CN210323892U - Large-inertia electromechanical six-degree-of-freedom motion platform - Google Patents
Large-inertia electromechanical six-degree-of-freedom motion platform Download PDFInfo
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- CN210323892U CN210323892U CN201921754756.XU CN201921754756U CN210323892U CN 210323892 U CN210323892 U CN 210323892U CN 201921754756 U CN201921754756 U CN 201921754756U CN 210323892 U CN210323892 U CN 210323892U
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Abstract
A large-inertia electromechanical six-degree-of-freedom motion platform belongs to the technical field of motion simulation tests, test equipment, motion simulation training equipment and the like. Go up hinged-support subassembly and electronic jar subassembly and can connect 2 electronic jar subassemblies respectively, go up hinged-support subassembly and electronic jar subassembly and have 3 respectively, can connect 6 electronic jar subassemblies. The lower part of the upper platform is connected with an upper hinged support component, the upper hinged support component is connected with one end of an electric cylinder component, the other end of the electric cylinder component is connected with a lower hinged support component, and the lower hinged support component is connected with the lower platform; the bottom plate of the upper hinged support assembly supports and is connected with the upper bearing seat, one structure of the upper hinged support assembly is that the upper bearing seat is connected with bearings at two side ends, and the bearings at the two side ends are respectively connected with transverse shafts at two side ends of the upper cross hinged shaft. The utility model discloses following beneficial effect has: the simulation test platform can realize linear motion along X, Y, Z three axes, can also realize rotation around X, Y, Z three axes, and can simultaneously perform any compound motion.
Description
Technical Field
The utility model relates to a big inertia electromechanics six degrees of freedom motion platform belongs to technical field such as motion simulation test, test equipment and motion simulation training equipment.
Background
The large inertia electromechanical six-freedom degree motion platform is a simulation device according to different road conditions, different sea conditions and other dynamic conditions, and is suitable for product testing and experiments of national defense industries such as aviation, aerospace, weapons, ships, electronics and the like, and personnel simulation training of troops such as sea, land, air, artillery, armored soldier and the like. In the whole country, the traditional simulation platform has six-degree-of-freedom, four-degree-of-freedom, three-degree-of-freedom and two-degree-of-freedom motion platforms, and the traditional six-degree-of-freedom platform has huge structure, low utilization rate and limited motion range and high-speed and high-frequency motion; the three-degree-of-freedom motion platform has a high self structure and poor stability during high-frequency motion, and the realistic effect of simulated training cannot be achieved.
Disclosure of Invention
In order to overcome the defects of the prior art, the utility model provides a large-inertia electromechanical six-degree-of-freedom motion platform.
A large-inertia electromechanical six-degree-of-freedom motion platform is characterized in that an upper hinged support component is connected below an upper platform, the upper hinged support component is connected with one end of an electric cylinder component, the other end of the electric cylinder component is connected with a lower hinged support component, and the lower hinged support component is connected with a lower platform; the bottom plate of the upper hinged support assembly supports and is connected with an upper bearing seat, one structure of the upper hinged support assembly is that the upper bearing seat is connected with bearings at two side ends, the bearings at the two side ends are respectively connected with transverse shafts at two side ends of an upper cross hinged shaft, the bearings at the two side ends are respectively provided with a baffle plate which is connected onto the upper bearing seat through a bolt, the upper bearing seat is connected with a bearing at the upper end and a bearing at the lower end, the bearings at the upper end and the lower end are respectively connected with the upper end and the lower end of a vertical shaft of the upper cross hinged shaft, the upper end and the upper end are respectively provided with a baffle plate which is connected onto the upper bearing seat through a bolt, the top of the upper cross hinged shaft is; the lower hinged support component and the upper hinged support component have the same basic structure, and the bottom plate of the lower hinged support component is connected with a lower hinged support base; the lower hinged support base is formed by welding a first steel plate, a first rib plate, a second rib plate, a third rib plate and a second steel plate; the synchronous transmission unit of the electric cylinder assembly is connected with the servo motor, the cylinder barrel and the ball screw, the cylinder barrel and the piston rod form a linear motion pair, the piston rod and the ball screw form a rotating pair, and the cylinder barrel is fixedly connected with the lower hinged support assembly; one end of a first positioning support of the lower platform is connected with a first perforated steel plate, the other end of the first positioning support is connected with a second perforated steel plate, one end of a second positioning support is connected with a third perforated steel plate, the other end of the second positioning support is connected with a second perforated steel plate, one end of a third positioning support is connected with a first perforated steel plate, the other end of the third positioning support is connected with a third perforated steel plate, the first perforated steel plate is connected with a fifth pouring supporting tube and a sixth pouring supporting tube, the second perforated steel plate is connected with a first pouring supporting tube and a second pouring supporting tube, and the third perforated steel plate is connected with a third pouring supporting tube and a fourth pouring supporting tube.
The two structures of the upper hinged support component are the same as the structure of the upper hinged support component. Go up hinged-support subassembly and electronic jar subassembly and can connect 2 electronic jar subassemblies respectively, go up hinged-support subassembly and electronic jar subassembly and have 3 respectively, can connect 6 electronic jar subassemblies. The bottom of a lower connecting piece of a lower cross hinge shaft of the lower hinge support assembly is connected with a supporting plate of the lower cross hinge shaft. The upper hinged support assembly and the lower hinged support assembly adopt a cross hinged shaft in structural form; the cross hinge shaft comprises an upper cross hinge shaft and a lower cross hinge shaft. The servo motor transmits motion to the ball screw through the synchronous transmission unit, and linear motion of the piston rod is realized through the ball screw and the motion pair of the piston rod. The lower platform is a regular triangle outline structure. After the first steel plate and the second steel plate are welded, an included angle is formed between the first steel plate and the second steel plate. The upper platform is circular and is connected with a load.
The servo motor is connected with a transmission box, a main shaft of the servo motor is connected with a driving wheel, the driving wheel is connected with a transmission belt, the transmission belt is connected with a driven wheel, the driven wheel is connected with an output shaft, the output shaft and a ball screw are of an integral rigid structure, the other end of the ball screw is connected with a screw guide sleeve and positioned inside a piston rod, one end of a cylinder barrel is connected with the transmission box through a bearing seat, the other end of the cylinder barrel is connected with a cylinder head guide piece, two ends of an inner cavity of the cylinder barrel are respectively provided with a buffer rubber, the buffer rubber comprises an upper buffer rubber and a lower buffer rubber, the lower buffer rubber is arranged at the lower stroke end and sleeved on the ball screw and connected with the bearing seat, the upper stroke end is provided with an upper buffer rubber, the upper buffer rubber is fixedly pressed through the connection of the cylinder head guide piece and the, the piston rod realizes linear motion through the guide of the cylinder head guide piece and the guide ring; a first sensor and a second sensor are respectively installed at two ends of the cylinder barrel, and a first strong current protection device and a second strong current protection device are respectively arranged at two terminals of the effective stroke of the piston rod; the other end of the piston rod is connected with the connecting anti-rotation device; the first sensor and the second sensor are respectively arranged at two terminals of the effective stroke of the piston rod, and the box body of the transmission box is provided with a bearing which is respectively connected with and supports the output shaft and the main shaft; the main generation part of the ball screw is wrapped inside by the piston rod, a guide ring made of a nonmetal friction material is arranged on the periphery of the piston rod, the piston rod is isolated from the cylinder barrel, and grease is filled in a gap; the ball screw is a mute screw; the upper stroke end of the cylinder barrel is provided with upper buffer rubber, and the lower stroke end of the cylinder barrel is provided with lower buffer rubber; the cylinder barrel is provided with a front end lubricating device and a rear end lubricating device, one end of the piston rod is provided with a piston rod lubricating device, and the oil injection lubricating device is positioned between the cylinder barrel and the transmission case; the first dustproof ventilation device is connected to the top of the piston rod, and the second dustproof ventilation device is installed at one end of the cylinder barrel.
The included angle formed by the first steel plate and the second steel plate is 20-28 degrees.
The utility model discloses following beneficial effect has: the simulation test platform can realize linear motion along X, Y, Z three axes, can also realize rotation around X, Y, Z three axes, and can simultaneously perform any compound motion. Compared with the traditional six-degree-of-freedom platform, the test platform has the advantages of very compact structure, low self height of the platform, small overall occupied space, low gravity center, safe, stable and accurate high-speed and high-frequency operation, can truly achieve the effect of simulated training, and is particularly suitable for product testing and testing in national defense industries such as aviation, aerospace, weapons, ships, electronics and the like, and personnel simulated training of troops such as sea, land, air, artillery, armored soldier and the like.
Drawings
The invention itself, however, as well as many of the attendant advantages thereof, will be best understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein like reference numerals indicate like parts throughout the several views, and wherein:
fig. 1 is a schematic front view of the present invention;
fig. 2 is a left side view structure diagram of the present invention;
fig. 3 is a schematic front view of the upper hinge support of the present invention;
fig. 4 is a schematic top view of the upper hinge support of the present invention;
fig. 5 is a schematic front view of the lower hinge support of the present invention;
fig. 6 is a schematic top view of the lower hinge support of the present invention;
fig. 7 is a schematic view of the front view structure of the lower hinged-support base of the present invention;
fig. 8 is a left side view structural schematic diagram of the lower hinged support base of the present invention;
fig. 9 is a schematic top view of the lower platform of the present invention;
fig. 10 is a schematic top view of the upper platform of the present invention;
fig. 11 is a schematic structural view of the electric cylinder assembly of the present invention.
Fig. 12 is a schematic top view of the electric cylinder assembly of the present invention.
The present invention will be further explained with reference to the drawings and examples.
Detailed Description
Obviously, many modifications and variations of the present invention based on the spirit of the present invention will be apparent to those skilled in the art.
It will be apparent to those skilled in the art that, as used herein, the singular forms "a," "an," "the," and "the" may include the plural forms as well, unless expressly stated otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element, component or section is referred to as being "connected" to another element, component or section, it can be directly connected to the other element or section or intervening elements or sections may also be present. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description, "plurality" means two or more unless specifically limited otherwise.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art.
The following further explanation is provided in order to facilitate understanding of the embodiments, and the embodiments are not to be construed as limiting the embodiments.
Example 1: as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 and 12, in the large inertia electromechanical six-degree-of-freedom motion platform, an upper hinge support assembly 2 is connected below an upper platform 1, the upper hinge support assembly 2 is connected with one end of an electric cylinder assembly 3, the other end of the electric cylinder assembly 3 is connected with a lower hinge support assembly 4, and the lower hinge support assembly 4 is connected with a lower platform 5. Go up hinged-support subassembly 2 and electronic jar subassembly 3 and can connect 2 electronic jar subassemblies 3 respectively, go up hinged-support subassembly 2 and electronic jar subassembly 3 and have 3 respectively, can connect 6 electronic jar subassemblies 3.
The upper hinged support assembly 2 and the lower hinged support assembly 4 adopt a cross-shaped hinged shaft which comprises an upper cross-shaped hinged shaft 13 and a lower cross-shaped hinged shaft 16.
The upper hinge support assembly 2 is composed of a bottom plate 12, an upper cross hinge shaft 13, an upper bearing seat 14 and an upper connecting piece 15. The bottom plate 12 supports and is connected with an upper bearing seat 14, one structure of the upper hinged support assembly 2 is that the upper bearing seat 14 is connected with bearings at two side ends, the bearings at the two side ends are respectively connected with transverse shafts at two side ends of an upper cross hinged shaft 13, the bearings at the two side ends are respectively provided with a baffle plate which is connected on the upper bearing seat 14 through bolts, the upper bearing seat 14 is connected with a bearing at the upper end and a bearing at the lower end, the bearings at the upper end and the lower end are respectively connected with the upper end and the lower end of a vertical shaft of the upper cross hinged shaft 13, the upper end and the upper end are respectively provided with a baffle plate which is connected on the upper bearing seat 14 through bolts, the top of the upper cross hinged shaft 13.
The lower hinged support assembly 4 consists of a lower hinged support base 6, a lower cross hinged shaft 16, a lower bearing seat 17 and a lower connecting piece 18 to form the lower hinged support assembly 4. The lower hinged support assembly 4 has the same basic structure as the upper hinged support assembly 2, except that the bottom of a lower connecting piece 18 of a lower cross hinge shaft 16 of the lower hinged support assembly 4 is connected with a support plate of the lower cross hinge shaft 16, and the bottom plate of the lower hinged support assembly 4 is connected with a lower hinged support base 6.
The lower hinged support base 6 is formed by welding a first steel plate 7, a first rib plate 8, a second rib plate 9, a third rib plate 10 and a second steel plate 11, and after welding forming, the first steel plate 7 and the second steel plate 11 form an included angle of 25 degrees.
The lower platform 5 connected with the foundation is a foundation of the whole platform, the structure of the lower platform is a regular triangle outline structure, and the lower platform 5 is formed by assembling a first perforated steel plate 24, a first positioning support 25, a second perforated steel plate 26, a first casting support pipe 27, a second casting support pipe 28, a second positioning support 29, a third casting support pipe 30, a fourth casting support pipe 31, a third perforated steel plate 32, a third positioning support 33, a fifth casting support pipe 34 and a sixth casting support pipe 35.
One end of the first positioning support 25 is connected with the first perforated steel plate 24, the other end of the first positioning support 25 is connected with the second perforated steel plate 26, one end of the second positioning support 29 is connected with the third perforated steel plate 32, the other end of the second positioning support 29 is connected with the second perforated steel plate 26, one end of the third positioning support 33 is connected with the first perforated steel plate 24, the other end of the third positioning support 33 is connected with the third perforated steel plate 32, the first perforated steel plate 24 is connected with the fifth casting support pipe 34 and the sixth casting support pipe 35, the second perforated steel plate 26 is connected with the first casting support pipe 27 and the second casting support pipe 28, and the third perforated steel plate 32 is connected with the third casting support pipe 30 and the fourth casting support pipe 31.
As shown in fig. 11 and 12, the electric cylinder unit 3 is mainly composed of a piston rod 40, a cylinder tube 20, a synchronous transmission unit 21, a ball screw 41, a servo motor 23, and the like. Synchronous drive unit 21 connects servo motor 23, cylinder 20 and ball 41, and the piston rod 40 is placed to the inner chamber of cylinder 20, and ball 41 is connected to piston rod 40, and the theory of operation of electronic jar subassembly 3 is that servo motor 23 passes through synchronous drive unit 21 transmission and moves to ball 41, links firmly with piston rod 40 through ball 41 and realizes the flexible of piston rod 40, and cylinder 20 links firmly with lower hinged-support subassembly 4.
The synchronous drive unit 21 includes a drive pulley 51, a drive belt, a driven pulley 49, an output shaft 48, and a main shaft 50.
The servo motor 23 is connected with the transmission case 47, a main shaft 50 of the servo motor 23 is connected with a driving wheel 51, the driving wheel 51 is connected with a transmission belt, the transmission belt is connected with a driven wheel 49, the driven wheel 49 is connected with an output shaft 48, the output shaft 48 and the ball screw 41 are of an integrated structure, and the other end of the ball screw 41 is connected with the screw guide sleeve 22 and is positioned in the piston rod 40 to guide the ball screw. One end of the cylinder barrel 20 is connected with a transmission case 47 through a bearing seat 46, the other end of the cylinder barrel is connected with the cylinder head guide piece 36, buffer rubbers are arranged at two ends of an inner cavity of the cylinder barrel 20 and comprise an upper buffer rubber 38 and a lower buffer rubber 44, the lower stroke end of the cylinder barrel is provided with a lower buffer rubber 44, the lower buffer rubber 44 is sleeved on the ball screw 41 and is connected with the bearing seat 46, the upper stroke end of the cylinder barrel is provided with the upper buffer rubber 38, the upper buffer rubber 38 is fixedly compressed through the connection of the cylinder head guide piece 36 and the cylinder barrel 20, a nut matched with the ball screw 41 is connected with one end of the piston rod 40, the nut can be converted into linear motion along with the rotation angle of the ball screw 41 according to the lead of the corresponding specification, and the piston rod 40 is guided through the.
The other end of the piston rod 40 is connected with the connection anti-rotation device 19, after the connection anti-rotation device 19 is connected with a fixed workpiece, the piston rod 40 can only do linear operation and does not rotate any more, sensors are installed at two ends of the cylinder barrel 20, the sensors are a first sensor 39 and a second sensor 43 respectively, and the sensors are arranged at two terminals of the effective stroke of the piston rod 40. The housing of the transmission case 47 is fitted with bearings which respectively connect and support the output shaft 48 and the main shaft 50.
The two ends of the effective stroke of the piston rod 40 are respectively provided with a first strong electric protection device 53 and a second strong electric protection device 56, and when the piston rod rushes through the first sensor 39 or the second sensor 43, the first strong electric protection device 53 or the second strong electric protection device 56 carries out forced power-off contracting brake protection.
The upper stroke end of the cylinder tube 20 is provided with an upper cushion rubber 38, and the lower stroke end of the cylinder tube 20 is provided with a lower cushion rubber 44.
The cylinder 20 is provided with a lubricating device which comprises a front end lubricating device 37 and a rear end lubricating device 52, one end of the piston rod 40 is provided with a piston rod lubricating device 54, and the oil-filling lubricating device 45 is positioned between the cylinder 20 and the transmission case 47.
The whole design of electronic jar is for making an uproar structure of falling, and piston rod 40 wraps up ball 41's main position of taking place inside, and there is non-metallic friction material's guide ring 42 in the piston rod 40 periphery, keeps apart piston rod and cylinder, and there is the grease to fill in clearance department, hinders the noise propagation. The ball screw 41 is a silent screw.
A first dust vent 55 is attached to the top of the piston rod 40 and a second dust vent 57 is mounted to one end of the cylinder 20. The piston rod 40 is connected with the connecting anti-rotation device 19 by screw threads and is locked and prevented from backing by a set screw.
The dust-proof breather comprises a first dust-proof breather 55 and a second dust-proof breather 57. The dustproof ventilating device can be selected from the prior art products such as a silencer and the like.
The lubricating device can be selected from funnel type oil cups matched with the oil filling holes and other prior art products.
The sensor may be selected from prior art products such as proximity switches.
The first and second strong electric protection devices 53 and 56 may be selected from conventional products such as a contact switch.
Example 2: as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11 and fig. 12, a large inertia electromechanical six-degree-of-freedom motion platform is provided, which is a simulation test platform that can realize linear motion along X, Y, Z three axes, rotation around X, Y, Z three axes, and arbitrary compound motion, and can provide a compact structure, small overall occupied space, low center of gravity, accurate, stable, safe and reliable high-speed and high-frequency motion, and can truly achieve the effect of simulation training, aiming at the conventional six-degree-of-freedom platform that the amplitude of motion can not reach 30 ° when the load bearing is large, and the simulation test platform can not stably and safely realize high-speed and high-frequency motion, and simulate the vivid effect of training.
The utility model discloses a large inertia electromechanical six-degree-of-freedom motion platform, which comprises an upper platform, a lower platform, and six sets of hinged supports and six electric cylinder assemblies which are connected between the upper platform and the lower platform; one end of the electric cylinder assembly is connected with the upper hinged support assembly and then connected to the upper platform through an upper hinged support bottom plate, and the other end of the electric cylinder assembly is connected with the lower hinged support assembly and then connected to the lower platform through a lower hinged support base; the six electric cylinder assemblies are driven by instructions sent by a computer, and three-axis linear motion X, Y, Z, three-axis rotation around X, Y, Z or composite motion of the linear motion and the rotation are realized by controlling the strokes of the six electric cylinder assemblies.
Preferably, the lower hinged support base of the electromechanical motion platform is formed by sequentially welding a first steel plate, a first rib plate, a second rib plate, a third rib plate and a second steel plate. Wherein the first steel plate and the second steel plate have an included angle of 25 degrees.
Preferably, the upper hinge support assembly and the lower hinge support assembly of the electromechanical motion platform are in a cross hinge shaft structure.
Above-mentioned electromechanical motion platform, preferred electronic jar subassembly includes piston rod, cylinder, synchronous drive unit, ball and servo motor, and servo motor passes through the synchronous drive unit transmission and moves to ball, links firmly the linear motion who realizes the piston rod through ball and piston rod, cylinder and lower hinged-support subassembly fixed connection.
The electromechanical motion platform is preferably of a regular triangle outline structure, and the lower platform is assembled by three perforated steel plates, three positioning supports and six pouring support tubes.
The electromechanical motion platform is preferably circular, is formed by welding a plurality of sectional materials, is welded with a flange, and is paved with a pattern steel plate.
Example 3: as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, and fig. 11, a large inertia electromechanical six-degree-of-freedom motion platform, the six-degree-of-freedom electromechanical motion platform of the present invention includes: the device comprises an upper platform 1, an upper hinged support component 2, an electric cylinder component 3, a lower hinged support component 4 and a lower platform 5.
The upper hinged support assembly 2 and the lower hinged support assembly 4 adopt the structural forms of an upper cross hinged shaft 13 and a lower cross hinged shaft 16, and the upper hinged support assembly 2 consists of a bottom plate 12, the upper cross hinged shaft 13, an upper bearing seat 14 and an upper connecting piece 15. The lower hinged support assembly 4 consists of a lower hinged support base 6, a lower cross hinged shaft 16, a lower bearing seat 17 and a lower connecting piece 18 to form the lower hinged support assembly 4.
The lower hinged support base 6 is formed by welding a first steel plate 7, a first rib plate 8, a second rib plate 9, a third rib plate 10 and a second steel plate 11, and after welding forming, the first steel plate 7 and the second steel plate 11 form an included angle of 25 degrees.
Lower hinged-support base 6, go up cross hinge 13 and cross hinge 16 down are the embodiment of this utility model design theory, and through the angular transformation of cross, make this utility model nimble more freely in the motion process.
The electric cylinder assembly 3 is mainly composed of a piston rod 40, a cylinder 20, a synchronous transmission unit 21, a ball screw 41 and a servo motor 23. The working principle of the electric cylinder assembly 3 is that the servo motor 23 transmits motion to the ball screw 41 through the synchronous transmission unit 21, the ball screw 41 is fixedly connected with the piston rod 40 to realize the extension and contraction of the piston rod 40, and the cylinder barrel 20 is fixedly connected with the lower hinged support assembly 4.
The lower platform 5 connected with the foundation is a foundation of the whole platform, the structure of the lower platform is a regular triangle outline structure, and the lower platform 5 is formed by assembling a first perforated steel plate 24, a first positioning support 25, a second perforated steel plate 26, a first casting support pipe 27, a second casting support pipe 28, a second positioning support 29, a third casting support pipe 30, a fourth casting support pipe 31, a third perforated steel plate 32, a third positioning support 33, a fifth casting support pipe 34 and a sixth casting support pipe 35.
The upper platform 1 is a plate welding structure, is firm and reliable in welding and has no welding defects; the hole opening positions of the two-way pipe are processed by a precision machine tool so as to ensure the installation precision.
The upper hinged support component 2, the electric cylinder component 3 and the lower hinged support component 4 are assembly parts, and welding parts in each assembly part are firm and reliable after being welded without any welding defects. The connection position is processed by a precision machine tool to ensure the installation precision.
The utility model discloses the theory of operation:
this utility model's theory of operation is unanimous with six degree of freedom motion platform's in the past principle, and according to six electronic jar subassemblies 3 of instruction drive that the computer sent promptly, the different gestures of motion platform are realized to six electronic jar subassemblies 3's of control stroke to satisfy the index requirement.
Specifically, the main control computer sends a control command to the servo driver, and the servo driver drives the servo motor 23 to rotate, and the motion is transmitted to the piston rod 40 through the synchronous transmission unit. When the six electric cylinders move according to the mode set by the software, the six-freedom-degree movement of the platform can be realized. The control of the main control computer adopts the prior art.
The utility model discloses an all structures pass through theoretical analysis and calculation and in-service use, have proved this structure safe and reliable, and its performance has surpassed anticipated design.
As described above, although the embodiments of the present invention have been described in detail, it will be apparent to those skilled in the art that many modifications are possible without substantially departing from the invention and its effects. Therefore, all such modifications are included in the scope of the present invention.
Claims (10)
1. A large-inertia electromechanical six-degree-of-freedom motion platform is characterized in that an upper hinged support component is connected below an upper platform, the upper hinged support component is connected with one end of an electric cylinder component, the other end of the electric cylinder component is connected with a lower hinged support component, and the lower hinged support component is connected with a lower platform; the bottom plate of the upper hinged support assembly supports and is connected with an upper bearing seat, one structure of the upper hinged support assembly is that the upper bearing seat is connected with bearings at two side ends, the bearings at the two side ends are respectively connected with transverse shafts at two side ends of an upper cross hinged shaft, the bearings at the two side ends are respectively provided with a baffle plate which is connected onto the upper bearing seat through a bolt, the upper bearing seat is connected with a bearing at the upper end and a bearing at the lower end, the bearings at the upper end and the lower end are respectively connected with the upper end and the lower end of a vertical shaft of the upper cross hinged shaft, the upper end and the upper end are respectively provided with a baffle plate which is connected onto the upper bearing seat through a bolt, the top of the upper cross hinged shaft is; the lower hinged support component and the upper hinged support component have the same basic structure, and the bottom plate of the lower hinged support component is connected with a lower hinged support base; the lower hinged support base is formed by welding a first steel plate, a first rib plate, a second rib plate, a third rib plate and a second steel plate; the synchronous transmission unit of the electric cylinder assembly is connected with the servo motor, the cylinder barrel and the ball screw, the cylinder barrel and the piston rod form a linear motion pair, the piston rod and the ball screw form a rotating pair, and the cylinder barrel is fixedly connected with the lower hinged support assembly; one end of a first positioning support of the lower platform is connected with a first perforated steel plate, the other end of the first positioning support is connected with a second perforated steel plate, one end of a second positioning support is connected with a third perforated steel plate, the other end of the second positioning support is connected with a second perforated steel plate, one end of a third positioning support is connected with a first perforated steel plate, the other end of the third positioning support is connected with a third perforated steel plate, the first perforated steel plate is connected with a fifth pouring supporting tube and a sixth pouring supporting tube, the second perforated steel plate is connected with a first pouring supporting tube and a second pouring supporting tube, and the third perforated steel plate is connected with a third pouring supporting tube and a fourth pouring supporting tube.
2. The high inertia electro-mechanical six degree of freedom motion platform of claim 1, wherein two structures of the upper hinge support assembly are the same as one structure of the upper hinge support assembly.
3. The large-inertia electromechanical six-degree-of-freedom motion platform of claim 1, wherein the upper hinged support assembly and the electric cylinder assembly are respectively capable of connecting 2 electric cylinder assemblies, and the upper hinged support assembly and the electric cylinder assembly are respectively 3 electric cylinder assemblies and are respectively capable of connecting 6 electric cylinder assemblies.
4. The large-inertia electromechanical six-degree-of-freedom motion platform as claimed in claim 1, wherein the bottom of the lower connecting piece of the lower cross hinge shaft of the lower hinge support assembly is connected with the support plate of the lower cross hinge shaft.
5. The large-inertia electromechanical six-degree-of-freedom motion platform as claimed in claim 1, wherein the upper hinge support assembly and the lower hinge support assembly adopt a structural form of a cross hinge shaft; the cross hinge shaft comprises an upper cross hinge shaft and a lower cross hinge shaft.
6. The large-inertia electromechanical six-degree-of-freedom motion platform as claimed in claim 1, wherein the servo motor transmits motion to the ball screw through the synchronous transmission unit, and the linear motion of the piston rod is realized through a kinematic pair of the ball screw and the piston rod.
7. The high inertia electro-mechanical six degree of freedom motion platform of claim 1, wherein the lower platform is a regular triangle profile structure.
8. The large-inertia electromechanical six-degree-of-freedom motion platform as claimed in claim 1, wherein the first steel plate and the second steel plate form an included angle after being welded.
9. The high inertia electro-mechanical six degree of freedom motion platform of claim 1, wherein the upper platform is circular and is connected to a load.
10. The large-inertia electromechanical six-degree-of-freedom motion platform as claimed in claim 1, wherein the servo motor is connected to the transmission box, a main shaft of the servo motor is connected to the driving wheel, the driving wheel is connected to the transmission belt, the transmission belt is connected to the driven wheel, the driven wheel is connected to the output shaft, the output shaft and the ball screw are an integral rigid structure, the other end of the ball screw is connected to the screw guide sleeve and located inside the piston rod, one end of the cylinder is connected to the transmission box through a bearing seat, the other end of the cylinder is connected to the cylinder head guide, both ends of the inner cavity of the cylinder are provided with buffer rubbers, the buffer rubbers comprise an upper buffer rubber and a lower buffer rubber, the lower buffer rubber is provided at the lower stroke end, the lower buffer rubber is sleeved on the ball screw and connected to the bearing seat, the upper stroke end is provided with an upper buffer rubber, the upper buffer rubber is, the nut can be converted into linear motion along with the rotation angle lead of the ball screw, and the piston rod realizes the linear motion through the guide of the cylinder head guide piece and the guide ring; a first sensor and a second sensor are respectively installed at two ends of the cylinder barrel, and a first strong current protection device and a second strong current protection device are respectively arranged at two terminals of the effective stroke of the piston rod; the other end of the piston rod is connected with the connecting anti-rotation device; the first sensor and the second sensor are respectively arranged at two terminals of the effective stroke of the piston rod, and the box body of the transmission box is provided with a bearing which is respectively connected with and supports the output shaft and the main shaft; the main generation part of the ball screw is wrapped inside by the piston rod, a guide ring made of a nonmetal friction material is arranged on the periphery of the piston rod, the piston rod is isolated from the cylinder barrel, and grease is filled in a gap; the ball screw is a mute screw; the upper stroke end of the cylinder barrel is provided with upper buffer rubber, and the lower stroke end of the cylinder barrel is provided with lower buffer rubber; the cylinder barrel is provided with a front end lubricating device and a rear end lubricating device, one end of the piston rod is provided with a piston rod lubricating device, and the oil injection lubricating device is positioned between the cylinder barrel and the transmission case; the first dustproof ventilation device is connected to the top of the piston rod, and the second dustproof ventilation device is installed at one end of the cylinder barrel.
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| CN201921754756.XU CN210323892U (en) | 2019-10-18 | 2019-10-18 | Large-inertia electromechanical six-degree-of-freedom motion platform |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113031429A (en) * | 2021-02-26 | 2021-06-25 | 北京星光凯明智能科技有限公司 | Shipborne carrier stabilizing platform and control method |
| CN113359509A (en) * | 2021-06-03 | 2021-09-07 | 苏州苏穗绿梦生物技术有限公司 | Multi-degree-of-freedom simulated chewing robot and control method |
| CN114120748A (en) * | 2021-11-25 | 2022-03-01 | 中国人民解放军火箭军工程大学 | Six-degree-of-freedom motion platform system based on reverse gravity balance |
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2019
- 2019-10-18 CN CN201921754756.XU patent/CN210323892U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113031429A (en) * | 2021-02-26 | 2021-06-25 | 北京星光凯明智能科技有限公司 | Shipborne carrier stabilizing platform and control method |
| CN113359509A (en) * | 2021-06-03 | 2021-09-07 | 苏州苏穗绿梦生物技术有限公司 | Multi-degree-of-freedom simulated chewing robot and control method |
| CN114120748A (en) * | 2021-11-25 | 2022-03-01 | 中国人民解放军火箭军工程大学 | Six-degree-of-freedom motion platform system based on reverse gravity balance |
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