CN111659132A

CN111659132A - Motion platform capable of realizing three-dimensional space motion

Info

Publication number: CN111659132A
Application number: CN202010530226.8A
Authority: CN
Inventors: 乐伟楠
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2020-09-15

Abstract

The invention belongs to a motion platform structure, and provides a motion platform capable of realizing three-dimensional space motion, aiming at solving the technical problems that the motion platform has poor stability, is easy to shake and cannot meet the lifting requirement in the prior art, wherein the motion platform comprises a rotating platform, an installation platform, a first driving unit and at least three supporting and driving mechanisms; the first driving unit drives the rotating platform to rotate; the supporting driving mechanism comprises a second driving unit, a bracket, a screw rod, a joint bearing, two sliding blocks and two supporting pieces; the second driving unit drives the screw rod to rotate; the two sliding blocks are sleeved on the screw rod, and threads matched with the two sections of threads in opposite rotating directions on the screw rod are respectively arranged on the two sliding blocks; one ends of the two supporting pieces are hinged with each other, and the other ends of the two supporting pieces are hinged on the two sliding blocks respectively; the joint bearing is arranged at the mutual hinged part of the two supporting pieces, and the inner ring is hinged with the supporting pieces; the mounting platform is mounted on the outer ring of the joint bearing; the supporting driving mechanism is arranged on the rotating platform.

Description

Motion platform capable of realizing three-dimensional space motion

Technical Field

The invention relates to a motion platform, in particular to a motion platform capable of realizing three-dimensional space motion.

Background

In many application scenarios, such as VR experience and amusement facility experience, the motion platform needs to realize three-dimensional spatial motion to cooperate to achieve better experience.

The chinese patent application with application number 201920665938.3 discloses an ultralow gravity center multi-degree of freedom motion platform, which discloses a motion platform capable of realizing multi-degree of freedom motion, wherein the multi-degree of freedom motion of the motion platform is realized through three lifting units, the lifting is realized by using a mode similar to a jack, the support and the rotation are realized through a universal joint, the problems of large volume and high gravity center of the existing multi-degree of freedom motion platform are overcome, and the following defects still exist: (1) because the lifting unit is a supporting structure at the upper end and the lower end, the structural stability of the motion platform is insufficient; (2) the hinged part of the force arm of the lifting unit is matched with a gear, and a gap is easily generated after the lifting unit is worn, so that the motion platform is easily shaken; (3) the lifting unit is in diamond transmission, the transmission height is limited, and the motion platform cannot meet the requirement of lowering the height to a lower height.

Disclosure of Invention

The invention provides a motion platform capable of realizing three-dimensional space motion, aiming at solving the technical problems that in the prior art, the stability of the motion platform is poor, the motion platform is easy to shake and cannot meet the lifting requirement due to the problems of insufficient structural stability, easy occurrence of gaps after abrasion and limited transmission height.

In order to achieve the purpose, the invention provides the following technical scheme:

a motion platform capable of realizing three-dimensional space motion is characterized by comprising a rotating platform, a mounting platform, a first driving unit and at least three supporting and driving mechanisms;

the output end of the first driving unit is connected with the rotating platform, and the first driving unit drives the rotating platform to rotate;

the supporting driving mechanism comprises a second driving unit, a bracket, a screw rod, a joint bearing, two sliding blocks and two supporting pieces; the output end of the second driving unit is connected with the screw rod and used for driving the screw rod to rotate; the screw rod is arranged on the bracket, and two sections of threads with opposite rotating directions are arranged on the screw rod; the two sliding blocks are sleeved on the screw rod, and threads matched with the two sections of threads in opposite rotating directions on the screw rod are respectively arranged on the two sliding blocks; one ends of the two supporting pieces are hinged with each other, and the other ends of the two supporting pieces are hinged to the two sliding blocks respectively; the joint bearing is arranged at the mutual hinged part of the two supporting pieces, and the inner ring of the joint bearing is hinged with the supporting pieces;

the mounting platform is mounted on an outer ring of the joint bearing;

the supporting driving mechanisms are three, arranged in an isosceles triangle or an equilateral triangle and installed on the rotating platform, or the supporting driving mechanisms are more than three and are evenly distributed along the periphery of the rotating platform and installed on the rotating platform.

Furthermore, the support driving mechanism also comprises a guide support rod fixedly arranged on the bracket;

two the slider all overlaps and locates on the direction bracing piece.

Further, the device also comprises an underframe and a rotary supporting bearing;

the rotating platform is arranged on the bottom frame, and the bottom frame is provided with a roller which is in contact with the bottom surface of the rotating platform;

the outer ring of the rotary support bearing is fixed on the underframe, and the inner ring of the rotary support bearing is arranged on the rotary platform; the output end of the first driving unit is connected with the outer ring of the slewing bearing through a second synchronous belt.

Further, the two supports are hinged to each other by a shaft;

the shaft lever is provided with a limiting installation groove, and the two supporting pieces are sleeved on the shaft lever and positioned in the limiting installation groove;

the inner ring of the joint bearing is sleeved on the shaft rod.

Further, the supporting piece comprises a supporting plate and mounting ears arranged on two sides of the supporting plate;

mounting bulges are arranged on two sides of the sliding block, which are perpendicular to the extending direction of the screw rod;

one end of the mounting lug is sleeved on the mounting protrusion, and the other end of the mounting lug is sleeved on the shaft lever and positioned in the limiting mounting groove;

the knuckle bearing is positioned in the center between the mounting lugs on the two sides of the supporting plate.

Furthermore, the device also comprises a clapboard sleeved on the screw rod and the guide supporting rod;

the baffle is fixed on the screw rod and is positioned between the two sections of threads on the screw rod.

Further, two sections of threads on the screw rod, which are opposite in rotation direction, are equal in length.

Further, the output end of the second driving unit is connected with the screw through a first synchronous belt.

Furthermore, mounting seats are sleeved at the two ends of the guide supporting rod and the partition plate;

the mounting seat is fixed with the rotating platform.

Compared with the prior art, the invention has the beneficial effects that:

1. the mounting platform is mounted on the supporting and driving mechanism, the supporting and driving mechanism enables the moving platform to move in a three-dimensional space, the screw rod is driven to rotate through the second driving unit, the screw threads at two ends of the screw rod are opposite in rotating direction, the two sliding blocks can move in opposite directions through the matching of the two sliding blocks and the two sections of screw threads respectively, and further an included angle between the two supporting pieces is driven to be increased or reduced, so that the lifting is realized, and in addition, the joint bearing can realize the rotation of nearly 360 degrees. Therefore, under the combined action of the supporting piece and the joint bearing, the mounting platform mounted on the joint bearing can be lifted and waved, and meanwhile, the rotating platform can rotate under the driving of the first driving unit, so that the supporting driving mechanism and the mounting platform are driven to synchronously rotate, and the three-dimensional space motion of rotation, lifting and waved twisting of the mounting platform is realized; the support driving mechanism has compact structure and small volume, and can support and realize the three-dimensional space motion of the mounting platform. Moreover, accessible adjusting screw length and the contained angle between two support piece adjust the elevating speed and the lift stroke that support actuating mechanism, use in a flexible way, are suitable for extensively. The motion control of the mounting platform can be realized only by starting the first driving unit and the second driving unit, and the mounting platform is simple and convenient to operate and convenient and fast to use.

2. In order to ensure the safety and reliability of the whole motion platform and enable the structure of the supporting and driving mechanism to be more stable, the invention is also provided with the guide supporting rod, the sliding block is sleeved on the screw rod and the guide supporting rod at the same time, the stress of the screw rod is shared, the service life of the screw rod can be effectively prolonged, and meanwhile, the sliding block can be prevented from rotating along the screw rod.

3. According to the invention, the two supporting pieces are hinged through the shaft lever and sleeved in the limiting mounting groove, so that the mounting is firmer, and the processing and the assembly are simpler and more convenient.

4. The invention is also provided with a partition board which separates the moving paths of the two sliding blocks, thereby avoiding the damage of the device caused by misoperation, and the sliding blocks can stop moving continuously when moving to the partition board.

5. The output end of the second driving unit is connected with the screw through the first synchronous belt, so that the transmission noise is low, and the second driving unit is protected to a certain extent while synchronous rotation is ensured.

6. When the rotating platform rotates, the underframe can support the rotating platform to a certain extent, and meanwhile, the rollers also contribute to smooth rotation of the rotating platform.

7. According to the invention, the first driving unit drives the rotating platform to rotate through the second synchronous belt and the rotary supporting bearing, so that the transmission noise is low, the rotation synchronism is ensured, and the rotary supporting bearing can enable the rotating platform to rotate more smoothly.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of a motion platform capable of three-dimensional spatial motion according to the present invention;

FIG. 2 is a schematic structural view of the support driving mechanism of FIG. 1 according to the present invention;

FIG. 3 is a schematic view of the present invention with the bracket removed from FIG. 2;

FIG. 4 is a schematic view of the support member of FIG. 2 according to the present invention;

FIG. 5 is a schematic view of the shaft of FIG. 2 according to the present invention;

FIG. 6 is a schematic view of the slider of FIG. 2 according to the present invention;

FIG. 7 is a schematic view of the bottom structure of FIG. 1 according to the present invention;

FIG. 8 is a schematic side view of FIG. 1 according to the present invention.

The synchronous belt type automatic transmission mechanism comprises a first driving unit 1, a screw rod 2, a sliding block 3, a supporting piece 4, a supporting plate 401, a mounting lug 402, a knuckle bearing 5, a guide supporting rod 6, a shaft rod 7, a limiting mounting groove 8, a mounting bulge 9, a partition plate 10, a support 11, a mounting seat 12, a first synchronous belt 13, a rotating platform 14, a mounting platform 15, a support driving mechanism 16, a second driving unit 17, an underframe 18, a roller 19, a rotary supporting bearing 20 and a second synchronous belt 21.

Detailed Description

The technical solution of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings, and it is obvious that the described embodiments do not limit the present invention.

Referring to fig. 1 to 8, a motion platform capable of three-dimensional spatial motion includes a rotation platform 14, a mounting platform 15, a first driving unit 1, and at least three support driving mechanisms 16.

The first driving unit 1 is used for driving the rotating platform 14 to rotate. In order to make the rotation of the rotating platform 14 more smooth and stable, an underframe 18 is provided, the rotating platform 14 is mounted on the underframe 18, the underframe 18 is provided with a plurality of rollers 19 contacting with the bottom surface of the rotating platform 14, and the rollers 19 can be arranged along the peripheral circumference of the rotating platform 14. As a preferred scheme, first drive unit 1 adopts gear motor, rotates platform 14 through second hold-in range 21 and gyration support bearing 20 drive and rotates, and first drive unit 1 is installed on rotating platform 14, and gyration support bearing 20's outer lane is fixed in on chassis 18, and the outer lane links to each other through second hold-in range 21 with the output of first drive unit 1, and gyration support bearing 20 makes the transmission more smooth and easy, and simultaneously, hold-in range transmission's mode noise is littleer. Other transmission driving methods can be used in the present invention, as long as the rotary platform 14 can be driven to rotate.

The rotating platform 14 can drive the mounting platform 15 to rotate through the connection of the supporting driving mechanism 16, and meanwhile, the supporting driving mechanism 16 can drive the mounting platform 15 to lift and incline.

In one embodiment of the present invention, the number of the support driving mechanisms 16 is 3, the support driving mechanisms 16 are installed on the rotating platform 14 and are uniformly distributed along the periphery of the rotating platform 14, and the connecting lines of the 3 support driving mechanisms 16 are in an equilateral triangle shape. The supporting driving mechanism comprises a second driving unit 17, a screw rod 2, a joint bearing 5, a guide supporting rod 6, a partition plate 10, a support 11, a mounting seat 12, two sliding blocks 3 and two supporting pieces 4.

The output end of the second driving unit 17 is connected with the screw rod 2, the second driving unit 17 is used for driving the screw rod 2 to rotate, the second driving unit 17 can adopt a rotating motor, can be directly connected with the screw rod 2, and can also be connected through a transmission part, such as transmission through a synchronous belt 13, a chain or a gear matching and the like.

Two sections of threads with opposite rotation directions are arranged on the screw rod 2, the effective working lengths of the two sections of threads are equal, the two sections of threads can also be directly set with equal lengths, the two sections of threads can be symmetrically arranged around the center of the screw rod 2, and the two sections of threads can also be deviated to one end of the screw rod 2. The two sliding blocks 3 are sleeved on the screw rod 2 and are respectively matched with the two sections of threads with opposite rotation directions, the screw rod 2 is driven by the driving unit 1 to rotate, the two sliding blocks 3 are respectively matched with the two sections of threads to drive the two sliding blocks 3 to move in opposite directions, and the length of the threads on the screw rod 2 is the longest movement path of the sliding blocks 3.

The support member 4 preferably includes a support plate 401 and mounting ears 402 disposed at both sides of the support plate 401, the mounting ears 402 being disposed perpendicular to the support plate 401. The slider 3 is equipped with the installation arch 9 perpendicular to the both sides of screw rod 2 extending direction, and wherein, the one end cover of installation ear 402 is located on installation arch 9, and the other end cover is located axostylus axostyle 7, and is located spacing mounting groove 8, and two installation ears 402 of a support piece 4 are located two installation ears 402 outsides of another support piece 4 respectively. One end of the support 3 is hinged to the slide 3 by means of a mounting boss 9 and the other end of the two supports 3 is hinged to each other by means of a shaft 7.

In other embodiments of the present invention, the sliding block 3 and the supporting member 4 can be hinged by a hinge shaft, that is, a hinge shaft hole is provided on the sliding block 3 instead of the mounting protrusion 9, and the sliding block 3 and the supporting member 4 are hinged by the hinge shaft.

The inner ring of the joint bearing 5 is sleeved on the shaft rod 7 and is positioned at the center between the mounting lugs 402 at the two sides of the supporting plate 401, and the outer ring of the joint bearing 5 can be used for connecting a to-be-mounted part. The supporting plate 401 is arc-shaped near the end edge of the sliding block 3, so that the sliding block 3 can be avoided, and the whole structure is more compact.

When the installation part to be installed needs to move in a three-dimensional space, the installation platform 15 is installed on the outer rings of the three joint bearings 5, the second driving unit 17 drives the screw rods 2 to rotate, and the two sliding blocks 3 move away from each other, so that the installation platform 15 descends or moves close to each other, and the installation platform 15 ascends. In addition, along with the rotation of the three joint bearings 5, the mounting platform 15 can also incline along with the rotation, and the three-dimensional space motion is realized. In other embodiments of the present invention, more than three support driving mechanisms 16 may be used to drive the mounting platform 15 to move, each support driving mechanism 16 is uniformly distributed along the axial direction of the

rotating platform

14, or 3 support driving mechanisms 16 may be used, the connecting lines of the 3 support driving mechanisms 16 are arranged in an isosceles triangle, and the support driving mechanisms 16 may be arranged and configured according to the use requirement.

When making the screw rod 2 drive slider 3 motion, reduce the holding power of screw rod 2 to slider 3, slider 3 overlaps simultaneously on guide support bar 6, and guide support bar 6 is located the lower part of screw rod 2, and guide support bar 6 is fixed to be set up, can be an optical axis, only in order to play the supporting role to slider 3.

The spherical plain bearing 5 is an existing part, and for convenience of installation, a ball bearing can be directly selected and connected with the installation platform 15 through a rod part of the spherical plain bearing.

In addition, in order to avoid the operation error or the failure of the second driving unit 17, which causes the too large moving distance of the sliding block 3, a partition plate 10 or a plurality of partition plates can be arranged between two sections of threads on the screw rod 3, and can be adjusted according to the arrangement condition of the two sections of threads, and the partition plate 10 is sleeved and fixed on the screw rod 3. Of course, other components that limit the range of motion of the slider may be provided. When the slider moves to the position of the partition 10, the continuous movement can be stopped.

The screw 2 is mounted on the bracket 11, and the second driving unit 17, the guide support bar 6 and the partition board 10 are all fixed on the bracket 11. The bracket 11 can also play a certain limiting role in the motion track of the sliding block 3.

Further, for the convenience of installation, a plurality of mounting seats 12 may be provided on the guide support bar 6 at equal intervals, and when the support driving mechanism 16 needs to be used or fixed, the mounting seats 12 may be fixed to the rotary platform 14, and further, the guide support bar 6 and the bracket 11 may be fixed, and the support driving mechanism 16 may be fixed to the rotary platform 14.

In order to facilitate the control and observation of the rotation degree of the rotating platform 14, a stop block can be arranged on the rotating platform 14, and a photoelectric switch is arranged on the bottom frame 18 and is positioned on the rotation path of the stop block; or a photoelectric switch is arranged on the rotating platform 14, and a stop block is arranged on the bottom frame 18 and is positioned on the rotating path of the photoelectric switch; be convenient for set up rotatory zero position, simultaneously, shelter from photoelectric switch as the dog and rotate through the round promptly, can regard as this motion platform's auxiliary function. Other related switches may also be used with the present invention.

The motion platform has popularization, can be applied to various occasions needing three-dimensional space motion, for example, in VR experience, an experiencer can be positioned on the installation platform 15, an experiencer seat is arranged on the installation platform 15, and the motion platform can be applied to amusement facilities, for example, and experiences can be seated on the installation platform 15 to experience game feeling and the like.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to other related technical fields, are included in the scope of the present invention.

Claims

1. A motion platform capable of realizing three-dimensional space motion is characterized in that: comprises a rotating platform (14), a mounting platform (15), a first driving unit (1) and at least three supporting driving mechanisms (16);

the output end of the first driving unit (1) is connected with the rotating platform (14), and the first driving unit (1) drives the rotating platform (14) to rotate;

the support driving mechanism (16) comprises a second driving unit (17), a bracket (11), a screw (2), a joint bearing (5), two sliding blocks (3) and two supporting pieces (4); the output end of the second driving unit (17) is connected with the screw (2) and is used for driving the screw (2) to rotate; the screw (2) is arranged on the bracket (11), and two sections of threads with opposite rotating directions are arranged on the screw; the two sliding blocks (3) are sleeved on the screw rod (2), and threads matched with two sections of threads in opposite rotating directions on the screw rod (2) are respectively arranged on the sliding blocks; one ends of the two supporting pieces (4) are hinged with each other, and the other ends of the two supporting pieces are hinged to the two sliding blocks (3) respectively; the joint bearing (5) is arranged at the mutual hinged position of the two supporting pieces (4), and the inner ring of the joint bearing (5) is hinged with the supporting pieces (4);

the mounting platform (15) is mounted on the outer ring of the joint bearing (5);

support actuating mechanism (16) and be three, be isosceles triangle or equilateral triangle and arrange, install on rotating platform (14), perhaps support actuating mechanism (16) and be greater than three, along the periphery equipartition that rotates platform (14), install on rotating platform (14).

2. The motion platform of claim 1, wherein the motion platform is capable of three-dimensional spatial motion, and wherein: the support driving mechanism (16) also comprises a guide support rod (6) fixedly arranged on the bracket (11);

two slide blocks (3) are all sleeved on the guide supporting rod (6).

3. A motion platform capable of three-dimensional spatial motion according to claim 1 or 2, wherein: the device also comprises an underframe (18) and a rotary supporting bearing (20);

the rotating platform (14) is arranged on the bottom frame (18), and the bottom frame (18) is provided with a roller (19) which is in contact with the bottom surface of the rotating platform (14);

the outer ring of the rotary support bearing (20) is fixed on the underframe (18), and the inner ring is arranged on the rotary platform (14); the output end of the first driving unit (1) is connected with the outer ring of the rotary supporting bearing (20) through a second synchronous belt (21).

4. A motion platform for performing motion in three dimensions according to claim 3, wherein: the two supporting pieces (4) are hinged with each other through a shaft lever (7);

the shaft lever (7) is provided with a limiting installation groove (8), and the two supporting pieces (4) are sleeved on the shaft lever (7) and positioned in the limiting installation groove (8);

the inner ring of the joint bearing (5) is sleeved on the shaft lever (7).

5. The motion platform for performing motion in three dimensions according to claim 4, wherein: the support (4) comprises a support plate (401) and mounting ears (402) arranged on two sides of the support plate (401);

mounting protrusions (9) are arranged on two sides of the sliding block (3) perpendicular to the extending direction of the screw rod (2);

one end of the mounting lug (402) is sleeved on the mounting protrusion (9), and the other end of the mounting lug is sleeved on the shaft lever (7) and positioned in the limiting mounting groove (8);

the joint bearing (5) is positioned in the center between the mounting lugs (402) on the two sides of the supporting plate (401).

6. The motion platform of claim 5, wherein the motion platform is capable of three-dimensional spatial motion, and wherein: the device also comprises a clapboard (10) sleeved on the screw rod (3) and the guide supporting rod (6);

the partition plate (10) is fixed on the screw rod (3), and the partition plate (10) is located between the two sections of threads on the screw rod (3).

7. The motion platform of claim 6, wherein the motion platform is capable of three-dimensional spatial motion, and wherein: two sections of threads on the screw rod (2) in opposite directions are equal in length.

8. The motion platform of claim 7, wherein the motion platform is capable of three-dimensional spatial motion, and wherein: the output end of the second driving unit (17) is connected with the screw (2) through a first synchronous belt (13).

9. The motion platform of claim 8, wherein the motion platform is capable of three-dimensional spatial motion, and wherein: mounting seats (12) are sleeved at the two ends of the guide supporting rod (6) and the partition plate (10);

the mounting seat (12) is fixed with the rotating platform (14).