CN210605455U - Six-degree-of-freedom motion platform - Google Patents

Abstract

The utility model relates to a six-degree-of-freedom motion platform, which comprises a mobile platform and a lifting platform; the setting that lift platform can go up and down is on moving platform, its characterized in that: the lifting platform comprises a lifting mechanism assembly and a course frame, the course frame is movably arranged at a lifting end of the lifting mechanism assembly, a tooling platform capable of translating on the course frame is arranged on the course frame and comprises an upper platform and a lower platform, and the upper platform is of a structure capable of translating relative to the lower platform. The device is suitable for equipment installation with narrow operation space, complex environment, high safety level and high tool interface butt joint precision.

Description

Six-degree-of-freedom motion platform

Technical Field

The utility model belongs to the technical field of intelligent mobile robot, especially, relate to a six degree of freedom motion platforms.

Background

The existing six-degree-of-freedom motion platform is mostly connected with a motion platform through a connecting rod and consists of six actuating cylinders, six universal hinges, an upper platform and a lower platform, wherein the upper platform and the lower platform are fixed on a foundation, and the motion of the upper platform in six degrees of freedom (X, Y, Z, OX, OY and OZ) in space is completed by means of the telescopic motion of the six actuating cylinders, so that various spatial motion postures can be simulated. However, the operation end is a point, and if the point is fixedly connected with a movable platform, the attitude of the movable platform will change in the motion process, so that the existing six-degree-of-freedom motion platform cannot ensure that the operation end performs pure translational motion. And because it is made up of many connecting rods and joints, the rigidity of the connecting rod is poor, the whole structure is complicated, and the cost is high.

Under the condition that some operating space are narrow and small, the environment is complicated, the security level is high, and the frock interface butt joint precision is high, adopts manual operation during the installation more, and is very high to operator's technical ability requirement, especially in aircraft engine dismouting field, aircraft engine cabin inner structure is complicated, and the space is narrow and small, and the internals is with high costs, requires zero error to engine dismouting process.

Disclosure of Invention

The purpose of the invention is as follows:

the utility model provides a six-freedom motion platform, which can realize the motion of the platform in six degrees of freedom (X, Y, Z, OX, OY and OZ) in space and aims to solve the problems existing in the past.

The technical scheme is as follows:

as shown in fig. 1, a six-degree-of-freedom motion platform comprises a moving platform and a lifting platform; the lifting platform can be arranged on the mobile platform in a lifting mode, the mobile platform is of a structure capable of achieving omnidirectional walking of the six-degree-of-freedom motion platform, and the mobile platform is provided with a Mecanum wheel motion mechanism to achieve the high-speed omnidirectional walking function of the intelligent robot.

As shown in fig. 2, the lifting platform includes a lifting mechanism assembly and a heading frame, the heading frame is movably disposed at a lifting end of the lifting mechanism assembly, a tooling platform capable of translating on the heading frame is disposed on the heading frame, the tooling platform includes an upper platform and a lower platform, and the upper platform is a structure capable of translating relative to the lower platform.

The course frame is provided with a rack and a course guide rail (the course guide rails are parallel, and the rack is arranged between the two course guide rails); as shown in fig. 3-4, the tooling platform includes an upper platform and a lower platform, the upper platform is connected with the lower platform through a bracket assembly, the bracket assembly can also prevent the upper platform from turning on one side, the two sides of the lower platform are provided with course moving wheel sets, the course moving wheel sets are embedded in the course guide rails and can move in the course guide rails, the upper platform and the lower platform are transversely arranged in the direction) and symmetrically provided with two transverse mechanism assemblies, the transverse mechanism assemblies are structures capable of enabling the upper platform to move horizontally relative to the lower platform and do transverse movement or transverse swinging, a course mechanism assembly is arranged between the two transverse mechanism assemblies, and the course mechanism assembly is a structure capable of enabling the tooling platform to engage with a rack to complete course movement (movement along the course guide rails (24).

As shown in fig. 5, the lifting mechanism assembly includes a first servo motor, a spiral elevator and a ball head connector, the lower end of the spiral elevator is fixedly connected with the mobile platform, the ball head connector is arranged above the spiral elevator, the ball head connector is connected with the lifting platform (universal hinge), the spiral elevator (212) is also connected with the first servo motor (211), and the spiral elevator (the limmitek beijing transmission equipment ltd, SJA 50-R-L1-600-P4-LH) is a device capable of enabling the ball head connector to realize lifting movement under the driving of the first servo motor, i.e. the lifting platform can realize lifting, pitching and tilting movement. The lifting mechanism assembly is four and is symmetrically arranged on two sides of the lifting platform. The ball head connecting piece is movably connected with the lifting platform through a supporting seat, and the supporting seat is buckled with the ball head connecting piece.

As shown in fig. 6 and 7, the heading mechanism assembly includes a second servo motor, a worm gear reducer and a first gear, the second servo motor is connected to an input end of the worm gear reducer and provides power, as shown in fig. 7, an output end of the bottom of the worm gear reducer is connected to the first gear, and the first gear is meshed with the rack. The second servo motor can drive the tool platform to move along the heading of the rack. The worm gear speed reducer is used for increasing torque.

As shown in fig. 8 and 9, the transverse mechanism assembly includes a third servo motor, a second gear, a third gear and a trapezoidal screw rod assembly, the third servo motor is fixed on the upper platform, the third servo motor is connected with the second gear, the second gear is meshed with the third gear, the third gear is connected with the trapezoidal screw rod assembly, and the trapezoidal screw rod assembly is movably connected with the lower platform; the third servo motor drives the second gear to rotate, the second gear drives the third gear to rotate, and the third gear drives the trapezoidal lead screw assembly to move along the axial direction of the trapezoidal lead screw assembly, namely, the upper platform moves transversely relative to the lower platform.

As shown in fig. 9, the trapezoidal screw component includes a trapezoidal screw and a connecting piece, a front telescopic end of the trapezoidal screw is connected with the third gear, a rear fixed end is fixedly connected with one end of the connecting piece, and a hole is formed in the connecting piece and movably connected with the lower platform through the hole. To effect movement of the upper stage relative to the lower stage. And a limit switch is fixedly arranged on the lower platform and is a component capable of limiting the moving range of the connecting sheet. The limit switches are in the prior art, two limit switches are correspondingly arranged on each connecting sheet, the motion range and range of the upper platform can be accurately controlled, and the connecting sheets can move between the two limit switches.

The trapezoidal lead screw comprises a lead screw and a nut, and the external thread of the lead screw is matched with the internal thread of the nut. The nut is fixedly connected with the connecting sheet, so that the screw rod can drive the nut to move in the axial direction when rotating; or a limiting clamping pin is arranged at the axial position of the nut, so that the lead screw can move in the axial direction relative to the nut when rotating, namely the nut does not rotate.

As shown in fig. 10 and 11, the bracket assembly is a U-shaped structure, the upper end opening end of the bracket assembly is fixedly connected with the upper platform, the tooling platform further comprises a guiding assembly, the guiding assembly penetrates through the bracket assembly to be fixed on the lower platform, and a gap H is reserved between the guiding assembly and the bracket assembly, so that the bracket assembly can move relative to the guiding assembly (in a translation manner). That is to say, the bracket component is fixedly connected with the upper platform after the opening of the bracket component is upward and the bracket component bypasses the guide component from the bottom.

As shown in fig. 10-11, the guide assembly is provided with a hinge shaft and a eyeball bearing assembly, the hinge shaft passes through a hole formed in the connecting piece to be hinged with the connecting piece, and the trapezoidal lead screw assembly is movably connected with the lower platform (31) through a hole (375-1); so that the connecting piece can move by taking the hinge shaft as the axis. The eyeball bearing assemblies are arranged on two sides of the hinge shaft (as shown in fig. 10, the positions close to the two ends), and the eyeball bearing assemblies contact (support) the upper platform. The eyeball bearing assembly enables the upper-layer platform to flexibly move relative to the lower-layer platform, and friction generated by movement is reduced.

As shown in fig. 12, a sliding groove is formed in the upper platform at a position corresponding to one of the hinge shafts, and the hinge shaft is sleeved with a bearing extending into the sliding groove and can move in the sliding groove.

And a three-dimensional pressure sensor is also arranged between the upper-layer platform and the lower-layer platform. And four corners between the upper-layer platform and the lower-layer platform are respectively provided with a three-dimensional pressure sensor, and the three-dimensional pressure sensors can stop the motion of the six-freedom-degree motion platform at the moment of collision by analyzing four groups of pressure data.

The six-freedom-degree motion platform is also provided with a shock absorber.

And first shock absorbers are arranged at the front end and the rear end of the course frame along the moving direction of the rack. The rack is used for reducing the force generated when the tooling platform moves to the heading frame along the rack.

And a second shock absorber is arranged on the lifting mechanism assembly. For reducing the force generated when the lifting platform is lowered back to the initial state.

The advantages and effects are as follows:

the utility model discloses a six degree of freedom motion platform is satisfying under the condition of six degrees of freedom (X, Y, Z, OX, OY, OZ) motion (X axle, Y axle are the coordinate axis as shown in figure 2, the Z axle is the axle perpendicular to course frame, also can say that perpendicular to X axle, plane that Y axle is located; and OX, OY, OZ are exactly to regard OX, OY and OZ axle as the direction of axle rotation respectively, six directions are exactly X, Y, Z axle translation, and regard OX, OY and OZ axle as axle rotation or upset), the structure has been optimized, the utility model discloses a following structure realizes six degree of freedom motion, and this structure includes moving platform and lift platform; the lifting platform can be arranged on the mobile platform in a lifting way, so that the Z and OZ directions can be moved (namely, the lifting platform moves up and down).

The lifting platform comprises a lifting mechanism assembly and a course frame, the course frame is movably arranged at a lifting end of the lifting mechanism assembly, a tooling platform capable of translating on the course frame is arranged on the course frame, the tooling platform comprises an upper layer platform and a lower layer platform, and the upper layer platform is of a structure capable of translating relative to the lower layer platform;

the robot mainly realizes movement, up-and-down translation (such as up-and-down in fig. 1, namely the aforementioned Z axis), left-and-right translation (X direction in fig. 2), front-and-back translation (Y direction in fig. 2) and rotation or overturning in the OX, OY and OZ directions through a moving platform, a lifting platform, a tooling platform and the like;

the whole platform is simple in integral structure and easy to maintain, the structural strength and rigidity of the two-degree-of-freedom parallel differential motion platform are improved, and 1 ton of weight can be borne. The utility model discloses still increased six degree of freedom motion platform pressure protection designs, installed three-dimensional pressure sensor between the upper and lower floor of frock platform, three-dimensional pressure sensor, servo drive subassembly, motion control board form closed-loop control, and the pressure feedback of three-dimensional pressure sensor multiple direction can effectively realize collision protection and reduce the damage that the collision caused to equipment in six degree of freedom motion platform motion process, is an innovation to traditional six degree of freedom motion platform dynamic protection.

The utility model relates to an intelligent movement robot moves and carries six degrees of freedom fortune merit platform butt joint frock interface safety protection techniques in-process top, and it is narrow and small to be particularly useful for operating space, and the environment is complicated, and the security level is high, on the high equipment fixing of frock interface butt joint precision.

Drawings

The present invention will be further explained with reference to the drawings and examples.

FIG. 1 is a schematic structural diagram of a six-DOF motion platform;

FIG. 2 is a schematic structural view of the elevating platform;

FIG. 3 is a schematic structural view of a tooling platform;

FIG. 4 is a side view of the tooling platform;

FIG. 5 is a schematic view of a lifting mechanism assembly;

FIG. 6 is a schematic sectional view of the tooling platform;

FIG. 7 is a schematic view of a heading mechanism assembly;

FIG. 8 is a top view of the tooling platform;

FIG. 9 is a schematic view of a transverse mechanism assembly;

FIG. 10 is a schematic view of a side bracket assembly and guide assembly;

FIG. 11 is a schematic view of the other side bracket assembly and guide assembly;

FIG. 12 is a schematic view of the chute structure;

FIG. 13 is a schematic view of the upper stage at rest;

FIG. 14 is a schematic view of the upper stage moving laterally relative to the lower stage;

FIG. 15 is a schematic view of the upper stage moving in a fan-like motion relative to the lower stage;

FIG. 16 is a schematic view of the upper stage moving about any point relative to the lower stage;

FIG. 17 is an electrical system architecture diagram;

FIG. 18 is an electrical schematic;

1. a moving platform, 2, a lifting platform, 3, a tooling platform, 21, a lifting mechanism assembly, 22, a heading frame, 23, a rack, 24, a heading guide rail, 25, a first shock absorber, 26, a support base, 211, a first servo motor, 212, a spiral elevator, 213, a shock absorber, 214, a ball head connecting piece, 31, a lower platform, 32, an upper platform, 33, a three-dimensional pressure sensor, 34, a guide component, 35, a bovine eyeball bearing assembly, 36, a heading mechanism assembly, 37, a transverse mechanism assembly, 38, a heading moving wheel set, 39, a bracket component, 341, a hinge shaft, 342, a chute, 361, a second servo motor, 362, a worm gear reducer, 363, a first gear, 371, a third servo motor, 372, a second gear, 373, a third gear, 374, a trapezoidal screw, 374-1, a screw, a 374-2, a nut, 375 and a connecting piece, 375-1, a hole, 376 and a limit switch.

Detailed Description

The invention of the utility model is described in detail with the accompanying drawings.

As shown in fig. 1, a six-degree-of-freedom motion platform comprises a moving platform 1 and a lifting platform 2; the lifting platform 2 can be arranged on the mobile platform 1 in a lifting mode, the mobile platform 1 is of a structure capable of achieving omnidirectional walking of a six-degree-of-freedom motion platform, and the mobile platform 1 is provided with a Mecanum wheel motion mechanism to achieve the high-speed omnidirectional walking function of the intelligent robot. As shown in fig. 2, the lifting platform 2 includes a lifting mechanism assembly 21 and a heading frame 22, and the heading frame 22 is movably disposed at a lifting end, such as an upper end shown in fig. 2, of the lifting mechanism assembly 21.

The heading frame 22 is provided with a tooling platform 3 capable of translating on the heading frame 22, the tooling platform 3 comprises an upper platform 32 and a lower platform 31, and the upper platform 32 is a structure capable of translating relative to the lower platform 31.

A rack 23 and a heading guide rail 24 are arranged on the heading frame 22 (the two heading guide rails 24 are parallel, and the rack 23 is arranged between the two heading guide rails 24); as shown in fig. 3-4, the tooling platform 3 includes an upper platform 32 and a lower platform 31, the upper platform 32 is connected to the lower platform 31 through a bracket assembly 39, the bracket assembly 39 can also prevent the upper platform 32 from turning over, the left and right sides of the lower platform 31 as shown in fig. 4 are provided with course moving wheel sets 38, the course moving wheel sets 38 are embedded in the course guide rail 24 and can move in the course guide rail 24, two transverse mechanism assemblies 37 are symmetrically arranged between the upper platform 32 and the lower platform 31 in the transverse direction, i.e. the direction perpendicular to the rack 23, the transverse mechanism assemblies 37 are structures capable of enabling the upper platform 32 to translate relative to the lower platform 31, the transverse mechanism assemblies 37 enable the upper platform 32 to do transverse movement (X) or swing movement (OZ) relative to the lower platform 31, a course mechanism assembly 36 is arranged between the two transverse mechanism assemblies 37, and the course mechanism assembly 36 is a structure capable of enabling the tooling platform 3 to engage with the rack 23 to complete course ( . (moving along the headrail 24).

As shown in fig. 5, the lifting mechanism assembly 21 includes a first servo motor 211, a spiral elevator 212 and a ball joint connector 214, the lower end of the spiral elevator 212 is fixedly connected to the moving platform 1, the ball joint connector 214 is disposed above the spiral elevator 212, the ball joint connector 214 is connected to the lifting platform 2 (universal hinge), the spiral elevator 212 is a commercially available existing product, for example: the product manufactured by the company Limited, Liemtek Beijing Transmission Equipment is SJA50-R-L1-600-P4-LH, and other existing products can be selected; the screw elevator 212 is connected to the first servo motor 211, and the screw elevator 212 is a device capable of driving the ball joint 214 to perform a lifting motion under the driving of the first servo motor 211, i.e., the lifting platform 2 can perform a lifting (Z-direction), a pitching (OX) and a rolling (OY) motion. The number of the lifting mechanism assemblies 21 is four, and the four lifting mechanism assemblies are symmetrically arranged on two sides of the lifting platform.

The ball head connecting piece 214 is movably connected with the lifting platform 2 through the supporting seat 26, and the supporting seat 26 is buckled with the ball head connecting piece 214. That is, a ball seat is disposed at the position of the supporting seat 26, so that a universal hinge structure is formed between the lifting platform 2 and the ball joint connector 214, as in the prior art.

As shown in fig. 6-7, the heading mechanism assembly 36 includes a second servo motor 361, a worm gear reducer 362 and a first gear 363, the second servo motor 361 is connected to an input end of the worm gear reducer 362 and provides power, as shown in fig. 7, a bottom output end of the worm gear reducer 362 is connected to the first gear 363, and the first gear 363 is engaged with the rack 23. The second servo motor 361 can drive the tooling platform 3 to move along the heading Y of the rack 23. The worm gear reducer 362 is used to increase torque.

As shown in fig. 8 and 9, the traverse mechanism assembly 37 includes a third servo motor 371, a second gear 372, a third gear 373, and a trapezoidal screw component, the third servo motor 371 is fixed on the upper platform 32, the third servo motor 371 is connected with the second gear 372, the second gear 372 is meshed with the third gear 373, the third gear 373 is connected with the trapezoidal screw component, and the trapezoidal screw component is movably connected with the lower platform 31; the third servo motor 371 drives the second gear 372 to rotate, the second gear 372 drives the third gear 373 to rotate, and the third gear 373 drives the trapezoidal screw component to move along the axial direction of the trapezoidal screw component, that is, the upper platform 32 makes a transverse X motion or an OZ motion relative to the lower platform 31.

As shown in fig. 9, the trapezoidal screw assembly includes a trapezoidal screw 374 and a connecting plate 375, a front telescopic end of the trapezoidal screw 374 is connected to the third gear 373, a rear fixed end is fixedly connected to one end of the connecting plate 375, and the connecting plate 375 is provided with a hole 375-1, which is movably connected to the lower platform 31 through the hole 375-1. To effect movement of the upper stage 32 relative to the lower stage 31. That is, the trapezoidal screw 374 includes a screw 374-1 and a nut 374-2, and the external threads of the screw 374-1 match the internal threads of the nut 374-2. The nut 374-2 is fixedly connected with the connecting piece 375, so that the screw 374-1 can move along the axial direction of the nut relative to the nut 374-2 when rotating; the nut 374-2 does not rotate when the screw 374-1 rotates because the nut 374-2 is connected to the connecting piece 375, the hole 375-1 of the connecting piece 375 is also sleeved on the hinge shaft 341, or a limit key is arranged at the axial position of the nut 374-2 to limit the rotation, so that the screw 374-1 can move in the axial direction relative to the nut 374-2 when rotating, namely, the nut 374-2 does not rotate.

The third servomotor 371 is fixed on the upper platform 32, and the telescopic end of the screw rod 374-1, i.e. the end connected with the third gear 373, is connected with the upper platform 32, so as to realize the action of pushing the upper platform 32 to translate relative to the lower platform 31. The concrete connection method belongs to the prior art, for example, a connecting piece can be arranged, a bearing is arranged in the connecting piece, the telescopic end of the screw rod 374-1 is connected with the third gear 373 and then continuously extends forwards for a section, and then extends into the bearing, so that the telescopic end of the screw rod 374-1 can rotate and can not fall off from the bearing, and then the connecting piece is connected with the upper platform 32; of course, any other existing connection method may be adopted, which is not described herein.

A limit switch 376 is fixedly provided on the lower deck 31, and the limit switch 376 is a member capable of limiting the moving range of the connecting piece 375. Limit switch 376 is prior art, and every connection piece 375 corresponds and is provided with two limit switch 376, can accurate control upper platform 32 range of motion and scope, and connection piece 375 can remove between two limit switch 376. The activation and deactivation signals are implemented by corresponding and leaving limit switch 376 to achieve limit.

As shown in fig. 10-11, the bracket assembly 39 is U-shaped, the upper end opening end of the bracket assembly 39 is fixedly connected to the upper platform 32, the guide assembly 34 passes through the bracket assembly 39 and is fixed on the lower platform 31, and a gap H is reserved between the guide assembly 34 and the bracket assembly 39, so that the bracket assembly 39 can translate relative to the guide assembly 34. That is, the bracket assembly 39 opens upwardly and is secured to the upper deck 32 by passing or catching the guide assembly 34 from the bottom. And the gap between the bottom of the bracket assembly 39 and the bottom of the guide assembly 34 is just sufficient to allow relative movement.

As shown in fig. 10-11, the guide assembly 34 is provided with a hinge shaft 341 and a bull-eye bearing assembly 35, the bull-eye bearing assembly 35 belongs to the prior art, the hinge shaft 341 is hinged with the connecting piece 375 through a hole 375-1, so that the connecting piece 375 can move around the hinge shaft 341 as an axis. The eyeball bearing assemblies 35 are arranged on two sides (a plurality of) of the hinge shaft 341, and the eyeball bearing assemblies 35 contact the upper platform 32 to play a role in supporting and assisting in moving. The eyeball bearing assembly 35 enables the upper platform 32 to make flexible translational motion relative to the lower platform 31, and reduces friction generated by the motion.

As shown in fig. 12, a sliding groove 342 is formed in the upper deck 32 at a position corresponding to one of the hinge shafts 341, a bearing is sleeved on the hinge shaft 341, the hinge shaft 341 extends into the sliding groove 342 through the bearing, and the hinge shaft 341 can move in the sliding groove 342. The other end of the upper platform 32 may not be provided with the sliding groove 342, as shown in fig. 12, the upper platform has a structure with a certain thickness, wherein the bottom of the sliding groove 342 is provided with a lining plate, the sliding groove 342 is directly arranged on the lining plate, and the bottom of the other end is not provided with the lining plate and is directly an open structure, so that the structure that one section of the upper platform has the sliding groove 342 and the other end has no sliding groove is realized, and the sliding groove has the function of limiting. A three-dimensional pressure sensor 33 is also arranged between the upper platform 32 and the lower platform 31. Three-dimensional pressure sensors 33 are arranged at four corners between the upper-layer platform 32 and the lower-layer platform 31, and the three-dimensional pressure sensors 33 can stop the motion of the six-degree-of-freedom motion platform at the moment of collision by analyzing four groups of pressure data.

The six-freedom-degree motion platform is also provided with a shock absorber.

The heading frame 22 is provided with first shock absorbers 25 at the front and rear ends, i.e. the two ends of the tooling platform 3 along the moving direction of the rack 23 (the Y direction shown in fig. 2). For reducing the force generated when the tooling platform 2 moves along the rack 23 to the heading frame 22.

The lifting mechanism assembly 21 is provided with a second damper 213. For reducing the force generated when the lifting platform is lowered back to the initial state. As shown in fig. 5, the elevating platform falls on the second damper 213 when falling.

In conclusion, the moving platform adopts a Mecanum wheel motion mechanism to realize the high-speed omnidirectional walking function of the intelligent robot, the lifting platform adopts 4 lifting mechanism assemblies connected in parallel to realize three-degree-of-freedom (Z), pitching (OX) and tilting (OY) adjustment of the moving platform, the tooling platform realizes one degree-of-freedom (Y) course movement and one degree-of-freedom (Y) of the moving platform through one course mechanism assembly, the two degrees-of-freedom (X) and transverse swinging (OZ) of the moving platform are realized through two transverse mechanism assemblies, and the lifting platform and the tooling platform form the moving platform with six degrees of freedom.

The six degrees of freedom are described separately below with reference to the accompanying drawings:

lifting (Z) motion of a six-degree-of-freedom motion platform:

when four servo motors of four lifting mechanism assemblies of the lifting platform are driven synchronously in the same direction, the first servo motor can drive the ball head connecting piece to do lifting (Z) motion (vertical to the motion of fig. 13, namely, the vertical motion shown in fig. 1), and further drive the tool platform connected with the lifting platform to do lifting (Z) motion;

six-degree-of-freedom motion platform pitch (OX) motion:

as shown in fig. 2, when the first servo motors of the two lifting mechanism assemblies on the a side (i.e. the front-back direction, one end is the a side, and one end is the B side) of the lifting platform are synchronously driven in different directions or asynchronously driven (e.g. after lifting to a designated position, the a side is upward, the B side is downward, or the B side is upward, the a side is downward, or after lifting to a certain position, one side continues to be upward, and the other side is stopped), the servo motors can drive the lifting platform to perform an elevation (OX) motion, that is, the tool platform can perform an elevation (i.e. turn over with OX as an axis);

the six-freedom-degree motion platform is in heeling (OY) motion:

as shown in fig. 2, when the first servo motors of the two lifting mechanism assemblies on the C side (i.e. two lateral ends, one end being the C side and the other end being the D side) of the lifting platform are synchronously driven in different directions or asynchronously driven (e.g. after lifting to a designated position, the C side is upward, the D side is downward, or the D side is upward, the C side is downward, or after lifting to a certain position, one side continues upward, and the other side is stopped), the servo motors can drive the lifting platform to perform a side-tipping (OY is an axis-tipping) motion, that is, the tooling platform can perform a side-tipping (OY) motion;

when the OX and OY movements are performed, the heading moving wheel set is clamped in the heading guide rail 24, so that the tooling platform 3 cannot fall off, and in order to further prevent the fall off, some limiting members may be provided, such as two lower clamping members below the reference numeral 31 in fig. 3, or any other existing fall-off prevention measures may also be adopted.

Course moving (Y) motion of the six-degree-of-freedom motion platform:

a second servo motor of the heading mechanism assembly drives a first gear to move along a rack on the lifting platform, namely, the heading movement (Y) of the tool platform is realized;

the six-freedom motion platform moves transversely (X) and swings (OZ):

the six-degree-of-freedom motion platform transverse movement (X) and swing (OZ) motions are realized through the transverse movement of the tooling platform, and the specific motion modes are divided into three types: the tool platform performs translational motion, the tool platform performs fan-shaped swinging motion and the tool platform performs swinging motion around any point.

As shown in fig. 13, the upper stage of the tooling stage is stationary relative to the lower stage, i.e., in the original state.

In the transverse mechanism assembly, because the nut is not rotated and the connecting piece is hinged on the hinge shaft, and the third servo motor 371 and the telescopic end of the screw rod 374-1 in the transverse mechanism assembly are connected with the upper platform (as shown in fig. 9, one end of the screw rod 374-1 connected with the third gear 373 is a movable end, which is connected with the upper platform 32 through a connecting piece 377, that is, the screw rod 374-1 can move against the upper platform 32, as shown in fig. 9, the connecting piece 377 is connected with the upper platform 32, a bearing is arranged in the connecting piece 377, the bearing is connected with the movable end of the screw rod 374-1, the screw rod 374-1 is a structure which can not be separated from the connecting piece 377, and the third servo motor 371 is actually connected with the upper platform 32, therefore, the relative position between the second gear 372 and the third gear 373 is practically unchanged), therefore, the lead screw 374-1 can move together with the servo motor against the upper stage 32.

Tool platform translational motion (X):

as shown in fig. 14, when the third servo motors of the two transverse mechanism assemblies are synchronously driven in the same direction, the respective screw rods 374-1 are driven to rotate, so that the screw rods 374-1 extend relative to the nuts 374-2, that is, the two third driving mechanisms synchronously move in the same direction along the axial direction of the nuts, so as to drive the upper platform 32 of the tooling platform to perform translational motion relative to the lower platform 31.

Tool platform sector swing motion (OZ):

as shown in FIG. 15, when the third servomotor on one side of the chute is stationary and the third servomotor on the other side is driven, the working third servomotor drives the screw rod 374-1 to rotate, so that the screw rod 374-1 extends relative to the nut 374-2. In order to satisfy the action space of the extension or contraction of the screw rod, the upper platform swings as shown in fig. 15, and the gap H is set for the swing requirement, at this time, the connecting piece on one side provided with the chute rotates around the hinge shaft, but the hinge shaft does not move in the chute, and the connecting piece on the other side also rotates around the hinge shaft under the driving of the third servo motor. At this time, the upper stage performs a sector swing motion with respect to the lower stage.

The tool platform swings around any point (OZ):

as shown in FIG. 16, when the third servo motors of the two transverse mechanism assemblies are driven synchronously and non-simultaneously, one screw 374-1 makes an extending movement relative to the nut 374-2, and the other screw 374-1 makes a retracting movement relative to the nut 374-2. The two third driving mechanisms synchronously move along the axial direction of the nut in different directions, and then the tool platform is driven to move in a fan shape around any point on the plane where the tool platform is located. For example, one left side and one right side, then, both ends of the EF swing to form a whole clockwise or counterclockwise twisting, at this time, the connecting pieces of the driving mechanism all rotate by taking the hinge shafts as axes, the hinge shafts hinged with the connecting pieces on one side move in the sliding grooves, and the connecting pieces on the other side also rotate by taking the hinge shafts as axes. Thereby completing the sector motion of the upper platform relative to the lower platform around any point.

When the intelligent mobile robot load device is used, the intelligent mobile robot load device moves to the position below the docking device, the six-degree-of-freedom motion platform is connected with the docking device through posture adjustment, if the six-degree-of-freedom motion platform collides with the docking device in the posture adjustment process, pressure data of the three-dimensional pressure sensor can change rapidly, and the six-degree-of-freedom motion platform can be stopped at the moment of collision through analysis of four groups of pressure data.

A pressure protection design of a six-freedom-degree motion platform is applied to the six-freedom-degree motion platform of an intelligent mobile robot, a three-dimensional pressure sensor, a servo drive assembly and a motion control card form a closed-loop system, the three-dimensional pressure sensor is installed between an upper layer and a lower layer of a tooling platform through connecting bolts, when the six-freedom-degree motion platform acts, no matter the left and right directions of an X axis and the front and back directions of a Y axis, the up and down directions of the Z axis are collided to generate pressure sharp changes, the three-dimensional pressure sensor transmits signals to the motion control card through 4-20MA signals, the motion control card can send emergency stop signals to the servo drive assembly, and the effects of collision protection and reduction of. The three-dimensional pressure sensor can feed back pressure in multiple directions, thereby effectively realizing collision protection and reducing the damage of collision to equipment, and greatly improving the operation safety of the six-freedom-degree motion platform.

As shown in fig. 17, the electrical system is configured as an electrical system, a power supply system supplies power, the three-dimensional pressure sensor, the servo drive assembly and the motion control card form closed-loop control, the three-dimensional pressure sensor acquires pressure signals, the motion control card processes data, and the servo drive assembly controls six-degree-of-freedom motion. When the upper platform is subjected to three-dimensional acting forces in six directions (up and down on the Z axis, left and right on the X axis and front and back on the Y axis), the pressure value of the pressure sensor can be changed. The fluctuation coefficient of 12 groups of data of 4 pressure sensors in unit time is counted through a plurality of groups of data acquisition, the current pressure value in the left front Z axis direction is set to be Pz1, the data type is a real number, the 1S rear pressure value is Pz2, the data type is a real number, the fluctuation coefficient is B, the data type is a real number, and the formula is as follows by taking the Z axis direction of the left front pressure sensor as an example: when the Pz1 is larger than the Pz2, B = (Pz1-Pz2)/Pz1, when the Pz1 is smaller than the Pz2, B = (Pz2-Pz1)/Pz1 works normally under the actual working condition environment of a site, the B value is calculated for multiple times, the maximum value is taken, the coefficient is amplified by 1.5 times to be 1.5B, the real-time pressure coefficient of the system work is set to be Bm, when the Bm is larger than 1.5B, the motion control card gives an emergency stop command to the servo drive assembly, and when the Bm is smaller than or equal to 1.5B, the system is normal.

As shown in fig. 18, which is an electrical schematic diagram, a battery, a Fuse (FU), and a contactor (KM 1) form a power system to supply power to all devices, a driver and a servo motor form a servo drive assembly, the three-dimensional pressure sensor transmits an electrical signal to the motion control card through 4-20MA, the motion control card sends a command to the driver through a CAN bus after processing data, and the driver controls the servo motor to stop operating, thereby implementing a pressure protection design of a six-degree-of-freedom motion platform.

Claims (9)

1. A six-degree-of-freedom motion platform comprises a moving platform (1) and a lifting platform (2); the setting that lift platform (2) can go up and down is on moving platform (1), its characterized in that: lifting platform (2) include lifting mechanism assembly (21) and course frame (22), and course frame (22) activity sets up the end of lifting at lifting mechanism assembly (21), is provided with on heading frame (22) and can sails frock platform (3) of translation on heading frame (22), frock platform (3) include upper platform (32) and lower floor's platform (31), and upper platform (32) are for the structure of lower floor's platform (31) translation.

2. The six degree-of-freedom motion platform of claim 1, wherein: a rack (23) and a course guide rail (24) are arranged on the course frame (22); the upper-layer platform (32) and the lower-layer platform (31) of the tooling platform (3) are connected through a bracket assembly (39), course moving wheel sets (38) are arranged on two sides of the lower-layer platform (31), the course moving wheel sets (38) are embedded into course guide rails (24) and can move in the course guide rails (24), two transverse mechanism assemblies (37) are arranged between the upper-layer platform (32) and the lower-layer platform (31), the transverse mechanism assemblies (37) are structures capable of enabling the upper-layer platform (32) to translate relative to the lower-layer platform (31), a course mechanism assembly (36) is arranged between the two transverse mechanism assemblies (37), and the course mechanism assembly (36) is a structure capable of enabling the tooling platform (3) to engage with a rack (23) to complete course movement.

3. The six degree-of-freedom motion platform of claim 1, wherein: lifting mechanism assembly (21) includes first servo motor (211), spiral lift (212) and bulb connecting piece (214), spiral lift (212) lower extreme and moving platform (1) fixed connection, spiral lift (212) top is provided with bulb connecting piece (214), bulb connecting piece (214) are connected with lift platform (2), first servo motor (211) is still connected in spiral lift (212), spiral lift (212) are for enabling bulb connecting piece (214) to realize elevating movement's device under the drive of first servo motor (211).

4. The six degree-of-freedom motion platform of claim 2, wherein: the heading mechanism assembly (36) comprises a second servo motor (361), a worm and gear speed reducer (362) and a first gear (363), the second servo motor (361) is connected with the input end of the worm and gear speed reducer (362), the bottom output end of the worm and gear speed reducer (362) is connected with the first gear (363), and the first gear (363) is meshed with the rack (23).

5. The six degree-of-freedom motion platform of claim 2, wherein: the transverse mechanism assembly (37) comprises a third servo motor (371), a second gear (372), a third gear (373) and a trapezoidal screw rod assembly, the third servo motor (371) is fixed on the upper platform (32), the third servo motor (371) is connected with the second gear (372), the second gear (372) is meshed with the third gear (373), the third gear (373) is connected with the trapezoidal screw rod assembly, and the trapezoidal screw rod assembly is movably connected with the lower platform (31).

6. The six degree-of-freedom motion platform of claim 5, wherein: the trapezoidal lead screw assembly comprises a trapezoidal lead screw (374) and a connecting piece (375), wherein the front telescopic end of the trapezoidal lead screw (374) is connected with a third gear (373), and the rear fixed end of the trapezoidal lead screw is fixedly connected with one end of the connecting piece (375).

7. The six degree-of-freedom motion platform of claim 6, wherein: bracket assembly (39) are U font structure, the upper end open end and upper platform (32) fixed connection of bracket assembly (39), and frock platform (3) still include guide assembly (34), and guide assembly (34) pass bracket assembly (39) and fix on lower floor's platform (31), and guide assembly (34) and bracket assembly (39) have a space H, and bracket assembly (39) are for the structure that can move for guide assembly (34).

8. The six degree-of-freedom motion platform of claim 7, wherein: the guide assembly (34) is provided with a hinge shaft (341) and a bull eye bearing assembly (35);

the hinge shaft (341) passes through a hole (375-1) formed in the connecting piece (375) to be hinged with the connecting piece (375), and the trapezoidal screw rod assembly is movably connected with the lower platform (31) through the hole (375-1);

the eyeball bearing assemblies (35) are arranged on two sides of the hinge shaft (341), and the eyeball bearing assemblies (35) support the upper platform (32).

9. The six degree-of-freedom motion platform of claim 8, wherein: a sliding groove (342) is formed in the upper layer platform (32) in a position corresponding to one hinged shaft (341), the hinged shaft (341) extends into the sliding groove (342), and the hinged shaft (341) can move in the sliding groove (342).

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