CN109202868A - Three mobile unit combined type six degree of freedom mobile platforms - Google Patents
Three mobile unit combined type six degree of freedom mobile platforms Download PDFInfo
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- CN109202868A CN109202868A CN201811256144.8A CN201811256144A CN109202868A CN 109202868 A CN109202868 A CN 109202868A CN 201811256144 A CN201811256144 A CN 201811256144A CN 109202868 A CN109202868 A CN 109202868A
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- China
- Prior art keywords
- mounting plate
- component
- mobile
- connect
- carrying platform
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
Abstract
The invention discloses a kind of three mobile unit combined type six degree of freedom mobile platforms, including carrying platform, three groups of transmission components, three mobile units, controller and at least one driving assembly, and every group of transmission component includes support component and Buffer Unit.Every mobile unit is movably connected by one group of transmission component with carrying platform, and Buffer Unit is set to mobile unit, and one end of support component is connect with Buffer Unit by flexural pivot, and the other end and the carrying platform of support component are pivotably connected.Driving assembly is connect at least one support component, to drive support component to rotate.Controller is set to carrying platform, controller and driving assembly communication connection.Three mobile units combined type six degree of freedom mobile platform according to the present invention not only has good load-carrying properties, motility, flexibility and damping performance.Driving assembly cooperation support component can also provide active force for mobile unit, realize " two drag one " function.
Description
Technical field
The present invention relates to robotic technology fields, mobile flat more particularly, to a kind of three mobile unit combined type six degree of freedoms
Platform.
Background technique
Robot technology has generated great influence to human lives always since birth.Miscellaneous robot exists
Respective field plays irreplaceable role.Wherein, mobile robot, as the important branch of robot field,
It receives more and more attention in recent years.
Mobile robot is one and is integrated with the integrated system of multiple functions, its task is exactly to pass through under circumstances
Different modes reach target point.In the related technology, the number of degrees of freedom, of mobile robot is few (generally along two shiftings of working face
Dynamic freedom degree and a rotational freedom), it is in movement not enough flexibly, functionally also not abundant enough.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, one object of the present invention
It is to propose a kind of three mobile unit combined type six degree of freedom mobile platforms that movenent performance is strong.
Three mobile units combined type six degree of freedom mobile platform according to an embodiment of the present invention, comprising: carrying platform；Three groups
Transmission component, transmission component described in every group include support component and Buffer Unit；Three mobile units, every mobile unit
It being movably connected by transmission component described in one group with the carrying platform, the Buffer Unit is set to the mobile unit,
One end of the support component is connect with the Buffer Unit by flexural pivot, and the other end of the support component and the carrying are flat
Platform is pivotably connected；At least one driving assembly, the driving component are connect with support component described at least one, with driving
The support component rotation；Controller, the controller are set to the carrying platform, and the controller and the driving component are logical
News connection.
Three mobile units combined type six degree of freedom mobile platform according to an embodiment of the present invention, it is mobile single by setting three
Member and three flexural pivots, three mobile units have good cooperative ability, the six-freedom motion of mobile platform may be implemented, from
And the movenent performance and kinematic dexterity of mobile platform can be improved.In addition, the Buffer Unit in transmission component can also avoid
Flexural pivot and mobile unit it is rigidly connected, Buffer Unit can buffer the shaking of mobile unit during the motion, avoid moving
The shaking rigid of transmission of unit guarantees the kinetic stability of carrying platform to carrying platform.Driving assembly cooperates support group
Part can also provide active force for mobile unit, realize " two drag one " function.
According to some embodiments of the present invention, the Buffer Unit includes: the first mounting plate, first mounting plate and institute
State mobile unit connection；Second mounting plate, second mounting plate is opposite with first mounting plate, and second mounting plate
It is spaced apart with first mounting plate, second mounting plate is movable relative to first mounting plate, and the flexural pivot is set to institute
State the second mounting plate；First guide part, first guide part are set to first mounting plate, and first guide part is held
Row end is connect with second mounting plate, is moved along a first direction with guiding second mounting plate；First sensor component,
The first sensor component is connect with the controller communication, and the first sensor component is set to first mounting plate,
The first sensor component is adapted to detect for the location status of second mounting plate；First bolster, first bolster
Between first mounting plate and second mounting plate, and it is first bolster and first mounting plate, described
Second mounting plate is all connected with.
In some embodiments of the invention, first bolster includes: adjusting rod, the adjusting rod and described first
Mounting plate is movably coupled to, and the extending direction of the adjusting rod is vertical with the first direction；Adjust component, the adjusting group
Part is set to first mounting plate, and the adjusting component is connect to drive the adjusting rod mobile with the adjusting rod；Fixed link,
The fixed link is spaced apart with the adjusting rod, and the fixed link is connect with second mounting plate, and the fixed link is opposite
Static in second mounting plate, the fixed link is movable relative to first mounting plate；Damper, the damper and institute
State adjusting rod, the fixed link is all connected with；One end of first elastic component, first elastic component is connect with the adjusting rod, institute
The other end for stating the first elastic component is connect with the fixed link.
In some examples of the invention, the adjusting component includes: shoulder, and the shoulder and first mounting plate connect
It connects, and the shoulder is static relative to first mounting plate；Bolt stabilizer blade, the bolt stabilizer blade and first mounting plate connect
It connects, the bolt stabilizer blade is spaced apart with the shoulder, and the bolt stabilizer blade has through hole；Adjust bolt, the adjusting bolt
One end be arranged in the through hole, the other end for adjusting bolt offsets with the shoulder, the adjusting bolt with it is described
Adjusting rod is threadedly engaged to adjust the spacing between the adjusting rod and the fixed link.
In some embodiments of the invention, first guide part includes: guide rail, the guide rail and first installation
Plate connection, the guide rail extend along the first direction；Sliding block, the sliding block are adapted with the guide rail, and the sliding block phase
Removable for the guide rail, the sliding block is connect to guide the second mounting plate movement with second mounting plate.
In some embodiments of the invention, the Buffer Unit further include: third mounting plate, third mounting plate position
Between first mounting plate and the mobile unit, the third mounting plate is connect with the mobile unit, the third
Mounting plate is opposite with first mounting plate, and the third mounting plate is spaced apart with first mounting plate, first peace
Loading board is movable relative to the third mounting plate；Second guide part, second guide part are set to the third mounting plate, and institute
The actuating station for stating the second guide part is connect to guide first mounting plate along second direction and move with first mounting plate,
The second direction is vertical with the first direction；Second sensor component, the second sensor component and the controller
Communication connection, the second sensor component are set to second mounting plate, and the second sensor component is adapted to detect for described
The location status of first mounting plate；Second bolster, second bolster is located at first mounting plate and the third is pacified
Between loading board, and second bolster is all connected with first mounting plate, the third mounting plate.
In some examples of the invention, the construction of second guide part is identical as the construction of first guide part；
The construction of second bolster is identical as the construction of first bolster.
According to some embodiments of the present invention, the support component includes first support bar and second support bar, and described
One end of one support rod is fixedly connected with one end of the second support bar, the other end of the first support bar and the carrying
Platform is rotatably coupled, and the other end of the second support bar is movably connected with the carrying platform, and described first
The other end of strut is spaced apart with the other end of the second support bar.
According to some embodiments of the present invention, the driving component includes: pulley assembly, and the pulley assembly is set to described
One end of support component；Winding roll, the winding roll is set to the carrying platform, and the winding roll is flat relative to the carrying
Platform can be rotated；Take-up reel, the take-up reel is set to the carrying platform and is spaced apart with the winding roll, and the take-up reel phase
The carrying platform can be rotated；Rope, the one ends wound of the rope in the winding roll, wear by the other end of the rope
The take-up reel is wound in after crossing pulley assembly；Motor, the motor are connect with the winding roll, to drive the winding roll to turn
Dynamic, the motor is connect with the controller communication；The output end of retarder, one end of the retarder and the motor connects
It connects, the other end of the retarder is connect with the winding roll；Second elastic component, second elastic component and the take-up reel connect
It connects, to provide pretightning force for the rope.
In some embodiments of the invention, the pulley assembly includes: pedestal, and the pedestal and the support component connect
It connects；Flake connector, one end and the pedestal of the flake connector are pivotably connected；Pulley bracket, the pulley bracket with
The other end of the flake connector connects；Movable pulley, the movable pulley are pivotably connected with the pulley bracket, the rope
Around the movable pulley.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the structural schematic diagram of mobile platform according to an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the Buffer Unit of mobile platform according to an embodiment of the present invention；
Fig. 3 is the partial structural diagram of the Buffer Unit of mobile platform according to an embodiment of the present invention；
Fig. 4 is the partial structural diagram of mobile platform according to an embodiment of the present invention；
Fig. 5 is the partial structural diagram of mobile platform according to an embodiment of the present invention；
Fig. 6 is the partial structural diagram of the driving assembly of mobile platform according to an embodiment of the present invention；
Fig. 7 is the partial structural diagram of the driving assembly of mobile platform according to an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of the pulley assembly of mobile platform according to an embodiment of the present invention.
Appended drawing reference:
Mobile platform 1,
Transmission component 10,
Support component 20, first support bar 210, second support bar 220, third support rod 230,
Buffer Unit 30,
First mounting plate 310, the second mounting plate 320, third mounting plate 330, the first guide part 340, guide rail 341, sliding block
342, first sensor component 350, the first bolster 360, adjusting rod 361, adjusting component 362, shoulder 3621, bolt stabilizer blade
3622, adjust bolt 3623, fixed link 363, damper 364, the first elastic component 365, height adjustment cushion block 366, limited block
367,
Flexural pivot 40,
Mobile unit 50,
Driving assembly 60, pulley assembly 600, pedestal 601, flake connector 602, pulley bracket 603, movable pulley 604, pin shaft
605, fisheye type shaft 606, winding roll 610, pivotal axis 611, take-up reel 620, be open shaft 621, rope 630, motor 640,
Retarder 650, the second elastic component 660, U-shaped pedestal 670, first bearing component 680, end cap 690, L shape pedestal 700, the second axis
Bearing assembly 710, vertical plate 720, spring door 730, reinforcing rod 740, shaft end ring 750, angular displacement sensor 760,
Carrying platform 70,
3rd sensor component 80, Vehicle Controller 90,
First direction a, second direction b.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of embodiment is shown in the accompanying drawings, wherein identical from beginning to end
Or similar label indicates same or similar element or element with the same or similar functions.It is retouched below with reference to attached drawing
The embodiment stated is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
As shown in Figure 1, three mobile units combined type six degree of freedom mobile platform 1 according to an embodiment of the present invention, including hold
70, three groups of carrying platform transmission component 10, three mobile unit 50, driving assembly 60 and controller (not indicated in figure).
Specifically, every mobile single as shown in Figure 1, three groups of transmission components 10 and three mobile units 50 correspond
Member 50 is movably connected by one group of transmission component 10 with carrying platform 70.Every group of transmission component 10 includes 20 He of support component
Buffer Unit 30.To transmission component 10 and mobile unit by taking wherein one group of transmission component 10 and its corresponding mobile unit 50 as an example
50 connection relationship is described, and Buffer Unit 30 is set to mobile unit 50, and one end of support component 20 and Buffer Unit 30 are logical
The connection of flexural pivot 40 is crossed, the other end and the carrying platform 70 of support component 20 are pivotably connected.Carrying platform 70 can be used for pacifying
Installing is for (such as manipulator or detecting devices (camera, radar investigate equipment), soil sampling equipment etc.) or holds load
Cargo, to realize the carrying of cargo or the position adjustment of equipment.Mobile platform 1 can drive transmission component 10 to move, transmission
Component 10 is further driven to the movement of carrying platform 70, to realize the adjustment of carrying platform 70 position and posture.Controller is set to and holds
Carrying platform 70, controller and 60 communication connection of driving assembly, controller can control the output power of driving assembly 60.
Driving assembly 60 at least one, driving assembly 60 is connect at least one support component 20, to drive the branch
Support component 20 rotates.It is understood that driving assembly 60 can be one, two or three, multiple.One driving assembly 60
It can be connect at least one in three support components 20.Two driving assemblies 60 can with it is any in three support components 20
Two support components 20 correspond, and the support component 20 that each driving assembly 602 can be corresponding is connected to drive its fortune
It is dynamic.For example, three driving assemblies 60 and three groups of transmission components 10 correspond, every group of driving assembly there are three driving assemblies 60
60 corresponding support components 20 connect, to drive support component 20 to rotate.Driving assembly 60 can drive support component
20 rotate relative to mobile unit 50, so as to 70 position of further adjustment carrying platform and posture.
It needs to illustrate, by the cooperative movement of three mobile units 50 for 70 position of carrying platform and posture
Adjustment be to adjust on a large scale, the driving of support component 20 may be implemented by driving assembly 60 position of carrying platform 70
It is adjusted with the partial high-precision of posture, the kinematic accuracy of carrying platform 70 can be improved by the cooperation of both adjustment modes.
When three mobile units 50 are stationary, driving assembly 60 can drive 40 local motion of flexural pivot.In addition, driving assembly 60
So that three mobile units 50 of mobile platform 1 have " two drag one " function.For example, when there is a mobile unit 50 to fall into natural pond
Pool, in addition two mobile units 50 can apply pulling force to stranded track unit by driving assembly 60, it is made to get rid of poverty.
By relevant parallel institution kinematic principle it is found that the position of carrying platform 70 and posture by three flexural pivots 40 position
(i.e. the position of 40 central point of flexural pivot) is set to uniquely determine.Three mobile units 50 can drive flexural pivot 40 mobile, driving assembly 60
The rotation of support component 20 can be driven to drive flexural pivot 40 to rotate, the adjustment of the final position for realizing 40 central point of flexural pivot, thus
The six-freedom motion of mobile platform 1 may be implemented.
Three mobile units combined type six degree of freedom mobile platform 1 according to an embodiment of the present invention, by the way that three movements are arranged
Unit 50 and three flexural pivots 40, and three mobile units 50 have good cooperative ability, may be implemented the six of mobile platform 1 from
It is moved by degree, so as to improve the movenent performance and kinematic dexterity of mobile platform 1.In addition, the buffering in transmission component 10
Component 30 can also avoid the rigidly connected of flexural pivot 40 and mobile unit 50, and Buffer Unit 30 can buffer mobile unit 50 and transport
Shaking during dynamic, avoids the shaking rigid of transmission of mobile unit 50 to carrying platform 70, to guarantee carrying platform 70
Kinetic stability, so can make mobile platform 1 movement it is softer, have good damping performance.Driving assembly 60 cooperates
Support component 20 can also provide active force for mobile unit 50, realize " two drag one " function.
As shown in Figure 1, according to some embodiments of the present invention, every mobile unit 50 is equipped with a trolley set controller
90, every trolley set controller 90 can control its corresponding mobile unit 50 and move, and can lead between three trolley set controllers 90
It crosses antenna and carries out information exchange.
As shown in Fig. 2, according to some embodiments of the present invention, Buffer Unit 30 is installed including the first mounting plate 310, second
Plate 320, the first guide part 340, first sensor component 350 and the first bolster 360.First mounting plate 310 and mobile unit
50 connections.It should be noted that " connection " here is sensu lato connection, the first mounting plate 310 can be with mobile unit 50
It is directly connected to, the first mounting plate 310 can also be indirectly connected with mobile unit 50.Second mounting plate 320 and the first mounting plate 310
Relatively, and the second mounting plate 320 is spaced apart with the first mounting plate 310, and the second mounting plate 320 can relative to the first mounting plate 310
Dynamic, flexural pivot 40 is set to the second mounting plate 320.
As shown in Figures 2 and 3, the first bolster 360 is between the first mounting plate 310 and the second mounting plate 320.First
Guide part 340 is set to the first mounting plate 310, and the actuating station of the first guide part 340 is connect with the second mounting plate 320, with guiding
Second mounting plate 320 moves along a first direction.First sensor component 350 is set to the first mounting plate 310, first sensor group
Part 350 is connect with controller communication, and first sensor component 350 is adapted to detect for the location status of the second mounting plate 320 to transmit
To controller.First bolster 360 is all connected with the first mounting plate 310, the second mounting plate 320, the first bolster 360 buffering the
Relative motion between one mounting plate 310 and the second mounting plate 320.
First sensor component 350 can detecte the position and attitude of the second mounting plate 320 to pass to controller as a result,
So that position of the flexural pivot 40 relative to mobile unit 50 can be monitored in real time in controller, and then the fortune of carrying platform 70 can be improved
Dynamic control precision.The phase between the first mounting plate 310 and the second mounting plate 320 can be buffered by the way that the first bolster 360 is arranged
To movement, the rigid connection between flexural pivot 40 and mobile unit 50 is avoided, mobile unit 50 can be buffered during the motion
Shaking, avoid the shaking rigid of transmission of mobile unit to carrying platform 70, and then keep the stabilization of carrying platform 70.
As shown in figure 3, in some embodiments of the invention, the first bolster 360 includes adjusting rod 361, adjusts component
362, fixed link 363, damper 364 and the first elastic component 365.Adjusting rod 361 is movably coupled to the first mounting plate 310,
The extending direction of adjusting rod 361 is vertical with first direction.Adjust component 362 be set to the first mounting plate 310, adjust component 362 with
The connection of adjusting rod 361 is to drive adjusting rod 361 mobile.Fixed link 363 is spaced apart with adjusting rod 361, fixed link 363 and the second peace
Loading board 320 connects, and fixed link 363 is static relative to the second mounting plate 320, and fixed link 363 can relative to the first mounting plate 310
It is dynamic.Damper 364 is all connected with adjusting rod 361 and fixed link 363.One end of first elastic component 365 is connect with adjusting rod 361,
The other end of first elastic component 365 is connect with fixed link 363.
Thus, it is possible to utilize the phase between damper 364 and the first elastic component 365 buffering adjusting rod 361 and fixed link 363
To movement, the structure setting of the first bolster 360 is simple and damping effect is good.The damped coefficient of first elastic component 365 can then lead to
The damping of damper 364 is overregulated to realize.If damper 364 locked, Buffer Unit 30 is changed into rigid connection, can
To improve the rigidity of entire mobile platform 1.
For example, as shown in figure 3, adjusting rod 361, fixed link 363, damper 364, the first elastic component 365 and adjusting component
362 are respectively positioned between the first mounting plate 310 and the second mounting plate 320.Adjusting rod 361 is connect with the first mounting plate 310, fixed link
363 connect with the second mounting plate 320, and the extending direction of 361 extending direction of adjusting rod and fixed link 363 is consistent and and first party
To vertical, adjusting rod 361 is spaced apart in a first direction with fixed link 363.Damper 364 and adjusting rod 361 and fixed link 363
It is all connected with.First elastic component 365 can be spring, and spring is between adjusting rod 361 and fixed link 363, the both ends point of spring
It is not connect with adjusting rod 361, fixed link 363.When the second mounting plate 320 is relative to the first mounting plate 310 position along a first direction
When shifting, the second mounting plate 320 can drive fixed link 363 mobile relative to adjusting rod 361, and damper 364 and spring can delay
Reconstitute the movement between pole 361 and fixed link 363.
It is connect as shown in figure 3, adjusting component 362 with the first mounting plate 310, adjusting rod 361 is connect with component 362 is adjusted.
Adjusting component 362 can drive adjusting rod 361 to move along a first direction to adjust adjusting rod 361 relative to the first mounting plate
310 position, so as to adjust the initial distance between adjusting rod 361 and fixed link 363, and then adjustable first elasticity
The pretightning force of part 365 or the first elastic component 365 for installing different length, to realize the tune to the rigidity of the first bolster 360
It is whole.It should be noted that " initial distance between adjusting rod 361 and fixed link 363 " mentioned herein can be understood as
In the case where there is no relative motion between two mounting plates 320 and the first mounting plate 310, i.e. the first mounting plate 310 and the second installation
Spacing when 320 face of plate, between fixed link 363 and adjusting rod 361.
As shown in figure 3, in some embodiments of the invention, adjusting rod 361 can be it is multiple, multiple adjusting rods 361 are
It is spaced apart with fixed link 363.For example, adjusting rod 361 can be two, two adjusting rods 361 are parallel and are intervally arranged, fixed link
363 are located between two adjusting rods 361.First elastic component 365 can be multiple, multiple multiple first elastic components of first elastic component
The first elastic component of a part 365 in 365 is located in one of between adjusting rod 361 and fixed link 363, multiple first elastic components
The first elastic component of another part 365 in 365 is between another adjusting rod 361 and fixed link 363.Thus, it is possible to pass through
Multiple first elastic components 365 buffer the movement of the first mounting plate 310, so as to improve buffering effect.It should be noted that
In actual use, first can be adjusted by the quantity or the parameter of first elastic component 365 for changing the first elastic component 365
The rigidity of bolster 360.
As shown in figure 3, in some examples of the invention, adjusting component 362 can be multiple groups, multiple groups adjust component 362
It is intervally arranged.Multiple groups adjust component 362 and may be incorporated for support adjusting rod 361 and adjust the position of adjusting rod 361.As a result, may be used
To improve the mounting stability of adjusting rod 361, it also can use multiple groups adjusting component 362 and determine the different location of adjusting rod 361
Positioned at the first mounting plate 310, deformed under the pulling force effect of the first elastic component 365 to avoid adjusting rod 361.
As shown in figure 3, in some examples of the invention, fixed link 363 can be equipped with height adjustment cushion block 366, height
The one end for adjusting cushion block 366 is connect with fixed link 363, and the other end of height adjustment cushion block 366 is connect with the second mounting plate 320.
Thus, it is possible to avoid the first guide part 340, first sensor group using padded second mounting plate 320 of height adjustment cushion block 366
The case where part 350, the first bolster 360 are contacted with the second mounting plate 320, form interference to the movement of the second mounting plate 320.Into
One step, height adjustment cushion block 366 can be it is multiple, multiple height adjustment cushion blocks 366 can be along the extension side of fixed link 363
To being intervally arranged.Thus, it is possible to improve the connective stability between fixed link 363 and the second mounting plate 320.
As shown in figure 3, in some embodiments of the invention, adjusting component 362 may include shoulder 3621, bolt stabilizer blade
3622, bolt 3623 is adjusted.Shoulder 3621 is connect with the first mounting plate 310, and shoulder 3621 is quiet relative to the first mounting plate 310
Only.Bolt stabilizer blade 3622 is connect with the first mounting plate 310, and bolt stabilizer blade 3622 is spaced apart with shoulder 3621, bolt stabilizer blade 3622
With through hole, the one end for adjusting bolt 3623 is arranged in through hole, and the other end for adjusting bolt 3623 offsets with shoulder 3621,
It adjusts bolt 3623 and adjusting rod 361 is threadedly engaged to adjust the spacing between adjusting rod 361 and fixed link 363.For example, adjusting
Bar 361 has the threaded hole through 361 side wall of adjusting rod, adjusts bolt 3623 and is arranged in threaded hole and matches with threaded hole screw thread
It closes.The structure to be formed similar to lead screw can be constructed by adjusting bolt 3623 and adjusting rod 361 as a result, can be adjusted by rotation
Bolt 3623 realizes the adjustment of 361 position of adjusting rod, and the structure for adjusting component 362 is simple and easy to operate, so as to reduce
The production cost of mobile platform 1, the operating characteristics for improving mobile platform 1.
As shown in figure 3, in some embodiments of the invention, the first guide part 340 may include guide rail 341 and sliding block
342, guide rail 341 is connect with the first mounting plate 310, and guide rail 341 extends in a first direction, and sliding block 342 and the second mounting plate 320 connect
It connects.It should be noted that " connection " here is sensu lato connection, either sliding block 342 and the second mounting plate 320 are directly
Connection, can also refer to that sliding block 342 is indirectly connected with the second mounting plate 320, for example, sliding block 342 can be realized by fixed link 363
With the connection of the second mounting plate 320.Sliding block 342 is adapted with guide rail 341, and sliding block 342 is removable relative to guide rail 341, with
Guide the movement of the second mounting plate 320.Thus, it is possible to make the second mounting plate by the matching relationship of guide rail 341 and sliding block 342
320 move along a first direction.
As shown in figure 3, in some embodiments of the invention, the first guide part 340 can be two, two first guiding
Part 340 is parallel and is intervally arranged.For example, one end of fixed link 363 can be with the sliding block 342 of one of them the first guide part 340
Connection, the other end of fixed link 363 can be connect with the sliding block 342 of another the first guide part 340, and the second mounting plate 320 can
To be connect with fixed link 363.Thus, it is possible to drive fixed link 363 to move using two the first guide parts 340, so as to mention
The mobile synchronism in high 363 both ends of fixed link, and then the operating power of the first guide part 360 can be improved can also be improved the
The kinematic accuracy of two mounting plates 320.
As shown in figure 3, in some embodiments of the invention, the first mounting plate 310 is towards the side of the second mounting plate 320
Equipped with limited block 367, limited block 367 can limit the movement of fixed link 363.Further, limited block 367 is multiple, multiple
A part of limited block 367 in limited block 367 is located at the side of fixed link 363, another part limit in multiple limited blocks 367
Block 367 is located at the other side of fixed link 363.For example, the first mounting plate 310 can be set, there are four limited blocks 367, wherein two
Limited block 367 is located at the side of fixed link 363 and is intervally arranged along the extending direction of fixed link 363, other two limited block 367
Positioned at fixed link 363 the other side and be intervally arranged along the extending direction of fixed link 363, fixed link 363 can be in this two groups of limits
It is moved between the block 367 of position.Limited block 367 is used to limit the displacement of fixed link 363, prevents it from exceeding the stroke of damper 364, or
Person exceeds the maximum tension length of the first elastic component 365, so as to form protective effect to Buffer Unit 30.
As shown in Figures 2 and 3, in some embodiments of the invention, Buffer Unit 30 further include third mounting plate 330,
Second guide part, second sensor component and the second bolster.Third mounting plate 330 is located at the first mounting plate 310 and mobile list
Between member 50, third mounting plate 330 is connect with mobile unit 50, and third mounting plate 330 and the first mounting plate 310 are opposite, and the
Three mounting plates 330 are spaced apart with the first mounting plate 310, and the first mounting plate 310 is movable relative to third mounting plate 330.For example, the
Three mounting plates 330 can be laid in the upper surface of mobile unit 50 and be fixedly connected with mobile unit 50, and the first mounting plate 310 can
To be located at the top of third mounting plate 330, third mounting plate 330 and 310 face of the first mounting plate and it is spaced apart, the second mounting plate
320 are located at the first side of the mounting plate 310 far from third mounting plate 330.
Second bolster is between the first mounting plate 310 and third mounting plate 330.Second guide part is installed set on third
Plate 330, and the actuating station of the second guide part is connect to guide the first mounting plate 310 along second direction with the first mounting plate 310
Mobile, second direction is vertical with first direction.Second sensor component be set to the second mounting plate 320, second sensor component with
Controller communication connection, second sensor component are adapted to detect for the location status of the first mounting plate 310 to pass to controller.The
Two bolsters are all connected with the first mounting plate 310, third mounting plate 330, the second bolster can buffer the first mounting plate 310 with
Relative motion between third mounting plate 330.
Second sensor component can detecte the position and attitude of the first mounting plate 310 to pass to controller as a result, so that
Position of the first mounting plate of flexural pivot 310 relative to mobile unit 50 can be monitored in real time in controller, and then it is flat that carrying can be improved
The motion control accuracy of platform 70.It can be buffered between the first mounting plate 310 and third mounting plate 330 by the way that the second bolster is arranged
Relative movement, avoid flexural pivot 40 and the rigid connection of mobile unit 50 in a second direction, mobile unit 50 can be buffered
Shaking in a second direction avoids the shaking rigid of transmission of mobile unit to carrying platform 70, and then keeps carrying platform 70
Stabilization.
In some examples of the invention, first sensor, second sensor are linear displacement transducer.As a result, may be used
To detect the displacement of the second mounting plate 320 by two linear displacement transducers, so as to detect the position of flexural pivot 40, so that
Mobile unit 50 can accurately perceive the position of flexural pivot 40, and then improve the motion control accuracy of carrying platform 70.
In some embodiments of the invention, the construction of the second guide part is identical as the construction of the first guide part 340, and second
The construction of bolster is identical as the construction of the second bolster.Thus, it is possible to simplify the structure setting of Buffer Unit 30, buffering is improved
The production efficiency of component 30.
As shown in Fig. 1, Fig. 4 and Fig. 5, according to some embodiments of the present invention, support component 20 may include the first support
One end of bar 210 and second support bar 220, first support bar 210 is fixedly connected with one end of second support bar 220, and first
The other end of strut 210 is rotatably coupled with carrying platform 70, and the other end and the carrying platform 70 of second support bar 220 can live
It connects dynamicly, the other end of first support bar 210 is spaced apart with the other end of second support bar 220.Pass through setting first as a result,
Support rod 210 and second support bar 220 are used to support and carrying platform 70 are driven to move, and the structure of mobile platform 1 can be improved
Stability improves the robust motion of carrying platform 70.
As shown in Fig. 1, Fig. 4 and Fig. 5, in some embodiments of the invention, support component 20 can also include third branch
Strut 230, third support rod 230 are set to carrying platform 70, and one end of third support rod 230 is another with first support bar 210
End is pivotably connected, and the other end of third support rod 230 and the other end of second support bar 220 are pivotably connected.It can be with
Understand, first support bar 210, second support bar 220 and third support rod 230 can construct to form A-frame.As a result,
The structural stability of support component 20 can be improved, it, can also be by setting so as to improve the load-carrying properties of support component 20
It sets third support rod 230 and realizes rotating coaxially for first support bar 210 and second support bar 220.Further, third support rod
230 are equipped with angular displacement sensor 760, and angular displacement sensor 760 is connect with controller communication, and angular displacement sensor 760 is for examining
It surveys the rotational angle of support component 20 and feeds back to controller, the branch that controller can be detected according to angular displacement sensor 760
The movement of the Pose Control support component 20 of support component 20.
As shown in Figures 4 and 5, according to some embodiments of the present invention, driving assembly 60 includes pulley assembly 600, spiral
Disk 610, take-up reel 620, rope 630, motor 640, retarder 650 and the second elastic component 660.Pulley assembly 600 is set to support
One end of component 20.Winding roll 610 is set to carrying platform 70, and winding roll 610 can be rotated relative to carrying platform 70.Take-up reel
620 are set to carrying platform 70 and are spaced apart with winding roll 610, and take-up reel 620 can be rotated relative to carrying platform 70.Rope 630
One ends wound in winding roll 610, the other end of rope 630 is wound in take-up reel 620 after passing through pulley assembly 600.Motor 640
It is connect with winding roll 610, to drive winding roll 610 to rotate.Motor 640 is connect with controller communication.One end of retarder 650 with
The output end of motor 640 connects, and the other end of retarder 650 is connect with winding roll 610.Second elastic component 660 and take-up reel 620
Connection, to provide pretightning force for rope 630.
Controller can adjust the spiral rate and unwrapping wire of winding roll 610 by controlling the output power of motor 640 as a result,
Rate can be driven when 610 spiral of winding roll by the mating reaction of winding roll 610, take-up reel 620 and pulley assembly 600
Support component 20 moves；When 610 unwrapping wire of winding roll, support component 20 and carrying platform 70 are in gravity load or mobile unit
Support component 20 is driven to move under 50 active force, so as to realize the adjustment of carrying platform 70 position and posture.It is entire to drive
The structure setting of dynamic component 60 is simple and light weight is so as to reduce the quality of mobile platform 1 reduces the life of mobile platform 1
Produce cost.
In some examples of the invention, the second elastic component 660 can be scroll spring.
In some embodiments of the invention, rope 630 can be carbon fiber part, steel wire, nylon or Kafra fiber
Rope.Carbon fiber part has good structural strength and material is light.Rope 630 is manufactured using carbon fiber, can guarantee rope 630
Structural strength in the case where, mitigate driving assembly 60 weight, so as to mention the drive efficiency of driving assembly 60.
As shown in fig. 6, in some embodiments of the invention, driving assembly 60 further includes U-shaped pedestal 670 and first bearing
Component 680, first bearing component 680 include first bearing and second bearing.U-shaped pedestal 670 includes the first mounting hole and second
Mounting hole, the first mounting hole is opposite with the second mounting hole, and winding roll 610 subtracts between the first mounting hole and the second mounting hole
The other end of fast device 650 passes through the first mounting hole and connect with the pivotal axis 611 of winding roll 610.First bearing is located at the second installation
It is fixedly connected, first bearing is placed in second bearing and can be rotated relative to first bearing, spiral in hole and with U-shaped pedestal 670
The pivotal axis 611 of disk 610 is connect with second bearing.U-shaped pedestal 670 is connect with carrying platform 70.U-shaped pedestal 670 is set as a result,
The mounting stability of driving assembly 60 can be can also be improved in order to the installation of winding roll 610 by setting, first bearing component 680
The abrasion that can reduce winding roll 610 is set.Further, driving assembly 60 further includes end cap 690, end cap 690 and the second peace
Hole connection is filled, end cap 690 is suitable for blocking first bearing component 680.Thus, it is possible to which the installation for improving first bearing component 680 is steady
Qualitative and leakproofness.
As shown in fig. 7, in some embodiments of the invention, driving assembly 60 further includes L shape pedestal 700, second bearing
Component 710, opening shaft and vertical plate.Take-up reel 620 is set to carrying platform 70 by L shape pedestal 700.Take-up reel 620 relative to
Carrying platform 70 can be rotated.Vertical plate is connect with L shape pedestal 700, and vertical plate is bolted with L shape pedestal 700, and be open shaft
There is the shaft shoulder at both ends, are stuck in the medial surface of L shape pedestal 700 Yu vertical plate, and limitation opening shaft is moved along axis is rectangular.Second
Bearing assembly 710 is coated at opening shaft, and take-up reel 620 is coated at second bearing component 710.It is placed in second elastic component 660
Take-up reel 620 and it is coated at opening shaft, the opening of the opening shaft 621 of one end insertion take-up reel 620 of the second elastic component 660
In slot, the other end is fixed on take-up reel 620.The preparatory torsion angle of second elastic component 660 when being installed by control rope 630
Degree, the pretightning force of adjustable rope 630 prevent rope 630 from loosening, rope 630 are avoided to deviate from from pulley assembly 600.Bullet
Spring door 730 is sheathed on opening shaft 621 and connect with take-up reel 620, for dust-proof and the second elastic component 660 of protection.Opening
The both ends of shaft 621 are square boss, are inserted into the square groove of L shape pedestal 700 and vertical plate 720 respectively, can limit pivotal axis 611
Rotation.
As shown in figure 8, in some embodiments of the invention, pulley assembly 600 include pedestal 601, flake connector 602,
Pulley bracket 603 and movable pulley 604.Pedestal 601 is connect with support component 20.One end of flake connector 602 and pedestal 601 can pivots
Turn ground connection.The other end of flake connector 602 is connect with pulley bracket 603.Movable pulley 604 and pulley bracket 603 are pivotly
Connection, rope 630 bypass movable pulley 604.Winding roll 610 can pass through the mating reaction of rope 630 and take-up reel 620 as a result,
To drive movable pulley 604 to move, movable pulley 604 can be further driven to the movement of support component 20, so as to drive carrying flat
Platform 70 moves.
As shown in Figure 1, in some embodiments of the invention, mobile unit 50 can be crawler-type mobile unit.Crawler belt
Formula mobile unit has good bearing capacity, driving capability and obstacle climbing ability, and can adapt to various road conditions, such as uneven
Ground.Thus, it is possible to improve the movenent performance and load-carrying properties of mobile platform 1.When three support components 20 are towards carrying
When the outside arrangement of platform 70, first support bar 210 and second support bar 220 can be to the oblique outsides of crawler-type mobile unit
Power, and crawler-type mobile unit and be bad at bear side loading, by be arranged driving assembly 60, can be to first support bar
210 and second support bar 220 inwardly apply pulling force, for first support bar 210 and second support bar 220 to crawler-type mobile list
The lateral force of member, so as to improve the robust motion and security performance of mobile platform 1.
As shown in Figure 1, in some embodiments of the invention, mobile platform 1 can also include 3rd sensor component 80,
3rd sensor component 80 is set to carrying platform 70, and 3rd sensor component 80 is connect with controller communication.For example, third senses
Device assembly 80 can be gyroscope.3rd sensor component 80 can detecte the position of carrying platform 70 and posture and anti-as a result,
It feeds controller, to realize the closed-loop control of 70 posture of carrying platform.
It is mobile that three mobile units combined type six degree of freedom according to an embodiment of the present invention is described in detail below with reference to Fig. 1-Fig. 8
Platform 1.It is worth understanding, it is described below to be merely illustrative, rather than to concrete restriction of the invention.
As shown in Figure 1, mobile unit 50 can be crawler-type mobile unit or caterpillar robot, stayed in mobile unit 50
There is mechanical mounting interface, the installation for Buffer Unit 30.The motion control box being placed in mobile unit 50 generates movement control
Signal processed, control mobile unit 50 move.It should be noted that motion control box here may be controller.
Such as Fig. 2, shown in Fig. 3, Buffer Unit 30 includes the first mounting plate 310, the second mounting plate 320 and third mounting plate
330.Second mounting plate 320, the first mounting plate 310 and third mounting plate 330 stack gradually arrangement from top to bottom.First mounting plate
310 connect with mobile unit 50, and the second mounting plate 320 is equipped with flexural pivot 40.First guide part 340, the first bolster 360 are located at the
Between one mounting plate 310 and the second mounting plate 320.Second guide part, the second bolster are located at the first mounting plate 310 and third peace
Between loading board 330.First guide part 340 is identical as the construction of the second guide part and the extending direction of the first guide part 340 and
The extending direction of two guide parts is vertical.First bolster 360 is identical as the construction of the second bolster and the first bolster 360 prolongs
It is vertical with the extending direction of the second bolster to stretch direction.First guide part 340 includes guide rail 341 and sliding block 342.First bolster
360 include adjusting rod 361, shoulder 3621, bolt stabilizer blade 3622, adjusting bolt 3623, fixed link 363, damper 364, spring,
Height adjustment cushion block 366, limited block 367.
As shown in figure 3, adjusting bolt 3623 by taking the structure between the first mounting plate 310 and the second mounting plate 320 as an example and wearing
The through hole for crossing bolt stabilizer blade 3622 is threadedly coupled with adjusting rod 361, and the end for adjusting bolt 362 withstands on the seam allowance of shoulder 3621
On bottom surface.Adjusting bolt 3623 can rotate in the through-hole of bolt stabilizer blade 3622, and shoulder 3621 and the first mounting plate 310 are solid
It is fixed.Fixed link 363 and the second mounting plate 320 are fixed.The both ends of spring are separately connected adjusting rod 361 and fixed link 363. by twisting
The dynamic position for adjusting the adjustable adjusting rod 361 of bolt 3623, and then the pretightning force of adjustment spring.Due to the position of adjusting rod 361
It sets adjustable, allows Buffer Unit 30 that the spring of different length is installed, therefore the stiffness parameters of Buffer Unit 30 can be very square
Just change.
As shown in figure 3, fixed link 363 protects fixed link 363 and the second mounting plate 320 by height adjustment cushion block 366
Suitable distance is held, the second mounting plate 320 is fixed on the sliding block 342 of guide rail 341.Guide rail 341 is set to the first mounting plate 310.
One end of damper 364 and the second mounting plate 320 are fixed, and the other end and the first mounting plate 310 are fixed.Limited block 367 is for limiting
The displacement of fixed link 363 processed, prevent its exceed damper 364 stroke, or the maximum tension length beyond spring and cause
The damage of system.
As shown in Fig. 1, Fig. 4 and Fig. 5, support component 20 includes first support bar 210, second support bar 220, third support
Bar 230.Third support rod 230 is set to carrying platform 70, and one end of first support bar 210 and one end of second support bar 220 are solid
Fixed to connect and connect with flexural pivot 40, one end of the other end and third support rod 230 of first support bar 210 is pivotably connected,
The other end of second support bar 220 and the other end of third support rod 230 are pivotably connected.First support bar 210, second
Strut 220 and third support rod 230 can construct to form A-frame.
As shown in Fig. 4-Fig. 8, driving assembly 60 include pulley assembly 600, winding roll 610, take-up reel 620, rope 630,
Motor 640, retarder 650, the second elastic component 660, U-shaped pedestal 670, first bearing component 680, end cap 690, L shape pedestal
700, reinforcing rod 740 and second bearing component 710.
As shown in fig. 6, winding roll 610 is set to carrying platform 70 by U-shaped pedestal 670.Winding roll 610 is flat relative to carrying
Platform 70 can be rotated.Specifically, U-shaped pedestal 670 includes the first mounting hole and the second mounting hole, the first mounting hole and the second mounting hole
Relatively, for winding roll 610 between the first mounting hole and the second mounting hole, the other end of retarder 650 passes through the first mounting hole
It is connect with the pivotal axis 611 of winding roll 610.First bearing is located in the second mounting hole and is fixedly connected with U-shaped pedestal 670, the
Two bearing inner sleeves can be rotated in first bearing and relative to first bearing, and the pivotal axis 611 and second bearing of winding roll 610 connect
It connects.End cap 690 is connect with the second mounting hole, and end cap 690 is suitable for blocking first bearing component 680.First bearing component 680 also has
There is shaft end ring 750, for limiting the axial float of second bearing.The both ends of reinforcing rod 740 are respectively fixedly connected in U-shaped pedestal 670
Both ends, for reinforcing U-shaped pedestal 670 in open end rigidity.There is wire casing on winding roll 610, rope 630 is wrapped in wire casing,
And along wire casing folding and unfolding.
As shown in fig. 7, take-up reel 620 is set to carrying platform 70 by L shape pedestal 700.Take-up reel 620 is flat relative to carrying
Platform 70 can be rotated.Specifically, vertical plate 720 is connect with L shape pedestal 700, and vertical plate 720 and L shape pedestal 700 is bolted, and is opened
There is the shaft shoulder at the both ends of mouth shaft 621, are stuck in the medial surface of L shape pedestal 700 Yu vertical plate 720, limitation opening shaft 621 is along axis
The rectangular movement of line.Second bearing component 710 is coated at opening shaft 621, and take-up reel 620 is coated at second bearing component 710.
It is placed on take-up reel 620 in second elastic component 660 and is coated at opening shaft 621, take-up reel is inserted into one end of the second elastic component 660
In the open slot of 620 opening shaft 621, the other end is fixed on take-up reel 620.Second when being installed by control rope 630
The preparatory windup-degree of elastic component 660, the pretightning force of adjustable rope 630, prevent rope 630 loosen, avoid rope 630 from
Deviate from pulley assembly 600.Spring door 730 is sheathed on opening shaft 621 and connect with take-up reel 620, for dust-proof and guarantor
Protect the second elastic component 660.The both ends for the shaft 621 that is open are square boss, are inserted into the square groove of L shape pedestal 700 and vertical plate 720 respectively
In, the rotation of pivotal axis 611 can be limited.
Take-up reel 620 is spaced apart with winding roll 610.The one ends wound of rope 630 in winding roll 610, rope 630 it is another
End is wound in take-up reel 620 after pulley assembly 600.Motor 640 is connect with winding roll 610, to drive 610 turns of winding roll
It is dynamic.Motor 640 is connect with controller communication.The connection coaxial with the output end of motor 640 of one end of retarder 650, retarder 650
The other end connect with winding roll 610.
As shown in Figures 4 and 5, pulley assembly 600 is set to one end of support component 20.Pulley assembly 600 includes pedestal
601, flake connector 602, pulley bracket 603 and movable pulley 604.Pedestal 601 is connect with support component 20.Flake connector 602
One end is pivotably connected with pedestal 601.The other end of flake connector 602 is connect with pulley bracket 603.Movable pulley 604 and cunning
Wheel support 603 is pivotably connected, and rope 630 bypasses movable pulley 604.
It drives winding roll 610 to rotate take-up by motor 640, support component 20 is driven to turn to the inside.If motor 640
610 unwrapping wire of winding roll is driven, support component 20 can be in external force (such as the driving force of gravity load or mobile unit 50
Deng) under, it is laterally rotated around third support rod 230.First support bar 210, second support bar 220, third support rod 230 select
With carbon fibre material, the weight of entire support component 20 can be mitigated under the premise of proof strength.
604 component of movable pulley is used to improve the driving force of the driving of rope 630, than 630 direct drive mode of rope, driving force
It puts and is twice.As shown in figure 8, movable pulley 604 is pivotably coupled on pulley bracket 603 by pin shaft 605, moving pulley bracket
603 are fixedly connected by screw thread with flake connector 602, and flake connector 602 is connected on pedestal 601 by fisheye type shaft 606,
Pedestal 601 is fixed on the lower end of branch.Flake connector 602 is equivalent to 40 connector of flexural pivot, has three rotational freedoms.Support group
During the work time, the direction of rope 630 and angle may change part 20, and flake connector 602 can provide three and turn
Dynamic freedom degree, permission movable pulley 604 adjustment direction with the movement of rope 630, and then ensure that rope 630 and movable pulley
604 good contact.
Three mobile units combined type six degree of freedom mobile platform 1 according to an embodiment of the present invention, by the way that three movements are arranged
Unit 50 and three flexural pivots 40, three mobile units 50 have good cooperative ability, and six that mobile platform 1 may be implemented are free
Degree movement, so as to improve the movenent performance and kinematic dexterity of mobile platform 1.In addition, the buffering group in transmission component 10
Part 30 can also avoid the rigidly connected of flexural pivot 40 and mobile unit 50, and Buffer Unit 30 can buffer mobile unit 50 and move
Shaking in the process avoids the shaking rigid of transmission of mobile unit 50 to carrying platform 70, to guarantee the fortune of carrying platform 70
Dynamic stability, so can make mobile platform 1 movement it is softer, have good damping performance.The cooperation branch of driving assembly 60
Support component 20 can also provide active force for mobile unit 50, realize " two drag one " function.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of three mobile unit combined type six degree of freedom mobile platforms characterized by comprising
Carrying platform；
Three groups of transmission components, transmission component described in every group include support component and Buffer Unit；
Three mobile units, every mobile unit are movably connected by transmission component described in one group with the carrying platform
It connecing, the Buffer Unit is set to the mobile unit, and one end of the support component is connect with the Buffer Unit by flexural pivot,
The other end of the support component is pivotably connected with the carrying platform；
At least one driving assembly, the driving component are connect with support component described at least one, to drive the support group
Part rotation；
Controller, the controller are set to the carrying platform, the controller and the driving component communication connection.
2. three mobile units combined type six degree of freedom mobile platform according to claim 1, which is characterized in that the buffering
Component includes:
First mounting plate, first mounting plate are connect with the mobile unit；
Second mounting plate, second mounting plate is opposite with first mounting plate, and second mounting plate and described first
Mounting plate is spaced apart, and second mounting plate is movable relative to first mounting plate, and the flexural pivot is set to second installation
Plate；
First guide part, first guide part are set to first mounting plate, and the actuating station of first guide part and institute
The connection of the second mounting plate is stated, is moved along a first direction with guiding second mounting plate；
First sensor component, the first sensor component are connect with the controller communication, the first sensor component
Set on first mounting plate, the first sensor component is adapted to detect for the location status of second mounting plate；
First bolster, first bolster is between first mounting plate and second mounting plate, and described
One bolster is all connected with first mounting plate, second mounting plate.
3. three mobile units combined type six degree of freedom mobile platform according to claim 2, which is characterized in that described first
Bolster includes:
Adjusting rod, the adjusting rod are movably coupled to first mounting plate, the extending direction of the adjusting rod with it is described
First direction is vertical；
Component is adjusted, the adjusting component is set to first mounting plate, and the adjusting component is connect with the adjusting rod with band
It is mobile to move the adjusting rod；
Fixed link, the fixed link are spaced apart with the adjusting rod, and the fixed link is connect with second mounting plate, and described
Fixed link is static relative to second mounting plate, and the fixed link is movable relative to first mounting plate；
One end of first elastic component, first elastic component is connect with the adjusting rod, the other end of first elastic component with
The fixed link connection；
Damper, the damper are all connected with the adjusting rod, the fixed link.
4. three mobile units combined type six degree of freedom mobile platform according to claim 3, which is characterized in that the adjusting
Component includes:
Shoulder, the shoulder are connect with first mounting plate, and the shoulder is static relative to first mounting plate；
Bolt stabilizer blade, the bolt stabilizer blade are connect with first mounting plate, and the bolt stabilizer blade is spaced apart with the shoulder, institute
Bolt stabilizer blade is stated with through hole；
Adjust bolt, described one end for adjusting bolt is arranged in the through hole, the other end for adjusting bolt with described
Shoulder offsets, between the adjusting bolt and the adjusting rod are threadedly engaged to adjust between the adjusting rod and the fixed link
Away from.
5. three mobile units combined type six degree of freedom mobile platform according to claim 2, which is characterized in that described first
Guide part includes:
Guide rail, the guide rail are connect with first mounting plate, and the guide rail extends along the first direction；
Sliding block, the sliding block are adapted with the guide rail, and the sliding block is removable relative to the guide rail, the sliding block and institute
The connection of the second mounting plate is stated to guide the second mounting plate movement.
6. three mobile units combined type six degree of freedom mobile platform according to claim 2, which is characterized in that the buffering
Component further include:
Third mounting plate, the third mounting plate is between first mounting plate and the mobile unit, the third peace
Loading board is connect with the mobile unit, and the third mounting plate is opposite with first mounting plate, and the third mounting plate with
First mounting plate is spaced apart, and first mounting plate is movable relative to the third mounting plate；
Second guide part, second guide part are set to the third mounting plate, and the actuating station of second guide part and institute
It states the connection of the first mounting plate to move to guide first mounting plate along second direction, the second direction and the first party
To vertical；
Second sensor component, the second sensor component are connect with the controller communication, the second sensor component
Set on second mounting plate, the second sensor component is adapted to detect for the location status of first mounting plate；
Second bolster, second bolster is between first mounting plate and the third mounting plate, and described
Two bolsters are all connected with first mounting plate, the third mounting plate.
7. three mobile units combined type six degree of freedom mobile platform according to claim 6, which is characterized in that described second
The construction of guide part is identical as the construction of first guide part；
The construction of second bolster is identical as the construction of first bolster.
8. three mobile units combined type six degree of freedom mobile platform according to claim 1, which is characterized in that the support
Component includes first support bar and second support bar, and one end of the first support bar and one end of the second support bar are fixed
Connection, the other end of the first support bar are rotatably coupled with the carrying platform, the other end of the second support bar
It is movably connected with the carrying platform, the other end interval of the other end of the first support bar and the second support bar
It opens.
9. three mobile units combined type six degree of freedom mobile platform according to claim 1, which is characterized in that the driving
Component includes:
Pulley assembly, the pulley assembly are set to one end of the support component；
Winding roll, the winding roll is set to the carrying platform, and the winding roll can be rotated relative to the carrying platform；
Take-up reel, the take-up reel are set to and the carrying platform and are spaced apart with the winding roll, and the take-up reel relative to
The carrying platform can be rotated；
Rope, in the winding roll, the other end of the rope is wound in the one ends wound of the rope after passing through pulley assembly
The take-up reel；
Motor, the motor are connect with the winding roll, and to drive the winding roll to rotate, the motor and the controller are logical
News connection；
Retarder, one end of the retarder are connect with the output end of the motor, the other end of the retarder and the volume
Drum connection；
Second elastic component, second elastic component are connect with the take-up reel, to provide pretightning force for the rope.
10. three mobile units combined type six degree of freedom mobile platform according to claim 9, which is characterized in that the cunning
Wheel assembly includes:
Pedestal, the pedestal are connect with the support component；
Flake connector, one end and the pedestal of the flake connector are pivotably connected；
Pulley bracket, the pulley bracket are connect with the other end of the flake connector；
Movable pulley, the movable pulley are pivotably connected with the pulley bracket, and the rope bypasses the movable pulley.
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| CN201811256144.8A CN109202868B (en) | 2018-10-26 | 2018-10-26 | Three-mobile-unit combined six-degree-of-freedom mobile platform |
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| CN109202868B (en) | 2020-11-10 |
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