CN108091238A - A kind of 6-dof motion platform - Google Patents
A kind of 6-dof motion platform Download PDFInfo
- Publication number
- CN108091238A CN108091238A CN201810106724.2A CN201810106724A CN108091238A CN 108091238 A CN108091238 A CN 108091238A CN 201810106724 A CN201810106724 A CN 201810106724A CN 108091238 A CN108091238 A CN 108091238A
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- China
- Prior art keywords
- sliding block
- guide rail
- motion platform
- cardan
- dof motion
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
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- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
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- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Bearings For Parts Moving Linearly (AREA)
Abstract
The present invention discloses a kind of 6-dof motion platform, including upper mounting plate, upper cardan, operating bar, lower cardan and oblique sliding equipment, the oblique sliding equipment includes being fixed on the pedestal on datum plane, it is arranged on pedestal and favours the guide rail of datum plane, haulage gear of the sliding block and driving sliding block coordinated with guide rail along guide rail activity, there are six the oblique sliding equipment is set, and the oblique sliding equipment of each two is symmetrical arranged one group of composition, three groups of oblique sliding equipments are surrounded annular and are uniformly distributed in a circumferential direction, lower cardan is connected on sliding block, upper cardan corresponding with lower cardan is provided on upper mounting plate, it is connected per between a pair of upper cardan and lower cardan by operating bar.The configuration of the present invention is simple, compact, movement is flexible, and stability of strutting system is high, and maintaining is convenient, and processing request is low, reduces the cost of construction, and ensures control accuracy requirement, and increasing spring energy storage device reduces operation power consumption.
Description
Technical field
The present invention relates to space orientation, multi-direction motion simulator technical field more particularly to a kind of six degree of freedom fortune
Moving platform.
Background technology
Object space have six-freedom degree, i.e., along three rectangular co-ordinate direction of principal axis of x, y, z one-movement-freedom-degree and around
Therefore the rotational freedom of these three reference axis, determine the position of object completely, just it must be appreciated that this six-freedom degree.
Traditional 6-dof motion platform be by six pressurized struts, upper and lower each six universal couplings and it is upper and lower two it is flat
Platform forms, and on the basis of lower platform is fixed on, by the stretching motion of six pressurized struts, completes upper mounting plate in space six-freedom degree
The movement of (X, Y, Z, α, beta, gamma), so as to simulate various spatial movement postures.It can be widely applied to various training simulations
Device such as flight simulator, ship simulator, naval's helicopter landing analog platform, tank simulator, automobile driving simulator, fire
The fields such as vehicle driving simulator, earthquake simulator and simulation film, amusement equipment or even pair available to space spaceship
It connects, in the oiling docking of tanker aircraft, six-axis linkage lathe, handyman etc. is can be made into processing industry.
Existing 6-dof motion platform realizes six certainly using the pressurized strut of stretching structure by stretching motion
It is moved by degree, pressurized strut is usually the structures such as hydraulic cylinder, electronic screw, and the huge structure of hydraulic cylinder is complicated, and operation noise is big, is held
Easily there are the situation of oil leak, environmental pollution is serious, and maintenance and cleaning is inconvenient, and maintenance cost is high, and the structure of electronic screw is relatively simple,
But high to the requirement on machining accuracy of screw, cost of manufacture is high.
The content of the invention
The technical problems to be solved by the invention and the technical assignment proposed are that the prior art is improved, and provide one kind
6-dof motion platform, the 6-dof motion platform huge structure solved in current technology is complicated, and maintenance and cleaning is inconvenient, right
Processing request is high, the high problem of cost of manufacture.
For solution more than technical problem, the technical scheme is that：
A kind of 6-dof motion platform, which is characterized in that including upper mounting plate, upper cardan, operating bar, lower cardan and
Oblique sliding equipment, the oblique sliding equipment include the pedestal being fixed on datum plane, are arranged on pedestal and tilt
Haulage gear of the sliding block and driving sliding block of guide rail and guide rail cooperation in datum plane along guide rail activity, the oblique slip
Mechanism set there are six, and the oblique sliding equipment of each two be symmetrical arranged composition one group, three groups of oblique sliding equipments surround ring-type and
It is uniformly distributed on circumferencial direction, lower cardan is connected on sliding block, is provided on upper mounting plate on corresponding with lower cardan
Universal joint is connected per between a pair of upper cardan and lower cardan by operating bar.Six-freedom motion of the present invention is put down
Platform uses operating bar as the non-retractable rigid body of regular length, and sliding block is slided along the guide rail for favouring datum plane so as to band
It acts the synchronous inclined direction along guide rail of lever to lift, the both ends of operating bar are connected to gimbal structure, can carry out three-dimensional appoint
The rotation in meaning direction, so as to the action that operating bar drive upper mounting plate is moved or overturn, by six sliding blocks respectively along it
The six-freedom motion of upper mounting plate can be realized in the cooperation that guide rail slides, simple in structure, compact, and movement is flexible, control essence
Really.Compared with traditional 6-dof motion platform, operating bar is rigid structure, and stability of strutting system is high, drives sliding block along guide rail
Various mechanism can be used in the haulage gear of activity, and construction degree of freedom is high, at low cost, and there is no the oil leak situations of hydraulic cylinder, use
Cleanliness factor is good, and maintaining is convenient, at low cost, and does not also have the high-precision configuration of screw, and requirement on machining accuracy is low, processing
It is at low cost.
Further, the oblique sliding equipment further include be connected with sliding block for saving sliding block along guide rail slide downward
When potential energy spring energy storage mechanism, so as to reduce the haulage gear energy consumption required in lifting sliding block height, reduce by six freely
The overall power of motion platform operation is spent, reduces use cost.
Further, the spring energy storage mechanism is mainly connected including one end with sliding block, and the other end is fixed on pedestal
Elastic component, simple in structure, effective saving potential energy.
Further, the sliding block is located at the both sides of guide rail direction at it and is symmetrically connected with elastic component, improves stability,
It is along guide rail glide direction that whole elastic force caused by symmetrically arranged elastic component, which can ensure that, improves spring energy storage mechanism and releases
Reliability during potential energy is put, that stablizes reduces the energy consumption needed for haulage gear lifting sliding block.
Further, the elastic component is elastoplast, simple in structure, reliably can save sliding block using its elastic force
Potential energy when gliding along guide rail, use cost is low, easy to loading and unloading, safeguards and replaces efficiently, fast.
Further, the elastoplast turns to S-shaped by the guide roller being arranged on pedestal, can effectively extend bullet
The length of property bandage in itself, so as to increase the displacement distance that can save sliding block potential energy, avoids the displacement distance of sliding block is long from causing
Elastoplast is broken, and ensures the reliable energy storage of elastoplast energy, extends the service life of elastoplast.Elastoplast is set parallel
There are several, reduce the load of each elastoplast, prolong the service life, and one or more elastoplast goes out wherein
Remaining elastoplast still can play the role of energy storage when being now broken so that the sustainable carry out work of 6-dof motion platform
Make, the time that buffering is provided is replaced to safeguard.
Further, the inclination angle scope of guide rail and datum plane is 15 °~55 °, and different inclination angles has different movements
Spatial dimension adapts to different application demands.
Further, the guide rail of described six oblique sliding equipments projects on datum plane is distributed in regular hexagon, fortune
Dynamic degree of freedom is good, is not in dead angle, the situation of clamping stagnation.
Further, the haulage gear includes motor and by motor-driven conveyer belt, and sliding block is connected to conveyer belt
On, simple in structure, compact, driving stability is good, easy to maintain.
Further, the oblique sliding equipment outer cup is connected to housing, avoids transmission parts exposed, effectively protection transmission
Component, and security is also improved, personnel is avoided, which to accidentally come in contact transmission parts, causes injury, is additionally provided on the pedestal
It covers guide rail and with the guide rail dust cover of sliding block activity, dust or sundries etc. is avoided to fall into guide rail, ensures that sliding block can be reliable
Along guide rail activity, reduce abrasion, ensure Reliability of Microprocessor and precision, prolong the service life.
Compared with prior art, the invention has the advantages that：
6-dof motion platform of the present invention is simple in structure, compact, and movement is flexible, and control is accurate, support
Stability is high, and there is no the oil leak situations of hydraulic cylinder, and the cleanliness factor during use is good, and maintaining is convenient, at low cost, without
The high-precision configuration of screw so as to reduce processing request, reduces the cost of construction, and still ensures control accuracy requirement；
Increase spring energy storage device, reduce the haulage gear energy consumption required in lifting sliding block height, so as to reduce operation
Overall power, reduce use cost, energy conservation and environmental protection, than traditional 6-dof motion platform energy consumption reduce by 20%~
30%；
Increase guide rail dust cover, ensure that sliding block along the more smooth of guide rail activity, reduce abrasion, prolongs the service life, ensure
Reliability of Microprocessor and precision.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the overlooking the structure diagram of the present invention；
Fig. 3 is the structure diagram of oblique sliding equipment；
Fig. 4 is the structure diagram of device case on oblique sliding equipment.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of protection of the invention.
A kind of 6-dof motion platform disclosed by the embodiments of the present invention, it is simple in structure, compact, it is easy to maintain simple, it moves
Make reliability height, stability of strutting system is good, relatively low to requirement on machining accuracy, low manufacture cost, and can accumulation of energy, reduce work work(
Consumption reduces use cost.
Embodiment one
As shown in Figures 1 to 4, a kind of 6-dof motion platform mainly includes upper mounting plate 1, upper cardan 2, operating bar
3rd, lower cardan 4 and oblique sliding equipment, oblique sliding equipment are mainly made of pedestal 5, guide rail 6, sliding block 7 and haulage gear, pedestal 5
It is fixed on datum plane to provide stable support by connection modes such as bolts, is set on pedestal 5 and favour benchmark and put down
The guide rail 6 in face, it is movable along guide rail 6 by haulage gear driving with the sliding block 7 that guide rail 6 coordinates, in order to realize six-freedom motion,
There are six oblique sliding equipment is set, and the oblique sliding equipment of each two is symmetrical arranged one group of composition, and three groups of oblique sliding equipments surround ring
Shape is simultaneously uniformly distributed in a circumferential direction, that is, the peak of the guide rail 6 of adjacent two oblique sliding equipments is adjacent either
Minimum point is adjacent, and the guide rail 6 of six oblique sliding equipments is projected on datum plane and is distributed in regular hexagon, avoids being moved through
Occur dead angle, clamping stagnation in journey, lower cardan 4 is connected on sliding block 7, six upper cardans 2, and six are provided on upper mounting plate 1
A upper cardan 2 is corresponding with lower cardan 4 respectively, is connected per between a pair of upper cardan 2 and lower cardan 4 by operating bar 3,
Operating bar is rigid body, and sliding block 7 along the guide rail 6 for favouring datum plane moves that operating bar 3 is driven to move, and operating bar 3 is again
Upper mounting plate 1 is driven to move, 7 cooperative motion of sliding block on six oblique sliding equipments realizes six freedom of the upper mounting plate 1 in three dimensions
Degree movement.
The inclination angle scope of guide rail 6 and datum plane is 15 °~55 °, using leading for different angles of inclination and different length
Rail 6, practicable different space scope, meets a variety of demands.
In order to reduce operating power consumption, spring energy storage mechanism is additionally provided on oblique sliding equipment, sliding block 7 along guide rail 6 to
Potential energy is saved during lower movement, potential energy is discharged when sliding block 7 is moved upwards along guide rail 6, reduces the highly desired work(of lifting sliding block 7
Consumption, so as to reduce the energy consumption that driving upper mounting plate 1 carries out six-freedom motion, the effectively save energy reduces use cost.
In the present embodiment, spring energy storage mechanism is mainly made of elastoplast 8, and 8 one end of elastoplast connects with sliding block 7
It connects, the other end is fixed on pedestal 5, and the both sides that 6 direction of guide rail is located in sliding block 7 are provided with what is be connected with elastoplast 8
Connecting pin is located at the monosymmetric of 6 direction of guide rail in sliding block 7 and is each provided with one group of elastoplast 8, and every group of elastoplast 8 is simultaneously
Row is provided with several independent elastoplasts, and when sliding block 7 is moved downward along guide rail 6,7 tensile elasticity bandage 8 of sliding block makes it
Generation elastic deformation, for elastoplast 8 so as to effectively save potential energy, elastoplast 8 generates the effect being lifted up to sliding block 7
Power, so as to reduce haulage gear with movable slider along guide rail move upwards when required power consumption, two groups of symmetrically arranged elastoplasts 8
Produced active force ensures it is along guide rail glide direction, improves reliability during release potential energy.
The distance that sliding block 7 is moved along guide rail 6 is longer, in order to ensure elastoplast 8 can effectively cover the motion path of sliding block 7
Length avoids the amount of tension of elastoplast 8 from exceeding the elastic limit of elastoplast 8, and guide roller 9, elasticity are provided on pedestal 5
Bandage 8 is connected after S-shaped path is turned on guide roller 9 with sliding block 7 again, increases the raw footage of elastoplast 8, it is ensured that elasticity is taut
With 8 energy effective saving potential energy without the situation being broken, energy storage reliability is improved.
In the present embodiment, two parallel guide rails 6 on pedestal 5 are set, the precision and stability of guiding is improved, prevents
Sliding block 7 is deviate from.
Haulage gear uses the structure of conveyer belt, is mainly made of motor 10 and the conveyer belt driven by motor 10 11, electricity
Machine 10 is stepper motor, and conveyer belt 11 is connected to along 6 direction of guide rail, sliding block 7 on conveyer belt 11, and 10 rotating of motor work comes
Band movable slider 7 moves up and down along guide rail 6, and control flexibility is high, precision is high.
Oblique sliding equipment outer cup is connected to housing 13, and the housing 13 of six oblique sliding equipments is connected as one, and improves
The aesthetics of appearance, the transmission parts of oblique sliding equipment are protected using housing 13, and also improve security, avoid personnel unexpected
Touching transmission parts causes injury, covering guide rail 6 is additionally provided on pedestal 5 and with the guide rail dust cover 12 of the activity of sliding block 7,
Organ type protective cover, appearance nylon cloth can be used in guide rail dust cover 12, and interior plus PVC board supports, and edge is then pressed from both sides with stainless steel plate and protected,
Have many advantages, such as that the small and stroke of compression is long, can oil resistant, it is corrosion-resistant, it is hard with colliding indeformable, long lifespan, good seal, smooth running；
Guide rail dust cover 12 can also steel plate extension-type shelter, structural strength is high, and stability is good, can effectively prevent the destruction of sharp objects
Play effective protective action.
Embodiment two
It is with the difference of embodiment one, spring energy storage mechanism uses spring structure, in sliding block 7 by 6 upper end of guide rail
Connecting spring on one side, spring is set along 6 direction of guide rail, when sliding block 7 is along 6 slide downward of guide rail, 7 extension spring of sliding block
Elastic deformation is brought it about, spring savings potential energy discharges potential energy when sliding block is along 6 upward sliding of guide rail, reduces haulage gear and drive
Power consumption when movable slider 7 moves upwards.
Embodiment three
It is with the difference of embodiment one, haulage gear uses hoist engine structure, major motor, reel and drag rope
It forms, drag rope one end is connected on reel, and the other end is connected on sliding block, and the movable reel rotation winding of motor band or releasing are led
Messenger rope, when sliding block is moved upwards along guide rail, motor driving reel winding drag rope generates sliding block upward pulling force；And
When sliding block is needed to be moved downward along guide rail, motor driving reel releases traction rope, makees in the gravity of upper mounting plate 1 and its carrier
Under, sliding block is automatically along guide rail slide downward.
It the above is only the preferred embodiment of the present invention, it is noted that above-mentioned preferred embodiment is not construed as pair
The limitation of the present invention, protection scope of the present invention should be subject to claim limited range.For the art
For those of ordinary skill, without departing from the spirit and scope of the present invention, several improvements and modifications can also be made, these change
Protection scope of the present invention is also should be regarded as into retouching.
Claims (10)
1. a kind of 6-dof motion platform, which is characterized in that including upper mounting plate (1), upper cardan (2), operating bar (3), under
Universal joint (4) and oblique sliding equipment, the oblique sliding equipment include the pedestal (5) being fixed on datum plane, set
On pedestal (5) and favour the guide rail (6) of datum plane, the sliding block (7) coordinated with guide rail (6) and drive sliding block (7) edge
The haulage gear of guide rail (6) activity, there are six the oblique sliding equipment settings, and the oblique sliding equipment of each two is symmetrical arranged composition
One group, three groups of oblique sliding equipments are surrounded annular and are uniformly distributed in a circumferential direction, and lower cardan (4) is connected on sliding block (7),
On upper mounting plate (1) be provided with lower cardan (4) corresponding upper cardan (2), per a pair of upper cardan (2) and under it is universal
It is connected between section (4) by operating bar (3).
2. 6-dof motion platform according to claim 1, which is characterized in that the oblique sliding equipment further include with
The spring energy storage mechanism for potential energy when saving sliding block (7) along guide rail (6) slide downward of sliding block (7) connection.
3. 6-dof motion platform according to claim 2, which is characterized in that the spring energy storage mechanism is mainly wrapped
It includes one end to be connected with sliding block (7), the other end is fixed on the elastic component on pedestal (5).
4. 6-dof motion platform according to claim 3, which is characterized in that the sliding block (7) is located at it leads
The both sides in rail (6) direction are symmetrically connected with elastic component.
5. the 6-dof motion platform according to claim 3 or 4, which is characterized in that the elastic component is taut for elasticity
Band (8).
6. 6-dof motion platform according to claim 5, which is characterized in that the elastoplast (8) is by setting
The guide roller (9) put on pedestal (5) turns to S-shaped.
7. 6-dof motion platform according to claim 1, which is characterized in that the guide rail (6) and datum plane
Inclination angle scope be 15 °~55 °.
8. 6-dof motion platform according to claim 1, which is characterized in that the oblique sliding equipment of described six is led
Rail (6) projects on datum plane to be distributed in regular hexagon.
9. 6-dof motion platform according to claim 1, which is characterized in that the haulage gear includes motor
(10) and by motor (10) conveyer belt (11) driven, sliding block (7) are connected on conveyer belt (11).
10. 6-dof motion platform according to claim 1, which is characterized in that the oblique sliding equipment outer cup
Housing (13) is connected to, covering guide rail (6) is additionally provided on the pedestal (5) and with the guide rail dust cover of sliding block (7) activity
(12)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810106724.2A CN108091238A (en) | 2018-02-02 | 2018-02-02 | A kind of 6-dof motion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810106724.2A CN108091238A (en) | 2018-02-02 | 2018-02-02 | A kind of 6-dof motion platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108091238A true CN108091238A (en) | 2018-05-29 |
Family
ID=62193758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810106724.2A Pending CN108091238A (en) | 2018-02-02 | 2018-02-02 | A kind of 6-dof motion platform |
Country Status (1)
| Country | Link |
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| CN (1) | CN108091238A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110361161A (en) * | 2019-07-23 | 2019-10-22 | 天津大学 | The equipment for simulating federated environment load effect flowering structure object load or motor imagination |
| CN111081113A (en) * | 2020-01-19 | 2020-04-28 | 南京航空航天大学 | Experimental platform for simulating air two-engine refueling and docking |
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| EP0101746A1 (en) * | 1982-07-26 | 1984-03-07 | University Of Southern California | System and method of dynamic background subtraction |
| CN101387495A (en) * | 2008-10-23 | 2009-03-18 | 天津大学 | Cylinder liner intelligent detection device |
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| CN102708723A (en) * | 2012-05-18 | 2012-10-03 | 燕山大学 | Six-freedom-degree static-balance parallel motion simulation platform with large bearing surface |
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| CN111081113A (en) * | 2020-01-19 | 2020-04-28 | 南京航空航天大学 | Experimental platform for simulating air two-engine refueling and docking |
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