CN108000453A - Motion platform and electronic equipment - Google Patents
Motion platform and electronic equipment Download PDFInfo
- Publication number
- CN108000453A CN108000453A CN201711117218.5A CN201711117218A CN108000453A CN 108000453 A CN108000453 A CN 108000453A CN 201711117218 A CN201711117218 A CN 201711117218A CN 108000453 A CN108000453 A CN 108000453A
- Authority
- CN
- China
- Prior art keywords
- platform
- eccentric rotary
- moving platform
- rotary device
- motion platform
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/02—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby of table type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
Abstract
The invention discloses a kind of motion platform and electronic equipment.The motion platform includes：Fixed platform, moving platform and six branch chain components, each branch chain component includes eccentric rotary device and supporting rod, eccentric rotary device is fixed on fixed platform, and one end of supporting rod is connected by flexural pivot with moving platform, and the other end is connected by flexural pivot with the output section of eccentric rotary device；Or one end of supporting rod is by one of connection of flexural pivot and moving platform and the output section of eccentric rotary device, and the other end is connected by hook hinge with another in the output section of moving platform and eccentric rotary device；Circumferentially either ellipse six eccentric rotary devices of circle distribution are circumferentially or ellipse circle distribution for the tie point of six supporting rods and moving platform.
Description
Technical field
The present invention relates to telecontrol equipment technical field, more particularly, to a kind of motion platform and electronic equipment.
Background technology
6-dof parallel platform has a wide range of applications, such as motion simulator, parallel machine, aircraft wind tunnel test,
VR experience chairs etc..Parallel connection platform has many advantages, such as rigidity is high, bearing capacity is strong, precision is high, compact-sized.
Most commonly six telescoping cylinder drivings, and as the Stewart platforms of side chain at present.Traditional Stewart is put down
The mechanism own vols of six side chains of platform is big, quality is big, and working space is small, very flexible.And due to phase mutual coupling between side chain
Association is closed, Singularity is relatively more, its forward kinematics solution is complicated, seldom tries to achieve effective analytic solutions.
In view of the above-mentioned problems, it is suggested using platform of the multi link closed loop moving chain as side chain.For example, using six
Motor driven gear moves in endless glide.Such a structure can cause the compact-sized of motion platform, and reduce system
Inertia, but there are the problem of back clearance and transmission efficiency are low, drive noise is big, response speed is slow for the gear drive introduced.
The content of the invention
It is an object of the present invention to provide a kind of new solution of motion platform.
According to the first aspect of the invention, there is provided a kind of motion platform.The motion platform includes：Fixed platform, moving platform
With six branch chain components, each branch chain component includes eccentric rotary device and supporting rod, and the eccentric rotary device is fixed on
On the fixed platform, one end of the supporting rod is connected by flexural pivot with the moving platform, and the other end passes through flexural pivot and institute
State the output section connection of eccentric rotary device；Or one end of the supporting rod passes through flexural pivot and the moving platform and the bias
One of connection of the output section of tumbler, and the other end is turned by hook hinge and the moving platform and the bias
Another connection in the output section of dynamic device；The tie point of six supporting rods and the moving platform is circumferentially or oval
Week distribution, six eccentric rotary devices are circumferentially or ellipse circle distribution.
Alternatively, the line of six supporting rods and the tie point of the moving platform forms the first circle, and six described inclined
The line of heart tumbler forms the second circle, and first diameter of a circle is less than second diameter of a circle.
Alternatively, the line of six supporting rods and the tie point of the moving platform forms the first ellipse, described in six
The line of eccentric rotary device forms the second ellipse, and the described first oval size is less than the described second elliptical size.
Alternatively, the tie point of six supporting rods and the moving platform is centrosymmetric distribution, six bias
Tumbler is centrosymmetric distribution.
Alternatively, the eccentric rotary device is torque motor.
Alternatively, the size of six branch chain components and model are identical.
Alternatively, the hook hinge includes upper knuckle, lower knuckle and cross axle, the upper knuckle and
The lower knuckle is respectively hinged on two groups of axis facing each other of the cross axle, and the upper knuckle is connected
The output section of the moving platform or the eccentric rotary device, the lower knuckle are connected one end of the supporting rod.
According to another aspect of the present invention, there is provided a kind of electronic equipment.The electronic equipment includes provided by the invention
The motion platform.
According to one embodiment of the disclosure, fixed platform forms the support to moving platform by six branch chain components, and leads to
The various movements of moving platform are realized in the coordinated movement of various economic factors for crossing six branch chain components.
In addition, the motion platform connects moving platform by the way of supporting rod is hinged, and it is driven, with being passed by gear
The mode passed is compared, which is not present back clearance, the fast response time of movement, transmission efficiency height.
In addition, compared with the mode of gear connection, the structure of the motion platform is simple, and assembling is easy, and light weight, body
Product is small, and flexibility is good.
In addition, the motion platform connects moving platform by the way of supporting rod is hinged, this make it that the rigidity of motion platform is high,
Bearing capacity is strong, has a wide range of application.
By referring to the drawings to the present invention exemplary embodiment detailed description, further feature of the invention and its
Advantage will be made apparent from.
Brief description of the drawings
It is combined in the description and the attached drawing of a part for constitution instruction shows the embodiment of the present invention, and even
It is used to explain the principle of the present invention together with its explanation.
Fig. 1 is the structure diagram of motion platform according to an embodiment of the invention.
Fig. 2 is the view of another angle of Fig. 1.
Fig. 3 is the installation diagram of moving platform and flexural pivot according to an embodiment of the invention.
Fig. 4 is the installation diagram of fixed platform according to an embodiment of the invention and eccentric rotary device.
Fig. 5 is the schematic diagram of motion platform according to an embodiment of the invention.
Description of reference numerals：
11：Moving platform；12：Fixed platform；13：Torque motor；14a：Upper flexural pivot；14b：Lower flexural pivot；15：Supporting rod；16：The
One circle；17：Second circle.
Embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should be noted that：Unless in addition have
Body illustrates that 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 scope of invention.
The description only actually at least one exemplary embodiment is illustrative to be never used as to the present invention below
And its application or any restrictions that use.
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 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 attached drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent attached drawing in a attached drawing.
According to one embodiment of present invention, there is provided a kind of motion platform, its be used for motion simulator, parallel machine,
Aircraft flow tunnel testing device, VR experience chairs etc..As shown in Figs. 1-2, which includes：Fixed platform 12,11 and of moving platform
Six branch chain components.Each branch chain component includes eccentric rotary device and supporting rod 15.Eccentric rotary device can export bias
Movement.
Eccentric rotary device is fixed on fixed platform 12.Carried out for example, the mode such as be bolted, weld, riveting
It is fixed.One end of supporting rod 15 is connected by flexural pivot with moving platform 11, and the other end passes through flexural pivot and eccentric rotary device (example
Such as torque motor 13) output section connection.
Or
The output that one end of supporting rod 15 passes through flexural pivot and moving platform 11 and eccentric rotary device (such as torque motor 13)
One of connection in portion, and the other end by hook hinge with it is another in the output section of moving platform 11 and eccentric rotary device
One connection.
Flexural pivot and hook hinge are respectively provided with 3 frees degree.Flexural pivot includes bulb and spherical shell.Bulb is in spherical shell around setting
The centre of sphere rotates.For example, the end set in supporting rod 15 has bulb.In moving platform 11 and eccentric rotary device (such as torque electricity
Machine 13) output section be provided with spherical shell.In this way, supporting rod 15 can be swung around the centre of sphere, so that moving platform 11 occurs to put down
The actions such as shifting, upset, torsion.
Hook hinge includes upper knuckle, lower knuckle and cross axle.Upper knuckle and lower knuckle difference
It is hinged on two groups of axis facing each other of cross axle.Upper knuckle be connected moving platform or eccentric rotary device (such as
Torque motor) output section.Lower knuckle is connected one end of supporting rod.In this way, supporting rod can be around the centre of sphere
Swing, so that the actions such as translation, upset, torsion occur for moving platform.
Fig. 5 is the schematic diagram of motion platform according to an embodiment of the invention.
In this example embodiment, supporting rod 15 is hinged by the output section of flexural pivot and moving platform 11 and torque motor 13, wherein, with
Flexural pivot 14b under being that torque motor 13 connects, that be connected with moving platform 11 is upper flexural pivot 14a.At work, 13 turns of torque motor
It is dynamic to drive lower flexural pivot 14b around doing eccentric motion.Lower flexural pivot 14b drives 15 lower end of supporting rod to move in the planes.
Six branch chain components are divided into three groups.It is one group per adjacent two.In this way, every group of two branch chain components can be with structure
The quadrangle virtual into one.Wherein, top is the line of two upper flexural pivot 14a.The following line for twice flexural pivot 14b, it is left
Right both sides are two supporting rods 15.The length of top, the left side and the right is fixed.Following length can pass through torque motor 13
Movement changes, and can change by the movement of torque motor 13 angle at four angles of virtual quadrangle.
As shown in figure 5, in initial position, top is expressed as CD, is expressed as AB below；Under two torque motors drive
When flexural pivot 14b moves to distance maximum position, top is expressed as C2D2, is expressed as A2B2 below；When two torque motors 13
When flexural pivot 14b moves to the minimum position of distance under driving, top is expressed as C1D1, is expressed as A1B1 below.In an example
In, various movements are as follows：
Heave (being moved along Z axis)：Three groups of side chain component synchronizations are moved to the maximum position of distance by the minimum position of distance
When, moving platform 11 sinks；Conversely, when being synchronously moved to the minimum position of distance by the maximum position of distance, moving platform 11 rises.
Traversing (being moved along Y-axis) or vertical shift (moving along the x-axis)：Six branch chain components are divided into two groups.Three adjacent branch
Chain component is one group.Two groups of supporting rod 15 tilts mirror symmetry in the same direction two-by-two.For example, from the side, along lower-left
The direction of upper right tilts.When one of which torque motor 13 rotates clockwise, and another group of motor rotates synchronously counterclockwise,
11 occurred level of moving platform moves.The direction that those skilled in the art can set and move horizontally according to being actually needed.
Yaw (turning about the Z axis)：When six supporting rods 15 tilt in the same direction.For example, from the side, along lower-left upper right
Direction tilt.Six torque motors 13 rotate clockwise or counterclockwise at the same time, realize that the rotation of moving platform 11 turns about the z axis
It is dynamic.
Pitching (being rotated around Y-axis) or rolling (turning about the X axis)：Six branch chain components are divided into two groups, wherein adjacent
Three are one group.When one of which three torque motors 13 hinge joint towards fixed platform 12 central motion when, moving platform 11
The side raises；At the same time, the hinge joint of another group of three torque motors 13 towards away from fixed platform 12 central motion when, move
The side of platform 11 reduces.In such manner, it is possible to realize that moving platform 11 is rotated around X-axis or Y-axis.
Explanation only for example above, it is not so limited.The motion platform can also pass through other cooperations of branch chain component
Form realizes above-mentioned various movements.Those skilled in the art according to actual needs, can set speed, the width of all directions movement
Degree etc..
In embodiments of the present invention, fixed platform 12 forms support to moving platform 11 by six branch chain components, and passes through
The various movements of moving platform 11 are realized in the coordinated movement of various economic factors of six branch chain components.
In addition, the motion platform connects moving platform 11 by the way of supporting rod 15 is hinged, and it is driven, with passing through tooth
The mode that wheel transmits is compared, which is not present back clearance, the fast response time of movement, transmission efficiency height.
In addition, compared with the mode of gear connection, the structure of the motion platform is simple, and assembling is easy, and light weight, body
Product is small, and flexibility is good, and drive noise is small.
In addition, the motion platform connects moving platform 11 by the way of supporting rod 15 is hinged, this causes the firm of motion platform
Degree is high, and bearing capacity is strong, has a wide range of application.
In one example, as shown in Figs. 1-2, eccentric rotary device is torque motor 13.The integrated level of torque motor 13
Height, it is compact-sized, it is small.In one example, the size of six branch chain components and model are identical.This make it that movement is flat
The stress of platform and movement are more balanced, avoid the occurrence of interfering for various components.
In one example, the tie point of six supporting rods 15 and moving platform 11 is circumferentially or ellipse circle distribution.For example,
It is oval that the first circle 16 or first is formed positioned at the line of centres of the flexural pivot of moving platform.Six eccentric rotary devices circumferentially or
Ellipse circle distribution.For example, line of centres composition the second circle 17 or second of eccentric rotary device (for example, torque motor 13) is ellipse
Circle.This make it that the stress of motion platform and movement are more balanced, avoids the occurrence of interfering for various components.
In one example, the line of six supporting rods 15 and the tie point of moving platform 11 forms the first circle 16, such as Fig. 3 institutes
Show.The line of six eccentric rotary devices forms the second circle 17, as shown in Figure 4.The diameter of first circle 16 is less than the second circle 17
Diameter.In this example embodiment, as shown in Figure 3-4, fixed platform 12 forms moving platform 11 by six branch chain components and supports.First circle
Diameter be less than the second diameter of a circle, this make it that support of the fixed platform 12 to moving platform 11 is more firm.
In addition, the light weight at the top of motion platform, this causes during the motion, and the barycenter of motion platform is lower, no
Easy run-off the straight, reliability higher.
In addition, in this way, the projection of the barycenter of motion platform falls within fixed platform 12, rather than falls and allocating
Beyond platform 12, so effectively it can prevent motion platform from toppling over.
In another example, the line of the tie point of six supporting rods and moving platform forms the first ellipse.Six bias
It is oval that the line of tumbler forms second.First oval size is less than the second elliptical size.
Similarly, fixed platform forms moving platform by six branch chain components and supports.It is ellipse that first oval size is less than second
Round size, this make it that support of the fixed platform to moving platform is more firm.
In addition, the light weight at the top of motion platform, this causes during the motion, and the barycenter of motion platform is lower, no
Easy run-off the straight, reliability higher.
In addition, in this way, the projection of the barycenter of motion platform falls within fixed platform 12, rather than falls and allocating
Beyond platform 12, so effectively it can prevent motion platform from toppling over.
In one example, as shown in Figure 3-4, the tie point of six supporting rods 15 and moving platform 11 is centrosymmetric point
Cloth.Six eccentric rotary devices are centrosymmetric distribution.In this example embodiment, six supporting rods 15 are set in a manner of space symmetr
Put, this enables the stress of moving platform 11 more balanced, the rigidity higher of motion platform entirety, and bearing capacity is stronger.
In addition, the movement of the motion platform is more flexible, action more in place, avoids the occurrence of the mutually dry of various components
Relate to, reduce the positive and negative solution difficulty of platform kinematics.
According to another embodiment of the invention, there is provided a kind of electronic equipment.The electronic equipment includes the present invention and provides
Motion platform.
When the motion platform is used for VR experience platforms, have simple in structure, can realize heave (being moved along Z axis), traversing (edge
Y-axis move), vertical shift (moving along the x-axis), yaw (turning about the Z axis), pitching (around Y-axis rotate) and rolling (turning about the X axis) six
The forms of motion of a free degree, so as to improve user experience feeling of immersion.
Although some specific embodiments of the present invention are described in detail by example, the skill of this area
Art personnel it should be understood that example above merely to illustrating, the scope being not intended to be limiting of the invention.The skill of this area
Art personnel are it should be understood that without departing from the scope and spirit of the present invention can modify above example.This hair
Bright scope is defined by the following claims.
Claims (8)
- A kind of 1. motion platform, it is characterised in that including：Fixed platform, moving platform and six branch chain components, each branch chain component bag Eccentric rotary device and supporting rod are included, the eccentric rotary device is fixed on the fixed platform, one end of the supporting rod It is connected by flexural pivot with the moving platform, and the other end is connected by flexural pivot with the output section of the eccentric rotary device；Or PersonOne end of the supporting rod by the output section of flexural pivot and the moving platform and the eccentric rotary device one of them Connection, and the other end passes through another company in the output section of hook hinge and the moving platform and the eccentric rotary device Connect；The tie point of six supporting rods and the moving platform is circumferentially or ellipse circle distribution, six eccentric rotaries fill Put circumferentially or ellipse circle distribution.
- 2. motion platform according to claim 1, it is characterised in that the connection of six supporting rods and the moving platform The line of point forms the first circle, and the line of six eccentric rotary devices forms the second circle, and first diameter of a circle is less than Second diameter of a circle.
- 3. motion platform according to claim 1, it is characterised in that the connection of six supporting rods and the moving platform The line of point forms first oval, the second ellipse of line formation of six eccentric rotary devices, the described first oval size Less than the described second elliptical size.
- 4. motion platform according to claim 2, it is characterised in that the connection of six supporting rods and the moving platform Point is centrosymmetric distribution, and six eccentric rotary devices are centrosymmetric distribution.
- 5. motion platform according to claim 1, it is characterised in that the eccentric rotary device is torque motor.
- 6. motion platform according to claim 1, it is characterised in that the size and model of six branch chain components are phases With.
- 7. motion platform according to claim 1, it is characterised in that the hook hinge includes upper knuckle, lower fork Shape hinge and cross axle, the upper knuckle and the lower knuckle are respectively hinged at two group of two two-phase of the cross axle To axis on, the upper knuckle is connected the output section of the moving platform or the eccentric rotary device, the lower fork Shape hinge is connected one end of the supporting rod.
- 8. a kind of electronic equipment, it is characterised in that including the motion platform as described in any one in claim 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711117218.5A CN108000453A (en) | 2017-11-13 | 2017-11-13 | Motion platform and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711117218.5A CN108000453A (en) | 2017-11-13 | 2017-11-13 | Motion platform and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108000453A true CN108000453A (en) | 2018-05-08 |
Family
ID=62052397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711117218.5A Pending CN108000453A (en) | 2017-11-13 | 2017-11-13 | Motion platform and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108000453A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748112A (en) * | 2018-08-16 | 2018-11-06 | 西南科技大学 | The oval airframe structure of Hexapod Robot |
| CN113263495A (en) * | 2021-06-08 | 2021-08-17 | 佛山科学技术学院 | Movable platform for industrial robot |
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| JP2001038551A (en) * | 1999-08-04 | 2001-02-13 | Hiihaisuto Seiko Kk | Work table mechanism applying six degree of freedom parallel mechanism |
| CN101034022A (en) * | 2007-04-17 | 2007-09-12 | 燕山大学 | Six dimensional RSS force sensor |
| CN104678885A (en) * | 2014-12-30 | 2015-06-03 | 中国矿业大学 | Six-freedom-degree parallel platform in driving orthogonal arrangement |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001038551A (en) * | 1999-08-04 | 2001-02-13 | Hiihaisuto Seiko Kk | Work table mechanism applying six degree of freedom parallel mechanism |
| CN101034022A (en) * | 2007-04-17 | 2007-09-12 | 燕山大学 | Six dimensional RSS force sensor |
| CN104678885A (en) * | 2014-12-30 | 2015-06-03 | 中国矿业大学 | Six-freedom-degree parallel platform in driving orthogonal arrangement |
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| 李坤全: "6-RSS并联机构在六维主动减振平台中的应用研究", 《中国博士学位论文全文数据库 信息科技辑》 * |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748112A (en) * | 2018-08-16 | 2018-11-06 | 西南科技大学 | The oval airframe structure of Hexapod Robot |
| CN113263495A (en) * | 2021-06-08 | 2021-08-17 | 佛山科学技术学院 | Movable platform for industrial robot |
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Application publication date: 20180508 |