CN106963160B - 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
- CN106963160B CN106963160B CN201710300294.3A CN201710300294A CN106963160B CN 106963160 B CN106963160 B CN 106963160B CN 201710300294 A CN201710300294 A CN 201710300294A CN 106963160 B CN106963160 B CN 106963160B
- Authority
- CN
- China
- Prior art keywords
- main body
- moving platform
- drive unit
- linear drive
- order moving
- 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.)
- Active
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 present invention provides a kind of four-freedom hybrid motion platform and dynamic simulating devices.The four-freedom hybrid motion platform includes pedestal, 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 driving assemblies, and the first driving assembly 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 four-freedom hybrid motion platform of the invention is for dynamic simulating device.
Description
Technical field
The present invention relates to lower-mobility motion platform fields, more particularly, to a kind of four-freedom hybrid motion platform
And dynamic simulating device.
Background technique
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 structure, low cost, work empty relative to the motion platform of six degree of freedom
Between it is big the features such as, have more extensive application prospect.
Existing lower-mobility motion platform mostly uses the mode of driving unit bearing diagonal that platform is driven to move.Above-mentioned driving
Unit bearing diagonal refers to has certain angle always between driving outbound course and the pedestal of driving unit.This use is driven
The motion platform size of moving cell bearing diagonal is larger, and space occupied is big.In addition, this movement using driving unit bearing diagonal
The problem of requirement of the platform to its building block is high, the higher cost directly resulted in.
Summary of the invention
It is an object of the present invention to provide a kind of new solutions of four-freedom hybrid motion platform.
According to the first aspect of the invention, a kind of four-freedom hybrid motion platform is provided.
The four-freedom hybrid motion platform includes pedestal, 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 driving assemblies, and first driving assembly includes first
Linear drive unit, rotating connector and sliding part；
First linear drive unit is arranged to be mounted on the base along the vertical direction, the described first linear drive
The drive output of moving cell is arranged to be rotatablely connected by the rotating connector and the sliding part, the sliding part quilt
It is set as being 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 mounted on the low order moving platform, and the revolving part is mounted 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, so that second linear drive unit drives the high-order moving platform, the high-order moving platform passes through described
Revolving part rotates relative to the low order moving platform.
Optionally, 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
The joint shaft socket end and the sliding part for holding oscillating bearing are rotatablely connected.
Optionally, the 3-freedom parallel mechanism includes three the first driving assemblies；
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 °.
Optionally, the sliding part includes lower main body and upper main body, wherein
The lower main body is arranged to be rotatablely connected with the rotating connector, and the lower main body is equipped with sliding slot；
The upper main body is arranged to be fixedly connected with the low order moving platform, and the upper main body and the sliding slot slide
Cooperation.
Optionally, the sliding part further 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 and the rotating connector are rotatablely connected, the company
Junctor is equipped with cushion block mounting groove, and the cushion block is installed in the cushion block mounting groove, and the sliding slot is located on the cushion block；
The left limit arm and the right limit arm are connected with the both ends of the upper main body respectively, 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, on the upper main body edge
The sliding slot sliding when, 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, on the upper main body edge
The sliding slot sliding when, the right bolster is contacted with the surface buffer of the lower main body.
Optionally, the driving member includes fork and transmission shaft, wherein
The fork is connected with the drive output of second linear drive unit, and the fork is equipped with transmission
Hole；
The transmission shaft is arranged to be mounted on the high-order moving platform；
The end of the transmission shaft is located in the driving hole, and the diameter of the transmission shaft is less than the hole of the driving hole
Diameter.
Optionally, the revolving part is bearing.
Optionally, the 3-freedom parallel mechanism further includes support unit；
The support unit includes pinboard, fixing piece and buffer stopper, wherein
First linear drive unit is mounted on the pinboard, and the pinboard is mounted on by the fixing piece
On the pedestal, the buffer stopper is arranged to be used for buffering the vibration passed over from first linear drive unit.
Optionally, each described first linear drive unit is mounted on the different support units.
According to the second aspect of the invention, a kind of dynamic simulating device is provided.
The dynamic simulating device includes seat, foot pedal and four-freedom hybrid motion platform of the invention, wherein
The seat and foot 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 driving assemblies
Realize the three-degree-of-freedom motion of four-freedom hybrid motion platform.Realize that four-freedom hybrid movement is flat by rotation serial mechanism
The rotary motion of platform.Four-freedom hybrid motion platform of the invention can effectively reduce the volume of entire motion platform, favorably
In reducing cost.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Detailed description of the invention
It is combined in the description and the attached drawing for constituting part of specification shows the embodiment of the present invention, and even
With its explanation together principle for explaining the present invention.
Fig. 1 is the structural schematic diagram of four-freedom hybrid motion platform embodiment of the present invention.
Fig. 2 is the explosive view of Fig. 1.
Fig. 3 is the structural schematic diagram of the sliding part embodiment of four-freedom hybrid motion platform of the present invention.
Fig. 4 is the explosive view of Fig. 3.
Fig. 5 is that the pedestal, 3-freedom parallel mechanism and low order moving platform of four-freedom hybrid motion platform of the present invention are real
Apply the structural schematic diagram 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 schematic diagram of embodiment.
Fig. 7 is the explosive view of Fig. 6.
Fig. 8 is the structural schematic diagram of dynamic simulating device embodiment of the present invention.
Fig. 9 is the explosive view of Fig. 8.
It is indicated in figure as follows:
Pedestal -1,3-freedom parallel mechanism -2, the first driving assembly -21, the first linear drive unit -211, rotation connect
Fitting -212, sliding part -213, lower main body -2131, connector -21311, cushion block mounting groove -213110, cushion block -21312 are sliding
Slot -213120, upper main body -2132, left limit arm -2133, right limit arm -2134, left bolster -2135, right bolster -
2136, support unit -22, pinboard -221, fixing piece -222, buffer stopper -223, low order moving platform -3 rotate serial mechanism -
4, the second linear drive unit -41, driving member -42, fork -421, driving hole -4211, transmission shaft -422, revolving part -43, height
Rank moving platform -5, seat -6, foot pedal -7.
Specific embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should also be noted that unless in addition having
Body explanation, the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the present invention
And its application or any restrictions used.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
In order to solve the problems, such as that lower-mobility motion platform exists, the present invention provides a kind of movement of four-freedom hybrid is flat
Platform.
As shown in Figures 1 to 7, which includes pedestal 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 driving assemblies 21.According to demand, 3-freedom parallel mechanism
2 may include three the first driving assemblies 21 or three or more the first driving assembly.
First driving assembly 21 includes the first linear drive unit 211, rotating connector 212 and sliding part 213.First Line
Property driving unit 211 can realize the output of linear motion.First linear drive unit 211 may be, for example, electric cylinders or cylinder or hydraulic
Cylinder etc..
First linear drive unit 211 is arranged to be mounted on along the vertical direction on pedestal 1.The vertical direction typically refers to
Perpendicular to the direction on the surface for installing the first linear drive unit 211 of pedestal 1.First linear drive unit 211 is the bottom of at
Mounting means on seat 1 modes 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 pedestal 1 by the first linear drive unit 211, the first linear drive unit 211 can
The linear motion of output along vertical direction.
The drive output of first linear drive unit 211 is arranged to through rotating connector 212 and 213 turns of 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
Driving unit 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 3 phase of low order moving platform
To sliding.Sliding part 213 usually has the one end being rotatablely connected with rotating connector 212, and slides and connect 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 the way that sliding slot is arranged on low order moving platform 3
One end of moving part 213 and the sliding slot modes such as be slidably matched are realized.
The concrete shape structure of sliding part 213 can there are many selections.For example, sliding part 213 has block-shaped main body, the bulk
Main body is equipped with the lifting lug that is rotatablely connected with rotating connector 213, and is slidably matched with the sliding slot on low order moving platform 3 convex
It rises.
First linear drive unit 211 linear movement output along vertical direction, is connected 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 exports.Sliding part 213 is relative to quilt
The rotating connector 212 of driving rotates.By the self-movement of multiple first driving assemblies 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 packet of low order moving platform 3
It includes upper and lower, left and right and moves 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
It 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 mounted on low order moving platform 3.Second linear drive unit 41 is low
Mounting means on rank moving platform 3 modes such as can be bolted and realize.Second linear drive unit 41 can be directly mounted at
On low order moving platform 3, alternatively, being mounted on low order moving platform 3 by mounting bracket.Second linear drive unit 41 has driving
Output end, the drive output refer to one end of linear motion output.The drive output of second linear drive unit 41 can example
The for example output shaft of linear electric machine.
Revolving part 43 is mounted 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 specific 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
It is rotatablely connected with high-order moving platform 5.
The drive output of second linear drive unit 41 is arranged to be connected by driving member 42 with high-order moving platform 5
It connects, so that the second linear drive unit 41 drives high-order moving platform 5.At this point, high-order moving platform 5 is driven to: passing through rotation
Part 43 rotates relative to low order moving platform 3.Driving member 43 can convert 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, transport in conjunction with the Three Degree Of Freedom of low order moving platform 3
It is dynamic, the four-degree-of-freedom movement of the high-order moving platform 5 of final achievable four-freedom hybrid motion platform.Above-mentioned four-degree-of-freedom movement
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 movement of high-order moving platform 5
It 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 driving assemblies
21 realize the three-degree-of-freedom motion of four-freedom hybrid motion platform.Four-freedom hybrid fortune is realized by rotation serial mechanism 4
The rotary motion of moving platform.Four-freedom hybrid motion platform of the invention can effectively reduce the volume of entire motion platform,
Advantageously reduce cost.
In addition, it is the stable structure of four-freedom hybrid motion platform of the present invention, reliable, and it is mixed to can simplify four-degree-of-freedom
The control algolithm of through transport moving platform athletic posture obtains more accurately trajectory planning.
Optionally, 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 and sliding part 213 of spherical plain bearing rod end are rotatablely connected.Rod end and first
Connection between linear drive unit 21 can be realized by the modes such as welding or being bolted.
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 of wear-resistant 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 between sliding part 213 and spherical plain bearing rod end.Being provided with for sleeve member is conducive to protection sliding part 213, and
Play the role of noise reduction.Guarantee sliding part relative to spherical plain bearing rod end rotation amplitude in addition, sleeve member also helps.
Optionally, 3-freedom parallel mechanism 2 includes three the first driving assemblies 21.The sliding of each first actuator 21
Straight line intersection where the glide direction of part 213 is in a bit, and between the 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 the direction that sliding part 213 is slided relative to low order moving platform 3.This
It is 2 stable structure of 3-freedom parallel mechanism of kind of structure, reliable, and can simplify the control of 3 athletic posture of low order moving platform
Algorithm obtains more accurately trajectory planning.
In one embodiment of four-freedom hybrid motion platform of the present invention, sliding part 213 includes lower 2131 He of main body
Upper main body 2132.The shape and structure of lower main body 2131 and upper main body 2132 can be arranged according to actual needs.For example, lower main body 2131
Block structure is all had with upper main body 2132.Alternatively, lower main body 2131 and upper main body 2132 all have column structure.It should be noted that
, the present invention in term " on ", "lower" merely illustrate the opposite position between each component of four-freedom hybrid motion platform
Relationship is set, without representing its position form in resulting devices, therefore work as and four-freedom hybrid motion platform is displaced,
When overturning or is reverse, this relative positional relationship will not change.
Lower main body 2131 is arranged to be rotatablely connected with rotating connector 212.When rotating connector 212 is rod end joint shaft
When holding, the cavernous structure being rotatablely connected with the joint shaft socket end of spherical plain bearing rod end can be equipped in lower main body 2131.Lower main body
2131 are equipped with sliding slot 213120.
Upper main body 2132 is arranged to be fixedly connected with low order moving platform 3, and upper main body 2132 and sliding slot 213120 slide
Cooperation.In this way, the low order moving platform 3 being fixed together with upper main body 2132 can be as upper main body 2132 be together along sliding slot
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
It the modes such as is bolted to realize.Being slidably matched between upper main body 2132 and sliding slot 213120 can be by convex in upper main body 2132
The realization that is slidably matched with sliding slot 213120 is played, alternatively, matching by the outer surface of upper main body 2132 and the sliding of sliding slot 213120
It closes and realizes.
Sliding part 213 in the embodiment slides flexibly, stable structure, high reliablity.
Further, sliding part 213 further includes that left limit arm 2133, right limit arm 2134, left bolster 2135 and the right side are slow
Stamping 2136.It should be noted that merely illustrate four-freedom hybrid motion platform each for the term "left", "right" in the present invention
Relative positional relationship between component, without representing its position form in resulting devices, therefore when to four-freedom hybrid
When motion platform is displaced, is overturn or is overturned, this relative positional relationship will not change.
Lower main body 2131 includes connector 21311 and cushion block 21312.Connector 21311 and the rotation of rotating connector 212 connect
It connects.Connector 21311 is equipped 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 be bolted.Sliding slot 213120
In on cushion block 21312.Connector 21311 and being provided with for cushion block 21312 are conducive to more easily assemble sliding part 213, guarantee to slide
The structural stability of moving part 213.
Left limit arm 2133 and right limit arm 2134 are connected with the both ends of upper main body 2132 respectively, 2133 He of left limit arm
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
It connects or the modes such as pin connection is realized.Left limit arm 2133 and right limit arm 2134 can play the sliding stroke for limiting upper main body 2132
Effect.
Left bolster 2135 is connected with left limit arm 2133 in face of the surface of lower main body 2131, on upper 2132 edge of main body
Sliding slot 213120 slide when, left bolster 2135 is contacted with the surface buffer of lower main body 2131.When upper main body 2132 is in sliding slot
When sliding into left bolster 2135 in 213120 and being in contact with the surface of lower main body 2131, elasticity occurs for left 2135 stress of bolster
Deformation avoids generating abnormal sound to play the role of protecting sliding part 213.In addition, left bolster 2135 also advantageously improves four
Freedom 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, and the power dispersion that lower main body 2131 is subject to weakens.
Right bolster 2136 is connected with right limit arm 2134 in face of the surface of lower main body 2131, on upper 2132 edge of main body
Sliding slot 213120 slide when, right bolster 2136 is contacted with the surface buffer of lower main body 2131.When upper main body 2132 is in sliding slot
When sliding into right bolster 2136 in 213120 and being in contact with the surface of lower main body 2131, elasticity occurs for right 2136 stress of bolster
Deformation avoids generating abnormal sound to play the role of protecting sliding part 213.In addition, right bolster 2136 also advantageously improves four
Freedom 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, and the power dispersion that lower main body 2131 is subject to weakens.
When it is implemented, left bolster 2135 and right bolster 2136 are usually made of elastic material, such as rubber or silicon
Glue etc..The shape and structure of left bolster 2135 and right bolster 2136 can be arranged according to actual needs.For example, left bolster 2135
There is truncated conical shape with right bolster 2136, the lesser bottom surface of the area of the truncated cones faces lower main body 2131.Example again
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.In general, left bolster 2135 and right bolster 2136 are symmetrical arranged.
Sliding part 213 in the embodiment slides flexibly, stable structure, high reliablity.
In another embodiment of four-freedom hybrid motion platform of the present invention, driving member 42 includes fork 421 and passes
Moving axis 4211.
Fork 421 is connected with the drive output of the second linear drive unit 41.Fork 421 and the second Linear Driving list
Connection between the drive output of member 41 modes such as can be connected through a screw thread or weld and realize.Fork 421 is equipped with driving hole
4211。
Transmission shaft 422 is arranged to be mounted on high-order moving platform 5.Installation between transmission shaft 422 and high-order moving platform 5
The modes such as it can be connected through a screw thread or weld to realize.When it is implemented, transmission shaft 422 may be, for example, to be mounted on high-order moving platform 5
On screw, the head of the screw is towards driving hole 4211.Alternatively, transmission shaft 422 may be, for example, to be plugged on high-order moving platform 5
Pin-shaped structure.
The end of transmission shaft 422 is located in driving hole 4211, and the diameter of transmission shaft 422 is less than the hole of driving hole 4211
Diameter.In this way, when fork 421 is driven by the second linear drive unit 41, fork 421 be moved to the inner wall of driving hole 4211 with
Transmission shaft 4211 is in contact, so that fork 421 applies pressure to the high-order moving platform 5 for being equipped with transmission shaft 422.Pass through revolving part
42,5 stress of high-order moving platform is rotated relative to low order moving platform 3.
Pass through the diameter and driving hole 4211 of the relative position and transmission shaft 422 of selection fork 421 and transmission shaft 422
Aperture between difference, can control high-order moving platform 5 rotation angle.
4 stable structure of rotation serial mechanism of this structure, reliable, cost is relatively low.And it is mixed to can simplify four-degree-of-freedom
The control algolithm of through transport moving platform athletic posture obtains more accurately trajectory planning.
Optionally, revolving part 43 is bearing.43 flexible rotation of revolving part of bearing-type, high reliablity.
In another embodiment of four-freedom hybrid motion platform of the present invention, 3-freedom parallel mechanism 2 further includes
Support unit 22.
Support unit 22 includes pinboard 221, fixing piece 52 and buffer stopper 223.First linear drive unit 211 is mounted 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
It is realized by the modes such as welding or being bolted.Pinboard 221 is mounted on pedestal 1 by fixing piece 222.Fixing piece 222 can
For example, bolt or screw rod etc..
When it is implemented, welded nut can be arranged on pinboard 221, by between fixing piece 222 and welded nut
It is threadedly engaged, pinboard 221 and fixing piece 222 is linked together；And pass through the spiral shell of fixing piece 222 and the mounting hole of pedestal 1
Line cooperation, pinboard 221 is mounted on pedestal 1.
Buffer stopper 223 is arranged to be used for buffering the vibration passed over from the first linear drive unit 211, is subtracted with playing
The effect of vibration.Buffer stopper 223 may be provided between pinboard 221 and pedestal 1.Buffer stopper 223 is usually by being, for example, rubber etc.
Elastic material is made.The vibration that first linear drive unit 211 passes over may include the first linear drive unit 211 itself
Vibration when vibration and high-order moving platform 5 when vibration, the vibration of the second linear drive unit 41, low order moving platform 3 move move
It moves.
Support unit 22 be provided with the stability for being conducive to improve four-freedom hybrid motion platform structure of the invention and
Reliability.
When it is implemented, the first all linear drive units 211 is mountable on same support unit 22.It that is to say,
The first all linear drive units 211 are mounted on same pinboard 221.
Alternatively, settable support unit 22 identical with the quantity of the first linear drive unit 211, each is first linear
Driving unit 211 is mounted on different support units 22.It that is to say, each first linear drive unit 211 is mounted on not
On same pinboard 221.Each support unit 22 all has independent pinboard 221, fixing piece 222 and buffer stopper 223.Often
One the first linear drive unit 211 is mounted on the effect for being conducive to further enhance vibration damping on different pinboards 221.
In the following, illustrating four-freedom hybrid motion platform of the invention by taking specific embodiment shown in Figure 2 as an example:
As shown in Figure 2, which includes that pedestal 1,3-freedom parallel mechanism 2, low order are dynamic
Platform 3, rotation serial mechanism 4 and high-order moving platform 5.
3-freedom parallel mechanism 2 includes three the first driving assemblies 21 and three support units 22.First driving assembly
21 include the first linear drive unit 211, rotating connector 212 and sliding part 213.First linear drive unit 211 is set
To be mounted on pedestal 1 along the vertical direction.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 and rotation connection
Part 212 is rotatablely connected.Connector 21311 is equipped 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 and sliding slot 213120 slide
Cooperation.Left limit arm 2133 and right limit arm 2134 are connected with the both ends of upper main body 2132 respectively, 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 sliding slot 213120, the surface buffer of left bolster 2135 and 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 sliding slot 213120 slides, 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 driving assembly 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, fixing piece 52 and buffer stopper 223.Each first linear drive unit 211 is pacified
On different pinboards 221.Pinboard 221 is mounted on pedestal 1 by fixing piece 222.The setting of buffer stopper 223 is being transferred
Between plate 221 and pedestal 1, to play the role 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 mounted on low order moving platform 3.Revolving part 43 is bearing, is mounted on low order moving platform 3 and high-order is dynamic flat
Between platform 5.
Driving member 42 includes fork 421 and transmission shaft 4211.The driving of fork 421 and the second linear drive unit 41 exports
End is connected.Transmission shaft 422 is arranged to be mounted on high-order moving platform 5.The end of transmission shaft 422 is located at driving hole 4211
It is interior, and the diameter of transmission shaft 422 is less than the aperture of driving hole 4211.
First linear drive unit 211 linear movement output along vertical direction, is connected 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 exports.The lower main body of sliding part 213
2131 rotate relative to driven rotating connector 212, and lower main body 2131 drives upper main body 2132 sliding along sliding slot 213120
It is dynamic.When upper main body 2132 is slided in sliding slot 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 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 driving assemblies 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 up and down, 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
Movement, including top to bottom, left and right, front and rear and rotary motion.
As shown in Figure 8 and Figure 9, the present invention also provides a kind of dynamic simulating devices.
The dynamic simulating device includes seat 6, foot pedal 7 and four-freedom hybrid motion platform of the invention.
Seat 6 and foot pedal 7 are installed on high-order moving platform 5.Seat 6 and foot pedal 7 are installed on high-order moving platform 5
Mode can be realized by mode well known in the art, for example, realizing in such a way that bolt is installed.The setting of foot pedal 7 is advantageous
In innervation experiencing person more easily seat seat 6.It further may be provided with safety belt on seat 6.
In the following, illustrating dynamic simulating device of the invention for the specific embodiment shown in Fig. 9:
As shown in Figure 9, which includes pedestal 1,3-freedom parallel mechanism 2, low order moving platform 3, rotation
Turn serial mechanism 4, high-order moving platform 5, seat 6 and foot pedal 7.
3-freedom parallel mechanism 2 includes three the first driving assemblies 21.First driving assembly 21 includes the first linear drive
Moving cell 211, rotating connector 212 and sliding part 213.First linear drive unit 211 is arranged to install along the vertical direction
On pedestal 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 and rotation connection
Part 212 is rotatablely connected.Connector 21311 is equipped 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 and sliding slot 213120 slide
Cooperation.Left limit arm 2133 and right limit arm 2134 are connected with the both ends of upper main body 2132 respectively, 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 sliding slot 213120, the surface buffer of left bolster 2135 and 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 sliding slot 213120 slides, 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 driving assembly 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, fixing piece 52 and buffer stopper 223.Each first linear drive unit 211 is pacified
On different pinboards 221.Pinboard 221 is mounted on pedestal 1 by fixing piece 222.The setting of buffer stopper 223 is being transferred
Between plate 221 and pedestal 1, to play the role 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 mounted on low order moving platform 3.Revolving part 43 is bearing, is mounted on low order moving platform 3 and high-order is dynamic flat
Between platform 5.
Driving member 42 includes fork 421 and transmission shaft 4211.The driving of fork 421 and the second linear drive unit 41 exports
End is connected.Transmission shaft 422 is arranged to be mounted on high-order moving platform 5.The end of transmission shaft 422 is located at driving hole 4211
It is interior, and the diameter of transmission shaft 422 is less than the aperture of driving hole 4211.
Seat 6 and foot pedal 7 are installed on high-order moving platform 5.
First linear drive unit 211 linear movement output along vertical direction, is connected 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 exports.The lower main body of sliding part 213
2131 rotate relative to driven rotating connector 212, and lower main body 2131 drives upper main body 2132 sliding along sliding slot 213120
It is dynamic.When upper main body 2132 is slided in sliding slot 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 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 driving assemblies 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 includes upper and lower, left and right and front and back
Movement.The yawing rotation for the seat 6 being mounted on high-order moving platform 5 can be realized by rotating serial mechanism 4.
The seat 6 being mounted on high-order moving platform 5 can realize lifting, pitching, rolling and yaw four-degree-of-freedom movement.
Although some specific embodiments of the invention are described in detail by example, the skill of this field
Art personnel it should be understood that example above merely to being illustrated, the range being not intended to be limiting of the invention.The skill of this field
Art personnel are it should be understood that can without departing from the scope and spirit of the present invention modify to above embodiments.This hair
Bright range is defined by the following claims.
Claims (10)
1. a kind of four-freedom hybrid motion platform, which is characterized in that dynamic flat including pedestal, 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 driving assemblies, and first driving assembly includes first linear
Driving unit, rotating connector and sliding part；
First linear drive unit is arranged to be mounted on the base along the vertical direction, the first Linear Driving list
The drive output of member is arranged to be rotatablely connected by the rotating connector and the sliding part, and the sliding part is set
To be slidably connected with the low order moving platform；
The rotating connector is configured as that the cunning can be driven by the rotating connector and the first linear drive unit
Moving part realizes rotational motion；
The rotation serial mechanism includes the second linear drive unit, driving member and revolving part, second linear drive unit
It is arranged to be mounted on the low order moving platform, the revolving part is mounted on the low order moving platform and the high-order moving platform
Between；
The driving member is configured as the linear motion of second linear drive unit being converted to the high-order moving platform
Rotary motion；
The drive output of second linear drive unit is arranged to through the driving member and the high-order moving platform phase
Connection, so that second linear drive unit drives 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, which is characterized 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 closes
The joint shaft socket end and the sliding part of bearings are rotatablely connected.
3. four-freedom hybrid motion platform according to claim 1, which is characterized in that the 3-freedom parallel mechanism
Including three the first driving assemblies；
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. according to claim 1 to four-freedom hybrid motion platform described in 3 any one, which is characterized in that the sliding
Part includes lower main body and upper main body, wherein
The lower main body is arranged to be rotatablely connected with the rotating connector, and the lower main body is equipped with sliding slot；
The upper main body is arranged to be fixedly connected with the low order moving platform, and the upper main body is matched with sliding slot sliding
It closes.
5. four-freedom hybrid motion platform according to claim 4, which is characterized in that the sliding part further 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 and the rotating connector are rotatablely connected, the connector
It is equipped with cushion block mounting groove, the cushion block is installed in the cushion block mounting groove, and the sliding slot is located on the cushion block；
The left limit arm and the right limit arm are connected with the both ends of the upper main body respectively, 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, in the upper main body along institute
When stating sliding slot sliding, 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, in the upper main body along institute
When stating sliding slot sliding, the right bolster is contacted with the surface buffer of the lower main body.
6. four-freedom hybrid motion platform according to claim 1, which is characterized in that the driving member include fork and
Transmission shaft, wherein
The fork is connected with the drive output of second linear drive unit, and the fork is equipped with driving hole；
The transmission shaft is arranged to be mounted on the high-order moving platform；
The end of the transmission shaft is located in the driving hole, and the diameter of the transmission shaft is less than the aperture of the driving hole.
7. four-freedom hybrid motion platform according to claim 1, which is characterized in that the revolving part is bearing.
8. four-freedom hybrid motion platform according to claim 1, which is characterized in that the 3-freedom parallel mechanism
It further include support unit；
The support unit includes pinboard, fixing piece and buffer stopper, wherein
First linear drive unit is mounted on the pinboard, and the pinboard is mounted on described by the fixing piece
On pedestal, the buffer stopper is arranged to be used for buffering the vibration passed over from first linear drive unit.
9. four-freedom hybrid motion platform according to claim 8, which is characterized in that each described first linear drive
Moving cell is mounted on the different support units.
10. a kind of dynamic simulating device, which is characterized in that including described in seat, foot pedal and any one of claim 1 to 9
Four-freedom hybrid motion platform, wherein
The seat and foot 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 CN106963160A (en) | 2017-07-21 |
| CN106963160B true 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) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107471196B (en) * | 2017-07-24 | 2019-12-13 | 歌尔股份有限公司 | multi freedom motion platform and dynamic simulation device |
| CN208941401U (en) * | 2017-07-26 | 2019-06-07 | 龚志雄 | Sit-up assisting position |
| CN108402747B (en) * | 2018-02-28 | 2020-09-25 | 江苏大学 | Cinema 4D seat capable of realizing continuous angular motion in any direction |
| CN108477902A (en) * | 2018-04-02 | 2018-09-04 | 歌尔股份有限公司 | Experience platform driving equipment 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 |
| 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 |
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106963160A (en) | 2017-07-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106963160B (en) | A kind of four-freedom hybrid motion platform and dynamic simulating device | |
| CN104002302B (en) | A kind of have virtual axle two, Three Degree Of Freedom tilter | |
| TWI587968B (en) | Support device, support unit system and support unit control system | |
| CN101863018B (en) | Three-rotational-freedom parallel mechanism driven by rope | |
| CN108247622B (en) | Seven-degree-of-freedom modular rope-driven mechanical arm | |
| CN202805199U (en) | Three-freedom-degree robot head movement mechanism | |
| US10066714B2 (en) | Drive apparatus of chair assembly for 4D theater | |
| US20080193241A1 (en) | Parallel Mechanism Having Two Rotational and One Translational Degrees of Freedom | |
| KR101432046B1 (en) | Spherical robot using thrust | |
| CN108262763B (en) | Robot joint rigidity-variable actuator | |
| CN102313966A (en) | Rigid load-bearing quick control reflector | |
| CN110434828B (en) | Large-scale metal facade obstacle-surmounting wall-climbing robot | |
| WO2016043304A1 (en) | Robot upper body support structure | |
| CN102490179A (en) | Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom | |
| CN105774836A (en) | Railway vehicle and damping suspension device thereof | |
| CN104454961A (en) | In-tension equivalent composite spherical hinge | |
| CN102528796A (en) | Controllable mechanism type parallel robot platform with six degrees of freedom | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN202399270U (en) | Controllable mechanism six-degree-of-freedom parallel robot platform | |
| CN103426356A (en) | Coupling movement simulation platform with four degrees of freedom | |
| CN1854704A (en) | Axile connection structure | |
| CN104816317A (en) | Balancing device and robot therewith | |
| CN102922507A (en) | Two-degree-of-freedom leveling device | |
| CN102392490B (en) | Truss support | |
| CN107314751A (en) | Friction lever transmission device |
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 |