CN210624031U - Two-degree-of-freedom platform mechanism in sliding block form - Google Patents
Two-degree-of-freedom platform mechanism in sliding block form Download PDFInfo
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- CN210624031U CN210624031U CN201921512873.5U CN201921512873U CN210624031U CN 210624031 U CN210624031 U CN 210624031U CN 201921512873 U CN201921512873 U CN 201921512873U CN 210624031 U CN210624031 U CN 210624031U
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Abstract
The utility model relates to a two-degree-of-freedom platform mechanism in a slide block form, which comprises a movable platform and a static platform which are arranged up and down, wherein the static platform is fixedly provided with a stand column, and the end part of the stand column is articulated with the movable platform through a universal joint; the device also comprises two groups of motion mechanisms arranged side by side, wherein the two groups of motion mechanisms are respectively arranged on two sides of the upright post; the moving mechanism comprises a fixed part and a movable part, the fixed part of the moving mechanism is installed on the static platform, and the movable part of the moving mechanism is hinged with the movable platform. The moving mechanism is hinged with the moving platform, the stand column is hinged with the moving platform through the universal joint, under the cooperation of the universal joint, when the two moving mechanisms move in the same direction, the moving platform can be driven to perform pitching motion, and when the two moving mechanisms move in opposite directions, the moving platform can be driven to perform overturning motion. The utility model discloses can satisfy the needs that the movable platform carries out the motion of two degrees of freedom, and simple structure, small, it is with low costs.
Description
Technical Field
The utility model relates to a multi freedom platform field, concretely relates to two degree of freedom platform mechanisms of slider form.
Background
With the development of a six-degree-of-freedom Stewart platform, the application of the six-degree-of-freedom Stewart platform is more and more extensive. The method mainly comprises the industries of aerospace, seabed operation, manufacturing and assembling, entertainment and the like. Especially, 4D cinema that has been emerging in recent years adopts a similar structure. However, with some problems exposed during the use, such as space structure limitation, unnecessary excessive attitude of the platform, etc., a platform mechanism with less degrees of freedom is required to meet different requirements. The existing few-degree-of-freedom structure mainly comprises a Delta three-degree-of-freedom moving mechanism, a Tsai three-dimensional moving mechanism and the like, and relatively few two-degree-of-freedom platform mechanisms which are small in size, safe, reliable and low in cost are provided.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to the technical problem who exists among the prior art, provide a two degree of freedom platform mechanisms of slider form, it can provide the rotation of two degrees of freedom, and simple structure, small, with low costs.
The utility model provides an above-mentioned technical problem's technical scheme as follows: a two-degree-of-freedom platform mechanism in a sliding block form comprises a movable platform and a static platform which are arranged up and down, wherein an upright post is fixedly arranged on the static platform, and the end part of the upright post is hinged with the movable platform through a universal joint; the device also comprises two groups of motion mechanisms arranged side by side, wherein the two groups of motion mechanisms are respectively arranged on two sides of the upright post; the moving mechanism comprises a fixed part and a movable part, the fixed part of the moving mechanism is installed on the static platform, and the movable part of the moving mechanism is hinged with the movable platform.
The utility model has the advantages that: the moving mechanism is hinged with the moving platform, the stand column is hinged with the moving platform through the universal joint, under the cooperation of the universal joint, when the two moving mechanisms move in the same direction, the moving platform can be driven to perform pitching motion, and when the two moving mechanisms move in opposite directions, the moving platform can be driven to perform overturning motion. The utility model discloses can satisfy the needs that the movable platform carries out the motion of two degrees of freedom, and simple structure, small, it is with low costs.
On the basis of the technical scheme, the utility model discloses can also do following improvement.
Further, the fixed part of the movement mechanism comprises a driving motor and a lead screw, a shell of the driving motor is fixedly installed on the static platform, and an output shaft of the driving motor is coaxially arranged with the lead screw and fixedly connected with the lead screw through a coupler; the movable part of the movement mechanism comprises a sliding block, a through hole is formed in the sliding block, an internal thread is arranged in the through hole, and the through hole is in threaded fit with the screw rod; the sliding block is provided with a pull rod, one end of the pull rod is hinged to the sliding block, and the other end of the pull rod is hinged to the movable platform. The driving motor drives the screw rod to rotate, so that the sliding block slides along the axial direction of the screw rod, the sliding block further drives the pull rod to slide, push-pull force to the movable platform is generated, and the two movement mechanisms are matched with each other, so that the purpose that the movement mechanism drives the movable platform to move is achieved.
Furthermore, both ends of the pull rod are set to be arc-shaped, the bottom surface of the movable platform and the top surface of the sliding block are respectively provided with a hinge seat, one end of the pull rod is hinged to the hinge seat on the movable platform, and the other end of the pull rod is hinged to the hinge seat on the sliding block. The tip of pull rod sets up to the arc, and its cambered surface cooperatees with the hinge seat, prevents the railing when rotating and the interference between the hinge seat, increases the rotation angle scope of pull rod.
Further, on the movable platform, the distances from the mounting points of the universal joint to the mounting points of the two hinge seats are equal. The mounting points of the universal joints and the mounting points of the two hinge seats form an equilateral triangle, so that the stress of the movable platform is balanced, and when the movable platform needs to be overturned, the maximum overturning angles on the two sides are the same.
Further, still be equipped with the slide rail on the quiet platform, the slide rail with the lead screw syntropy sets up, the slider with slide rail joint, and sliding fit. The slider and slide rail joint, the slide rail restricts the motion route of slider, reduces frictional force at the slider slip in-process simultaneously.
Furthermore, a positioning block is arranged at one end, far away from the driving motor, of the sliding rail, and the positioning block is perpendicular to the static platform. The tail end of the sliding rail is provided with the positioning block, so that the sliding range of the sliding block can be limited, and the sliding block is prevented from sliding too far and falling off from the screw rod.
Furthermore, a rolling bearing is arranged on the positioning block, an outer ring of the rolling bearing is fixedly connected with the positioning block, and an inner ring of the rolling bearing is matched with the lead screw. The rolling bearing supports the lead screw, and reduces equipment abrasion and energy loss caused by friction in the rotation process of the lead screw.
Further, the universal joint is a hook joint. The Hooke's hinge has simple structure and low cost, and can support the movable platform to operate flexibly.
Furthermore, the universal joint comprises a cross hinge shaft and a pair of U-shaped hinge seats, the fork openings of the pair of U-shaped hinge seats are arranged in a crossed mode and are connected through the cross hinge shaft, one of the U-shaped hinge seats is fixedly installed on the bottom face of the movable platform, and the other U-shaped hinge seat is fixedly installed at the top end of the upright post.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a top view of the present invention;
fig. 3 is a schematic view of the universal joint structure of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the device comprises a movable platform, a static platform, a column, a universal joint, a cross hinge shaft, a universal joint 3011, a U-shaped hinge base 3012, a moving mechanism 4, a driving motor 401, a driving motor 4011, a coupler 402, a lead screw 403, a sliding block 404, a pull rod 405, a hinge base 406, a sliding rail 407, a positioning block 408 and a rolling bearing.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1, a two-degree-of-freedom platform mechanism in the form of a slider comprises a movable platform 1 and a static platform 2 which are arranged up and down, wherein an upright post 3 is fixedly installed on the static platform 2, and the end part of the upright post 3 is hinged with the movable platform 1 through a universal joint 301; the device also comprises two groups of motion mechanisms 4 arranged side by side, wherein the two groups of motion mechanisms 4 are respectively arranged at two sides of the upright post 3; the moving mechanism 4 comprises a fixed part and a movable part, the fixed part of the moving mechanism 4 is arranged on the static platform 2, and the movable part of the moving mechanism 4 is hinged with the movable platform 1.
The utility model has the advantages that: the moving mechanism 4 is hinged with the moving platform 1, the upright post 3 is hinged with the moving platform 1 through the universal joint 301, under the cooperation of the universal joint 301, when the two moving mechanisms 4 move in the same direction, the moving platform 1 can be driven to perform pitching motion, and when the two moving mechanisms 4 move in opposite directions, the moving platform 1 can be driven to perform overturning motion. The utility model discloses can satisfy and move platform 1 and carry out the needs of two degree of freedom motions, and simple structure, small, it is with low costs.
On the basis of the technical scheme, the utility model discloses can also do following improvement.
In this embodiment, the fixing portion of the moving mechanism 4 includes a driving motor 401 and a lead screw 402, and in this embodiment, a servo motor is used. The shell of the driving motor 401 is fixedly installed on the static platform 2, and the output shaft of the driving motor 401 is coaxially arranged with the lead screw 402 and fixedly connected with the lead screw through a coupler 4011; the movable part of the motion mechanism 4 comprises a slide block 403, a through hole is arranged on the slide block 403, an internal thread is arranged in the through hole, and the through hole is in threaded fit with the screw rod; a pull rod 404 is arranged on the sliding block 403, one end of the pull rod 404 is hinged to the sliding block 403, and the other end of the pull rod 404 is hinged to the movable platform 1. The driving motor 401 drives the screw rod to rotate, so that the sliding block 403 slides along the axial direction of the screw rod, the sliding block 403 further drives the pull rod 404 to slide, a push-pull force for the movable platform 1 is generated, and the two moving mechanisms 4 are matched with each other, so that the purpose that the moving mechanism 4 drives the movable platform 1 to move is achieved.
In this embodiment, both ends of the pull rod 404 are arc-shaped, the bottom surface of the movable platform 1 and the top surface of the slide block 403 are both provided with hinge seats 405, one end of the pull rod 404 is hinged to the hinge seat 405 on the movable platform 1 through a pin, and the other end of the pull rod 404 is hinged to the hinge seat 405 on the slide block 403 through a pin. The end of the pull rod 404 is arc-shaped, and the arc surface of the pull rod is matched with the hinge seat 405, so that the interference between the handrail and the hinge seat 405 during rotation is prevented, and the rotation angle range of the pull rod 404 is enlarged.
As shown in fig. 2, on the movable platform 1, the mounting points of the universal joint 301 are respectively equidistant from the mounting points of the two hinge bases 405. The mounting points of the universal joint 301 and the two hinge seats 405 are connected to form an equilateral triangle, so that the stress of the movable platform 1 is more balanced, and the maximum turning angles at the two sides are the same when turning motion is needed.
In this embodiment, the stationary platform 2 is further provided with a slide rail 406, the slide rail 406 and the lead screw 402 are arranged in the same direction, and the slide block 403 is clamped with the slide rail 406 and is in sliding fit with the slide rail 406. The sliding block 403 is engaged with the sliding rail 406, and the sliding rail 406 limits the moving path of the sliding block 403 and reduces the friction force during the sliding process of the sliding block 403.
In this embodiment, a positioning block 407 is disposed at an end of the slide rail 406 away from the driving motor 401, and the positioning block 407 is perpendicular to the stationary platform 2. The positioning block 407 is disposed at the end of the slide rail 406 to limit the sliding range of the slider 403 and prevent the slider 403 from sliding too far and falling off the lead screw 402.
In this embodiment, the positioning block 407 is provided with a rolling bearing 408, an outer ring of the rolling bearing 408 is fixedly connected to the positioning block 407, and an inner ring of the rolling bearing 408 is engaged with the lead screw 402. The rolling bearing 408 preferably uses a ball bearing. The rolling bearing 408 provides support for the lead screw 402 while reducing equipment wear and energy loss due to friction during rotation of the lead screw 402.
In this embodiment, the universal joint 301 may be a hooke joint. The Hooke's hinge has simple structure and low cost, and can support the movable platform 1 to operate flexibly.
In this embodiment, the universal joint 301 may further adopt the following structure: the movable platform comprises a cross hinge shaft 3011 and a pair of U-shaped hinge seats 3012, the fork openings of the pair of U-shaped hinge seats 3012 are arranged in a cross mode and are connected through the cross hinge shaft 3011, one of the U-shaped hinge seats 3012 is fixedly installed on the bottom surface of the movable platform 1, and the other U-shaped hinge seat 3012 is fixedly installed at the top end of the upright post 3.
The working principle is as follows:
under the drive of the driving motor 401, the pull rod 404 connected with the lead screw 402 and the slide block 403 is driven by the lead screw. The pull rod 404 is connected with the slide block 403 and the movable platform 1 through a hinge seat 405 and a pin shaft. Meanwhile, the movable platform 1 and the static platform 2 are fixedly arranged on the upright post 3 through two U-shaped hinged supports 3012 and a cross-shaped hinged shaft 3011 in the middle. In the moving process, if the two driving motors 401 move synchronously, the pull rod 404 is driven to move in the same direction, and the pull rod 404 drives the movable platform 1 to rotate by taking the cross shaft as the center, so that the pitching motion is realized. If the two driving motors 401 move in opposite directions (for example, one moves forward and the other moves backward), because the movable platform 1 is fixed on the upright post 3 through the universal joint 301, the end of the pull rod 404 moving forward drives one side of the movable platform 1 to move upward, the end of the pull rod 404 moving backward drives the other side of the movable platform 1 to move downward, and the movable platform 1 rotates around the cross-shaped hinge shaft 3011 to realize a swinging motion.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (9)
1. A two-degree-of-freedom platform mechanism in a sliding block form is characterized by comprising a movable platform (1) and a static platform (2) which are arranged up and down, wherein an upright post (3) is fixedly arranged on the static platform (2), and the end part of the upright post (3) is hinged with the movable platform (1) through a universal joint (301); the device is characterized by also comprising two groups of motion mechanisms (4) arranged side by side, wherein the two groups of motion mechanisms (4) are respectively arranged on two sides of the upright post (3); the moving mechanism (4) comprises a fixed part and a movable part, the fixed part of the moving mechanism (4) is installed on the static platform (2), and the movable part of the moving mechanism (4) is hinged to the movable platform (1).
2. The two-degree-of-freedom platform mechanism in the form of a sliding block according to claim 1, characterized in that the fixed part of the kinematic mechanism (4) comprises a driving motor (401) and a lead screw (402), the housing of the driving motor (401) is fixedly mounted on the stationary platform (2), and the output shaft of the driving motor (401) and the lead screw (402) are coaxially arranged and fixedly connected; the movable part of the movement mechanism (4) comprises a sliding block (403), a through hole is formed in the sliding block (403), an internal thread is arranged in the through hole, and the through hole is in threaded fit with the lead screw; a pull rod (404) is arranged on the sliding block (403), one end of the pull rod (404) is hinged to the sliding block (403), and the other end of the pull rod (404) is hinged to the movable platform (1).
3. The two-degree-of-freedom platform mechanism in the form of a sliding block according to claim 2, wherein both ends of the pull rod (404) are arranged in an arc shape, the bottom surface of the movable platform (1) and the top surface of the sliding block (403) are provided with hinge seats (405), one end of the pull rod (404) is hinged with the hinge seat (405) on the movable platform (1), and the other end of the pull rod (404) is hinged with the hinge seat (405) on the sliding block (403).
4. A two degree of freedom platform mechanism in the form of a slider according to claim 3 characterised in that on the moving platform (1) the mounting points of the universal joint (301) are equidistant from the mounting points of the two hinge mounts (405), respectively.
5. The two-degree-of-freedom platform mechanism in the form of a sliding block according to claim 2, characterized in that the stationary platform (2) is further provided with a sliding rail (406), the sliding rail (406) is arranged in the same direction as the lead screw (402), and the sliding block (403) is clamped and slidably fitted with the sliding rail (406).
6. The two-degree-of-freedom platform mechanism in the form of a slider according to claim 5, characterized in that a positioning block (407) is arranged at the end of the slide rail (406) remote from the drive motor (401), said positioning block (407) being arranged perpendicular to the stationary platform (2).
7. The two-degree-of-freedom platform mechanism in the form of a sliding block according to claim 6, characterized in that a rolling bearing (408) is arranged on the positioning block (407), the outer ring of the rolling bearing (408) is fixedly connected with the positioning block (407), and the inner ring of the rolling bearing (408) is fitted with the screw (402).
8. A two degree of freedom platform mechanism in the form of a slider according to claim 1 characterised in that the gimbal (301) is a hooke joint.
9. The two-degree-of-freedom platform mechanism in the form of a sliding block according to claim 1, wherein the universal joint (301) comprises a cross hinge shaft (3011) and a pair of U-shaped hinge bases (3012), the fork openings of the pair of U-shaped hinge bases (3012) are arranged crosswise and connected through the cross hinge shaft (3011), one of the U-shaped hinge bases (3012) is fixedly installed on the bottom surface of the movable platform (1), and the other U-shaped hinge base (3012) is fixedly installed on the top end of the upright post (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921512873.5U CN210624031U (en) | 2019-09-11 | 2019-09-11 | Two-degree-of-freedom platform mechanism in sliding block form |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921512873.5U CN210624031U (en) | 2019-09-11 | 2019-09-11 | Two-degree-of-freedom platform mechanism in sliding block form |
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| CN210624031U true CN210624031U (en) | 2020-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921512873.5U Active CN210624031U (en) | 2019-09-11 | 2019-09-11 | Two-degree-of-freedom platform mechanism in sliding block form |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110486590A (en) * | 2019-09-11 | 2019-11-22 | 穆特科技（武汉）股份有限公司 | A kind of two degrees of freedom platform mechanism of sliding block form |
| CN112032498A (en) * | 2020-09-21 | 2020-12-04 | 廖从淑 | Mounting platform for mechanical installation capable of preventing clamping |
-
2019
- 2019-09-11 CN CN201921512873.5U patent/CN210624031U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110486590A (en) * | 2019-09-11 | 2019-11-22 | 穆特科技（武汉）股份有限公司 | A kind of two degrees of freedom platform mechanism of sliding block form |
| CN112032498A (en) * | 2020-09-21 | 2020-12-04 | 廖从淑 | Mounting platform for mechanical installation capable of preventing clamping |
| CN112032498B (en) * | 2020-09-21 | 2022-01-18 | 宝鸡隆达嘉业工贸有限公司 | Mounting platform for mechanical installation capable of preventing clamping |
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Denomination of utility model: A slider type two degree of freedom platform mechanism Effective date of registration: 20210621 Granted publication date: 20200526 Pledgee: Wuhan area branch of Hubei pilot free trade zone of Bank of China Ltd. Pledgor: MOTUS TECHNOLOGY (WUHAN) Co.,Ltd. Registration number: Y2021420000040 |