CN112727159A - Four-degree-of-freedom motion platform with transverse displacement - Google Patents
Four-degree-of-freedom motion platform with transverse displacement Download PDFInfo
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- CN112727159A CN112727159A CN202011476604.5A CN202011476604A CN112727159A CN 112727159 A CN112727159 A CN 112727159A CN 202011476604 A CN202011476604 A CN 202011476604A CN 112727159 A CN112727159 A CN 112727159A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H3/00—Buildings or groups of buildings for public or similar purposes; Institutions, e.g. infirmaries or prisons
- E04H3/10—Buildings or groups of buildings for public or similar purposes; Institutions, e.g. infirmaries or prisons for meetings, entertainments, or sports
- E04H3/12—Tribunes, grandstands or terraces for spectators
- E04H3/126—Foldable, retractable or tiltable tribunes
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J25/00—Equipment specially adapted for cinemas
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Abstract
A four-degree-of-freedom motion platform with transverse displacement comprises: the lower platform is used for mounting each part; the upper platform is used for installing bearing equipment; the upper platform is arranged above the lower platform; the first crankshaft driving assembly is used for driving the upper platform to move; the first crankshaft driving assembly is arranged on the lower platform and is connected with the upper platform; the second crankshaft driving assembly is used for driving the upper platform to move; the second crankshaft driving assembly is arranged on the lower platform and is connected with the upper platform; the third crankshaft driving assembly is used for driving the upper platform to move; the third crankshaft driving assembly is arranged on the lower platform and is connected with the upper platform; the transverse driving torsion-resistant assembly is used for driving the upper platform to move; the transverse driving torsion-resistant assembly is arranged on the lower platform and is connected with the upper platform. The utility model has the advantages of this application simple structure, easy maintenance, it is small, highly low, be convenient for use in the limited environment in space.
Description
Technical Field
The invention belongs to the technical field of multi-degree-of-freedom motion, and particularly relates to a four-degree-of-freedom motion platform with transverse displacement.
Background
The mainstream platform in the current market is mainly a two-degree-of-freedom platform, a three-degree-of-freedom platform or a six-degree-of-freedom platform, wherein both the two-degree-of-freedom platform and the three-degree-of-freedom platform do not have a transverse displacement function and only have functions of front-back swinging, left-right swinging and up-down displacement, while the six-degree-of-freedom platform has more freedom of motion, but has high manufacturing cost and large volume, and cannot be used in specific occasions, especially cinema scenes. In some use cases, such as when a user is experiencing a 4D movie, a platform with lateral drift is required.
Disclosure of Invention
In view of the above, the present invention provides a four degree of freedom motion platform with lateral displacement that overcomes, or at least partially solves, the above mentioned problems.
In order to solve the technical problem, the invention provides a four-degree-of-freedom motion platform with transverse displacement, which comprises:
the lower platform is used for mounting each part;
the upper platform is used for installing bearing equipment; the upper platform is arranged above the lower platform;
the first crankshaft driving assembly is used for driving the upper platform to move; the first crankshaft driving assembly is arranged on the lower platform and is connected with the upper platform;
the second crankshaft driving assembly is used for driving the upper platform to move; the second crankshaft driving assembly is arranged on the lower platform and is connected with the upper platform;
the third crankshaft driving assembly is used for driving the upper platform to move; the third crankshaft driving assembly is arranged on the lower platform and is connected with the upper platform;
the transverse driving torsion-resistant assembly is used for driving the upper platform to move; the transverse driving torsion-resistant assembly is arranged on the lower platform and is connected with the upper platform.
Preferably, the first crankshaft drive assembly comprises: the first servo motor, the first planetary gear reducer, the first fixed seat, the first crank, the first lower joint bearing, the first connecting rod, the first upper joint bearing and the first double-lug seat, wherein the first fixed seat is arranged on the lower platform, the first servo motor and the first planetary gear reducer are both arranged on the first fixed seat and are connected with the first fixed seat through shafts, the first lower joint bearing is connected with the first planetary gear reducer through the first crank, the first end of the first connecting rod is connected with the first lower joint bearing while the second end is connected with the first upper joint bearing, and the first double-lug seat is arranged on the upper platform and is connected with the first upper joint bearing.
Preferably, the second crankshaft drive assembly comprises: joint bearing and second binaural seat under second servo motor, second planetary gear reducer, second fixing base, second crank, second lower joint bearing, second connecting rod, second, wherein, the second fixing base set up in down on the platform, second servo motor with second planetary gear reducer all set up in on the second fixing base, and the two hub connection, joint bearing passes through under the second crank with second planetary gear reducer hub connection, the second end of second connecting rod with joint bearing connects and the second end with joint bearing connects on the second, the second binaural seat set up in on the upper mounting, and with joint bearing connects on the second.
Preferably, the third crankshaft drive assembly comprises: the third servo motor, the third planetary gear reducer, a third fixed seat, a third crank, a third lower joint bearing, a third connecting rod, a third upper joint bearing and a third double-lug seat, wherein the third fixed seat is arranged on the lower platform, the third servo motor and the third planetary gear reducer are both arranged on the third fixed seat and are connected with each other through a shaft, the third lower joint bearing is connected with the third planetary gear reducer through the third crank, the third end of the third connecting rod is connected with the third lower joint bearing and the third end is connected with the third upper joint bearing, and the third double-lug seat is arranged on the upper platform and is connected with the third upper joint bearing.
Preferably, the laterally driven torque assembly includes: the first hinge mounting seat, the second hinge mounting seat, the third hinge mounting seat, the first lower swing arm, the second lower swing arm, the driving electric cylinder, the fourth binaural seat, the upper swing arm, the first torsion spring, the second torsion spring and the rotating shaft, wherein the first hinge mounting seat, the second hinge mounting seat and the third hinge mounting seat are all arranged on the lower platform, the first end of the first lower swing arm is hinged with the first hinge mounting seat, the second end of the first lower swing arm is hinged with the rotating shaft, the first end of the second lower swing arm is hinged with the second hinge mounting seat, the second end of the second lower swing arm is hinged with the rotating shaft, the first end of the driving electric cylinder is hinged with the third hinge mounting seat, the second end of the driving electric cylinder is hinged with the rotating shaft, the fourth binaural seat is arranged on the upper platform, the first end of the upper swing arm is hinged with the fourth binaural seat, and the second end of the upper swing arm is hinged with the rotating shaft, the first torsion spring is sleeved on the rotating shaft, two ends of the first torsion spring are respectively and tightly abutted to the first lower swing arm and the upper swing arm, the second torsion spring is sleeved on the rotating shaft, and two ends of the second torsion spring are respectively and tightly abutted to the second lower swing arm and the upper swing arm.
Preferably, the first and third crankshaft drive assemblies are disposed on a first side of the lower platform and the second crankshaft drive assembly is disposed on a second side of the lower platform.
Preferably, the first and third crankshaft drive assemblies are disposed on a first side of the lower platform and the transverse drive torsion assembly is disposed on a second side of the lower platform.
Preferably, the first crankshaft driving assembly, the second crankshaft driving assembly and the third crankshaft driving assembly are arranged on the lower platform in an isosceles triangle shape.
Preferably, the second crankshaft drive assembly is located on a perpendicular bisector of a line formed by the connection of the first crankshaft drive assembly and the third crankshaft drive assembly.
Preferably, the first and third crankshaft drive assemblies are connected to form a straight line parallel to a straight line connecting the second crankshaft drive assembly and the transverse drive torque resisting assembly.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages: the four-degree-of-freedom motion platform with the transverse displacement is simple in structure, convenient to maintain, small in size, low in height, convenient to use in an environment with limited space and capable of having the function of a four-degree-of-freedom platform; compared with the prior motion platform, the lateral displacement function is added, so that the audience can feel the lateral drift feeling during the experience; compared with an electric cylinder transmission mechanism, the adopted crankshaft driving assembly is softer in linear motion, the steering is more natural, and the height is greatly reduced compared with an electric cylinder platform; compared with the same type of products, the size and the height of the transverse driving torsion-resistant assembly are not increased due to the fact that the transverse driving torsion-resistant assembly is additionally provided, the transverse driving torsion-resistant assembly integrates a transverse displacement transmission function and a platform torsion-resistant function, a torsion spring is arranged in the middle of the transverse driving torsion-resistant assembly to provide supporting force, and movement is more stable.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic overall structure diagram of a four-degree-of-freedom motion platform with lateral displacement according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a first crankshaft driving assembly in a four-DOF motion platform with lateral displacement according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a lateral drive torsion resistant assembly in a four-degree-of-freedom motion platform with lateral displacement according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments and examples, and the advantages and various effects of the present invention will be more clearly apparent therefrom. It will be understood by those skilled in the art that these specific embodiments and examples are for the purpose of illustrating the invention and are not to be construed as limiting the invention.
Throughout the specification, unless otherwise specifically noted, terms used herein should be understood as having meanings as commonly used in the art. Accordingly, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. If there is a conflict, the present specification will control.
Unless otherwise specifically stated, various raw materials, reagents, instruments, equipment and the like used in the present invention are commercially available or can be prepared by existing methods.
Referring to fig. 1-3, in the embodiment of the present application, the present invention provides a four-degree-of-freedom motion platform with lateral displacement, including:
a lower platform 10 for mounting various parts;
an upper platform 20 for mounting a load bearing device; the upper platform 20 is arranged above the lower platform 10;
a first crankshaft driving assembly 30 for driving the upper platform 20 to move; the first crankshaft driving assembly 30 is disposed on the lower platform 10 and connected to the upper platform 20;
a second crankshaft driving assembly 40 for driving the upper platform 20 to move; the second crankshaft driving assembly 40 is disposed on the lower platform 10 and connected to the upper platform 20;
a third crankshaft driving assembly 50 for driving the upper platform 20 to move; the third crankshaft driving assembly 50 is disposed on the lower platform 10 and connected to the upper platform 20;
a transverse driving torsion-resistant assembly 60 for driving the upper platform 20 to move; the transverse drive torsion resistant assembly 60 is disposed on the lower platform 10 and is connected to the upper platform 20.
In the present embodiment, the first crank drive assembly 30, the second crank drive assembly 40, the third crank drive assembly 50 and the lateral drive anti-torque assembly 60 cooperate to achieve a front-to-back, side-to-side, or up-to-down translational motion of the upper platform 20 relative to the lower platform 10.
1-3, in the present embodiment, the first crankshaft drive assembly 30 includes: a first servo motor 31, a first planetary gear reducer 32, a first fixed seat 33, a first crank 34, a first lower joint bearing 35, a first connecting rod 36, a first upper joint bearing 37 and a first double-lug seat 38, wherein the first fixed seat 33 is disposed on the lower platform 10, the first servo motor 31 and the first planetary gear reducer 32 are disposed on the first fixed seat 33 and are connected to each other, the first lower joint bearing 35 is connected to the first planetary gear reducer 32 through the first crank 34, a first end of the first connecting rod 36 is connected to the first lower joint bearing 35 and a second end is connected to the first upper joint bearing 37, and the first double-lug seat 38 is disposed on the upper platform 20 and is connected to the first upper joint bearing 37.
In the embodiment of the present application, the first crankshaft driving assembly 30 is placed in a flat position, the first servo motor 31 and the first planetary gear reducer 32 are directly connected by screws to form a combined body, after the connection, the combined body is fixed on the first fixing seat 33 through a flange, the bottom of the first fixing seat 33 is flat, a hole is formed in the bottom of the first fixing seat 33 for fixing the lower platform 10, and a vertical plate on the first fixing seat 33 is used for fixing the first planetary gear reducer 32; a hole at one end of the first crank 34 is connected to an output shaft of the first planetary gear reducer 32 through a locking screw, and rotates together with the rotation of the first planetary gear reducer 32, and an output shaft at the other end is connected to a first lower joint bearing 35 in the first crank drive assembly 30; since the first lower joint bearing 35 can rotate freely, the first crank 34 drives the first link 36 to move up and down within a certain range. Due to the first lower joint bearing 35, the first crank drive assembly 30 can rotate in two planes, so that the first link 36 is not subjected to torsional forces. When the second crankshaft driving assembly 40 is not moved, the first crankshaft driving assembly 30 and the third crankshaft driving assembly 50 rotate in different directions to perform a left-right swinging motion; when the first crankshaft driving assembly 30 and the third crankshaft driving assembly 50 move in the same direction and are opposite to the second crankshaft driving assembly 40, the upper platform 20 performs a back-and-forth swinging motion at this time; when the first crank drive assembly 30, the second crank drive assembly 40 and the third crank drive assembly 50 move in the same direction, the upper platform 20 moves up and down in a displacement manner.
In the embodiment of the present application, the second crankshaft driving assembly 40 includes: joint bearing and second binaural seat under second servo motor, second planetary gear reducer, second fixing base, second crank, second lower joint bearing, second connecting rod, second, wherein, the second fixing base set up in down on the platform 10, second servo motor with second planetary gear reducer all set up in on the second fixing base, and the two hub connection, joint bearing passes through under the second crank with second planetary gear reducer hub connection, the second end of second connecting rod with joint bearing connects and the second end with joint bearing connects on the second, the second binaural seat set up in on the upper mounting platform 20, and with joint bearing connects on the second.
In the embodiment of the present application, the structure of the second crankshaft driving assembly 40 is the same as that of the first crankshaft driving assembly 30, and the description thereof is omitted.
In the embodiment of the present application, the third crankshaft drive assembly 50 includes: the third servo motor, the third planetary gear reducer, a third fixed seat, a third crank, a third lower joint bearing, a third connecting rod, a third upper joint bearing and a third double-lug seat, wherein the third fixed seat is disposed on the lower platform 10, the third servo motor and the third planetary gear reducer are both disposed on the third fixed seat and are connected to each other through a shaft, the third lower joint bearing is connected to the third planetary gear reducer through the third crank, a third end of the third connecting rod is connected to the third lower joint bearing and a third end is connected to the third upper joint bearing, and the third double-lug seat is disposed on the upper platform 20 and is connected to the third upper joint bearing.
In the embodiment of the present application, the structure of the third crank driving assembly 50 is the same as that of the first crank driving assembly 30, and the description thereof is omitted.
1-3, in the present embodiment, the laterally driven torsion bar assembly 60 includes: a first hinge mounting seat 61, a second hinge mounting seat 62, a third hinge mounting seat 63, a first lower swing arm 64, a second lower swing arm 65, an electric driving cylinder 66, a fourth binaural seat 67, an upper swing arm 68, a first torsion spring 69, a second torsion spring 610 and a rotation shaft 611, wherein the first hinge mounting seat 61, the second hinge mounting seat 62 and the third hinge mounting seat 63 are all disposed on the lower platform 10, a first end of the first lower swing arm 64 is hinged with the first hinge mounting seat 61 and a second end is hinged with the rotation shaft 611, a first end of the second lower swing arm 65 is hinged with the second hinge mounting seat 62 and a second end is hinged with the rotation shaft 611, a first end of the electric driving cylinder 66 is hinged with the third hinge mounting seat 63 and a second end is hinged with the rotation shaft 611, the fourth binaural seat 67 is disposed on the upper platform 20, the first end of the upper swing arm 68 is hinged to the fourth double-lug seat 67, the second end of the upper swing arm is hinged to the rotating shaft 611, the first torsion spring 69 is sleeved on the rotating shaft 611, and both ends of the first torsion spring are respectively abutted to the first lower swing arm 64 and the upper swing arm 68, the second torsion spring 610 is sleeved on the rotating shaft 611, and both ends of the second torsion spring are respectively abutted to the second lower swing arm 65 and the upper swing arm 68.
In the present embodiment, the laterally actuated anti-torque assembly 60 functions primarily as a fulcrum for the upper platform 20 to withstand various roll forces while resisting torsion and acting for lateral displacement by actuation of the actuating cylinder 66. The entire upper swing arm 68 is in a shape with a narrow top and a wide bottom, similar to a triangular shape, and the stability of the triangular shape is utilized to enable the transverse driving torsion-resisting assembly 60 to have a better torsion-resisting effect. The three crankshaft drive assemblies pivot about the transverse drive torsion resistant assembly 60 to a certain extent. The transverse driving torsion-resistant assembly 60 is formed by connecting a first lower swing arm 64, a second lower swing arm 65 and an upper swing arm 68 through a rotating shaft 611, the upper swing arm 68 is hinged with the upper platform 20 through a fourth double-lug seat 67, the first lower swing arm 64 and the second lower swing arm 65 are in rotating connection with the lower platform 10 through the rotating shaft, a first torsion spring 69 and a second torsion spring 610 are correspondingly arranged among the first lower swing arm 64, the second lower swing arm 65 and the upper swing arm 68, upward force can be provided in the process of moving the upper platform 20, the stress of the crankshaft driving assembly is relieved, the upper portion of the driving electric cylinder 66 is in rotating connection with the rotating shaft 611, the lower portion of the driving electric cylinder 66 is hinged with the lower platform 10 through a third hinged mounting seat 63, and the whole transverse driving torsion-resistant assembly 60 can only move in one. When the three crank drive assemblies are not in motion, the entire upper swing arm 68 is moved laterally by the extension and retraction of the drive cylinder 66 to provide a lateral movement of the upper platform 20. When the driving cylinder 66 does not move, the entire transverse driving torsion-resistant assembly 60 plays a role of a fulcrum and also plays a role of preventing the upper platform 20 from twisting, and the entire upper platform 20 performs up-and-down displacement motion, left-and-right swinging motion and front-and-back swinging motion under the action of the three crankshaft driving assemblies by taking the upper swing arm 68 as a supporting point. If the driving cylinder 66 is also moved together, the upper platform 20 can be moved in various combinations.
In the embodiment of the present application, the first crankshaft driving assembly 30 and the third crankshaft driving assembly 50 are disposed at a first side of the lower platform 10, and the second crankshaft driving assembly 40 is disposed at a second side of the lower platform 10.
In the present embodiment, the first and third crankshaft driving assemblies 30 and 50 are disposed at a first side of the lower platform 10, and the second crankshaft driving assembly 40 is disposed at a second side of the lower platform 10, that is, the second crankshaft driving assembly 40 is disposed opposite to the first and third crankshaft driving assemblies 30 and 50.
In the present embodiment, the first crankshaft drive assembly 30 and the third crankshaft drive assembly 50 are disposed on a first side of the lower platform 10, and the transverse drive torsion resistant assembly 60 is disposed on a second side of the lower platform 10.
In the present embodiment, the first and third crankshaft drive assemblies 30 and 50 are disposed on a first side of the lower platform 10 and the lateral drive anti-torque assembly 60 is disposed on a second side of the lower platform 10, i.e., the lateral drive anti-torque assembly 60 is disposed opposite the first and third crankshaft drive assemblies 30 and 50.
In the embodiment of the present application, the first crankshaft driving assembly 30, the second crankshaft driving assembly 40 and the third crankshaft driving assembly 50 are arranged on the lower platform 10 in an isosceles triangle shape. Further, the second crank drive assembly 40 is located on a perpendicular bisector of a line connecting the first crank drive assembly 30 and the third crank drive assembly 50.
In the present embodiment, the isosceles triangle arrangement of the first crank drive assembly 30, the second crank drive assembly 40, and the third crank drive assembly 50 may make the movement of the upper platform 20 more balanced and stable.
In the subject embodiment, the first crankshaft drive assembly 30 and the third crankshaft drive assembly 50 are connected to form a straight line that is parallel to the straight line formed by the connection of the second crankshaft drive assembly 40 and the transverse drive torque assembly 60.
In the present embodiment, the connection between first crankshaft drive assembly 30 and third crankshaft drive assembly 50 forms a first line, and the connection between second crankshaft drive assembly 40 and transverse drive torque assembly 60 forms a second line, the first and second lines being parallel, which may allow for more balanced and stable movement of upper platform 20.
The four-degree-of-freedom motion platform with the transverse displacement is simple in structure, convenient to maintain, small in size, low in height, convenient to use in an environment with limited space and capable of having the function of a four-degree-of-freedom platform; compared with the prior motion platform, the lateral displacement function is added, so that the audience can feel the lateral drift feeling during the experience; compared with an electric cylinder transmission mechanism, the adopted crankshaft driving assembly is softer in linear motion, the steering is more natural, and the height is greatly reduced compared with an electric cylinder platform; compared with the same type of products, the size and the height of the transverse driving torsion-resistant assembly are not increased due to the fact that the transverse driving torsion-resistant assembly is additionally provided, the transverse driving torsion-resistant assembly integrates a transverse displacement transmission function and a platform torsion-resistant function, a torsion spring is arranged in the middle of the transverse driving torsion-resistant assembly to provide supporting force, and movement is more stable.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
In short, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a take lateral displacement's four degree of freedom motion platforms which characterized in that includes:
the lower platform is used for mounting each part;
the upper platform is used for installing bearing equipment; the upper platform is arranged above the lower platform;
the first crankshaft driving assembly is used for driving the upper platform to move; the first crankshaft driving assembly is arranged on the lower platform and is connected with the upper platform;
the second crankshaft driving assembly is used for driving the upper platform to move; the second crankshaft driving assembly is arranged on the lower platform and is connected with the upper platform;
the third crankshaft driving assembly is used for driving the upper platform to move; the third crankshaft driving assembly is arranged on the lower platform and is connected with the upper platform;
the transverse driving torsion-resistant assembly is used for driving the upper platform to move; the transverse driving torsion-resistant assembly is arranged on the lower platform and is connected with the upper platform.
2. The four-degree-of-freedom motion platform with lateral displacement of claim 1, wherein the first crankshaft drive assembly comprises: the first servo motor, the first planetary gear reducer, the first fixed seat, the first crank, the first lower joint bearing, the first connecting rod, the first upper joint bearing and the first double-lug seat, wherein the first fixed seat is arranged on the lower platform, the first servo motor and the first planetary gear reducer are both arranged on the first fixed seat and are connected with the first fixed seat through shafts, the first lower joint bearing is connected with the first planetary gear reducer through the first crank, the first end of the first connecting rod is connected with the first lower joint bearing while the second end is connected with the first upper joint bearing, and the first double-lug seat is arranged on the upper platform and is connected with the first upper joint bearing.
3. The four-degree-of-freedom motion platform with lateral displacement of claim 1, wherein the second crankshaft drive assembly comprises: joint bearing and second binaural seat under second servo motor, second planetary gear reducer, second fixing base, second crank, second lower joint bearing, second connecting rod, second, wherein, the second fixing base set up in down on the platform, second servo motor with second planetary gear reducer all set up in on the second fixing base, and the two hub connection, joint bearing passes through under the second crank with second planetary gear reducer hub connection, the second end of second connecting rod with joint bearing connects and the second end with joint bearing connects on the second, the second binaural seat set up in on the upper mounting, and with joint bearing connects on the second.
4. The four-degree-of-freedom motion platform with lateral displacement of claim 1, wherein the third crankshaft drive assembly comprises: the third servo motor, the third planetary gear reducer, a third fixed seat, a third crank, a third lower joint bearing, a third connecting rod, a third upper joint bearing and a third double-lug seat, wherein the third fixed seat is arranged on the lower platform, the third servo motor and the third planetary gear reducer are both arranged on the third fixed seat and are connected with each other through a shaft, the third lower joint bearing is connected with the third planetary gear reducer through the third crank, the third end of the third connecting rod is connected with the third lower joint bearing and the third end is connected with the third upper joint bearing, and the third double-lug seat is arranged on the upper platform and is connected with the third upper joint bearing.
5. The four-dof motion platform with lateral displacement of claim 1, wherein the laterally driven torsion bar assembly comprises: the first hinge mounting seat, the second hinge mounting seat, the third hinge mounting seat, the first lower swing arm, the second lower swing arm, the driving electric cylinder, the fourth binaural seat, the upper swing arm, the first torsion spring, the second torsion spring and the rotating shaft, wherein the first hinge mounting seat, the second hinge mounting seat and the third hinge mounting seat are all arranged on the lower platform, the first end of the first lower swing arm is hinged with the first hinge mounting seat, the second end of the first lower swing arm is hinged with the rotating shaft, the first end of the second lower swing arm is hinged with the second hinge mounting seat, the second end of the second lower swing arm is hinged with the rotating shaft, the first end of the driving electric cylinder is hinged with the third hinge mounting seat, the second end of the driving electric cylinder is hinged with the rotating shaft, the fourth binaural seat is arranged on the upper platform, the first end of the upper swing arm is hinged with the fourth binaural seat, and the second end of the upper swing arm is hinged with the rotating shaft, the first torsion spring is sleeved on the rotating shaft, two ends of the first torsion spring are respectively and tightly abutted to the first lower swing arm and the upper swing arm, the second torsion spring is sleeved on the rotating shaft, and two ends of the second torsion spring are respectively and tightly abutted to the second lower swing arm and the upper swing arm.
6. The four-degree-of-freedom motion platform with lateral displacement of claim 1, wherein the first and third crankshaft drive assemblies are disposed on a first side of the lower platform and the second crankshaft drive assembly is disposed on a second side of the lower platform.
7. The four-degree-of-freedom motion platform with lateral displacement of claim 1, wherein the first and third crankshaft drive assemblies are disposed on a first side of the lower platform and the lateral drive torsion resistant assembly is disposed on a second side of the lower platform.
8. The four-degree-of-freedom motion platform with lateral displacement according to claim 1 or 6, wherein the first crankshaft driving assembly, the second crankshaft driving assembly and the third crankshaft driving assembly are arranged on the lower platform in an isosceles triangle.
9. The four-degree-of-freedom motion platform with lateral displacement of claim 8, wherein the second crankshaft drive assembly is located on a perpendicular bisector of a straight line connecting the first crankshaft drive assembly and the third crankshaft drive assembly.
10. The four-degree-of-freedom motion platform with lateral displacement of claim 1, wherein the first crankshaft drive assembly and the third crankshaft drive assembly are connected to form a straight line parallel to the second crankshaft drive assembly and the lateral drive torsion resistant assembly.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011476604.5A CN112727159B (en) | 2020-12-15 | 2020-12-15 | Four-degree-of-freedom motion platform with transverse displacement |
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| CN202011476604.5A CN112727159B (en) | 2020-12-15 | 2020-12-15 | Four-degree-of-freedom motion platform with transverse displacement |
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| CN112727159B CN112727159B (en) | 2022-08-26 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112727159B (en) | 2022-08-26 |
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