CN209934053U - Linkage turning device and multi-degree-of-freedom platform with same - Google Patents
Linkage turning device and multi-degree-of-freedom platform with same Download PDFInfo
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- CN209934053U CN209934053U CN201920098974.6U CN201920098974U CN209934053U CN 209934053 U CN209934053 U CN 209934053U CN 201920098974 U CN201920098974 U CN 201920098974U CN 209934053 U CN209934053 U CN 209934053U
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- turntable
- guardrail
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- 230000007246 mechanism Effects 0.000 claims abstract description 138
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 10
- 230000007306 turnover Effects 0.000 claims description 22
- 230000026058 directional locomotion Effects 0.000 claims description 5
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 230000000903 blocking effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Abstract
The utility model provides a linkage turning device and a multi-degree-of-freedom platform with the linkage turning device, which comprises a bottom plate, a motor driving mechanism positioned below the bottom plate, a first turntable, a second turntable, a shaft, a gear and a column arranged between the first turntable and the second turntable, wherein the gear is connected with a shaft key, so that the output of the motor is output to the gear through a speed reducer, and a driving shaft rotates and drives the first turntable and the second turntable to rotate; a rotating mechanism is arranged corresponding to the first edge of the bottom plate, one end of the rotating mechanism is connected to the rotating shaft, and the other end of the rotating mechanism is connected to the column; when the post rotates along with first carousel and second carousel, drives slewing mechanism motion to when the guardrail is vertical fixed, slewing mechanism wholly becomes a linear distribution, and when the guardrail was rotatory, at least partly and other part formation of slewing mechanism shifted. The utility model discloses a 90 degrees guardrail of overturning from top to bottom, experience the person and can get into the platform from a plurality of directions, the guardrail is rotatory still can regard as the passageway to use when to the level.
Description
Technical Field
The utility model relates to a multi freedom motion platform technical field particularly relates to a linkage turning device and multi freedom platform for multi freedom motion platform.
Background
With the development of science and technology, games make a great breakthrough in various fields such as equipment simulation, scene simulation and the like, and are developed from the original two-dimensional and three-dimensional games to the current real space virtual games. Various degrees of freedom simulated motion platforms have been developed for implementing various game actions. And a plurality of matching platform installation and experience requirements and exercise assisting mechanism facilities are designed accordingly.
The platform face below six-degree-of-freedom platform is fixed as the main at present on the market, go up the mesa and exceed the ground level, experience person goes up the stair, form such as stride over gets into six-degree-of-freedom and goes up the mesa, if six-degree-of-freedom platform is put into a pit, go up mesa parallel and level ground level, because of the motion needs of platform, must have the clearance of certain width between platform periphery and the ground level, and go up the platform safety barrier and mostly be fixed, leave the door in one side or both sides, the form of opening the door is left and right sides open or left and right sides open, experience person can only get into last mesa from specific position, because there is certain width clearance between platform periphery and the ground, so it needs an automatic, manual, or semi-automatic passageway to pass in and out to go into last mesa, this kind of mode not only the process is loaded down with trivial details, fall.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a linkage turning device for multi freedom motion platform includes:
the guardrail comprises a base plate, a plurality of side plates and a plurality of side plates, wherein the base plate is in a regular polygon shape, each side is provided with a guardrail capable of overturning along the side, and the guardrail is provided with a rotating shaft defining a rotating axis;
the motor driving mechanism is positioned below the bottom plate and comprises a servo motor and a speed reducer connected with an output shaft of the servo motor;
the first rotating disc and the second rotating disc are positioned below the bottom plate, wherein the first rotating disc is positioned between the second rotating disc and the bottom plate;
the main shaft is arranged below the bottom plate and extends towards the first turntable and the second turntable, and the main shaft sequentially penetrates through the first turntable and the second turntable and is fixed with the first turntable and the second turntable;
the gear is arranged at the center of the second turntable and is connected with the main shaft key, and the gear is meshed with the output end of the speed reducer, so that the output of the servo motor is output to the gear through the speed reducer to drive the main shaft to rotate and drive the first turntable and the second turntable to rotate;
the columns are arranged between the first rotating disc and the second rotating disc, and the columns are regularly arranged in the circumferential direction;
a rotating mechanism arranged corresponding to the first side of the bottom plate, wherein one end of the rotating mechanism is connected to the rotating shaft, and the other end of the rotating mechanism is connected to the column;
when the column rotates along with the first rotating disc and the second rotating disc, the rotating mechanism is driven to move, the rotating mechanism is integrally distributed in a straight line at the vertical fixing position of at least one guardrail, and at least one part of the rotating mechanism is displaced with the other part at the rotating position of at least one guardrail.
Further, the first rotating disc and the second rotating disc are circular rotating discs, and the plurality of columns are distributed at equal intervals in the circumferential direction of the columns.
Furthermore, the first rotating disc and the second rotating disc are regular polygons corresponding to the bottom plate, and the plurality of columns are distributed in the central position of each corresponding side.
Furthermore, a support arm for supporting the rotating shaft is further arranged at a position corresponding to each edge on the edge of the bottom plate, and the support arm is provided with an arc-shaped recess.
Further, the rotating mechanism comprises a directional moving mechanism and a direction-variable moving mechanism, the direction-variable moving mechanism comprises a first moving mechanism and a second moving mechanism, the first moving mechanism is arranged to be hinged to the column and one end of the directional moving mechanism, the other end of the directional moving mechanism is connected with one end of the second moving mechanism, the other end of the second moving mechanism is connected to the guardrail, the first moving mechanism is arranged to rotate in a plane parallel to the bottom plate according to the driving of the column, the directional moving mechanism is arranged to move linearly in a plane parallel to the bottom plate according to the driving of the first moving mechanism, and the second moving mechanism is arranged to pull the rotating shaft of the guardrail to turn according to the driving of the directional moving mechanism.
Further, the second moving mechanism further comprises a linear moving mechanism and an overturning moving mechanism, one end of the linear moving mechanism is hinged to the other end of the directional moving mechanism, the other end of the linear moving mechanism is hinged to one end of the overturning moving mechanism, and the other end of the overturning moving mechanism is in keyed connection with the center of the rotating shaft.
Furthermore, a guide mechanism is arranged on the bottom plate corresponding to each rotating mechanism, and the directional moving mechanism penetrates through the guide mechanism to limit the moving direction.
Further, the guide mechanism is provided with a through hole along the radial direction of the bottom plate, and the shape of the through hole is the same as the shape of the cross section of the directional movement mechanism.
Furthermore, a beam along the radial direction of the bottom plate is arranged on the bottom plate corresponding to each edge, and a limiting device is arranged on the beam close to the first rotating disc and used for limiting the rotation angle of the first moving mechanism of the direction-variable moving mechanism.
According to the utility model discloses still provide a multi freedom platform with linkage turning device, the multi freedom platform adopts linkage turning device with the guardrail provides the protection when being in vertical fixed position, and the guardrail be in the rotating position and rotate with provide walking channel during the bottom plate horizontal position, wherein still be provided with a plurality of boards that supply to trample on the guardrail.
The utility model discloses a linkage tilting mechanism can realize 90 degrees upsets under the below drive, can satisfy the motion space demand of platform, can be experience person as walking six degrees of freedom upper table-boards on the level ground again. Meanwhile, the space between the upper platform and the lower platform is fully utilized by the design of the turnover mechanism, and the servo motor is used for driving, so that the defects of pressure and blocking caused by the traditional simple adoption of hinges or mechanical turnover are overcome.
The utility model discloses an orientation combines with diversion moving mechanism, realizes upset and fixed to the guardrail, and is firm reliable, and motion when rectilinear position (the guardrail is in vertical state), relies on the locking effect of mechanical structure itself, and makes the unable drive guardrail of external force rotate and cause unsafe factor, only after the motor drive carousel in the bottom rotates certain angle for motion removes the locking, and then can overturn the guardrail, ensures safety.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural view of the linkage turnover device of the present invention, wherein the plate on the guardrail is removed for display.
Fig. 2 is a schematic view of the guardrail turnover erecting state of the linkage turnover device of the present invention.
Fig. 3 is a schematic view of the guardrail turnover horizontal state of the linkage turnover device of the present invention.
Fig. 4 is a partially enlarged schematic view of the turntable of the linkage turnover device of the present invention.
Fig. 5 is a partially enlarged schematic view of a rotating mechanism of the linked turnover device of the present invention.
Detailed Description
For a better understanding of the technical content of the present invention, specific embodiments are described below in conjunction with the accompanying drawings.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any implementation. Additionally, some aspects of the present disclosure may be used alone or in any suitable combination with other aspects of the present disclosure.
Combine the figure, the utility model discloses a linkage turning device for multi freedom motion platform through the guardrail of 90 degrees upsets from top to bottom, experiences the person and can follow a plurality of directions on every side and get into the upper mounting plate, does not need other structure to do the passageway, still can regard as the passageway to use when the guardrail is rotatory to the level.
Referring to fig. 1-5, in an alternative embodiment of the present invention, the linkage turnover device has a bottom plate 10 in the shape of a regular polygon, in the preferred example of fig. 1, the bottom plate is a regular octagon, i.e., the eight diagrams table. Each edge 11 of the base is provided with a guard rail 20 which can be turned over along the edge. It should be noted that, in the use process, the state is actually the state shown in fig. 2 and 3, and the angle shown in fig. 1 is a bottom view for facilitating the observation of the structure of the bottom.
Referring to fig. 1, the guardrail 20 includes two support edges and a plurality of plates 22 transversely mounted on the two support edges for the user to step on when the guardrail is horizontal. As shown in fig. 1, 2 and 3, the guard rails 20 have a rotating shaft 21 defining a rotating axis, and each guard rail can be turned around the rotating shaft as a whole to be switched between a horizontal position and a vertical position by the driving mechanism at the bottom.
The motor driving mechanism located below the bottom plate comprises a servo motor and a speed reducer (not shown) connected with an output shaft of the servo motor, and the motor driving mechanism of the portion mainly provides a power driving source for a rotating mechanism (to be described in detail later) so as to drive the guardrail to overturn through the movement of the rotating mechanism.
Referring to fig. 4 and 5, a first rotary disk 31 and a second rotary disk 32 are located below the bottom plate 10, wherein the first rotary disk 31 is located between the second rotary disk 32 and the bottom plate 10.
A spindle 33 disposed below the base plate 10 and extending toward the first and second turntables 31 and 32. The shaft passes through and is fixedly connected, e.g. keyed, to the first 31 and second 32 discs in turn. So the rotation of the main shaft can directly drive the two turntables to rotate.
A gear 40, which is arranged at the central position of the second turntable 32 and is connected with the main shaft 33 in a key mode. The gear 40 is engaged with the output end of the speed reducer, so that the output of the servo motor is output to the gear 40 through the speed reducer, the main shaft 33 is driven to rotate, and the first rotary disc 31 and the second rotary disc 32 are driven to rotate. The embodiment of the utility model provides an in, servo motor can adopt direct current or alternating current servo motor.
A plurality of posts disposed between the first turntable and the second turntable. Especially the first rotating disc and the second rotating disc are regularly arranged in the circumferential direction.
In the embodiment of the present invention, the first turntable 31 and the second turntable 32 may be circular turntables, and a plurality of columns are distributed at equal intervals in the circumferential direction thereof, for example, the columns are distributed at equal intervals according to the shape of the bottom plate.
The first and second rotating disks 31 and 32 of the example shown in fig. 1 and 4 are regular polygons corresponding to the bottom plate, and a plurality of columns are distributed at the center of each corresponding side.
Referring to fig. 3 and 4, the first side 11 of the bottom plate 10 is further provided with a rotating mechanism, one end of which is connected to the rotating shaft 21, and the other end of which is connected to the aforementioned column.
When the column rotates along with the first rotating disc 31 and the second rotating disc 32, the rotating mechanism is driven to move, and in at least one guardrail vertical fixing position, the rotating mechanism is integrally distributed in a straight line, and in at least one guardrail rotating position, at least one part of the rotating mechanism is displaced with the other part. So, when the guardrail was at vertical fixed position, it is dead to carry out the mechanical lock through the slewing mechanism (becoming the straight line shape) of bottom, and experience person can not make the guardrail activity through applying force to the guardrail, guarantees safety. On the other hand, the motor at the bottom drives the two turntables to rotate by a certain angle, so that the guardrail can be smoothly overturned, the requirements on the driving power and the torque of the motor at the bottom are low, and a high-power motor is not needed.
With reference to fig. 1 and 5, a support arm 23 for supporting the rotation shaft 21 is further provided at a position corresponding to each side 11 on the edge of the base plate, and the support arm has a circular arc-shaped recess.
With reference to fig. 4 and 5, the rotating mechanism is the key for implementing the present invention, and includes a directional moving mechanism and a direction-changeable moving mechanism. The direction-variable moving mechanism includes a first moving mechanism 34 and a second moving mechanism 36. The first moving mechanism 34 is provided to be hinged to the post and one end of the directional moving mechanism 35, and the other end of the directional moving mechanism 35 is connected to one end of the second moving mechanism 36, and the other end of the second moving mechanism 36 is connected to the rotation shaft 21 of the guard rail 10. The first moving mechanism 34 is arranged to rotate in a plane parallel to the base plate according to the driving of the column, the directional moving mechanism 35 is arranged to move linearly in a plane parallel to the base plate according to the driving of the first moving mechanism, and the second moving mechanism 36 is arranged to pull the rotating shaft of the guardrail to turn over according to the driving of the directional moving mechanism, so that the linear motion and the direction change motion of the rotating mechanism are realized through the rotation of the turntable, the rotating shaft is pulled, and the guardrail is driven to turn over.
In conjunction with the illustration, the directional movement mechanism 35 is configured as a round bar, in particular a hollow round bar, which can be moved back and forth in order to reduce weight. In other embodiments, the directional movement mechanism 35 may be configured as other configurations of components.
The second moving mechanism 36 further includes a linear moving mechanism 37 and an overturning moving mechanism 38, one end of the linear moving mechanism 37 is hinged to the other end of the directional moving mechanism 35, the other end of the linear moving mechanism 35 is hinged to one end of the overturning moving mechanism 38, and the other end of the overturning moving mechanism 38 is keyed to the center position of the rotating shaft. So that the movement of the directional moving mechanism 35 directly drives the reciprocating movement of the linear moving mechanism 37 and pulls the turning moving mechanism 38 to move, and is applied to the rotating shaft 21 connected with the key thereof.
Preferably, a guide mechanism 14 is further provided on the base plate 10 at a position corresponding to each rotating mechanism, and the directional moving mechanism passes through the guide mechanism to define the moving direction. Referring to fig. 5, the guide mechanism 14 has a through hole along the radial direction of the base plate, and the shape of the through hole is the same as the shape of the cross section of the directional movement mechanism.
Referring to fig. 5, a beam 13 is disposed on the bottom plate 10 corresponding to each side 11 along the radial direction of the bottom plate, and the beam 13 is disposed adjacent to the first rotating disc and provided with a limiting device 14 for limiting the rotation angle of the first moving mechanism 34 of the direction-variable moving mechanism.
According to the utility model discloses a, still provide a multi freedom platform with linkage turning device, the multi freedom platform adopts linkage turning device with the guardrail provides the protection when being in vertical fixed position, and the guardrail be in the turned position and rotate to with provide walking channel during the bottom plate horizontal position, wherein still be provided with a plurality of confessions on the guardrail and trample board 22.
The utility model discloses a linkage tilting mechanism can realize 90 degrees upsets under the below drive, can satisfy the motion space demand of platform, can be experience person as walking six degrees of freedom upper table-boards on the level ground again. Meanwhile, the space between the upper platform and the lower platform is fully utilized by the design of the turnover mechanism, and the servo motor is used for driving, so that the defects of pressure and blocking caused by the traditional simple adoption of hinges or mechanical turnover are overcome.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention. The present invention is intended to cover by those skilled in the art various modifications and adaptations of the invention without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention is subject to the claims.
Claims (10)
1. A linkage turning device, characterized by comprising:
the guardrail comprises a base plate, a plurality of side plates and a plurality of side plates, wherein the base plate is in a regular polygon shape, each side is provided with a guardrail capable of overturning along the side, and the guardrail is provided with a rotating shaft defining a rotating axis;
the motor driving mechanism is positioned below the bottom plate and comprises a servo motor and a speed reducer connected with an output shaft of the servo motor;
the first rotating disc and the second rotating disc are positioned below the bottom plate, wherein the first rotating disc is positioned between the second rotating disc and the bottom plate;
the main shaft is arranged below the bottom plate and extends towards the first turntable and the second turntable, and the main shaft sequentially penetrates through the first turntable and the second turntable and is fixed with the first turntable and the second turntable;
the gear is arranged at the center of the second turntable and is in key connection with the main shaft, and the gear is meshed with the output end of the speed reducer, so that the output of the servo motor is output to the gear through the speed reducer to drive the main shaft to rotate and drive the first turntable and the second turntable to rotate;
the columns are arranged between the first rotating disc and the second rotating disc, and the columns are regularly arranged in the circumferential direction;
a rotating mechanism arranged corresponding to the first side of the bottom plate, wherein one end of the rotating mechanism is connected to the rotating shaft, and the other end of the rotating mechanism is connected to the column;
when the column rotates along with the first rotating disc and the second rotating disc, the rotating mechanism is driven to move, the rotating mechanism is integrally distributed in a straight line at the vertical fixing position of at least one guardrail, and at least one part of the rotating mechanism is displaced with the other part at the rotating position of at least one guardrail.
2. The linked turning device according to claim 1, wherein the first and second turntables are circular turntables, and the plurality of columns are equally spaced around the circumference thereof.
3. The linked turnover device of claim 1, wherein the first and second turntables are regular polygons corresponding to the base plate, and the plurality of posts are distributed at a central position of each corresponding side.
4. The linked turnover device of claim 1, wherein a support arm for supporting the rotation shaft is further provided at a position corresponding to each side on the edge of the base plate, and the support arm has a circular arc-shaped recess.
5. The linked turning device according to claim 4, wherein the rotating mechanism comprises a directional moving mechanism and a direction-changeable moving mechanism, the direction-variable moving mechanism includes a first moving mechanism and a second moving mechanism, the first moving mechanism is provided to be hinged to the column and one end of the directional moving mechanism, the other end of the directional moving mechanism is connected to one end of the second moving mechanism, the other end of the second moving mechanism is connected to the guardrail, wherein the first moving mechanism is arranged to rotate in a plane parallel to the base plate according to the driving of the column, the directional moving mechanism is arranged to move linearly in a plane parallel to the bottom plate according to the driving of the first moving mechanism, the second moving mechanism is arranged to pull the rotating shaft of the guardrail to overturn according to the driving of the directional moving mechanism.
6. The linked turnover device of claim 5, wherein the second moving mechanism further comprises a linear motion mechanism and a turnover motion mechanism, one end of the linear motion mechanism is hinged to the other end of the directional moving mechanism, the other end of the linear motion mechanism is hinged to one end of the turnover motion mechanism, and the other end of the turnover motion mechanism is keyed to the central position of the rotating shaft.
7. The linked turnover device of claim 5, wherein a guide mechanism is further provided on the base plate corresponding to each rotation mechanism, and the directional movement mechanism passes through the guide mechanism in a limited movement direction.
8. The linked turning device according to claim 7, wherein the guide means has a through hole along a radial direction of the base plate, and the shape of the through hole is the same as the shape of the cross section of the directional moving means.
9. The linked turnover device of claim 5, wherein the bottom plate is provided with a beam corresponding to each edge along the radial direction of the bottom plate, and a position limiting device is arranged on the beam adjacent to the first rotating disc and used for limiting the rotation angle of the first moving mechanism of the direction-changeable moving mechanism.
10. A multiple degree of freedom platform comprising a linked roll-over apparatus as claimed in any one of claims 1 to 9, the multiple degree of freedom platform employing the linked roll-over apparatus to provide protection when the fence is in a vertically fixed position and to provide a walkway when the fence is in a rotated position and rotated to a horizontal position with the base plate, wherein the fence is further provided with a plurality of treading plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920098974.6U CN209934053U (en) | 2019-01-22 | 2019-01-22 | Linkage turning device and multi-degree-of-freedom platform with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920098974.6U CN209934053U (en) | 2019-01-22 | 2019-01-22 | Linkage turning device and multi-degree-of-freedom platform with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209934053U true CN209934053U (en) | 2020-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920098974.6U Expired - Fee Related CN209934053U (en) | 2019-01-22 | 2019-01-22 | Linkage turning device and multi-degree-of-freedom platform with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209934053U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109621432A (en) * | 2019-01-22 | 2019-04-16 | 南京全控航空科技有限公司 | Linkage overturning device and multi-DOF platform with it |
-
2019
- 2019-01-22 CN CN201920098974.6U patent/CN209934053U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109621432A (en) * | 2019-01-22 | 2019-04-16 | 南京全控航空科技有限公司 | Linkage overturning device and multi-DOF platform with it |
| CN109621432B (en) * | 2019-01-22 | 2023-08-11 | 南京全控航空科技有限公司 | Linkage turning device and have its multi freedom platform |
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