CN202454193U - Large-scale six degree-of-freedom display screen collaboration device - Google Patents

Large-scale six degree-of-freedom display screen collaboration device Download PDF

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Publication number
CN202454193U
CN202454193U CN2012200886362U CN201220088636U CN202454193U CN 202454193 U CN202454193 U CN 202454193U CN 2012200886362 U CN2012200886362 U CN 2012200886362U CN 201220088636 U CN201220088636 U CN 201220088636U CN 202454193 U CN202454193 U CN 202454193U
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CN
China
Prior art keywords
motion pair
rotary motion
display screen
arm
degree
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn - After Issue
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CN2012200886362U
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Chinese (zh)
Inventor
赖建燕
王元
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Wanda Commercial Planning & Research Institute Co ltd
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Wanda Commercial Planning & Research Institute Co ltd
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Priority to CN2012200886362U priority Critical patent/CN202454193U/en
Application granted granted Critical
Publication of CN202454193U publication Critical patent/CN202454193U/en
Anticipated expiration legal-status Critical
Withdrawn - After Issue legal-status Critical Current

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Abstract

The utility model discloses a large-scale six degree-of-freedom display screen collaboration device comprising three identical mechanical arms arranged in parallel at equal distance. In a single mechanism arm, upper and lower bottom surfaces of a vertically arranged stand column are respectively provided with a stand column rotating motion pair rotating around an axis Y; one end of a stretching arm is arranged on the side face of the stand column through a stretching arm rotating motion pair; a first rotating arm is in matched connection with the free end of the stretching arm through a first rotating motion pair; a second rotating arm is in matched connected with the free end of the first rotating arm through a second rotating motion pair; a third rotating arm is in matched connection with the free end of the second rotating arm through a third rotating motion pair; and the third rotating arm is in matched connection with the display screen through a display screen rotating motion pair. The stretching arm rotating motion pair, the first rotating motion pair and the second rotating motion pair are arranged to be parallel to each other; and the second rotating motion pair, the third rotating motion pair and the display screen rotating motion pair are arranged to be perpendicular to each other. The collaboration device can realize six degree-of-freedom motion of a large screen.

Description

A kind of large-scale six degree of freedom display screen collaborative device
Technical field
The utility model relates to a kind of display screen collaborative device, relates in particular to a kind of large-scale six degree of freedom display screen collaborative device.
Background technology
The video display that does not also have to realize the six degree of freedom of giant-screen, large scale in the market occurs, three display screen high precision coordinated actions simultaneously, and the combination action of accomplishing various many difficulty does not occur especially.The carrying capacity that can realize the maximum of six degree of freedom High Accuracy Control is 15000N/m; But the display screen carrying capacity that has the motion that can realize six degree of freedom now is little; Therefore its area maximum that effectively shows also can only reach tens square meters, is drilling the place such as remote sights such as grand theaters, sees and drills poor effect.In addition, in the prior art, the LED display of giant-screen can't reach six-freedom motion, says nothing of the coordinated movement of various economic factors together of polylith screen combination.
The utility model content
The purpose of the utility model is to solve weak point of the prior art, provides a kind of large display screen six-freedom motion even polylith large display screen realized to combine the large-scale six degree of freedom display screen collaborative device of the coordinated movement of various economic factors.
For realizing above-mentioned purpose, the characteristics of said large-scale six degree of freedom display screen collaborative device are to comprise equidistant three identical mechanical arms that laterally arrange; Each said mechanical arm comprises, column, the upper bottom surface of vertically disposed said column and bottom surface are respectively arranged with a column rotary motion pair around the rotation of Y axle; Stretching arm, an end of said stretching arm is arranged on the side of said column through the stretching arm rotary motion pair; First pivot arm, said first pivot arm is connected through the free end of first rotary motion pair and said stretching arm; Second pivot arm, said second pivot arm is connected through the free end of second rotary motion pair and said first pivot arm; And, the 3rd pivot arm, said the 3rd pivot arm is connected through the free end of the 3rd rotary motion pair and said second pivot arm; And said the 3rd pivot arm is connected through display screen rotary motion pair and display screen; Said stretching arm rotary motion pair, first rotary motion pair and the parallel setting of second rotary motion pair; The vertical setting each other of second rotary motion pair, the 3rd rotary motion pair and display screen rotary motion pair.
Preferably, said stretching arm rotary motion pair, first rotary motion pair and second rotary motion pair are all around the axle rotation parallel with the Z axle; Said the 3rd rotary motion pair is around the axle rotation parallel with the Y axle; Said display screen rotary motion pair is around the axle rotation parallel with the X axle.
Preferably, on said first pivot arm, counter weight device is set.
Preferably, the front end at said stretching arm is provided with counter weight device.
Preferably, the periphery at said display screen is provided with range sensor.
The mechanical hook-up of anticollision preferably, is set at the periphery of said display screen.
The beneficial effect of the utility model is, uses said large-scale six degree of freedom display screen collaborative device, can realize the six-freedom motion of the LED display of giant-screen, so that realize the coordinated movement of various economic factors together of polylith screen combination; In addition, increased counter weight device, can reduce the power of operation, reached energy-conservation effect, added counterweight, can reduce the power and the pulling force of oil cylinder at the front end of stretching arm at first pivot arm; Adopt servo frequency converter to drive and to improve the precision that screen engages, improve the sense organ effect.
Description of drawings
Fig. 1 shows the front view of the described large-scale six degree of freedom display screen collaborative device of the utility model.
Fig. 2 shows the vertical view of large-scale six degree of freedom display screen collaborative device shown in Figure 1.
Fig. 3 shows the left view of large-scale six degree of freedom display screen collaborative device shown in Figure 1 and the synoptic diagram of three different conditions that this collaborative device is in.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is done further detailed explanation:
Shown in Fig. 1 to Fig. 3 (view of mechanical arm when A, B represent that display is in the space at different 2 among Fig. 3); Said large-scale six degree of freedom display screen collaborative device; Comprise equidistant three mechanical arms that laterally arrange; The structure of three mechanical arms is identical, and each said mechanical arm comprises column 2, stretching arm 5, first pivot arm 9, second pivot arm 11 and the 3rd pivot arm 14.Particularly:
Said column 2 vertically is provided with; The upper bottom surface of column 2 and bottom surface are respectively arranged with a column rotary motion pair 11 around the rotation of Y axle; Said column rotary motion pair 11 uses motor reducer to drive; Column 2 can be rotated around stage in the horizontal direction, and display screen 3 just can be done on a large scale around column 2 and horizontally rotate like this, but also move left and right.
One end of said stretching arm 5 is arranged on the side of said column 2 through stretching arm rotary motion pair 4; Said first pivot arm 9 is connected through the free end of first rotary motion pair 8 with said stretching arm 5; Said stretching arm rotary motion pair 4 all rotates around the axle parallel with the Z axle with first rotary motion pair 8.In the nearer place of the distance of stretching arm 5 first pivot arm 9; Adopt stretching oil cylinder or other stretching device make stretching arm 5 can through column 2 axis and stretching arm 5 axis with the vertical plane of surface level in rotate around its stretching arm rotary motion pair that is connected with column 24; Display screen 3 is rotated in vertical plane, also can make display screen 3 in vertical plane up and down with move forward and backward.Further; On first pivot arm 9, increased counter weight device 7; Promptly first pivot arm 9 is made up of sway brace and weight arm, and first rotary motion pair 8 is by motor reducer or fluid motor-driven, for moment of torsion and the power that reduces reductor; Increased such as counter weight devices such as weight arm and counterweight 7, to reach energy-conservation effect.
Said second pivot arm 11 is connected through the free end of second rotary motion pair 10 with said first pivot arm 9; Said the 3rd pivot arm 14 is connected through the free end of the 3rd rotary motion pair 12 with said second pivot arm 11; Said the 3rd pivot arm 14 is connected through display screen rotary motion pair 13 and display screen 3.Said second rotary motion pair 10, stretching arm rotary motion pair 4 and the 8 parallel settings of first rotary motion pair, and, second rotary motion pair 10, the 3rd rotary motion pair 12 and the 13 mutual vertical settings of display screen rotary motion pair.Preferably, said first rotatablely move arm 8, second rotary motion pair 10 all around the axle rotation parallel with the Z axle; Said the 3rd rotary motion pair 12 is around the axle rotation parallel with the Y axle; Said display screen rotary motion pair 13 is around the axle rotation parallel with the X axle.Such first pivot arm 9 also can rotate in vertical plane, and first pivot arm 9 and stretching arm 5 cooperate make display screen 3 can be on three translational degree of freedom in space the moving of large scale.And, because second rotary motion pair 10, the 3rd rotary motion pair 12 and the 13 mutual vertical settings of display screen rotary motion pair, thereby can realize that the realization Three Degree Of Freedom rotates display screen 3 in the space.Like this, each mechanical arm has just been realized the motion of six degree of freedom, just can realize this six degree of freedom collaborative device through computing machine and relevant synchronous control technique.
Further, light-duty LED screen is adopted in said demonstration, and every panel is long-pending to be (11.28mX6.74m) square metre; Light section steel structure 15 is adopted in the support of display screen 3; The general assembly (TW) of display screen 3 and steel construction 15 is controlled at below the 6500kg, and said display screen rotary motion pair 13 adopts motor-driven, and selects for use the ring gear revolution to support; Motor uses servomotor, and frequency converter is selected servo frequency converter for use.Said the 3rd rotary motion pair 12 adopts motor-driven, and selects for use the ring gear revolution to support, and motor uses servomotor, selects the bi-motor reductor for use for the driving force of disperseing gear, and frequency converter is selected servo frequency converter for use.Said second rotary motion pair 10 adopts driven by servomotor, and selects for use the ring gear revolution to support, and motor uses servomotor, selects two servomotor reductors for use for the driving force of disperseing gear, and frequency converter is selected servo frequency converter for use.
For increasing the rigidity of first pivot arm 9, these first pivot arm, 9 employing heavy in section box beam structures for reducing weight, reduce to preceding end section from root gradually, and box beam adopts sheet iron, also on side plate, punches or the like.The employing driven by servomotor of said first rotary motion pair 8, and select for use the ring gear revolution to support, motor uses servomotor, selects four servomotor reductors for use for the driving force of disperseing gear, and frequency converter is selected servo frequency converter for use.Said stretching arm 5 is also selected the box beam structure for use, for the weight arm that makes first pivot arm 9 has living space, along on the Y direction slotting the upper and lower plates of stretching arm 5 centre, the weight arm of first pivot arm 9 can be passed through.Said stretching arm 5 is stretched by two oil cylinders; Be to reduce the pulling force of oil cylinder and the power of oil cylinder, increase drawing a little of a counterweight at the front end of said stretching arm 5, shown in the wire rope 17 of stretching arm counterweight 16 among Fig. 2 and stretching arm counterweight 16; Fixed pulley walked around by said wire rope 17 and stretching arm counterweight 16 links together; This stretching arm counterweight 16 also has the function of a safeguard protection to be exactly: when this mechanical arm folding packing up out of service, can increase a fixed pin at the counterweight end, so just reduce the pulling force of oil cylinder when stoppage in transit; If oil cylinder has problem, can not let big arm fall down yet.The lower end of said column 2 uses the revolution of bearing capacity the earth to support, and selects for use the external toothing revolution to support, and motor uses servomotor, selects Liang Taitai servomotor reductor for use for the driving force of disperseing gear, and frequency converter is selected servo frequency converter for use.Top at column 2; Also should there be one to support coaxial column rotary motion pair 1 with bottom revolution; Because the distance of two column rotary motion pairs 1 is distant; The error of bringing for the manufacturing that overcomes steel construction and the rotation that causes is not smooth, but make the column rotary motion pair on top the oscillating bearing of fine motion into, also need decontrol the degree of freedom of Y direction.
For making three like the accurately coordination of the identical mechanical arm of structure; Adopt high-new ability central controller, the speed of each kinematic pair detects and adopts high-precision scrambler, with the closed-loop control of controller formation speed and position; The solenoid valve of oil cylinder adopts high-precision proportioning valve; Each control system and mechanical system coordination make it fast by the preset program operation, reach the effect of performance.
For this device the time is not met accident in operation, also the periphery at every display screen 3 adds range sensor, display screen 3 near the time induction and send alerting signal.In addition, also add the mechanical hook-up of anticollision at the edge of display screen 3, to guarantee the safety of screen operation.
Being merely the utility model preferred embodiment in sum, is not the practical range that is used for limiting the utility model.Be that all equivalences of doing according to the content of the utility model claim change and modification, all should belong to the technological category of the utility model.

Claims (6)

1. one kind large-scale six degree of freedom display screen collaborative device is characterized in that: comprise equidistant three identical mechanical arms that laterally arrange; Each said mechanical arm comprises,
Column, the upper bottom surface of vertically disposed said column and bottom surface are respectively arranged with a column rotary motion pair around the rotation of Y axle;
Stretching arm, an end of said stretching arm is arranged on the side of said column through the stretching arm rotary motion pair;
First pivot arm, said first pivot arm is connected through the free end of first rotary motion pair and said stretching arm;
Second pivot arm, said second pivot arm is connected through the free end of second rotary motion pair and said first pivot arm; And,
The 3rd pivot arm, said the 3rd pivot arm is connected through the free end of the 3rd rotary motion pair and said second pivot arm; And,
Said the 3rd pivot arm is connected through display screen rotary motion pair and display screen; Said stretching arm rotary motion pair, first rotary motion pair and the parallel setting of second rotary motion pair; The vertical setting each other of second rotary motion pair, the 3rd rotary motion pair and display screen rotary motion pair.
2. large-scale six degree of freedom display screen collaborative device according to claim 1 is characterized in that: said stretching arm rotary motion pair, first rotary motion pair and second rotary motion pair are all around the axle rotation parallel with the Z axle; Said the 3rd rotary motion pair is around the axle rotation parallel with the Y axle; Said display screen rotary motion pair is around the axle rotation parallel with the X axle.
3. large-scale six degree of freedom display screen collaborative device according to claim 1 and 2 is characterized in that: on said first pivot arm, counter weight device is set.
4. large-scale six degree of freedom display screen collaborative device according to claim 1 and 2, it is characterized in that: the front end at said stretching arm is provided with counter weight device.
5. large-scale six degree of freedom display screen collaborative device according to claim 1 and 2, it is characterized in that: the periphery at said display screen is provided with range sensor.
6. large-scale six degree of freedom display screen collaborative device according to claim 1 and 2 is characterized in that: the mechanical hook-up that anticollision is set at the periphery of said display screen.
CN2012200886362U 2012-03-09 2012-03-09 Large-scale six degree-of-freedom display screen collaboration device Withdrawn - After Issue CN202454193U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2012200886362U CN202454193U (en) 2012-03-09 2012-03-09 Large-scale six degree-of-freedom display screen collaboration device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2012200886362U CN202454193U (en) 2012-03-09 2012-03-09 Large-scale six degree-of-freedom display screen collaboration device

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102663966A (en) * 2012-03-09 2012-09-12 万达商业规划研究院有限公司 Large-scale display screen cooperating device with six-degree of freedom
CN111681558A (en) * 2020-06-08 2020-09-18 重庆电子工程职业学院 Data mining engine display device for city construction

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102663966A (en) * 2012-03-09 2012-09-12 万达商业规划研究院有限公司 Large-scale display screen cooperating device with six-degree of freedom
JP2013187896A (en) * 2012-03-09 2013-09-19 Wanda Commercial Planning & Res Inst Co Ltd Large-sized display screen coordinating device with six degrees of freedom
CN102663966B (en) * 2012-03-09 2014-03-19 万达商业规划研究院有限公司 Large-scale display screen cooperating device with six-degree of freedom
CN111681558A (en) * 2020-06-08 2020-09-18 重庆电子工程职业学院 Data mining engine display device for city construction

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Granted publication date: 20120926

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