CN204790593U - Stewart platform parallel mechanism's spacing measurement and control device - Google Patents
Stewart platform parallel mechanism's spacing measurement and control device Download PDFInfo
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- CN204790593U CN204790593U CN201520558611.8U CN201520558611U CN204790593U CN 204790593 U CN204790593 U CN 204790593U CN 201520558611 U CN201520558611 U CN 201520558611U CN 204790593 U CN204790593 U CN 204790593U
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Abstract
The utility model discloses a stewart platform parallel mechanism's spacing measurement and control device. It includes the base, installs the hooke hinge on the base, the fixed attitude sensor that is provided with fixes on the inner ring of hooke hinge and is provided with the 2nd attitude sensor on the base, fixed being provided with the 3rd attitude sensor on motion platform, the fixed absolute value formula encoder of acting as go -between that is provided with still on the inner ring of hooke hinge, absolute value formula act as go -between the stay cord of encoder sharply connect on motion platform's the central line a bit with the point of intersect of the axis of the axis of the outer annular shaft of hooke hinge and inner axle, still be provided with data processing module. The utility model discloses compact structure provides a simple reliable stewart platform parallel mechanism's spacing measurement and control device.
Description
Technical field
The utility model relates to a kind of Stewart platform parallel mechanism, especially a kind of spacing measure and control device of Stewart platform parallel mechanism.
Background technology
Stewart platform parallel mechanism is typical six bar parallel institutions, has a wide range of applications in industries such as Aeronautics and Astronautics, seabed operation, underground mining, manufacturing equipments at present.It comprises stationary platform and motion platform, is connected between stationary platform and motion platform by six electric cylinders; By the driving respectively to six electric cylinders, motion platform can be made to realize the Union Movement of six-freedom degree within the specific limits.
As mentioned above, motion platform can only move within the specific limits, otherwise will cause the damage of mechanism, and its drived control more complicated, so need a kind of simple and reliable spacing measure and control device.
Utility model content
The technical problems to be solved in the utility model is: the spacing measure and control device providing a kind of simple and reliable Stewart platform parallel mechanism.
In order to solve the problems of the technologies described above, technical solution adopted in the utility model is:
A spacing measure and control device for Stewart platform parallel mechanism, comprises the pedestal be fixedly installed on the table top of stationary platform, pedestal is provided with Hooke's hinge; Hooke's hinge comprises the outer shroud of symmetric construction and the inner ring of symmetric construction, outer shroud is connected on pedestal by the outer annulate shaft be arranged on outer shroud axis of symmetry, outer shroud freely can rotate relative to pedestal around outer annulate shaft, inner ring is connected on outer shroud by the inner axle symmetry be arranged on inner ring axis of symmetry, inner ring freely can be rotated relative to outer shroud around inner axle, outer annulate shaft and inner axle perpendicular, and outer annulate shaft is parallel to the table top of stationary platform, the point of intersection of the axis of outer annulate shaft and the axis of inner axle is on the center line of stationary platform; Pedestal is fixedly installed the first attitude sensor paralleled with the table top of stationary platform, the inner ring of Hooke's hinge is fixedly installed the second attitude sensor of the plane parallel determined with the axis of outer annulate shaft and the axis of inner axle, is fixedly installed the 3rd attitude sensor paralleled with the table top of motion platform on the moving platform; The inner ring of Hooke's hinge is also fixedly installed absolute value formula draw wire encoder, on the center line that the stay cord straight line of absolute value formula draw wire encoder connects motion platform a bit and the axis of outer annulate shaft of Hooke's hinge and the intersection point of the axis of inner axle; Also be provided with the data processing module that RS485 bus is connected with absolute value formula draw wire encoder with the first attitude sensor, the second attitude sensor, the 3rd attitude sensor, data processing module connects again the controller of Stewart platform parallel mechanism by TCP/IP bus.
Be fixedly installed the second pedestal relative to the one side of stationary platform on the moving platform, the second pedestal is provided with the outer ring of ball joint bearing, the center line of ball joint bearing overlaps with the center line of motion platform; 3rd attitude sensor is fixedly connected with motion platform by being fixedly connected on the second pedestal, and the stay cord of absolute value formula draw wire encoder is fixedly connected on the inner ring of ball joint bearing, and the inner ring central point of its stay cord straight-line pass ball joint bearing.
Data processing module is fixedly installed on pedestal.
Beneficial effect acquired by the utility model:
By cooperatively interacting of three attitude sensors and absolute value formula draw wire encoder, detect corresponding numerical value, calculate in data processing module, motion platform can be obtained relative to the position of stationary platform and attitude, thus can to give a warning control signal to the controller of Stewart platform parallel mechanism according to comparing of setting value, prevent the motion of motion platform from exceeding its range of movement.The utility model compact conformation, provides a kind of spacing measure and control device of simple and reliable Stewart platform parallel mechanism.
Below in conjunction with the drawings and specific embodiments, the utility model is described in further details.
Accompanying drawing explanation
Fig. 1 is organigram of the present utility model;
Fig. 2 is the organigram of base assembly in Fig. 1;
Fig. 3 is the organigram of the second base assembly in Fig. 1;
Fig. 4 is the organigram that the utility model is arranged in Stewart platform parallel mechanism;
Fig. 5 is observing and controlling organigram of the present utility model.
In figure: 1. pedestal, 2. the first attitude sensor, 3. data processing module, 4. absolute value formula draw wire encoder, 5. the second attitude sensor, 6. the second pedestal, 7. the 3rd attitude sensor, 8. outer shroud, 9. inner ring, 10. ball joint bearing, 11. stationary platforms, 12. base assemblies, 13. motion platforms.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, a kind of spacing measure and control device of Stewart platform parallel mechanism, comprises the pedestal 1 on the table top being fixedly installed on stationary platform 11, pedestal 1 is provided with Hooke's hinge; Hooke's hinge comprises the outer shroud 8 of symmetric construction and the inner ring 9 of symmetric construction, outer shroud 8 is connected on pedestal 1 by the outer annulate shaft be arranged on outer shroud 8 axis of symmetry, outer shroud 8 freely can rotate relative to pedestal 1 around outer annulate shaft, inner ring 9 is connected on outer shroud 8 by the inner axle symmetry be arranged on inner ring 9 axis of symmetry, inner ring 9 freely can be rotated relative to outer shroud 8 around inner axle, outer annulate shaft and inner axle perpendicular, and outer annulate shaft is parallel to the table top of stationary platform 11, the point of intersection of the axis of outer annulate shaft and the axis of inner axle is on the center line of stationary platform 11; Pedestal 1 is fixedly installed the first attitude sensor 2 paralleled with the table top of stationary platform 11, the inner ring 9 of Hooke's hinge is fixedly installed the second attitude sensor 5 of the plane parallel determined with the axis of outer annulate shaft and the axis of inner axle, motion platform 13 is fixedly installed the 3rd attitude sensor 7 paralleled with the table top of motion platform 13; The inner ring 9 of Hooke's hinge is also fixedly installed absolute value formula draw wire encoder 4, on the center line that the stay cord straight line of absolute value formula draw wire encoder 4 connects motion platform 13 a bit and the axis of outer annulate shaft of Hooke's hinge and the intersection point of the axis of inner axle; Also be provided with the data processing module 3 that RS485 bus is connected with absolute value formula draw wire encoder 4 with the first attitude sensor 2, second attitude sensor 5, the 3rd attitude sensor 7, data processing module 3 connects again the controller of Stewart platform parallel mechanism by TCP/IP bus.
Motion platform 13 is fixedly installed the second pedestal 6 relative to the one side of stationary platform 11, the second pedestal 6 is provided with the outer ring of ball joint bearing 10, the center line of ball joint bearing 10 overlaps with the center line of motion platform 13; 3rd attitude sensor 7 is fixedly connected with motion platform 13 by being fixedly connected on the second pedestal 6, the stay cord of absolute value formula draw wire encoder 4 is fixedly connected on the inner ring of ball joint bearing 10, and the inner ring central point of its stay cord straight-line pass ball joint bearing 10.
Data processing module 3 is fixedly installed on pedestal 1.
The utility model is cooperatively interacted by three attitude sensors and absolute value formula draw wire encoder, detect corresponding numerical value, calculate in data processing module, motion platform can be obtained relative to the position of stationary platform and attitude, thus can to give a warning control signal to the controller of Stewart platform parallel mechanism according to comparing of setting value, prevent the motion of motion platform from exceeding its range of movement.The utility model compact conformation, provides a kind of spacing measure and control device of simple and reliable Stewart platform parallel mechanism.
Claims (3)
1. a spacing measure and control device for Stewart platform parallel mechanism, is characterized in that: comprise the pedestal (1) on the table top being fixedly installed on stationary platform (11), pedestal (1) is provided with Hooke's hinge, Hooke's hinge comprises the outer shroud (8) of symmetric construction and the inner ring (9) of symmetric construction, outer shroud (8) is connected on pedestal (1) by the outer annulate shaft be arranged on outer shroud (8) axis of symmetry, outer shroud (8) freely can rotate relative to pedestal (1) around outer annulate shaft, inner ring (9) is connected on outer shroud (8) by the inner axle symmetry be arranged on inner ring (9) axis of symmetry, inner ring (9) freely can be rotated relative to outer shroud (8) around inner axle, outer annulate shaft and inner axle perpendicular, and outer annulate shaft is parallel to the table top of stationary platform (11), the point of intersection of the axis of outer annulate shaft and the axis of inner axle is on the center line of stationary platform (11), pedestal (1) is fixedly installed the first attitude sensor (2) paralleled with the table top of stationary platform (11), the inner ring (9) of Hooke's hinge is fixedly installed second attitude sensor (5) of the plane parallel determined with the axis of outer annulate shaft and the axis of inner axle, motion platform (13) is fixedly installed the 3rd attitude sensor (7) paralleled with the table top of motion platform (13), the inner ring (9) of Hooke's hinge is also fixedly installed absolute value formula draw wire encoder (4), on the center line that the stay cord straight line of absolute value formula draw wire encoder (4) connects motion platform (13) a bit and the axis of outer annulate shaft of Hooke's hinge and the intersection point of the axis of inner axle, also be provided with the data processing module (3) that RS485 bus is connected with absolute value formula draw wire encoder (4) with the first attitude sensor (2), the second attitude sensor (5), the 3rd attitude sensor (7), data processing module (3) connects again the controller of Stewart platform parallel mechanism by TCP/IP bus.
2. the spacing measure and control device of Stewart platform parallel mechanism according to claim 1, it is characterized in that: on motion platform (13), be fixedly installed the second pedestal (6) relative to the one side of stationary platform (11), second pedestal (6) is provided with the outer ring of ball joint bearing (10), and the center line of ball joint bearing (10) overlaps with the center line of motion platform (13); By being fixedly connected on, the second pedestal (6) is upper to be fixedly connected with motion platform (13) 3rd attitude sensor (7), the stay cord of absolute value formula draw wire encoder (4) is fixedly connected on the inner ring of ball joint bearing (10), and the inner ring central point of its stay cord straight-line pass ball joint bearing (10).
3. the spacing measure and control device of Stewart platform parallel mechanism according to claim 1, is characterized in that: data processing module (3) is fixedly installed on pedestal (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520558611.8U CN204790593U (en) | 2015-07-29 | 2015-07-29 | Stewart platform parallel mechanism's spacing measurement and control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520558611.8U CN204790593U (en) | 2015-07-29 | 2015-07-29 | Stewart platform parallel mechanism's spacing measurement and control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204790593U true CN204790593U (en) | 2015-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520558611.8U Expired - Fee Related CN204790593U (en) | 2015-07-29 | 2015-07-29 | Stewart platform parallel mechanism's spacing measurement and control device |
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| CN (1) | CN204790593U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105116925A (en) * | 2015-07-29 | 2015-12-02 | 中国电子科技集团公司第五十四研究所 | Stewart platform parallel mechanism limiting measurement and control apparatus and measurement and control method thereof |
| CN106774447A (en) * | 2016-12-14 | 2017-05-31 | 西安可视可觉网络科技有限公司 | Achievable rotation based on support load-bearing and the motion platform for freely waving |
| CN113701699A (en) * | 2021-09-01 | 2021-11-26 | 烟台清科嘉机器人联合研究院有限公司 | System convenient for ring type Hooke hinge symmetry degree detection |
-
2015
- 2015-07-29 CN CN201520558611.8U patent/CN204790593U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105116925A (en) * | 2015-07-29 | 2015-12-02 | 中国电子科技集团公司第五十四研究所 | Stewart platform parallel mechanism limiting measurement and control apparatus and measurement and control method thereof |
| CN105116925B (en) * | 2015-07-29 | 2017-11-14 | 中国电子科技集团公司第五十四研究所 | The spacing measure and control device and its investigating method of a kind of Stewart platform parallel mechanisms |
| CN106774447A (en) * | 2016-12-14 | 2017-05-31 | 西安可视可觉网络科技有限公司 | Achievable rotation based on support load-bearing and the motion platform for freely waving |
| CN106774447B (en) * | 2016-12-14 | 2019-09-03 | 西安可视可觉网络科技有限公司 | Achievable rotation based on bracket load-bearing and the motion platform freely waved |
| CN113701699A (en) * | 2021-09-01 | 2021-11-26 | 烟台清科嘉机器人联合研究院有限公司 | System convenient for ring type Hooke hinge symmetry degree detection |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151118 Termination date: 20210729 |
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| CF01 | Termination of patent right due to non-payment of annual fee |