CN112483786B - Six-degree-of-freedom platform and application thereof - Google Patents

Six-degree-of-freedom platform and application thereof Download PDF

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Publication number
CN112483786B
CN112483786B CN202011259835.0A CN202011259835A CN112483786B CN 112483786 B CN112483786 B CN 112483786B CN 202011259835 A CN202011259835 A CN 202011259835A CN 112483786 B CN112483786 B CN 112483786B
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hinge
base
hinge beam
movable platform
freedom
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CN112483786A (en
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李维嘉
何宇航
吴耀中
谭洁
姜志强
刘法佑
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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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
    • F16M11/043—Allowing translations
    • F16M11/045—Allowing translations adapted to left-right translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • 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
    • F16M11/043—Allowing translations
    • F16M11/046—Allowing translations adapted to upward-downward translation movement
    • 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
    • F16M11/043—Allowing translations
    • F16M11/048—Allowing translations adapted to forward-backward translation movement
    • 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
    • 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

Abstract

The invention belongs to the technical field of six-degree-of-freedom mechanical structures, and particularly relates to a six-degree-of-freedom platform and application thereof. The six degree-of-freedom platform comprises: the device comprises a base, a movable platform and 6 driving devices for connecting the base and the movable platform, wherein any one of the 6 driving devices is used for driving the movable platform to complete six-degree-of-freedom movement; the driving device comprises a hydraulic cylinder, a first hinge beam and a second hinge beam hinged with the first hinge beam, one end of the hydraulic cylinder is connected with the first hinge beam, and the other end of the hydraulic cylinder is connected with the second hinge beam and used for changing the angle between the first hinge beam and the second hinge beam; and the first hinge beam and the second hinge beam are respectively and rotatably connected with the base and the movable platform. According to the invention, the hinge structure formed by the first hinge beam and the second hinge beam is utilized to realize the amplification of the linear motion speed of the piston rod of the hydraulic cylinder, so that the stable and safe operation of the hydraulic cylinder is ensured, and the service life of the hydraulic cylinder is prolonged.

Description

Six-degree-of-freedom platform and application thereof
Technical Field
The invention belongs to the technical field of six-degree-of-freedom mechanical structures, and particularly relates to a six-degree-of-freedom platform and application thereof.
Background
The six-degree-of-freedom platform can realize the motion of six degrees of freedom in space, thereby simulating various spatial motion postures, and being widely applied to various training simulators, such as flight simulators, automobile driving simulators, earthquake simulators, dynamic movies, entertainment equipment and other fields. The six-axis linkage machine tool, the robot and the like can be manufactured in the processing industry.
At present, a hydraulically-driven six-degree-of-freedom platform structure in the prior art is formed by connecting a base, a movable platform, a base and movable platform hinge mounting seat and six hydraulic cylinders. The base is fixed relative to the ground, the six hydraulic cylinders are linear hydraulic cylinders, and the movable platform is pushed and pulled to move by changing the strokes of piston rods of the six hydraulic cylinders, so that a series of compound motions of the movable platform in a three-dimensional space, such as translation along an X axis, translation along a Y axis, translation along a Z axis, rotation around the X axis, rotation around the Y axis, rotation around the Z axis and the like, are realized, and the motion with six degrees of freedom in the space is realized.
However, under the condition of high speed and heavy load, the movement speed of the piston rod of the hydraulic cylinder cannot meet the working requirement, and too high speed can cause a hydraulic system to generate larger impact, and meanwhile, the service life of the sealing part of the hydraulic cylinder can be obviously reduced.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a six-degree-of-freedom platform and application thereof, and aims to realize the amplification of the linear motion speed of a piston rod of a hydraulic cylinder by utilizing a hinge structure formed by a first hinge beam and a second hinge beam, ensure the stable and safe operation of the hydraulic cylinder and prolong the service life of the hydraulic cylinder, thereby solving the technical problems that the motion speed of the piston rod of the hydraulic cylinder cannot meet the working requirement under the condition of high speed and heavy load and a hydraulic system generates larger impact due to overhigh speed.
To achieve the above object, according to one aspect of the present invention, there is provided a six-degree-of-freedom platform, including: the device comprises a base, a movable platform and 6 driving devices for connecting the base and the movable platform, wherein the 6 driving devices are used for driving the movable platform to complete six-degree-of-freedom movement;
one end of the hydraulic cylinder is connected with the first hinge beam, and the other end of the hydraulic cylinder is connected with the second hinge beam and is used for changing the angle between the first hinge beam and the second hinge beam; and the first hinge beam and the second hinge beam are respectively and rotatably connected with the base and the movable platform.
Preferably, any one of the driving devices comprises at least two hydraulic cylinders, one end of each hydraulic cylinder is connected with the same first hinge beam, and the other end of each hydraulic cylinder is connected with the same second hinge beam.
Preferably, the hydraulic cylinder is a differential hydraulic cylinder, a cylinder barrel of the hydraulic cylinder is connected to the first hinge beam through a first rotary hinge, and a piston rod of the hydraulic cylinder is connected to the second hinge beam through a second rotary hinge.
Preferably, the length of the second hinge beam is greater than that of the first hinge beam, and the distance from the first rotary hinge to the hinge joint of the first hinge beam and the second hinge beam is less than the distance from the second rotary hinge to the hinge joint of the first hinge beam and the second hinge beam.
Preferably, the first hinge beam is rotatably connected with the base through a first hinge assembly, the first hinge assembly comprises a base hinge and a fixing piece for rotatably connecting the base hinge to the base, one end of the first hinge beam is connected with the connecting portion matched with the base hinge, and the first hinge beam can rotate around the hinge when being hinged with the base hinge.
Preferably, the fixing piece is a first connecting shaft, the base hinge is connected with the base through the first connecting shaft and the fixing hole on the symmetry axis of the base hinge and the base, so that the base hinge can rotate around the first connecting shaft.
Preferably, the second hinge beam is rotatably connected with the movable platform through a second hinge assembly,
the second hinge assembly comprises a hinge rotary head, a movable platform hinge and a double-end connecting piece; the hinge rotary head is connected with the second hinge beam through a second connecting shaft, so that the second hinge beam can rotate around the second connecting shaft, and the hinge rotary head is connected with the movable platform hinge through the double-end connecting piece, so that the hinge rotary head and the second hinge beam can rotate around the double-end connecting piece with two degrees of freedom.
Preferably, the movable platform hinge comprises two symmetrically arranged convex parts, through holes are formed in the convex parts, the double-end connecting piece penetrates through the through holes and is clamped between the two convex parts, a through hole is formed in the center of the double-end connecting piece, and the hinge rotary head is connected with the double-end connecting piece by penetrating through the through hole through a third connecting shaft, so that the hinge rotary head can rotate around a connecting line between the through holes in the two convex parts;
the width D of the hinge rotary head is smaller than the distance D between the protruding portions, so that the hinge rotary head can rotate around the third connecting shaft.
Preferably, every two of the 6 driving devices form a group, the joints of the two driving devices in the same group and the movable platform are close to each other, the joints of the three groups of the driving devices and the movable platform are uniformly distributed on the movable platform, and the two driving devices in the same group are symmetrically arranged at a certain angle at the positions where the two driving devices in the same group are connected with the base.
According to another aspect of the invention, the application of the six-degree-of-freedom platform is provided, and the six-degree-of-freedom motion simulation is carried out under the working conditions of preset speed and preset load, wherein the preset speed is less than or equal to 5m/s, and the preset load is less than or equal to 70 tons.
In general, at least the following advantages can be obtained by the above technical solution contemplated by the present invention compared to the prior art.
(1) The driving mechanism adopts a hinge mode, and the movement mode of the driving mechanism is that the driving mechanism rotates around the hinge joint of the first hinge beam and the second hinge beam, so that the angular speeds of any positions on the hinge beams are equal; the end of the hinge beam has the largest moving radius relative to the hinge beam hinge point, so that the hydraulic cylinder is added at a proper position on the hinge beam for driving, the speed of the hydraulic cylinder on the hinge beam can be amplified to the expected end of the hinge beam, and the requirement of the motion simulation platform on high speed can be met. According to the invention, the hydraulic cylinder is not directly connected with the base and the movable platform, but is connected with the base and the movable platform after being matched with the first hinge beam and the second hinge beam which are hinged, and the hinge structure formed by the first hinge beam and the second hinge beam buffers the impact on the hydraulic cylinder under the condition of high speed and heavy load, so that the direct stress of the hydraulic cylinder is avoided. Therefore, compare in ordinary pneumatic cylinder directly link the platform, hinge actuating mechanism can realize that pneumatic cylinder piston rod linear motion's speed enlargies, guarantees that pneumatic cylinder work is steady, safe, increases the life of pneumatic cylinder.
(2) According to the invention, the positions of the first rotary hinge and the second rotary hinge on the first hinge beam and the second hinge beam are reasonably set, and the lengths of the first hinge beam and the second hinge beam are reasonably set, so that the speed of a hydraulic cylinder on the hinge beam can be amplified to the expected tail end of the hinge beam by the cooperative arrangement of the first rotary hinge and the second rotary hinge, and the requirement of high speed of the motion simulation platform can be met.
(3) If the hydraulic drive is adopted to drive the driving devices to move, the problem that the high-speed and heavy-load requirements can be met only by adopting an electric cylinder for driving in the prior art and needing a motor with extremely high power is solved. The hydraulically driven six-degree-of-freedom platform can work in an environment with a larger load requirement; such as an equal-scale motion simulation platform of large-scale carrying equipment. The structure of differential hydraulic cylinder, it has the pole chamber oil circuit to communicate with each other with hydraulic system's pressure oil circuit, can reduce the flow demand and the power demand of system during operation, improves the work efficiency of system, and the system uses more energy-conserving high-efficient.
(4) According to the six-degree-of-freedom parallel platform hinge, the second hinge beam is rotatably connected with the movable platform through the second hinge assembly, the hinge rotary head, the movable platform hinge and the double-end connecting piece jointly form 3-degree-of-freedom hinge connection, the requirement of the degree of freedom of the moving branch chain of the six-degree-of-freedom parallel platform is met, and meanwhile, compared with the traditional ball hinge, the second hinge assembly is large in rotation range, low in cost and convenient to use, maintain and repair.
(5) The base hinge is adopted to realize the articulation with 2 degrees of freedom, and for the rotary motion of the parallel six-degree-of-freedom platform motion branched chain in the motion process, the arrangement mode of the base hinge enables the gravity of the driving device to be always in a plane formed by the first hinge beam and the second hinge beam, so that the requirement of the platform degree of freedom is met, and the stress of the platform is more reasonable and safer.
(6) At least two hydraulic cylinders are arranged in 1 driving device, so that the requirements of heavy load and high speed can be further met.
Drawings
FIG. 1 is a schematic structural diagram of a six-DOF platform according to an embodiment of the present invention;
FIG. 2 is a full view of a six-DOF platform provided by an embodiment of the present invention from one perspective;
FIG. 3 is a schematic side view of a driving apparatus in a six-DOF platform according to an embodiment of the present invention;
FIG. 4 is a schematic front view of a driving apparatus in a six-DOF platform according to an embodiment of the present invention;
fig. 5 is an exploded view of a connection portion of a second hinge beam and a movable platform in a six-degree-of-freedom platform provided by an embodiment of the invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1-a base; 2-a base hinge; 3-a fixing piece; 4-a first hinge beam; 5-a first swing hinge; 6-cylinder barrel; 7-a piston rod; 8-a second swing hinge; 9-a hinge shaft for hinging the first hinge beam and the second hinge beam; 10-a second hinge beam; 11-hinge swivel head; 12-a double-ended connector; 13-a moving platform hinge; 14-moving the platform; 15-hydraulic cylinders; 16-a first hinge assembly; 17-a second hinge assembly; 18-a second connecting shaft; 19-a third connecting shaft; 13 a-boss.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
An embodiment of the present invention provides a six-degree-of-freedom platform, see fig. 1 and 2, including: the device comprises a base 1, a movable platform 14 and 6 driving devices for connecting the base 1 and the movable platform 14, wherein the 6 driving devices are used for driving the movable platform 14 to complete six-degree-of-freedom movement;
any one of the driving devices comprises a hydraulic cylinder 15, a first hinge beam 4 and a second hinge beam 10 hinged with the first hinge beam 4, wherein one end of the hydraulic cylinder 15 is connected with the first hinge beam 4, and the other end of the hydraulic cylinder 15 is connected with the second hinge beam 10 and is used for changing the angle between the first hinge beam 4 and the second hinge beam 10; the first hinge beam 4 and the second hinge beam 10 are respectively and rotatably connected with the base 1 and the movable platform 14.
In a possible way of carrying out the present embodiment, with reference to fig. 3, each of said actuating means comprises at least two hydraulic cylinders 15, the at least two hydraulic cylinders 15 being connected at one end to the same first hinge beam 4 and at the other end to the same second hinge beam 10. The number of the hydraulic cylinders 15 is not limited in the invention, and can be adjusted according to the actual situation, for example, 3 hydraulic cylinders 15 shown in fig. 1 of the invention can be arranged in parallel.
In one possible embodiment of the present invention, the hydraulic cylinder 15 is a differential hydraulic cylinder, the cylinder tube 6 of the hydraulic cylinder 15 is connected to the first hinge beam 4 by a first pivot joint 5, and the piston rod 7 of the hydraulic cylinder 15 is connected to the second hinge beam 10 by a second pivot joint 8. And the length of the second hinge beam 10 is greater than that of the first hinge beam 4, and the distance from the first rotary hinge 5 to the hinged position of the first hinge beam 4 and the second hinge beam 10 is less than the distance from the second rotary hinge 8 to the hinged position of the first hinge beam 4 and the second hinge beam 10. Therefore, the reasonable setting of the position of the hydraulic cylinder can realize the speed amplification of the hydraulic cylinder on the hinge beam to the expected tail end of the hinge beam, and the requirement of high speed of the motion simulation platform can be met.
It should be noted that, referring to fig. 2-4, the first hinge beam 1 is rotatably connected to the base 1 through a first hinge assembly 16, the first hinge assembly 16 includes a base hinge 2 and a fixing member 3 for rotatably connecting the base hinge 2 to the base 1, one end of the first hinge beam 4 is a connecting portion matched with the base hinge 2, and the first hinge beam 4 can rotate around the hinge when being hinged to the base hinge 2. The mounting 3 is first connecting axle, on the symmetry axis of base hinge 2 and set up the fixed orifices on the base 1, be connected base hinge 2 and base 1 through first connecting axle and fixed orifices to make base hinge 2 can rotate around first connecting axle on base 1, this rotation is the motion of 1 degree of freedom.
In this embodiment, the base hinge 2 may have a comb shape, and the connecting portion at one end of the first hinge beam 4 may also have a comb shape, and the two are hinged by a fixed shaft in a manner that the comb is arranged in a crossing manner. The first hinge beam 4 can thus be pivoted about this fixed axis for another degree of freedom of movement, whereby the connection of the first hinge member 16 to the base 1 and the first hinge beam 4 can be made with 2 degrees of freedom.
In addition, the fixing piece 3 is perpendicular to the plane of the base 1, and a fixing shaft for connecting the first hinge beam 4 and the base hinge 2 is parallel to the plane of the base 1, so that the first hinge beam 4 and the second hinge beam 10 are always in a vertical plane. Make drive arrangement atress more reasonable, reduce drive arrangement torsional strength demand, improve system security, reduce drive arrangement cost, reduce the base hinge 2 installation degree of difficulty, easily realize base hinge 2's installation accuracy requirement, guarantee the security and the precision of whole mechanism.
In a possible way of implementing the present embodiment, with reference to fig. 5, the second hinge beam 10 is rotatably connected to the movable platform 14 by a second hinge assembly 17, the second hinge assembly 17 comprising a hinge swivel 11, a movable platform hinge 13 and a double-headed connecting piece 12; the movable platform hinge 13 is fixedly connected with the movable platform 14, the hinge rotary head 11 is connected with the second hinge beam 10 through a second connecting shaft 18, the second hinge beam 10 can rotate around the second connecting shaft 18, and the hinge rotary head 11 is connected with the movable platform hinge 13 through the double-end connecting piece 12, so that the hinge rotary head 11 and the second hinge beam 10 can rotate around the double-end connecting piece 12 in two degrees of freedom.
Specifically, the movable platform hinge 13 comprises two protrusions 13a which are symmetrically arranged, through holes are formed in the protrusions 13a, the double-end connecting piece 12 penetrates through the through holes and is clamped between the two protrusions 13a, a through hole is formed in the center of the double-end connecting piece 12, and the hinge rotary head 11 is connected with the double-end connecting piece 12 through the through hole by a third connecting shaft 19 penetrating through the through hole, so that the hinge rotary head 11 can rotate around a connecting line between the through holes in the two protrusions 13 a; the width D of the hinge swivel 11 is smaller than the distance D between the protrusions 13a, so that the hinge swivel 11 can rotate about the third connecting shaft 19.
Therefore, as shown in fig. 5, the second hinge beam 10 can rotate around the shaft 1, the second hinge beam 10 and the hinge rotary head 11 can rotate around the shaft 2 and the shaft 3, and the hinge rotary head, the movable platform hinge and the double-end connecting piece jointly form 3-degree-of-freedom hinge connection, so that the requirement of the degree of freedom of the motion branched chain of the six-degree-of-freedom parallel platform is met.
Every two of the 6 driving devices are in a group, the joints of the two driving devices in the same group and the movable platform 14 are close to each other, the joints of the three groups of the driving devices and the movable platform 14 are uniformly distributed on the movable platform 14, and the two driving devices in the same group are symmetrically arranged at a certain angle at the positions where the two driving devices in the same group are connected with the base 1.
It should be noted that the first hinge beam and the second hinge beam are hinged through a hinge shaft 9, and both the first hinge beam and the second hinge beam can rotate around the hinge shaft 9. The hinge connection between the hydraulic cylinder barrel 6 and the first hinge beam 4 and between the hydraulic cylinder piston rod 7 and the second hinge beam 10 is the same as the hinge connection between the first hinge beam and the second hinge beam, and therefore, connecting shafts are provided in both the first swing hinge 5 and the second swing hinge 8. The connecting shafts arranged in the first rotary hinges 5 of the hinge shafts 9, the hydraulic cylinder barrel 6 and the first hinge beam 4 and the connecting shafts arranged in the second rotary hinges 8 of the hydraulic cylinder piston rod 7 and the second hinge beam 10 are always parallel to the plane of the base 1 in the movement process, so that the stress of the driving device is more reasonable, the requirement on the torsional strength of the hinge mechanism is reduced, the system safety is improved, and the cost of the driving device is reduced.
In addition, in the moving process, the lower moving speed of the hydraulic cylinder piston rod 7 ensures the good working condition of the hydraulic cylinder sealing part, and the safety and the service life of the hydraulic cylinder are improved.
The invention also provides application of the six-degree-of-freedom platform, which is used for simulating six-degree-of-freedom motion under the working conditions of preset speed and preset load, wherein the preset speed is less than or equal to 5m/s, and the preset load is less than or equal to 70 tons.
The problem of under the high-speed heavy load condition, the moving speed of the piston rod of the upright continuous type hydraulic cylinder among the prior art can't satisfy the operational requirement, too high speed can lead to hydraulic system to produce great impact, can show the life-span that reduces pneumatic cylinder seal part simultaneously is solved.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (7)

1. A six degree-of-freedom platform, comprising: the device comprises a base (1), a movable platform (14) and 6 driving devices for connecting the base (1) and the movable platform (14), wherein the 6 driving devices are used for driving the movable platform (14) to complete six-degree-of-freedom movement;
any one of the driving devices comprises a hydraulic cylinder (15), a first hinge beam (4) and a second hinge beam (10) hinged with the first hinge beam (4), one end of the hydraulic cylinder (15) is connected with the first hinge beam (4), and the other end of the hydraulic cylinder is connected with the second hinge beam (10) and used for changing the angle between the first hinge beam (4) and the second hinge beam (10); the first hinge beam (4) and the second hinge beam (10) are respectively in rotating connection with the base (1) and the movable platform (14);
the first hinge beam (4) is rotatably connected with the base (1) through a first hinge assembly (16),
the first hinge assembly (16) comprises a base hinge (2) and a fixing part (3) which rotatably connects the base hinge (2) to the base (1),
one end of the first hinge beam (4) is a connecting part matched with the base hinge (2), and the first hinge beam (4) can rotate around the hinged part when being hinged with the base hinge (2);
the hydraulic cylinder (15) is a differential hydraulic cylinder, a cylinder barrel (6) of the hydraulic cylinder (15) is connected to the first hinge beam (4) through a first rotary hinge (5), and a piston rod (7) of the hydraulic cylinder (15) is connected to the second hinge beam (10) through a second rotary hinge (8);
the length of the second hinge beam (10) is larger than that of the first hinge beam (4), and the distance from the first rotary hinge (5) to the hinged position of the first hinge beam (4) and the second hinge beam (10) is smaller than the distance from the second rotary hinge (8) to the hinged position of the first hinge beam (4) and the second hinge beam (10).
2. The six degree-of-freedom platform according to claim 1, characterised in that any one of said actuating means comprises at least two hydraulic cylinders (15), the at least two hydraulic cylinders (15) being connected at one end to the same first hinge beam (4) and at the other end to the same second hinge beam (10).
3. The six-degree-of-freedom platform according to claim 1, wherein the fixing member (3) is a first connecting shaft, fixing holes are arranged on the symmetry axis of the base hinge (2) and on the base (1), and the base hinge (2) is connected with the base (1) through the first connecting shaft and the fixing holes, so that the base hinge (2) can rotate around the first connecting shaft.
4. Platform with six degrees of freedom according to claim 1, characterised in that said second hinge beam (10) is rotatably connected to the mobile platform (14) by means of a second articulation assembly (17),
the second hinge assembly (17) comprises a hinge rotary head (11), a movable platform hinge (13) and a double-end connecting piece (12); the hinge assembly comprises a movable platform hinge (13), a movable platform (14), hinge rotary heads (11), a second hinge beam (10) and a double-end connecting piece (12), wherein the movable platform hinge (13) is fixedly connected with the movable platform (14), the hinge rotary heads (11) are connected with the second hinge beam (10) through second connecting shafts (18) to enable the second hinge beam (10) to rotate around the second connecting shafts (18), and the hinge rotary heads (11) are connected with the movable platform hinge (13) through the double-end connecting piece (12) to enable the hinge rotary heads (11) and the second hinge beam (10) to rotate around the double-end connecting piece (12) in two degrees of freedom.
5. The six-degree-of-freedom platform according to claim 4, wherein the movable platform hinge (13) comprises two symmetrically arranged bosses (13a), through holes are formed in the bosses (13a), the double-head connecting piece (12) penetrates through the through holes to be clamped between the two bosses (13a), a through hole is formed in the center of the double-head connecting piece (12), and the hinge rotary head (11) is connected with the double-head connecting piece (12) through the through hole by a third connecting shaft (19) so that the hinge rotary head (11) can rotate around a connecting line between the through holes in the two bosses (13 a);
the width D of the hinge rotary head (11) is smaller than the distance D between the protrusions (13a), so that the hinge rotary head (11) can rotate around the third connecting shaft (19).
6. The six-degree-of-freedom platform according to claim 1, wherein each two of the 6 driving devices are in a group, the joints of the two driving devices in the same group and the movable platform (14) are close to each other, the joints of the three groups of the driving devices and the movable platform (14) are uniformly arranged on the movable platform (14), and the two driving devices in the same group and the base (1) are connected at positions which enable the two driving devices in the same group to be symmetrically arranged at a certain angle.
7. Use of a six degree-of-freedom platform according to any of claims 1-6 for simulation of six degree-of-freedom motion at a predetermined speed and a predetermined load, wherein the predetermined speed is less than or equal to 5m/s and the predetermined load is less than or equal to 70 tons.
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CN201159945Y (en) * 2008-01-09 2008-12-03 李椒良 Six-freedom embeddable movement platform of control cabin
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