to rotate with the sliding part by the rotating connector, to be connected, and the sliding part is set
To be slidably connected with the low order moving platform；
The rotation serial mechanism includes the second linear drive unit, driving member and revolving part, second linear drive unit
It is arranged to be arranged on the low order moving platform, the revolving part is arranged on the low order moving platform and the high-order moving platform
Between；
The drive output of second linear drive unit is arranged to by the driving member and the high-order moving platform phase
Connection, to cause second linear drive unit to drive the high-order moving platform, the high-order moving platform passes through the rotation
Part rotates relative to the low order moving platform.
2. four-freedom hybrid motion platform according to claim 1, it is characterised in that the rotating connector is rod end
Oscillating bearing；
The rod end of the spherical plain bearing rod end is connected with the drive output of first linear drive unit, and the rod end is closed
The joint shaft socket end of bearings is rotated with the sliding part and is connected.
3. four-freedom hybrid motion platform according to claim 1, it is characterised in that the 3-freedom parallel mechanism
Including three the first drive components；
Straight line intersection where the glide direction of each sliding part is in a bit, and where the glide direction of the adjacent sliding part
Straight line between angle be 120 °.
4. the four-freedom hybrid motion platform according to any one of claims 1 to 3, it is characterised in that the slip
Part includes lower main body and upper main body, wherein,
The lower main body, which is arranged to rotate with the rotating connector, to be connected, and the lower main body is provided with chute；
The upper main body is arranged to be fixedly connected with the low order moving platform, and the upper main body is matched somebody with somebody with the slide
Close.
5. four-freedom hybrid motion platform according to claim 4, it is characterised in that the sliding part also includes left limit
Position arm, right limit arm, left bolster and right bolster, wherein,
The lower main body includes connector and cushion block, and the connector is rotated with the rotating connector and is connected, the connector
Cushion block mounting groove is provided with, the cushion block is installed in the cushion block mounting groove, the chute is located on the cushion block；
The two ends of the left limit arm and the right limit arm respectively with the upper main body are connected, the left limit arm and described
Right limit arm is oppositely arranged with the lower main body；
The left bolster and the left limit arm are connected in face of the surface of the lower main body, with described main body along institute
When stating slide, the left bolster is contacted with the surface buffer of the lower main body；
The right bolster and the right limit arm are connected in face of the surface of the lower main body, with described main body along institute
When stating slide, the right bolster is contacted with the surface buffer of the lower main body.
6. four-freedom hybrid motion platform according to claim 1, it is characterised in that the driving member include fork and
Power transmission shaft, wherein,
The fork is connected with the drive output of second linear drive unit, and the fork is provided with driving hole；
The power transmission shaft is arranged to be arranged on the high-order moving platform；
The end of the power transmission shaft is located in the driving hole, and aperture of the diameter less than the driving hole of the power transmission shaft.
7. four-freedom hybrid motion platform according to claim 1, it is characterised in that the revolving part is bearing.
8. four-freedom hybrid motion platform according to claim 1, it is characterised in that the 3-freedom parallel mechanism
Also include support unit；
The support unit includes pinboard, fixture and buffer stopper, wherein,
First linear drive unit is arranged on the pinboard, and the pinboard is arranged on described by the fixture
On base, the buffer stopper is arranged to be used for the vibration that buffering is passed over from first linear drive unit.
9. four-freedom hybrid motion platform according to claim 8, it is characterised in that each described first linear drive
Moving cell is arranged on the different support units.
10. a kind of dynamic simulating device, it is characterised in that described in seat, pedal and any one of claim 1 to 9
Four-freedom hybrid motion platform, wherein,
The seat and pedal are installed on the high-order moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710300294.3A CN106963160B (en) | 2017-04-28 | 2017-04-28 | A kind of four-freedom hybrid motion platform and dynamic simulating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710300294.3A CN106963160B (en) | 2017-04-28 | 2017-04-28 | A kind of four-freedom hybrid motion platform and dynamic simulating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106963160A true CN106963160A (en) | 2017-07-21 |
| CN106963160B CN106963160B (en) | 2019-11-15 |
Family
ID=59331890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710300294.3A Active CN106963160B (en) | 2017-04-28 | 2017-04-28 | A kind of four-freedom hybrid motion platform and dynamic simulating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106963160B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471196A (en) * | 2017-07-24 | 2017-12-15 | 歌尔股份有限公司 | A kind of multi-degree-of-freedom motion platform and dynamic simulating device |
| CN107506024A (en) * | 2017-07-24 | 2017-12-22 | 歌尔股份有限公司 | The control method of four-freedom hybrid motion platform, apparatus and system |
| CN108402747A (en) * | 2018-02-28 | 2018-08-17 | 江苏大学 | A kind of movie theatre 4D seats that can realize the continuous angular movement of arbitrary orientation |
| WO2019020127A1 (en) * | 2017-07-26 | 2019-01-31 | Chi Hung Kung | Sit assist device |
| CN109393804A (en) * | 2018-10-23 | 2019-03-01 | 深圳市深信创联智能科技有限责任公司 | Four-degree-of-freedom drives platform and its control method |
| WO2019192228A1 (en) * | 2018-04-02 | 2019-10-10 | 歌尔股份有限公司 | Experience platform driving device and virtual reality experience chair |
| CN110313741A (en) * | 2019-07-26 | 2019-10-11 | 安徽珺尤机械科技有限公司 | Multiple degrees of freedom cartoon special effect seat |
| CN113405821A (en) * | 2021-06-18 | 2021-09-17 | 上海理工大学 | Six-freedom-degree motion platform device for pose measurement and calibration |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203619682U (en) * | 2013-11-19 | 2014-06-04 | 上海理工大学 | Series-parallel minimally invasive surgery mechanical arm with five freedom degrees |
| CN104043254A (en) * | 2014-07-07 | 2014-09-17 | 江西省机械科学研究所 | 4D special-effect seat capable of achieving three-horizontal-movement input and multiple-3-RPS-mechanism output |
| CN104057442A (en) * | 2014-06-10 | 2014-09-24 | 上海交通大学 | Series-parallel robot with five degrees of freedom |
| CN207444662U (en) * | 2017-05-25 | 2018-06-05 | 潍坊歌尔电子有限公司 | A kind of multidimensional seat |
-
2017
- 2017-04-28 CN CN201710300294.3A patent/CN106963160B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203619682U (en) * | 2013-11-19 | 2014-06-04 | 上海理工大学 | Series-parallel minimally invasive surgery mechanical arm with five freedom degrees |
| CN104057442A (en) * | 2014-06-10 | 2014-09-24 | 上海交通大学 | Series-parallel robot with five degrees of freedom |
| CN104057442B (en) * | 2014-06-10 | 2016-02-10 | 上海交通大学 | Series parallel robot in five degrees of freedom |
| CN104043254A (en) * | 2014-07-07 | 2014-09-17 | 江西省机械科学研究所 | 4D special-effect seat capable of achieving three-horizontal-movement input and multiple-3-RPS-mechanism output |
| CN207444662U (en) * | 2017-05-25 | 2018-06-05 | 潍坊歌尔电子有限公司 | A kind of multidimensional seat |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471196A (en) * | 2017-07-24 | 2017-12-15 | 歌尔股份有限公司 | A kind of multi-degree-of-freedom motion platform and dynamic simulating device |
| CN107506024A (en) * | 2017-07-24 | 2017-12-22 | 歌尔股份有限公司 | The control method of four-freedom hybrid motion platform, apparatus and system |
| CN107471196B (en) * | 2017-07-24 | 2019-12-13 | 歌尔股份有限公司 | multi freedom motion platform and dynamic simulation device |
| CN107506024B (en) * | 2017-07-24 | 2020-05-29 | 歌尔股份有限公司 | Control method, device and system for four-degree-of-freedom series-parallel motion platform |
| WO2019020127A1 (en) * | 2017-07-26 | 2019-01-31 | Chi Hung Kung | Sit assist device |
| US11357680B2 (en) | 2017-07-26 | 2022-06-14 | Chi Hung Kung | Sit assist device |
| CN108402747A (en) * | 2018-02-28 | 2018-08-17 | 江苏大学 | A kind of movie theatre 4D seats that can realize the continuous angular movement of arbitrary orientation |
| WO2019192228A1 (en) * | 2018-04-02 | 2019-10-10 | 歌尔股份有限公司 | Experience platform driving device and virtual reality experience chair |
| CN109393804A (en) * | 2018-10-23 | 2019-03-01 | 深圳市深信创联智能科技有限责任公司 | Four-degree-of-freedom drives platform and its control method |
| CN110313741A (en) * | 2019-07-26 | 2019-10-11 | 安徽珺尤机械科技有限公司 | Multiple degrees of freedom cartoon special effect seat |
| CN113405821A (en) * | 2021-06-18 | 2021-09-17 | 上海理工大学 | Six-freedom-degree motion platform device for pose measurement and calibration |
| CN113405821B (en) * | 2021-06-18 | 2022-07-26 | 上海理工大学 | Six-freedom-degree motion platform device for pose measurement and calibration |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106963160B (en) | 2019-11-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106963160A (en) | A kind of four-freedom hybrid motion platform and dynamic simulating device | |
| TWI587968B (en) | Support device, support unit system and support unit control system | |
| CN104760054B (en) | The orthogonal Three Degree Of Freedom joint that Pneumatic artificial muscle drives | |
| CN108818502B (en) | Two-movement one-rotation parallel mechanism with spherical surface rotation freedom degree | |
| CN102699904A (en) | Six degree-of-freedom three-limb parallel robot mechanism | |
| CN108247622B (en) | Seven-degree-of-freedom modular rope-driven mechanical arm | |
| CN206869873U (en) | A kind of 3-dof parallel robot | |
| CN102284959A (en) | Wrist for two-degree-of-freedom industrial robot | |
| CN111515983B (en) | Snatch manipulator | |
| CN103424269B (en) | A kind of coupled mode four-degree-of-freedom motion simulation platform containing closed-loop subchain | |
| CN108098744A (en) | A kind of coordinate type mechanical arm | |
| CN103659793B (en) | The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain | |
| CN102528796A (en) | Controllable mechanism type parallel robot platform with six degrees of freedom | |
| CN202399270U (en) | Controllable mechanism six-degree-of-freedom parallel robot platform | |
| CN103426356A (en) | Coupling movement simulation platform with four degrees of freedom | |
| CN208496988U (en) | A kind of six-degree-of-freedom parallel connection mechanism containing redundant drive | |
| JP7140419B2 (en) | 3-axis parallel linear robot | |
| CN102166754B (en) | Two-degree-of-freedom shoulder joint mechanism for robot | |
| CN106272344A (en) | There is the Hex Delta robot of three two turns of five degree of freedom of shifting | |
| CN206825405U (en) | Isotropic space two degrees of freedom rotating parallel device people | |
| CN114603538B (en) | Complete decoupling spherical 3R rotation parallel mechanism | |
| CN208246812U (en) | A kind of wu-zhi-shan pig | |
| CN102922507A (en) | Two-degree-of-freedom leveling device | |
| CN107314751A (en) | Friction lever transmission device | |
| CN107351064A (en) | A kind of Novel two-freedom-degree parallel robot of apery wrist joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |