CN110748764B - Two-degree-of-freedom test system platform - Google Patents
Two-degree-of-freedom test system platform Download PDFInfo
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- CN110748764B CN110748764B CN201911229998.1A CN201911229998A CN110748764B CN 110748764 B CN110748764 B CN 110748764B CN 201911229998 A CN201911229998 A CN 201911229998A CN 110748764 B CN110748764 B CN 110748764B
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- main body
- push rod
- seat
- body lifting
- lifting assembly
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- 238000000429 assembly Methods 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims description 3
- 230000000474 nursing effect Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 6
- 230000036544 posture Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention discloses a two-degree-of-freedom test system platform. The device comprises a mounting frame, a mounting plate and a main body lifting assembly, wherein the mounting plate is arranged on the mounting frame, the main body lifting assembly comprises a left main body lifting assembly and a right main body lifting assembly which are symmetrically arranged on two sides of the mounting frame, a hub motor and a push rod seat are arranged on the main body lifting assembly, the main body lifting assembly is connected with a controller, the controller is arranged inside the mounting frame, and the controller controls the main body lifting assembly to work to complete the mounting frame and the mounting plate. The invention has ingenious structural design, realizes the deformation motion of the two-degree-of-freedom platform through the micro motion amount of the push rod assembly, realizes the motion of the fixed frame and the mounting platform according to the distance change of the bottom edge of the quadrangle, and can also realize the leftward or rightward tilting motion while the fixed frame and the mounting seat move upwards or downwards. The platform can be automatically adjusted with a mechanical arm, a nursing bed, a wheelchair, a seat, a test bed and the like, and has wide application range.
Description
Technical Field
The invention belongs to the technical field of motion platforms, and particularly relates to an easily-controlled and accurate two-degree-of-freedom test system platform.
Background
In order to improve the comfort and operability of the chassis, the nursing bed, the experiment table and the like of the walking-aid robot, most of the walking-aid robot needs to be provided with posture adjusting mechanisms or equipment, such as mechanical arms, the nursing bed, a wheelchair, a seat, the experiment table and the like, various posture adjusting mechanisms can be additionally arranged, at present, the commonly used posture adjusting mechanisms such as a diamond posture adjusting mechanism, a linear motor and the like can only be adjusted up and down or left and right, the precision is not easy to control, the structure is complex, the wheel track is not variable, the folding difficulty is high, and the like.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide an easily controlled and precise two-degree-of-freedom test system platform.
The two-degree-of-freedom test system platform is characterized by comprising a mounting frame, a mounting plate and a main body lifting assembly, wherein the mounting plate is arranged on the mounting frame, the main body lifting assembly comprises a left main body lifting assembly and a right main body lifting assembly, the main body lifting assembly is symmetrically arranged on two sides of the mounting frame, a hub motor is arranged at the bottom of the main body lifting assembly, the main body lifting assembly is in signal connection with a controller, a push rod seat is arranged on the main body lifting assembly, a control line is connected to the bottom of the push rod seat, the control line is connected with the controller, the controller is arranged inside the mounting frame, and one or two groups of main body lifting assemblies are controlled by the controller to work so as to.
The two-degree-of-freedom test system platform is characterized in that a first rotating shaft and a second rotating shaft are symmetrically arranged on the front side and the rear side of a mounting frame respectively, a second connecting seat and a third connecting seat are symmetrically arranged on the left side and the right side of the mounting frame respectively, the left main body lifting assembly comprises a first connecting plate, two first supporting legs and a left lifting rod, one ends of the two first supporting legs are fixedly connected with the first connecting plate, the other ends of the two first supporting legs are symmetrically and movably sleeved on the first rotating shafts on the front side and the rear side of the mounting frame, a first connecting seat is further arranged on the first connecting plate, the end of the left lifting rod is rotatably connected with the first connecting seat, and the other end of the left lifting rod is; the right main body lifting assembly comprises a second adapter plate, two second supporting legs and a right lifting rod, one ends of the two second supporting legs are fixedly connected with the second adapter plate, the other ends of the two second supporting legs are symmetrically and movably sleeved on second rotating shafts on the front side and the rear side of the mounting frame, a fourth connecting seat is further arranged on the second adapter plate, the right lifting rod end is rotatably connected with the fourth connecting seat, the other end of the right lifting rod is rotatably connected with the third connecting seat, and a power line and a signal line which are connected with the controller are arranged on the left lifting rod and the right lifting rod.
The two-degree-of-freedom test system platform is characterized by further comprising a baffle, wherein two ends of the baffle are arranged on the first rotating shaft and the second rotating shaft, and the first supporting leg and the second supporting leg are respectively located between the mounting frame and the baffle to prevent the supporting legs from being separated.
The two-degree-of-freedom test system platform is characterized in that the number of the hub motors is at least 4, and each hub motor is provided with a mounting seat.
The two-degree-of-freedom test system platform is characterized in that two first hub motors are symmetrically arranged at the bottom of the first adapter plate, two second hub motors are symmetrically arranged at the bottom of the second adapter plate, and each hub motor is fixedly connected with the corresponding adapter plate through a hub motor mounting seat.
The two-degree-of-freedom test system platform is characterized in that the left lifting rod comprises a first push rod and a first push rod seat, one end of the first push rod is rotatably connected with the first connecting seat, the other end of the first push rod is connected with one end of the first push rod seat in a sleeved mode, and the other end of the first push rod seat is rotatably connected with the second connecting seat; the right lifting rod comprises a second push rod and a second push rod seat, one end of the second push rod is rotatably connected with the fourth connecting seat, the other end of the second push rod is connected with one end of the second push rod seat in a sleeved mode, and the other end of the second push rod seat is rotatably connected with the third connecting seat.
By adopting the technology, the invention has the following beneficial effects:
1) according to the invention, the supporting legs arranged on the left side and the right side of the mounting rack can respectively rotate anticlockwise and clockwise around the corresponding rotating shafts according to actual requirements to maintain the triangular relation formed by the corresponding supporting legs, the adapter plate, the connecting seat, the push rod seat and the fixing rack, the hub motors on the main body lifting assemblies on the left side and the right side can move in opposite directions, and meanwhile, the mounting rack and the mounting flat plate move upwards to maintain the quadrilateral relation formed by the fixing rack, the supporting legs, the hub motors and the ground, namely, the whole platform can move upwards;
2) the two-degree-of-freedom system platform is ingenious in structural design, the deformation motion of the two-degree-of-freedom platform can be realized through the micro motion amount of the push rod assembly, the included angle formed by the platform and the ground is changed or maintained according to the requirement by utilizing the triangular principle to maintain the rigidity and the stability of the platform, the length of the bottom edge is changed according to the change of the distance between the bottom edge of a quadrangle, namely two hub motors, the vertical motion, the leftward or rightward inclined motion and the leftward or rightward inclined motion of the fixed frame and the mounting platform are finally realized, and the leftward or rightward inclined motion can also be realized while the fixed frame and the mounting seat. The platform provides a posture-adjusting motion base, can be automatically adjusted through an installation frame arranged on the platform, a mechanical arm, a nursing bed, a wheelchair, a seat, a test bed and the like, and has a wide application range.
Drawings
FIG. 1 is a schematic view of the elevated state structure of the present invention;
FIG. 2 is a schematic view of the descending configuration of the present invention;
fig. 3 is a schematic diagram of the inclined state structure of the present invention.
In the figure: 1-a first in-wheel motor, 2-a first adapter plate, 3-a first support leg, 4-a first connection seat, 5-a first push rod, 6-a first push rod seat, 7-a second connection seat, 8-a mounting plate, 9-a mounting frame, 10-a first rotating shaft, 11-a baffle, 12-a second rotating shaft, 13-a third connection seat, 14-a second push rod seat, 15-a second push rod, 16-a second support leg, 17-a fourth connection seat, 18-a second adapter plate, and 19-a second in-wheel motor.
Detailed Description
The invention is further described with reference to the accompanying drawings, but the scope of the invention is not limited thereto:
as shown in fig. 1-3, the two-degree-of-freedom test system base provided by the invention comprises a mounting frame 9, a mounting plate 8 and main body lifting components, wherein the mounting plate 8 is arranged on the mounting frame 9, the main body lifting components comprise a left main body lifting component and a right main body lifting component, the left main body lifting component and the right main body lifting component are symmetrically arranged on two sides of the mounting frame 9, at least one hub motor is arranged at the bottom of each main body lifting component, the main body lifting components are in signal connection with a controller, a push rod seat is arranged on each main body lifting component, a control line is connected to the bottom of the push rod seat and comprises a power line and a signal line, the main body lifting components are connected with the controller through the control lines, the controller is arranged inside the mounting frame 9, and the controller controls one or. The controller controls one or two groups of main body lifting components to work to complete the movement of the mounting rack 9 and the mounting flat plate 8.
In the embodiment of the invention, the number of the hub motors is 4, each hub motor is provided with a mounting seat, two first hub motors 1 are symmetrically arranged at the bottom of a first adapter plate 2, two second hub motors 19 are symmetrically arranged at the bottom of a second adapter plate 18, and each hub motor is fixedly connected with the corresponding adapter plate through the hub motor mounting seat; every main part lifting unit includes a keysets, two supporting legs and two lifter, and every lifter includes a push rod and a push rod seat, and two lifter set up between two supporting legs.
As shown in the figures, the front side and the rear side of the mounting frame 9 of the invention are respectively symmetrically provided with a first rotating shaft 10 and a second rotating shaft 12, the left side and the right side are respectively symmetrically provided with a second connecting seat 7 and a third connecting seat 13, the left main body lifting assembly comprises a first rotating plate 2, two first supporting legs 3 and a left lifting rod, one ends of the two first supporting legs 3 are fixedly connected with the first rotating plate 2, the other ends of the two first supporting legs are symmetrically and movably sleeved on the first rotating shafts 10 at the front side and the rear side of the mounting frame 9, the first rotating plate 2 is also provided with two first connecting seats 4, the ends of the left lifting rod are rotatably connected with the first connecting seats 4, and the other ends of the left lifting rod are rotatably connected with; the right main body lifting component comprises a second adapter plate 18, two second supporting legs 16 and a right lifting rod, one ends of the two second supporting legs 16 are fixedly connected with the second adapter plate 18, the other ends of the two second supporting legs are symmetrically and movably sleeved on the front side and the rear side of the mounting frame 9, the second rotating shafts 12 on the two sides of the rear side of the mounting frame, a fourth connecting seat 17 is further arranged on the second adapter plate 18, the right lifting rod end is rotatably connected with the fourth connecting seat 17, the other end of the right lifting rod is rotatably connected with a third connecting seat 13, and a power line and a signal line which are connected with the controller are arranged on the left lifting rod and the right.
As shown in the figure, the left lifting rod comprises two first push rods 5 and two first push rod seats 6, one end of each first push rod 5 is rotatably connected with the corresponding first connecting seat 4, the other end of each first push rod 5 is connected with one end of each first push rod seat 6 in a sleeved mode, and the other end of each first push rod seat 6 is rotatably connected with the corresponding second connecting seat 7; the right lifting rod comprises two second push rods 15 and two second push rod seats 14, one end of each second push rod 15 is rotatably connected with the corresponding fourth connecting seat 17, the other end of each second push rod 15 is connected with one end of each second push rod seat 14 in a sleeved mode, and the other end of each second push rod seat 14 is rotatably connected with the corresponding third connecting seat 13.
In order to prevent the supporting legs from falling off from the rotating shaft in the lifting movement process, the invention also comprises a baffle plate 11, two ends of the baffle plate 11 are arranged on the first rotating shaft 10 and the second rotating shaft 12, and the first supporting leg 3 and the second supporting leg 16 are respectively positioned between the mounting frame 9 and the baffle plate 11.
As shown in the figure, the working process of the invention is as follows:
firstly, a controller controls a first push rod 6 and a second push rod 15 to respectively move outwards along a first push rod seat 6 and a second push rod seat 14 away from the corresponding push rod seats, at the moment, a first connecting seat 4 and a second connecting seat 7 respectively connected with the other ends of the first push rod 6 and the second push rod 15 move towards the direction away from the push rod seats under the action of the push rods, and because the first connecting seat 4 and the second connecting seat 7 are respectively and fixedly connected with a first adapter plate 2 and a second adapter plate 18, at the moment, the adapter plates also move towards the direction away from the push rod seats along the motion direction of the push rods, the first adapter plate 2 and the second adapter plate 18 are respectively and fixedly connected with a first hub motor 1 and a second hub motor 19 and one ends of a first supporting leg 3 and a second supporting leg 16, and the other ends of the first supporting leg 3 and the second supporting leg 16 are respectively and rotatably connected with a mounting frame 9, mounting bracket 9 again through second connecting seat 4 and third connecting seat 13 respectively with first push rod base 6 and the one end rotation of second push rod base 14 be connected, first supporting leg 3 and second supporting leg 16 can be respectively round first pivot 10 and second pivot 12 anticlockwise this moment, clockwise rotation maintains the supporting leg, the keysets, the connecting seat, the push rod, the triangle-shaped relation that push rod seat and mount 9 are constituteed, first in-wheel motor 1 and second in-wheel motor 19 can the relative motion this moment, can upwards move by the dull and stereotyped 8 of installation of fixed connection on mount 9 this moment and maintain by the mount, the supporting leg, the quadrangle relation that in-wheel motor and ground are constituteed, even get whole platform upward movement.
The left and right push rods synchronously move towards the corresponding push rod seats in opposite directions, so that the platform consisting of the mounting seat and the mounting plate moves downwards.
If the double push rods on one side are kept not to move or the moving direction of the push rods on the other side is opposite to the moving direction of the push rods on the other side, the fixing frame and the mounting plate can tilt to the side, close to the push rod seat, of the push rods. The movement distance and direction of the push rod can be accurately controlled through an external control system, so that the fixing frame and the mounting plate can move towards a preset direction to form an accurate two-degree-of-freedom movement platform.
The installation flat plate 8 is provided with a plurality of installation holes, and the corresponding equipment bottom plate is fixed on the installation flat plate 8 through the installation holes according to actual needs. The two-degree-of-freedom platform is ingenious in structural design, the deformation motion of the two-degree-of-freedom platform can be realized through the micro motion amount of the push rod assembly, the included angle formed by the platform and the ground is changed or maintained according to the requirement by utilizing the triangular principle to maintain the rigidity and the stability of the platform, the length of the bottom edge is changed according to the change of the distance between the bottom edge of a quadrangle, namely two hub motors, the vertical motion and the leftward or rightward inclined motion of the fixing frame and the mounting platform are finally realized, and the leftward or rightward inclined motion can also be realized while the fixing frame and the mounting seat move upwards or downwards. The mounting frame 9 of the platform can be connected with a mechanical arm, a nursing bed, a wheelchair, a seat, a test bed and the like, and is used as a movement base for adjusting postures of the mechanical arm, the nursing bed, the wheelchair, the seat, the test bed and the like, so that the application range is wide.
Claims (4)
1. A two-degree-of-freedom test system platform comprises a mounting frame (9), a mounting flat plate (8) and a main body lifting assembly, wherein the mounting flat plate (8) is arranged on the mounting frame (9), the main body lifting assembly comprises a left main body lifting assembly and a right main body lifting assembly, the left main body lifting assembly and the right main body lifting assembly are symmetrically arranged on two sides of the mounting frame (9), a hub motor is arranged at the bottom of the main body lifting assembly, the main body lifting assembly is in signal connection with a controller, the controller controls one group or two groups of main body lifting assemblies to work, and the motion of the mounting frame (9) and the mounting flat plate (8) is completed, the two-degree-of-freedom test system platform is characterized in that a first rotating shaft (10) and a second rotating shaft (12) are respectively and symmetrically arranged on the front side and the rear side,
the left main body lifting assembly comprises a first rotating plate (2), two first supporting legs (3) and a left lifting rod, one ends of the two first supporting legs (3) are fixedly connected with the first rotating plate (2), the other ends of the two first supporting legs are symmetrically and movably sleeved on first rotating shafts (10) on the front side and the rear side of a mounting frame (9), a first connecting seat (4) is further arranged on the first rotating plate (2), the end of the left lifting rod is rotatably connected with the first connecting seat (4), and the other end of the left lifting rod is rotatably connected with a second connecting seat (7); the right main body lifting assembly comprises a second adapter plate (18), two second supporting legs (16) and a right lifting rod, one ends of the two second supporting legs (16) are fixedly connected with the second adapter plate (18), the other ends of the two second supporting legs are symmetrically and movably sleeved on second rotating shafts (12) on the front side and the rear side of the mounting frame (9), a fourth connecting seat (17) is further arranged on the second adapter plate (18), the end of the right lifting rod is rotatably connected with the fourth connecting seat (17), the other end of the right lifting rod is rotatably connected with a third connecting seat (13), and a power line and a signal line which are connected with the controller are arranged on the left lifting rod and the right lifting rod;
still include baffle (11), baffle (11) both ends set up on first pivot (10) and second pivot (12), and first supporting leg (3) and second supporting leg (16) are located respectively between mounting bracket (9) and baffle (11), prevent that the supporting leg from deviating from.
2. The platform of claim 1, wherein the number of the hub motors is at least 4, and each hub motor is provided with a mounting seat.
3. The two-degree-of-freedom test system platform as claimed in claim 1, wherein the first adaptor plate (2) is symmetrically provided with two first hub motors (1) at the bottom, the second adaptor plate (18) is symmetrically provided with two second hub motors (19) at the bottom, and each hub motor is fixedly connected with the corresponding adaptor plate through a hub motor mounting seat.
4. A two-degree-of-freedom test system platform according to any one of claims 1-3, wherein the left lifting rod comprises a first push rod (5) and a first push rod seat (6), one end of the first push rod (5) is rotatably connected with the first connecting seat (4), the other end of the first push rod is connected with one end of the first push rod seat (6) in a sleeved manner, and the other end of the first push rod seat (6) is rotatably connected with the second connecting seat (7); the right lifting rod comprises a second push rod (15) and a second push rod seat (14), one end of the second push rod (15) is rotatably connected with the fourth connecting seat (17), the other end of the second push rod is connected with one end of the second push rod seat (14) in a sleeved mode, and the other end of the second push rod seat (14) is rotatably connected with the third connecting seat (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911229998.1A CN110748764B (en) | 2019-12-04 | 2019-12-04 | Two-degree-of-freedom test system platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911229998.1A CN110748764B (en) | 2019-12-04 | 2019-12-04 | Two-degree-of-freedom test system platform |
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| Publication Number | Publication Date |
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| CN110748764A CN110748764A (en) | 2020-02-04 |
| CN110748764B true CN110748764B (en) | 2021-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911229998.1A Active CN110748764B (en) | 2019-12-04 | 2019-12-04 | Two-degree-of-freedom test system platform |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101647745A (en) * | 2009-09-18 | 2010-02-17 | 上海交通大学 | Walking-aid robot with seat |
| CN207627501U (en) * | 2017-06-12 | 2018-07-20 | 深圳市井智高科机器人有限公司 | A kind of liftable wheelchair |
| CN108420612A (en) * | 2018-03-29 | 2018-08-21 | 合肥工业大学 | A kind of lower limb rehabilitation device being mounted on wheelchair |
| CN207774734U (en) * | 2017-10-10 | 2018-08-28 | 西北农林科技大学 | A kind of movable type orchard electric lifting platform |
| WO2018157396A1 (en) * | 2017-03-03 | 2018-09-07 | 核动力运行研究所 | Video inspection device for use with hanging support brackets |
| CN208576596U (en) * | 2018-08-09 | 2019-03-05 | 辽宁工业大学 | A kind of omnidirectional's electric drive platform truck |
-
2019
- 2019-12-04 CN CN201911229998.1A patent/CN110748764B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101647745A (en) * | 2009-09-18 | 2010-02-17 | 上海交通大学 | Walking-aid robot with seat |
| WO2018157396A1 (en) * | 2017-03-03 | 2018-09-07 | 核动力运行研究所 | Video inspection device for use with hanging support brackets |
| CN207627501U (en) * | 2017-06-12 | 2018-07-20 | 深圳市井智高科机器人有限公司 | A kind of liftable wheelchair |
| CN207774734U (en) * | 2017-10-10 | 2018-08-28 | 西北农林科技大学 | A kind of movable type orchard electric lifting platform |
| CN108420612A (en) * | 2018-03-29 | 2018-08-21 | 合肥工业大学 | A kind of lower limb rehabilitation device being mounted on wheelchair |
| CN208576596U (en) * | 2018-08-09 | 2019-03-05 | 辽宁工业大学 | A kind of omnidirectional's electric drive platform truck |
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| Publication number | Publication date |
|---|---|
| CN110748764A (en) | 2020-02-04 |
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