CN207616572U - Parallel three NC axes tilter - Google Patents
Parallel three NC axes tilter Download PDFInfo
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- CN207616572U CN207616572U CN201721862424.4U CN201721862424U CN207616572U CN 207616572 U CN207616572 U CN 207616572U CN 201721862424 U CN201721862424 U CN 201721862424U CN 207616572 U CN207616572 U CN 207616572U
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- China
- Prior art keywords
- telescoping mechanism
- intermediate tray
- moving platform
- rotary motion
- column
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Abstract
The utility model provides a kind of parallel three NC axes tilter.The parallel three NC axes tilter, including firm banking, intermediate tray, moving platform, connect column, column hinge component, first telescoping mechanism, second telescoping mechanism, rotary motion mechanism, firm banking is equipped with rotary motion mechanism, intermediate tray level is fixedly connected on the output shaft of rotary motion mechanism, column lower end is vertical with intermediate tray is fixedly connected for connection, upper end is hinged with moving platform, the upper end of first telescoping mechanism and the second telescoping mechanism is hinged with moving platform, the lower end of first telescoping mechanism and the second telescoping mechanism is hinged with intermediate tray, first telescoping mechanism, second telescoping mechanism can be such that moving platform is rotated around column hinge component, rotary motion mechanism can drive moving platform to be rotated around the output shaft of rotary motion mechanism.Parallel three NC axes tilter according to the present utility model has the characteristics that simple in structure, at low cost, bearing capacity is big, precision higher.
Description
Technical field
The utility model belongs to mechanical equipment emulation platform technical field, and in particular to a kind of parallel three NC axes tilter.
Background technology
With the rapid development of airborne, vehicle-mounted and carrier-borne emulation technology, the demand to emulation platform is more and more extensive, together
When, the requirement to emulation platform tracking performance is also higher and higher, it is desirable that it is with higher dynamic property and Static positioning accuracy.
Parallel three NC axes tilter is to disclosure satisfy that one of emulation platform of above-mentioned requirements, it may be implemented along three axis of cartesian coordinate i.e.
X, the rotation of tri- axis of Y, Z, the angle of rotation of formation correspond to α, β, γ.
But current three-axis swinging platform uses the serial mechanism of motor direct-drive, tri- angles of rotation of α, β, γ to pass through respectively
Corresponding motor and speed reducer driving, there are complicated, costs compared with the deficiency that high, bearing capacity is small, precision is uncontrollable.
Utility model content
Therefore, the technical problem to be solved by the present invention is to provide a kind of parallel three NC axes tilters, have structure letter
The characteristics of single, at low cost, bearing capacity is big, precision higher.
To solve the above-mentioned problems, the utility model provides a kind of parallel three NC axes tilter, including firm banking, intermediate support
Disk, moving platform, connection column, column hinge component, the first telescoping mechanism, the second telescoping mechanism, rotary motion mechanism, it is described solid
Determine pedestal and be equipped with the rotary motion mechanism, the intermediate tray is fixedly connected on the output shaft of the rotary motion mechanism
And it is horizontally disposed, the connection column lower end is vertical with the intermediate tray to be fixedly connected, and the connection the upper end of the column passes through institute
State that column hinge component and the moving platform are hinged, the upper end of first telescoping mechanism and the moving platform are hinged, and described the
The lower end of one telescoping mechanism is hinged with the intermediate tray, and the upper end of second telescoping mechanism and the moving platform are hinged, institute
Lower end and the intermediate tray for stating the second telescoping mechanism are hinged, the flexible side of first telescoping mechanism and the second telescoping mechanism
To, first telescoping mechanism projection centre and institute on the intermediate tray parallel with the connection short transverse of column
The line stated between projection centre of the connection column on the intermediate tray is the first line, and second telescoping mechanism is in institute
It is the to state the line between the projection centre of projection centre on intermediate tray and the connection column on the intermediate tray
The angle of two lines, first line and second line is 90 °, and first telescoping mechanism can make the moving platform
It is rotated around the column hinge component, and forms angle of rotation α, second telescoping mechanism can make the moving platform around described vertical
Column hinge component rotates, and forms angle of rotation β, and the rotary motion mechanism can drive the intermediate tray and the moving platform
Output shaft around the rotary motion mechanism rotates, and forms angle of rotation γ.
Preferably, first telescoping mechanism is electric cylinder, and second telescoping mechanism is electric cylinder.
Preferably, the rotary motion mechanism includes servomotor, gear reducer, and the servo motor is filled with the speed reducer
With being integrated, the output shaft of the speed reducer is fixedly connected with the intermediate tray.
Preferably, the hinged place of first telescoping mechanism and the moving platform is equipped with first angle encoder, and described the
For one angular encoder to detect the α in real time, the hinged place of second telescoping mechanism and the moving platform is equipped with second jiao
Encoder is spent, the second angle encoder to detect the β in real time, the rotary motion mechanism and the intermediate tray
Junction is equipped with third angle encoder, and the third angle encoder detecting the γ, measured α, β, γ in real time
Be conducive to platform control system and form closed-loop control.
Parallel three NC axes tilter provided by the utility model, first telescoping mechanism and the second telescoping mechanism are all parallel to
The connection column, and the flexible of first telescoping mechanism and the second telescoping mechanism is capable of turning for moving platform described in Independent Decisiveness
Dynamic angle namely the angle of rotation α, angle of rotation β pass through first telescoping mechanism and the realization of the second telescoping mechanism parallel-connection structure, phase
Compared in the prior art by the serial mechanism of motor direct-drive for, parallel three NC axes tilter structure is simpler for this, holds
It is lower to carry big bigger, cost.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the parallel three NC axes tilter of the utility model embodiment；
Fig. 2 is the positive structure diagram of the parallel three NC axes tilter of the utility model embodiment.
Reference numeral is expressed as：
1, firm banking；2, intermediate tray；3, moving platform；4, column is connected；5, column hinge component；6, the first telescopic machine
Structure；7, the second telescoping mechanism；8, rotary motion mechanism；81, servo motor；82, speed reducer.
Specific implementation mode
In conjunction with referring to shown in Fig. 1,2, embodiment according to the present utility model provides a kind of parallel three NC axes tilter, including
Firm banking 1, intermediate tray 2, moving platform 3, connection column 4, column hinge component 5, the first telescoping mechanism 6, the second telescopic machine
Structure 7, rotary motion mechanism 8, the firm banking 1 are equipped with the rotary motion mechanism 8, and the intermediate tray 2 is fixedly connected
In on the output shaft of the rotary motion mechanism 8 and horizontally disposed, 4 lower end of connection column is vertical with the intermediate tray 2
It is fixedly connected, 4 upper end of connection column is hinged by the column hinge component 5 and the moving platform 3, and described first is flexible
The upper end of mechanism 6 is hinged with the moving platform 3, and the lower end of first telescoping mechanism 6 and the intermediate tray 2 are hinged, described
The upper end of second telescoping mechanism 7 is hinged with the moving platform 3, and lower end and the intermediate tray 2 of second telescoping mechanism 7 are cut with scissors
It connects, the telescopic direction of first telescoping mechanism, 6 and second telescoping mechanism 7 is parallel with the connection short transverse of column 4, institute
Projection centre of first telescoping mechanism 6 on the intermediate tray 2 and the connection column 4 are stated on the intermediate tray 2
Line between projection centre is the first line, projection centre and institute of second telescoping mechanism 7 on the intermediate tray 2
It is the second line to state the line between projection centre of the connection column 4 on the intermediate tray 2, first line with it is described
The angle of second line is 90 °, and first telescoping mechanism 6 can make the moving platform 3 around 5 turns of the column hinge component
It is dynamic, and angle of rotation α is formed, second telescoping mechanism 7 can be such that the moving platform 3 is rotated around the column hinge component 5, and
Angle of rotation β is formed, the rotary motion mechanism 8 can drive the intermediate tray 2 and the moving platform 3 to be driven around the revolution
The output shaft of motivation structure 8 rotates, and forms angle of rotation γ.Preferably, the rotary motion mechanism 8 includes servo motor 81, subtracts
Fast machine 82, the servo motor 81 are integrated with the assembly of the speed reducer 82, and the output shaft of the speed reducer 82 is fixedly connected with institute
State intermediate tray 2.It is vertical that the first telescoping mechanism 6 and the second telescoping mechanism 7 described in the technical solution are all parallel to the connection
Column 4, and the flexible rotation for capableing of moving platform 3 described in Independent Decisiveness of first telescoping mechanism 6 and the second telescoping mechanism 7
Angle namely the angle of rotation α, angle of rotation β realized by 6 and second telescoping mechanism of the first telescoping mechanism, 7 parallel-connection structure, phase
Compared in the prior art by the serial mechanism of motor direct-drive for, parallel three NC axes tilter structure is simpler for this, holds
It is lower to carry big bigger, cost.
Preferably, first telescoping mechanism 6 is electric cylinder, and second telescoping mechanism 7 is electric cylinder, at this time described
Parallel three NC axes tilter, as flexible executing agency, makes the parallel three NC axes as a result of the overall compact electric cylinder of structure
The overall structure of tilter is further optimized.
Preferably, the hinged place of first telescoping mechanism 6 and the moving platform 3 is equipped with first angle encoder, described
For first angle encoder to detect the α in real time, the hinged place of second telescoping mechanism 7 and the moving platform 3 is equipped with the
Two angular encoders, the second angle encoder to detect the β in real time, the rotary motion mechanism 8 and the centre
The junction of pallet 2 is equipped with third angle encoder, and the third angle encoder is measured to detect the γ in real time
α, β, γ are conducive to platform control system and form closed-loop control.
Specifically, the platform control system uses Full Digitized Servo Control System, moved described in attitude measurement device measuring
3 real-time attitude of platform show that moving platform 3 instructs posture, monitoring computer to give miniature control by Ethernet by moving to resolve
Device sends instruction posture, after microcontroller receives the instruction in relation to platform kinematic parameter, is converted by spatial movement model,
By counter time for solving operation and solving first telescoping mechanism 6, the stroke of the second telescoping mechanism 7 and the rotary motion mechanism 8
Turn amount, driver is passed to by bus, driver is instructed and driven first telescoping mechanism 6, the second telescoping mechanism 7
It is stretched, the rotary motion mechanism 8 is driven to be turned round, to make the moving platform 3 run to specified posture.And it is described
First angle encoder, second angle encoder, third angle encoder detect the current pose of the moving platform 3 in real time,
And monitoring computer is fed back to, closed-loop control system is constituted, to ensure the attitude accuracy of the moving platform 3.
Those skilled in the art will readily recognize that under the premise of not conflicting, above-mentioned each advantageous manner can be free
Ground combination, superposition.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all in this practicality
All any modification, equivalent and improvement etc., should be included in the guarantor of the utility model made by within novel spirit and principle
Within the scope of shield.Above are merely preferred embodiments of the utility model, it is noted that for the ordinary skill of the art
For personnel, without deviating from the technical principle of the utility model, several improvements and modifications can also be made, these improvement
The scope of protection of the utility model is also should be regarded as with modification.
Claims (4)
1. a kind of parallel three NC axes tilter, including it is firm banking (1), intermediate tray (2), moving platform (3), connection column (4), vertical
Column hinge component (5), the first telescoping mechanism (6), the second telescoping mechanism (7), rotary motion mechanism (8), which is characterized in that described
Firm banking (1) is equipped with the rotary motion mechanism (8), and the intermediate tray (2) is fixedly connected on the revolution driving machine
On the output shaft of structure (8) and horizontally disposed, the connection column (4) lower end is vertical with the intermediate tray (2) to be fixedly connected, institute
It is hinged by the column hinge component (5) and the moving platform (3) to state connection column (4) upper end, first telescoping mechanism
(6) upper end is hinged with the moving platform (3), and the lower end of first telescoping mechanism (6) and the intermediate tray (2) are hinged,
The upper end of second telescoping mechanism (7) is hinged with the moving platform (3), the lower end of second telescoping mechanism (7) with it is described
Intermediate tray (2) is hinged, telescopic direction and the connection column of first telescoping mechanism (6) and the second telescoping mechanism (7)
(4) short transverse is parallel, projection centre of first telescoping mechanism (6) on the intermediate tray (2) and the connection
Line between projection centre of the column (4) on the intermediate tray (2) is the first line, second telescoping mechanism (7)
The projection centre of projection centre on the intermediate tray (2) and the connection column (4) on the intermediate tray (2) it
Between line be the second line, the angle of first line and second line is 90 °, first telescoping mechanism (6)
The moving platform (3) can be made to be rotated around the column hinge component (5), and form angle of rotation α, second telescoping mechanism
(7) moving platform (3) can be made to be rotated around the column hinge component (5), and form angle of rotation β, the revolution driving machine
Structure (8) can drive the intermediate tray (2) and the moving platform (3) to surround the output shaft rotation of the rotary motion mechanism (8)
It is dynamic, and form angle of rotation γ.
2. tilter according to claim 1, which is characterized in that first telescoping mechanism (6) is electric cylinder, described the
Two telescoping mechanisms (7) are electric cylinder.
3. tilter according to claim 1, which is characterized in that the rotary motion mechanism (8) includes servo motor
(81), speed reducer (82), the assembly of the servo motor (81) and the speed reducer (82) are integrated, the speed reducer (82) it is defeated
Shaft is fixedly connected with the intermediate tray (2).
4. tilter according to claim 1, which is characterized in that first telescoping mechanism (6) and the moving platform (3)
Hinged place be equipped with first angle encoder, the first angle encoder detecting the α, second telescopic machine in real time
The hinged place of structure (7) and the moving platform (3) is equipped with second angle encoder, and the second angle encoder detecting in real time
The β, the rotary motion mechanism (8) and the junction of the intermediate tray (2) are equipped with third angle encoder, the third
To detect the γ in real time, measured α, β, γ are conducive to platform control system and form closed-loop control angular encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721862424.4U CN207616572U (en) | 2017-12-27 | 2017-12-27 | Parallel three NC axes tilter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721862424.4U CN207616572U (en) | 2017-12-27 | 2017-12-27 | Parallel three NC axes tilter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207616572U true CN207616572U (en) | 2018-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721862424.4U Expired - Fee Related CN207616572U (en) | 2017-12-27 | 2017-12-27 | Parallel three NC axes tilter |
Country Status (1)
| Country | Link |
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| CN (1) | CN207616572U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109545038A (en) * | 2018-12-05 | 2019-03-29 | 南京航空航天大学 | A kind of general posture demonstration platform of aircraft and teaching system |
| CN109895138A (en) * | 2019-03-19 | 2019-06-18 | 珠海心怡科技有限公司 | Indoor engineering intelligent robot it is horizontal from steady platform and robot |
| CN110450136A (en) * | 2019-07-31 | 2019-11-15 | 燕山大学 | Driven in parallel four-freedom hybrid formula mechanical wrist wobble heads |
-
2017
- 2017-12-27 CN CN201721862424.4U patent/CN207616572U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109545038A (en) * | 2018-12-05 | 2019-03-29 | 南京航空航天大学 | A kind of general posture demonstration platform of aircraft and teaching system |
| CN109895138A (en) * | 2019-03-19 | 2019-06-18 | 珠海心怡科技有限公司 | Indoor engineering intelligent robot it is horizontal from steady platform and robot |
| CN110450136A (en) * | 2019-07-31 | 2019-11-15 | 燕山大学 | Driven in parallel four-freedom hybrid formula mechanical wrist wobble heads |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180717 Termination date: 20191227 |
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| CF01 | Termination of patent right due to non-payment of annual fee |