CN113119092A - High-precision six-degree-of-freedom platform - Google Patents
High-precision six-degree-of-freedom platform Download PDFInfo
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- CN113119092A CN113119092A CN201911387179.XA CN201911387179A CN113119092A CN 113119092 A CN113119092 A CN 113119092A CN 201911387179 A CN201911387179 A CN 201911387179A CN 113119092 A CN113119092 A CN 113119092A
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- 238000006243 chemical reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
The invention discloses a high-precision six-degree-of-freedom platform which comprises an upper platform, a lower platform and three groups of electric cylinder driving groups, wherein the distribution angle of the upper platform is 6.6 degrees, the distribution angle of the lower platform is 16.9 degrees, hinge point circles are formed on the bottom surface of the upper platform and the top surface of the lower platform, three hinge shafts are arranged on the bottom surface of the upper platform along the hinge circles, each electric cylinder driving group comprises two servo electric cylinders, the bottom of each servo electric cylinder is connected with the hinge point circles through a Hooke hinge, and the tops of every two servo electric cylinders are connected with one hinge shaft.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a high-precision six-degree-of-freedom platform.
Background
Aiming at the requirements of teaching and research, the cognitive understanding and research of the structure, the motion and the control system of the six-freedom-degree industrial robot require that the robot can complete the motion of six relevant degrees of freedom, and the robot has the advantages of simple structure, safe operation and low cost, and generally cannot cause accidents; it is necessary to develop a six-degree-of-freedom robot to meet these research and teaching requirements.
Disclosure of Invention
The purpose of the invention is as follows: in order to realize the related functions of the background technology, the invention provides a high-precision six-degree-of-freedom platform.
The technical scheme is as follows: six degree of freedom platforms of high accuracy, including upper mounting plate, lower platform, three electronic jar drive groups of group, the distribution angle of upper mounting plate is 6.6, the distribution angle of lower platform is 16.9, the top surface of upper mounting plate bottom surface and lower platform all is formed with the hinge point circle, the bottom surface of upper mounting plate is equipped with three articulated shaft, every along articulated circle electronic jar drive group all includes two servo electronic jars, every servo electronic jar bottom all is connected every two through hook hinge and hinge point circle servo electronic jar top all is connected with an articulated shaft.
As a preferable mode of the present invention, the diameter of the hinge point circle corresponding to the bottom of the upper platform is 2 times larger than the diameter of the hinge point circle corresponding to the top of the lower platform.
In a preferred embodiment of the present invention, the length of the short side of the upper stage is equal to the length of the short side of the lower stage.
In a preferred embodiment of the present invention, the servo motor used in the servo electric cylinder is a low inertia servo motor, and the ball screw used in the servo electric cylinder is a grinding-stage ball screw.
In a preferred mode of the present invention, each of the servo electric cylinders has a lead of 20 mm.
In a preferred embodiment of the present invention, each of the servo electric cylinders has a stroke of 500 mm.
In a preferred mode of the present invention, each of the servo electric cylinders has a minimum hinge point length of 1025 mm.
The invention realizes the following beneficial effects:
the six-degree-of-freedom platform realizes the characteristics of smooth motion, high positioning precision, zero clearance angle conversion and the like through reasonable hinge point distribution and the matching use of high-precision electric cylinders, and keeps the stability while keeping a larger angle and a larger load.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic view of the overall structure disclosed in the present invention.
Fig. 2 is a schematic bottom view of the present disclosure.
Fig. 3 is a schematic front view of the structure disclosed in the present invention.
Fig. 4 is a schematic top view of the present disclosure.
Fig. 5 is a schematic view of the hinge point distribution disclosed in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Examples
Referring to fig. 1-5 (numbers 1-6 in fig. 4 are all hinge point distribution positions), the high-precision six-degree-of-freedom platform comprises an upper platform 10, a lower platform 20 and three groups of electric cylinder driving groups 30, the distribution angle of the upper platform is 6.6 degrees, the distribution angle of the lower platform is 16.9 degrees, hinge point circles are formed on the bottom surface of the upper platform and the top surface of the lower platform, three hinge shafts 40 are arranged on the bottom surface of the upper platform along a hinge circle D1, each electric cylinder driving group comprises two servo electric cylinders 301 (the operation speed is 0-500mm/s), the bottom of each servo electric cylinder is connected with a hinge point circle D2 through a hooke hinge 50 (the hooke hinge applied by the driver), and the tops of each two servo electric cylinders are connected with one hinge shaft.
In this embodiment, the diameter of the pivot point circle D1 corresponding to the bottom of the upper platform is 2 times the diameter of the pivot point circle D2 corresponding to the top of the lower platform.
In this embodiment, the length of the short side L1 of the upper platform is equal to the length L2 of the short side of the lower platform.
In this embodiment, a servo motor adopted by a servo electric cylinder (adopting the servo electric cylinder applied by this department) is a low-inertia servo motor (not shown), and the servo electric cylinder has the characteristics of stable operation, good controllability, quick response, high sensitivity, strict non-linearity indexes (required to be respectively less than 10% -15% and less than 15% -25%) of mechanical characteristics and adjustment characteristics, and the like, and is just suitable for a high-precision six-degree-of-freedom platform, a ball screw (not shown) adopted by the servo electric cylinder is a grinding-level ball screw (the repeated positioning precision can reach 0.02mm), and the precision of the servo electric cylinder is guaranteed to be a basic condition for guaranteeing the precision of the platform.
In the present embodiment, the lead of each servo electric cylinder is 20 mm.
In the present embodiment, the stroke of each servo electric cylinder is 500 mm.
In this embodiment, the minimum hinge point length of each servo electric cylinder is 1025 mm.
According to the above: reasonable hinge point distribution and the matching use of high-precision servo electric cylinders, the six-freedom-degree platform realizes smooth motion, high positioning precision and zero-clearance angle conversion, and keeps stability while keeping a larger angle and a larger load.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (7)
1. Six degree of freedom platforms of high accuracy, including upper mounting plate, lower platform, three electronic jar drive groups of group, its characterized in that, the distribution angle of upper mounting plate is 6.6, the distribution angle of lower platform is 16.9, the top surface of upper mounting plate bottom surface and lower platform all is formed with the hinge point circle, the bottom surface of upper mounting plate is equipped with three articulated shaft, every along articulated circle electronic jar drive group all includes two servo electronic jars, every servo electronic jar bottom all is connected with the hinge point circle through hooke's hinge, every two servo electronic jar top all is connected with an articulated shaft.
2. The high-precision six-degree-of-freedom platform according to claim 1, wherein the diameter of the hinge point circle corresponding to the bottom of the upper platform is 2 times larger than the diameter of the hinge point circle corresponding to the top of the lower platform.
3. The high precision six degree of freedom platform of claim 1 in which the length of the short side of the upper platform is equal to the length of the short side of the lower platform.
4. The high-precision six-degree-of-freedom platform according to claim 1, wherein the servo motors adopted by the servo electric cylinders are low-inertia servo motors, and the ball screws adopted by the servo electric cylinders are grinding-grade ball screws.
5. The high precision six degree of freedom platform of claim 1 in which each of the servo electric cylinders is 20mm lead.
6. The high-precision six-degree-of-freedom platform according to claim 1, wherein the stroke of each servo electric cylinder is 500 mm.
7. The high precision six degree-of-freedom platform according to claim 1 in which the minimum hinge point length of each servo-powered cylinder is 1025 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911387179.XA CN113119092A (en) | 2019-12-30 | 2019-12-30 | High-precision six-degree-of-freedom platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911387179.XA CN113119092A (en) | 2019-12-30 | 2019-12-30 | High-precision six-degree-of-freedom platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113119092A true CN113119092A (en) | 2021-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911387179.XA Pending CN113119092A (en) | 2019-12-30 | 2019-12-30 | High-precision six-degree-of-freedom platform |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102289965A (en) * | 2011-09-02 | 2011-12-21 | 浙江大学 | Vehicle driving simulator with heavy-load wideband response |
| KR20120129525A (en) * | 2011-05-20 | 2012-11-28 | 한국기계연구원 | 6 degree-of-freedom parallel mechanism |
| CN105252530A (en) * | 2015-11-27 | 2016-01-20 | 哈尔滨工业大学 | Six-degree-of-freedom large-stroke flexible parallel platform |
| CN205190633U (en) * | 2015-09-25 | 2016-04-27 | 南京航空航天大学 | Passive damping device of unmanned helicopter airborne equipment of 6 -degree of freedom |
| WO2017092105A1 (en) * | 2015-12-04 | 2017-06-08 | 中国科学院深圳先进技术研究院 | Radiation therapy bed with multiple degrees of freedom |
| CN106886227A (en) * | 2016-12-26 | 2017-06-23 | 中国科学院长春光学精密机械与物理研究所 | A kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR |
| CN207008396U (en) * | 2017-05-12 | 2018-02-13 | 南京全控航空科技有限公司 | Bus-type 6-dof parallel platform |
| CN108297087A (en) * | 2018-03-26 | 2018-07-20 | 湖北赞博信息科技股份有限公司 | A kind of parallel connection six-freedom hydraulic robot platform |
| CN211565896U (en) * | 2019-12-30 | 2020-09-25 | 苏州丰达瑞自动化设备科技有限公司 | High-precision six-degree-of-freedom platform |
-
2019
- 2019-12-30 CN CN201911387179.XA patent/CN113119092A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120129525A (en) * | 2011-05-20 | 2012-11-28 | 한국기계연구원 | 6 degree-of-freedom parallel mechanism |
| CN102289965A (en) * | 2011-09-02 | 2011-12-21 | 浙江大学 | Vehicle driving simulator with heavy-load wideband response |
| CN205190633U (en) * | 2015-09-25 | 2016-04-27 | 南京航空航天大学 | Passive damping device of unmanned helicopter airborne equipment of 6 -degree of freedom |
| CN105252530A (en) * | 2015-11-27 | 2016-01-20 | 哈尔滨工业大学 | Six-degree-of-freedom large-stroke flexible parallel platform |
| WO2017092105A1 (en) * | 2015-12-04 | 2017-06-08 | 中国科学院深圳先进技术研究院 | Radiation therapy bed with multiple degrees of freedom |
| CN106886227A (en) * | 2016-12-26 | 2017-06-23 | 中国科学院长春光学精密机械与物理研究所 | A kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR |
| CN207008396U (en) * | 2017-05-12 | 2018-02-13 | 南京全控航空科技有限公司 | Bus-type 6-dof parallel platform |
| CN108297087A (en) * | 2018-03-26 | 2018-07-20 | 湖北赞博信息科技股份有限公司 | A kind of parallel connection six-freedom hydraulic robot platform |
| CN211565896U (en) * | 2019-12-30 | 2020-09-25 | 苏州丰达瑞自动化设备科技有限公司 | High-precision six-degree-of-freedom platform |
Non-Patent Citations (1)
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| 袁立鹏 等: "并联六自由度运动平台铰点工作空间的仿真实验", 《东北农业大学学报》, vol. 37, no. 6, 31 December 2006 (2006-12-31), pages 804 - 807 * |
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