CN113181664B - Rotatable multi-degree-of-freedom motion platform - Google Patents
Rotatable multi-degree-of-freedom motion platform Download PDFInfo
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- CN113181664B CN113181664B CN202110482184.XA CN202110482184A CN113181664B CN 113181664 B CN113181664 B CN 113181664B CN 202110482184 A CN202110482184 A CN 202110482184A CN 113181664 B CN113181664 B CN 113181664B
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- lifting
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- 230000033001 locomotion Effects 0.000 title claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 13
- 238000009434 installation Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000670 limiting effect Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G31/00—Amusement arrangements
- A63G31/02—Amusement arrangements with moving substructures
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G31/00—Amusement arrangements
- A63G31/16—Amusement arrangements creating illusions of travel
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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
- F16M11/20—Undercarriages with or without wheels
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a motion platform, in particular to a rotatable multi-degree-of-freedom motion platform, which solves the problems of large volume, short service life, high manufacturing cost and high mechanical noise of the existing installation platform. The motion platform comprises a lifting support unit and a mounting platform. The lifting support unit comprises at least two lifting units and one support unit, or at least three lifting units. The lifting unit comprises a first motor driving assembly, a chain transmission assembly, a sliding assembly, a lifting assembly and a universal joint. The chain transmission assembly comprises a driving gear, a driven gear, a traction chain and a gear mounting seat. The sliding assembly comprises at least two supporting seats, a sliding rail supported between the at least two supporting seats, a first sliding block assembly and a second sliding block assembly which slide on the sliding rail. The lifting assembly comprises a first support frame and a second support frame which are of an H-shaped structure. The support unit comprises a universal joint and a stand column hinged with the base.
Description
Technical Field
The invention relates to a motion platform, in particular to a rotatable multi-degree-of-freedom motion platform.
Background
The motion platform is a device capable of simulating the motion state of manned equipment, such as an automobile, a ship, an aircraft and the like, and is widely used in various fields of cinema, games, entertainment venues and the like. The object has six degrees of freedom in space, namely, the moving degree of freedom along the directions of three right-angle coordinate axes of x, y and z and the rotating degree of freedom around the three coordinate axes, and the combination of different degrees of freedom can simulate the motion states of different manned equipment; to achieve such movement, a motion simulator is typically mounted on some form of support surface or platform, with a series of power units beneath the support surface or platform to effect movement.
The existing multi-freedom-motion platform has at least the following disadvantages:
1. the platform has large volume and weight, is inconvenient to transport, install and maintain, and has short service life;
2. the platform needs a plurality of transmission units to realize multi-degree-of-freedom motion, and the transmission units are high in manufacturing cost;
3. the platform requires additional high power drive and thus has a relatively high mechanical noise.
Summary of the invention
The invention aims to solve the problems of large volume, short service life, high manufacturing cost and high mechanical noise of the existing mounting platform, and provides a rotatable multi-degree-of-freedom motion platform.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
a rotatable multi-degree of freedom motion platform which is characterized in that: comprises a lifting supporting unit and a mounting platform;
the lifting support unit comprises at least two lifting units and one support unit, or at least three lifting units;
the lifting unit comprises a first motor driving assembly, a chain transmission assembly, a sliding assembly, a lifting assembly and a universal joint;
the chain transmission assembly comprises a driving gear, a driven gear, a traction chain and a gear mounting seat; the driving gear is fixedly connected with an output shaft of the first motor driving assembly; the driven gear is arranged on the gear mounting seat; the traction chain comprises a driving chain meshed with the driving gear and a driven chain meshed with the driven gear;
the sliding assembly comprises at least two supporting seats, a sliding rail supported between the at least two supporting seats, a first sliding block assembly and a second sliding block assembly, wherein the first sliding block assembly and the second sliding block assembly slide on the sliding rail; the sliding track is arranged between the driving gear and the driven gear; the first sliding block component is connected with the upper end of the driving chain and the upper end of the driven chain; the second sliding block component is connected with the lower end of the driving chain and the lower end of the driven chain;
the lifting assembly comprises a first support frame and a second support frame which are of an H-shaped structure, and the upper end part of the first support frame is hinged with the upper end part of the second support frame through a first hinge shaft; the lower end part of the first support frame is hinged with the first sliding block assembly; the lower end part of the second support frame is hinged with the second sliding block assembly; the first sliding block component is arranged at the hollow part of the first supporting frame, and the driven chain passes through the hollow part of the second supporting frame;
the lower end part of the universal joint is positioned above the first hinge shaft and hinged with the first hinge shaft;
the first motor driving assembly, the gear mounting seat and the supporting seat are fixed on the base;
the supporting unit comprises a universal joint and a stand column; the lower end part of the upright post is hinged with the base; the upper end of the upright post is hinged with the lower end of the universal joint;
the upper end part of the universal joint is fixedly connected with the mounting platform;
the height of the supporting component is an intermediate value between the highest position and the lowest position of the lifting unit.
Further, the base is a rotary platform and a rotary unit for driving the rotary platform to rotate.
Further, the rotating unit is arranged on a supporting base, and a fixed-mounted slewing bearing is arranged on the supporting base;
the rotating unit comprises a second motor driving assembly and a transmission mechanism; the second motor driving assembly is arranged on the rotating platform, an output shaft of the second motor driving assembly penetrates through the rotating platform to be fixedly connected with the transmission mechanism, and the transmission mechanism is connected with the slewing bearing; the rotary platform is driven by the second motor driving assembly and the transmission mechanism to rotate on the slewing bearing.
Further, the transmission mechanism comprises a small sprocket fixedly connected with the output shaft of the second motor driving assembly, a rotary chain and a large sprocket arranged on the outer ring of the slewing bearing and concentric with the small sprocket; the small chain wheel and the large chain wheel are connected with each other through a rotary chain.
Further, the first slider assembly includes a first slider, a first slider mounting bracket, and a first fixed block;
the first sliding block is placed on the first sliding block mounting bracket; the first slider mounting bracket is fixedly connected to the first fixed block;
the sliding track passes through the first sliding block and the first sliding block mounting bracket;
the first sliding block is hinged with the lower end part of the first supporting frame through a second hinge shaft;
the first fixed block is connected with the upper end of the driving chain and the upper end of the driven chain.
Further, the universal joint comprises a first U-shaped lug plate, a second U-shaped lug plate and a third U-shaped lug plate;
both sides of the first U-shaped ear plate are hinged with a first hinge shaft;
two sides of the second U-shaped lug plate and two sides of the third U-shaped lug plate are hinged through a fourth hinge shaft;
the bottom of the second U-shaped lug plate is hinged with the bottom of the first U-shaped lug plate; the bottom of the third U-shaped lug plate (53) is fixedly connected with the mounting platform.
Further, the driven gear is fixed in the gear mounting seat through a gear shaft, slide ways are arranged on two sides of the gear mounting seat, and the gear shaft slides in the slide ways;
the gear shaft is fixed on the gear mounting seat through two loose joint screws, and the loose joint screws are vertically arranged with the gear shaft;
further, one end of the loose joint screw is in a round hole shape, the size of the loose joint screw is matched with that of the gear shaft, threads are arranged at the other end of the loose joint screw, and the loose joint screw is installed on the gear installation seat through a nut.
Further, the support base comprises a plurality of support legs which are distributed along the circumferential direction and parallel to the ground; the lower end face of the slewing bearing is fixed at the intersection of the plurality of supporting legs.
Further, the first motor driving assembly comprises a first driving motor and a first speed reducer, the first driving motor provides power for the first speed reducer, and an output shaft of the first speed reducer is fixedly connected with the driving gear.
The beneficial effects of the invention are as follows:
1. compact structure and small volume. According to the motion platform, at least two lifting units and one supporting unit or at least three lifting units are arranged on the rotation platform, so that the space of the rotation platform is fully utilized, the layout of the motion platform is rationalized, and the height and the volume of the motion platform are reduced.
2. Stable structure, long service life and low maintenance cost. The load of the motion platform is all borne on the first support frame and the second support frame, the motor drives the chain to do traction motion, and the load of the motor is smaller. The lifting unit adopts a chain transmission assembly, and drives the driving gear through the first motor driving assembly, so as to drive the driven gear to rotate with the traction chain, and the two supporting frames move up and down under the drive of the two sliding assemblies. The chain has long service life and low maintenance cost, is not easy to damage, and the two support frames, the at least two support seats and the sliding rail form a stable triangle structure, so that the stability of the whole lifting unit is enhanced.
3. The motion with multiple degrees of freedom is realized. At least two lifting units and a supporting unit or at least three lifting units are arranged on the motion platform to realize up-and-down movement. When the height of each lifting unit is different, the inclination of the mounting platform is also different, and different changes of the inclination generate different experience sensations, and the lifting assembly can shake left and right. In addition, the rotary platform is further arranged, the whole platform can be rotated to observe at 360 degrees while experiencing different heights.
4. The noise is small. The chain transmission assembly and the sliding assembly are driven by the first motor driving assembly to enable the lifting assembly to move up and down, and then the mounting platform achieves up and down movement. The rotary platform drives the small chain wheel, the rotary chain, the slewing bearing and the large chain wheel to rotate through the second motor driving assembly. The transmission noise level is small in the up-and-down motion and rotation process.
5. The comprehensive cost is low. In terms of manufacturing cost, the traditional high-precision ball screw is omitted, and the manufacturing cost of the driving unit is greatly reduced; due to the small volume, a large amount of transportation and installation costs are reduced; stable structure and durability of the chain, and greatly reduces maintenance cost.
Drawings
FIG. 1 is a schematic view of a rotatable multiple degree of freedom motion platform according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of a rotatable multiple degree of freedom motion platform with mounting platform removed according to example 1 of the present invention;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is an exploded view of FIG. 1;
FIG. 5 is a schematic illustration of the lift unit with the first motor drive assembly removed;
fig. 6 is a front view of fig. 4;
FIG. 7 is an exploded view of FIG. 5;
FIG. 8 is a schematic view of a rotary unit;
FIG. 9 is a schematic view of a rotatable multiple degree of freedom motion platform removal mounting platform according to example 2 of the present invention;
FIG. 10 is a top view of FIG. 9;
the reference numerals are as follows:
1-first motor drive component, 11-first driving motor, 12-first speed reducer, 2-chain transmission component, 21-driving gear, 22-driven gear, 23-traction chain, 231-driving chain, 232-driven chain, 24-gear mounting seat, 241-gear shaft, 242-slideway, 243-loose joint screw, 3-sliding component, 31-supporting seat, 32-sliding track, 33-first sliding component, 331-first sliding block, 332-first sliding block mounting bracket, 333-first fixed block, 334-second hinged shaft, 34-second sliding block component, 341-second sliding block, 342-second sliding block mounting bracket, 343-second fixed block, 344-third hinge shaft, 4-lifting component, 41-first support frame, 42-second support frame, 43-first hinge shaft, 44-hollow, 5-universal joint, 51-first U-shaped lug plate, 52-second U-shaped lug plate, 53-third U-shaped lug plate, 54-fourth hinge shaft, 6-mounting platform, 7-stand, 8-rotating platform, 81-supporting leg, 9-slewing bearing, 10-rotating unit, 101-second motor driving component, 1011-second driving motor, 1012-second speed reducer, 102-small sprocket, 103-rotating chain, 104-large sprocket.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings.
Example 1
A rotatable multi-degree-of-freedom motion platform, as shown in fig. 1, comprises a lifting support unit and a mounting platform 6. As shown in fig. 2 and 3, the elevation support unit includes two elevation units and one support unit, and the height of the support unit is an intermediate value between the highest position and the lowest position of the elevation units. The two lifting units and one supporting unit form three-point support for the installation platform 6, so that the stability of the whole motion platform is improved.
The lifting unit is used for adjusting the horizontal height of the whole motion platform. As shown in fig. 4 to 6, the lifting unit includes a first motor driving assembly 1, a chain transmission assembly 2, a sliding assembly 3, a lifting assembly 4, and a universal joint 5.
The first motor driving assembly 1 comprises a first driving motor 11 and a first speed reducer 12, wherein the first driving motor 11 provides power for the first speed reducer 12, and an output shaft of the first speed reducer 12 is fixedly connected with a first driving gear 21.
The chain drive assembly 2 includes a drive gear 21, a driven gear 22, a traction chain 23, and a gear mount 24.
The driving gear 21 is fixedly connected with the output shaft of the first motor driving assembly 1.
As shown in fig. 7, the driven gear 22 is fixed in the gear mount 24 by a gear shaft 241, and the gear mount 24 is provided with a slide 242 on both sides, and the gear shaft 241 slides in the slide 242. The gear shaft 241 is fixed to the gear mount 24 by two loose-joint screws 243, and the loose-joint screws 243 are mounted perpendicular to the gear shaft 241. One end of the loose-joint screw 243 is in a round hole shape, the size of the loose-joint screw is matched with that of the gear shaft 241, the other end of the loose-joint screw is provided with threads, and the loose-joint screw is installed on the gear installation seat 24 through a nut. Providing the slide 242 and the loose-joint screw 243 facilitates adjusting the position of the driven gear 22.
The traction chain 23 includes a driving chain 231 engaged with the driving gear 21 and a driven chain 232 engaged with the driven gear 22.
As shown in fig. 4 to 6, the sliding assembly 3 includes three support seats 31, a sliding rail 32 supported between the three support seats 31, a first slider assembly 33 and a second slider assembly 34 sliding on the sliding rail 32. The slide rail 32 is provided between the driving gear 21 and the driven gear 22. The first slider assembly 33 is connected to the upper end of the driving chain 231 and the upper end of the driven chain 232, and the second slider assembly 34 is connected to the lower end of the driving chain 231 and the lower end of the driven chain 232.
As shown in fig. 7, the lifting assembly 4 includes a first support frame 41 and a second support frame 42 of an "H" shaped structure. The upper end of the first support frame 41 is hinged to the upper end of the second support frame 42 by a first hinge shaft 43. The lower end of the first support frame 41 is hinged to the first slider assembly 33, and the lower end of the second support frame 42 is hinged to the second slider assembly 34. The first slider assembly 33 is disposed in the hollow portion 44 of the first support frame 41, and the driven chain 232 passes through the hollow portion 44 of the second support frame 42. The second slider assembly 34 is disposed in the hollow portion 44 of the second support frame 42, and the driving chain 231 passes through the hollow portion 44 of the first support frame 41.
The supporting seat 31 can limit the movement track of the first sliding block assembly 33 and the second sliding block assembly 34, and further limit the movement track of the lower end parts of the first supporting frame 41 and the second supporting frame 42, so that a certain limiting effect can be achieved on the lifting height of the lifting unit. In addition, the middle supporting seat 31 can prevent the first sliding block component 33 from colliding with the second sliding block component 34, so that the protection function is realized.
The first slider assembly 33 and the second slider assembly 34 are further described below.
As shown in fig. 7, the first slider assembly 33 includes a first slider 331, a first slider mounting bracket 332, and a first fixed block 333. The first slider 331 is placed on the first slider mounting bracket 332, and the first slider mounting bracket 332 is fixedly attached to the first fixed block 333. The slide rail 32 passes through the first slider 331 and the first slider mounting bracket 332. The first slider 331 is hinged to the lower end portion of the first support frame 41 by a second hinge shaft 334. The first fixed block 333 is connected to the upper end of the driving chain 231 and the upper end of the driven chain 232.
As shown in fig. 7, the second slider assembly 34 includes a second slider 341, a second slider mounting bracket 342, and a second fixing block 343. The second slider 341 is placed on the second slider mounting bracket 342, and the second slider mounting bracket 342 is fixedly attached to the second fixing block 343. The slide rail 32 passes through the second slider 342 and the second slider mounting bracket 342. The second slider 341 is hinged to the lower end portion of the second supporting frame 42 by a third hinge shaft 344. The second fixing block 343 is connected to the lower end of the driving chain 231 and the lower end of the driven chain 232.
As shown in fig. 7, the lower end portion of the universal joint 5 is located above the first hinge shaft 43, and includes a first U-shaped ear plate 51, a second U-shaped ear plate 52, and a third U-shaped ear plate 53. The two sides of the first U-shaped ear plate 51 are hinged with the first hinging shaft 43, the two sides of the second U-shaped ear plate 52 and the two sides of the third U-shaped ear plate 53 are hinged through the fourth hinging shaft 54, the bottom of the second U-shaped ear plate 52 is hinged with the bottom of the first U-shaped ear plate 51, and the bottom of the third U-shaped ear plate 53 is fixedly connected with the mounting platform 6. The first U-shaped ear plate 51 and the third U-shaped ear plate 53 in the universal joint 5 can rotate left and right, and the second U-shaped ear plate 52 can rotate.
The lifting unit is arranged on the base, i.e. the first motor drive assembly 1, the gear mount 24 and the support 31 are fixed on the base.
As shown in fig. 4, the supporting unit includes a universal joint 5 and a stand column 7, the lower end of the stand column 7 is hinged with the base, and the upper end of the stand column 7 is hinged with the lower end of the universal joint 5, i.e., both sides of the first U-shaped ear plate 51.
The base is a rotary platform 8 and a rotary unit 10 for driving the rotary platform 8 to rotate.
The rotary unit 10 is mounted on a support base. The support base comprises a plurality of supporting legs 81 which are distributed in the circumferential direction and parallel to the ground, and the lower end surface of the slewing bearing 9 is fixed at the intersection of the plurality of supporting legs 81.
The rotary unit 10 includes a second motor drive assembly 101 and a transmission mechanism. The rotary platform 8 is driven by the second motor drive assembly 101 and the transmission mechanism to rotate on the slewing bearing 9.
The second motor driving assembly 101 is disposed on the rotary platform 8, and includes a second driving motor 1011 and a second speed reducer 1012, and the second driving motor 1011 provides power for the second speed reducer 1012. As shown in fig. 8, the transmission mechanism includes a small sprocket 102 fixedly connected to the output shaft of the second reduction gear 1012, a rotary chain 103, and a large sprocket 104 disposed on the outer periphery of the slewing bearing 9 and concentric therewith. The small sprocket 102 and the large sprocket 104 are connected to each other by a rotary chain 103.
The motion platform has popularization and can be applied to various occasions needing three-dimensional space motion. At VR experience, a seat is provided on the mounting platform 6, on which the experimenter sits. The motion process is as follows:
the first motor driving assembly 1 is connected with a power supply, the first driving motor 11 provides power for the first speed reducer 12, and the first speed reducer 12 drives the first driving gear 21 to rotate, so as to drive the driving chain 231, the driven chain 232 and the driven gear 22 to rotate. When the driving chain 231 and the driven chain 232 rotate counterclockwise, the first slider assembly 33 and the second slider assembly 34 slide in opposite directions along the sliding track 32, so that the lower ends of the first support frame 41 and the second support frame 42 approach each other, and the highest point of the lifting unit is gradually raised. When the driving chain 231 and the driven chain 232 rotate clockwise, the first slider assembly 33 and the second slider assembly 34 slide back on the sliding track 32, so that the lower ends of the first support frame 41 and the second support frame 42 are far away from each other, and the highest point of the lifting unit is slowly lowered.
Since the moving platform includes two elevating units and one supporting unit. When the heights of the two lifting units are not identical, the mounting platform 6 will have a certain inclination angle. By varying the angle of the tilt angle and varying the speed, the experimenter may enjoy different experiences. The first support frame 41 and the second support frame 42 of the two lifting units are inclined in the inclination angle direction. And the supporting unit is positioned between the two lifting units, so that the stability of the whole motion platform is improved.
Since the rotary unit 10 is also arranged below the rotary platform 8, the motion platform can realize 360 DEG
And (5) rotating. The second driving motor 1011 is connected with a power supply and provides power for the second speed reducer 1012, and the second speed reducer 1012 drives the small sprocket 102 to rotate, and further drives the rotating chain 103, the large sprocket 104 and the slewing bearing 9 to rotate, so that the rotating platform 8 rotates.
The motion platform can realize 360-degree rotation while adjusting the height and the inclination angle, so that the motion platform can simulate more riding equipment.
Example 2
A rotatable multi-degree-of-freedom motion platform, as shown in fig. 1, comprises a lifting support unit and a mounting platform 6. As shown in fig. 9 and 10, the elevation support unit is different from embodiment 1 in that it includes only three elevation units, and the three elevation units are uniformly distributed in the circumferential direction.
The lifting unit in embodiment 2 is exactly the same as in embodiment 1.
The base in example 2 is identical to example 1.
The movement process of the single lifting unit and the rotating unit 10 in embodiment 2 is the same as that of embodiment 1.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
Claims (8)
1. A rotatable multi-degree of freedom motion platform which is characterized in that: comprises a lifting supporting unit and a mounting platform (6);
the lifting support unit comprises at least two lifting units and one support unit, or at least three lifting units;
the lifting unit comprises a first motor driving assembly (1), a chain transmission assembly (2), a sliding assembly (3), a lifting assembly (4) and a universal joint (5);
the chain transmission assembly (2) comprises a driving gear (21), a driven gear (22), a traction chain (23) and a gear mounting seat (24); the driving gear (21) is fixedly connected with an output shaft of the first motor driving assembly (1); the driven gear (22) is arranged on the gear mounting seat (24); the traction chain (23) comprises a driving chain (231) meshed with the driving gear (21) and a driven chain (232) meshed with the driven gear (22);
the sliding assembly (3) comprises at least two supporting seats (31), a sliding rail (32) supported between the at least two supporting seats (31), a first sliding block assembly (33) and a second sliding block assembly (34) which slide on the sliding rail (32); the first sliding block component (33) is connected with the upper end of the driving chain (231) and the upper end of the driven chain (232); the second sliding block assembly (34) is connected with the lower end of the driving chain (231) and the lower end of the driven chain (232);
the lifting assembly (4) comprises a first support frame (41) and a second support frame (42) which are of an H-shaped structure, and the upper end part of the first support frame (41) is hinged with the upper end part of the second support frame (42) through a first hinge shaft (43); the lower end part of the first supporting frame (41) is hinged with the first sliding block component (33); the lower end part of the second supporting frame (42) is hinged with the second sliding block assembly (34); the first sliding block assembly (33) is arranged at the hollow part (44) of the first supporting frame (41), and the driven chain (232) passes through the hollow part (44) of the second supporting frame (42);
the lower end part of the universal joint (5) is positioned above the first hinging shaft (43) and hinged with the first hinging shaft (43);
the first motor driving assembly (1), the gear mounting seat (24) and the supporting seat (31) are fixed on the base;
the supporting unit comprises a universal joint (5) and a stand column (7); the lower end part of the upright post (7) is hinged with the base; the upper end part of the upright post (7) is hinged with the lower end part of the universal joint (5);
the upper end part of the universal joint (5) is fixedly connected with the mounting platform (6);
the height of the supporting unit is the intermediate value between the highest position and the lowest position of the lifting unit;
the sliding track (32) is arranged between the driving gear (21) and the driven gear (22);
the first slider assembly (33) comprises a first slider (331), a first slider mounting bracket (332) and a first fixed block (333); the first slider (331) is placed on a first slider mounting bracket (332); the first slider mounting bracket (332) is fixedly connected to the first fixed block (333); the sliding track (32) passes through the first sliding block (331) and the first sliding block mounting bracket (332); the first sliding block (331) is hinged with the lower end part of the first supporting frame (41) through a second hinge shaft (334); the first fixed block (333) is connected with the upper end of the driving chain (231) and the upper end of the driven chain (232);
the second slider assembly (34) comprises a second slider (341), a second slider mounting bracket (342) and a second fixed block (343); the second sliding block (341) is placed on a second sliding block mounting bracket (342), and the second sliding block mounting bracket (342) is fixedly connected to a second fixed block (343); the sliding track (32) passes through the second slider (342) and the second slider mounting bracket (342); the second sliding block (341) is hinged with the lower end part of the second supporting frame (42) through a third hinge shaft (344); the second fixed block (343) is connected with the lower end of the driving chain (231) and the lower end of the driven chain (232);
the universal joint (5) comprises a first U-shaped lug plate (51), a second U-shaped lug plate (52) and a third U-shaped lug plate (53);
both sides of the first U-shaped lug plate (51) are hinged with a first hinge shaft (43);
both sides of the second U-shaped lug plate (52) and both sides of the third U-shaped lug plate (53) are hinged through a fourth hinge shaft (54);
the bottom of the second U-shaped lug plate (52) is hinged with the bottom of the first U-shaped lug plate (51); the bottom of the third U-shaped lug plate (53) is fixedly connected with the mounting platform (6).
2. The rotatable multiple degree of freedom motion platform of claim 1 wherein: the base is a rotary platform (8) and a rotary unit (10) for driving the rotary platform (8) to rotate.
3. A rotatable multiple degree of freedom motion platform according to claim 2, wherein: the rotary unit (10) is arranged on a supporting base, and a fixed-mounted slewing bearing (9) is arranged on the supporting base;
the rotary unit (10) comprises a second motor drive assembly (101) and a transmission mechanism; the second motor driving assembly (101) is arranged on the rotary platform (8), an output shaft of the second motor driving assembly penetrates through the rotary platform (8) to be fixedly connected with a transmission mechanism, and the transmission mechanism is connected with the slewing bearing (9); the rotary platform (8) rotates on the slewing bearing (9) under the drive of the second motor driving assembly (101) and the transmission mechanism.
4. A rotatable multiple degree of freedom motion platform according to claim 3 wherein: the transmission mechanism comprises a small sprocket (102) fixedly connected with an output shaft of the second motor driving assembly (101), a rotary chain (103) and a large sprocket (104) arranged on the outer ring of the slewing bearing (9) and concentric with the small sprocket; the small sprocket (102) and the large sprocket (104) are connected to each other by a rotary chain (103).
5. A rotatable multiple degree of freedom motion platform according to any one of claims 3 to 4 wherein: the driven gear (22) is fixed in the gear mounting seat (24) through a gear shaft (241), slide ways (242) are arranged on two sides of the gear mounting seat (24), and the gear shaft (241) slides in the slide ways (242);
the gear shaft (241) is fixed on the gear mounting seat (24) through two loose joint screws (243), and the loose joint screws (243) are vertically arranged with the gear shaft (241).
6. The rotatable multiple degree of freedom motion platform of claim 5 wherein: one end of the loose joint screw (243) is in a round hole shape, the size of the loose joint screw is matched with that of the gear shaft (241), threads are arranged at the other end of the loose joint screw, and the loose joint screw is arranged on the gear mounting seat (24) through a nut.
7. The rotatable multiple degree of freedom motion platform of claim 6 wherein: the support base comprises a plurality of support legs (81) which are distributed along the circumferential direction and parallel to the ground; the lower end surface of the slewing bearing (9) is fixed at the intersection of a plurality of supporting legs (81).
8. The rotatable multiple degree of freedom motion platform of claim 7 wherein: the first motor driving assembly (1) comprises a first driving motor (11) and a first speed reducer (12), the first driving motor (11) provides power for the first speed reducer (12), and an output shaft of the first speed reducer (12) is fixedly connected with a driving gear (21).
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| CN202110482184.XA CN113181664B (en) | 2021-04-30 | 2021-04-30 | Rotatable multi-degree-of-freedom motion platform |
| PCT/CN2022/090397 WO2022228561A1 (en) | 2021-04-30 | 2022-04-29 | Multi-degree-of-freedom lifting unit, and rotatable multi-degree-of-freedom motion platform |
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| CN202110482184.XA CN113181664B (en) | 2021-04-30 | 2021-04-30 | Rotatable multi-degree-of-freedom motion platform |
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| CN113181664B true CN113181664B (en) | 2023-11-03 |
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| WO2022228561A1 (en) * | 2021-04-30 | 2022-11-03 | 西安虚拟骑乘科技有限公司 | Multi-degree-of-freedom lifting unit, and rotatable multi-degree-of-freedom motion platform |
| CN113944421A (en) * | 2021-09-30 | 2022-01-18 | 武汉苏适科技发展有限公司 | Radar type double-opening inlet and outlet device applied to supermarket |
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