CN211278393U - Six-freedom-degree movement device based on Stewart parallel mechanism and telescopic mechanism thereof - Google Patents
Six-freedom-degree movement device based on Stewart parallel mechanism and telescopic mechanism thereof Download PDFInfo
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- CN211278393U CN211278393U CN201921797920.5U CN201921797920U CN211278393U CN 211278393 U CN211278393 U CN 211278393U CN 201921797920 U CN201921797920 U CN 201921797920U CN 211278393 U CN211278393 U CN 211278393U
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Abstract
The utility model relates to a telescopic machanism and six degree of freedom telecontrol equipment based on stewart parallel mechanism. The telescopic mechanism can comprise a voice coil motor, a motor mounting seat and a guiding device, wherein the voice coil motor is fixedly mounted in the motor mounting seat, the guiding device comprises a guide sleeve and a guide pillar, the guide pillar is connected in the guide sleeve in a vertically sliding mode, a rolling piece is arranged between the guide sleeve and the guide pillar, and the lower end of the guide sleeve and the lower end of the guide pillar are respectively and fixedly connected with the motor mounting seat and a rotor of the voice coil motor. The utility model discloses a telescopic machanism part is few, and the structure is simple relatively, adopts voice coil motor as power, and for piezoelectric motor, with low costs, control is simple to adopt guider can improve direction rigidity, guarantee the motion precision.
Description
Technical Field
The utility model relates to a multi freedom precision adjustment technical field specifically relates to a telescopic machanism and six degrees of freedom telecontrol equipment based on Stewart (Stewart) parallel mechanism.
Background
The multi-degree-of-freedom precision adjustment technology is widely applied to various fields. The adjusting mechanism is generally divided into a series adjusting mechanism and a parallel adjusting mechanism, the traditional adjusting mechanism is mainly the series adjusting mechanism, although the series adjusting mechanism has the advantages of large working space, flexible operation and the like, the technical defects of weak load bearing capacity, low positioning accuracy, easy accumulation of errors of various axes and the like exist, and when an adjusted element exceeds a certain weight in practical application, the traditional series adjusting mechanism cannot meet the requirements of load and adjusting accuracy.
The six-degree-of-freedom parallel mechanism based on Stewart is widely applied to various industries by virtue of the advantages of large rigidity, compact structure, strong bearing capacity, small accumulated error, high response speed, easiness in realizing multi-axis coupling motion and the like, for example: various training simulators, industrial six-axis linkage machine tools, industrial robots and the like.
However, the telescopic rod of the existing Stewart six-degree-of-freedom parallel mechanism mainly adopts a traditional linear driving mechanism to realize that the linear driving mechanism comprises a motor, a speed reducer, a coupler, a lead screw, a guide rail and other components, and has the defects of various transmission components, complex structure, large accumulated error and direct influence on the precision of a platform. For example, in chinese patent CN1730235A and US patent US6320372, a structure form of motor + screw transmission is proposed, in which a screw is driven to rotate by the rotation of a motor to drive a nut to make a linear motion, so that a telescopic rod makes a telescopic motion. The utility model discloses a though simple structure is reliable, nevertheless compare and directly drive the mode and compare, transmission efficiency and response speed etc. all remain to improve.
In order to solve the problems of more transmission links, poor transmission precision and poor structural rigidity in the prior art, chinese patent CN106891322 proposes a structural form of piezoelectric motor + ball spline transmission, and the piezoelectric motor directly drives the wire ball spline shaft, thereby realizing the telescopic motion of the telescopic rod. The utility model discloses a although it is many to have solved the transmission link among the prior art, the poor scheduling problem of rigidity, but the stroke of whole six parallel structure's moving part is on the small side, and piezoelectric motor's control is comparatively complicated, and the cost is higher.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a novel six degrees of freedom motion based on Stewart parallel mechanism, it is many to solve traditional Stewart six degrees of freedom parallel mechanism transmission links, rigidity subalternation problem.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
according to the utility model discloses an aspect provides a telescopic machanism, telescopic machanism can include voice coil motor, motor mount pad and guider, voice coil motor fixed mounting be in the motor mount pad, guider includes guide pin bushing and guide pillar, the guide pillar can install with sliding from top to bottom in the guide pin bushing, wherein the guide pin bushing with be equipped with the roller between the guide pillar, the lower extreme of guide pin bushing with the lower extreme of guide pillar respectively with the motor mount pad with voice coil motor's active cell fixed connection.
In an embodiment, the telescopic mechanism may further include a guide device mounting seat, an upper end seat and a lower end seat, the guide device mounting seat is fixedly connected to the upper end of the motor mounting seat, the guide device is fixedly mounted in the guide device mounting seat, the upper end seat is fixedly connected to the upper end of the guide pillar and movably sleeved on the guide device mounting seat, and the lower end seat is fixedly connected to the lower end of the motor mounting seat.
In one embodiment, the upper end seat and the lower end seat are respectively provided with a universal joint fork-shaped connecting part, and the connecting parts are used for being matched and fixedly installed with a cross shaft of a hook joint.
In one embodiment, a mounting flange is formed at the lower end of the guide sleeve, and the guide sleeve is fixedly mounted in the guide device mounting seat through the mounting flange.
In one embodiment, a sensor is mounted on the guide mounting seat and is used for measuring the stroke of the telescopic mechanism.
In one embodiment, the rolling elements are needle rollers.
In one embodiment, the guiding device is further provided with a sleeve fixedly sleeved on the guide post and provided with a mounting groove for mounting the rolling element.
In one embodiment, the cross section of the guide post is polygonal
Preferably, the cross section of the guide post is quadrilateral or hexagonal.
According to the utility model discloses a six degree of freedom telecontrol equipment based on stewart parallel mechanism is provided to another aspect, six degree of freedom telecontrol equipment can include motion platform, base and a plurality of as above telescopic machanism, motion platform with the base pass through the hinge respectively with telescopic machanism's upper end and lower extreme are articulated.
In one embodiment, the six-degree-of-freedom motion device has six telescoping mechanisms.
In one embodiment, the hinge is a ball hinge or a hook hinge.
In one embodiment, the six telescopic mechanisms form three regular triangles and three inverted triangles which alternate with each other.
In one embodiment, the hook joint is fixedly installed on the moving platform and the base in a welding manner.
The utility model adopts the above technical scheme, the beneficial effect who has is: the utility model discloses a telescopic machanism part is few, and the structure is simple relatively, adopts voice coil motor as power, and for piezoelectric motor, with low costs, control is simple to adopt guider can improve direction rigidity, guarantee the motion precision.
Drawings
Fig. 1 is a front view of a telescoping mechanism according to an embodiment of the invention;
FIG. 2 is a cross-sectional view of the telescoping mechanism shown in FIG. 1 taken along line A-A;
fig. 3 is an enlarged view of a portion B in fig. 2;
FIG. 4 is a perspective view of a guide of the telescoping mechanism shown in FIG. 1;
FIG. 5 is a cross-sectional view of the guide shown in FIG. 4;
fig. 6 is a six degree of freedom motion device based on Stewart's parallel mechanism according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended as limitations on the scope of the invention, but are merely illustrative of the true spirit of the technical solution of the invention.
In the following description, for the purposes of illustrating various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details. In other instances, well-known devices, structures and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.
Throughout the specification and claims, the word "comprise" and variations thereof, such as "comprises" and "comprising," are to be understood as an open, inclusive meaning, i.e., as being interpreted to mean "including, but not limited to," unless the context requires otherwise.
Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and/or" unless the context clearly dictates otherwise.
In the following description, for the sake of clarity, the structure and operation of the present invention will be described with the aid of directional terms, but the terms "front", "rear", "left", "right", "outer", "inner", "outer", "inward", "upper", "lower", etc. should be understood as words of convenience and not as words of limitation.
It is to be noted that in the claims and the description of the present application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Referring to fig. 1-5, a telescoping mechanism 1 is described, the telescoping mechanism 1 may include a voice coil motor 11, a motor mount 12, and a guide 13. The motor mounting seat is cylindrical, one end of the motor mounting seat is open, and the other end of the motor mounting seat is a closed end. The voice coil motor 11 is fixedly installed in the motor mount 12. Specifically, the stator of the voice coil motor 11 is fixedly installed in the cylinder of the motor mounting base, and the mover is movable up and down relative to the base. The structure of the voice coil motor 11 is well known to those skilled in the art and will not be described here. The voice coil motor 11 may be any suitable voice coil motor known or to be developed.
The guide 13 includes a guide sleeve 131 and a guide post 132, and the guide post 132 is slidably engaged in the guide sleeve 131 up and down. Wherein, a plurality of rolling elements 133 are arranged between the guide sleeve 131 and the guide post 132. The rolling members 133 may improve the guiding stiffness. The lower end of the guide sleeve 131 and the lower end of the guide post 132 are fixedly connected to the guide device mounting base 14 and the mover of the voice coil motor 11, respectively. Therefore, the guide post 132 can perform a telescopic motion relative to the guide sleeve 131 under the driving of the voice coil motor 11.
The cross section of the guide post 132 may be circular or polygonal, etc. In this embodiment, the guide 13 is a four-sided guide, as shown in fig. 4 and 5. That is, the cross section of the guide post 132 is octagonal, with four long sides alternating with four short sides; the rolling elements 133 are mounted on four sides, the rolling elements 133 of each side being arranged in axial direction, preferably uniformly in axial direction. The rolling elements 133 may be needles, rollers, balls, or the like. It should be understood that the guide 13 may be a six-sided or eight-sided or even-sided guide.
In this embodiment, the guiding device 13 is further provided with a sleeve 134, and the sleeve 134 is fixedly sleeved on the guide post 132 and provided with a mounting groove (not shown) for mounting the rolling member 133.
Compared with the existing telescopic mechanism, the telescopic mechanism 1 has few parts and relatively simple structure, adopts the voice coil motor as power, has low cost and simple control compared with a piezoelectric motor, and can improve the guiding rigidity and ensure the movement precision of the telescopic mechanism by adopting the guiding device 13.
To facilitate the application of the telescopic mechanism 1, the telescopic mechanism 1 may further comprise a guide mount 14, an upper end mount 15 and a lower end mount 16. The guide mounting seat 14 is fixedly connected to the upper end of the motor mounting seat 12, for example, by a screw connection, a snap connection, or a welding connection. The guide 13 is fixedly mounted in a guide mount 14. Specifically, the lower end of the guide sleeve 131 is formed with a mounting flange 1311, the mounting flange 1311 is provided with a plurality of screw holes, and the guide sleeve 131 is fixedly mounted in the guide device mounting seat 14 through the mounting flange 1311 and corresponding screws (not shown). The upper end mount 15 is fixedly connected to the upper end of the guide post (e.g., by a screw 17) and movably sleeved on the guide mount 14. Thus, the upper end mount 15 can move telescopically relative to the guide mount 14. The lower end mount 16 is fixedly coupled to the lower end of the motor mount 12 (e.g., via screws (not shown)).
In the embodiment shown, the upper end mount 15 and the lower end mount 16 are each provided with a yoke-shaped connection 151 and 161, the connection 151 and 161 being intended for fitting and fixing with a cross-pin of a hooke joint (indicated by reference numeral 4 in fig. 6). It should be understood that the connecting portions 151 and 161 may be part of the upper and lower end mounts 15 and 16 or may be separate components secured to the upper and lower end mounts 15 and 16.
In some embodiments, the lower base 16 may be omitted, and the connecting portion 161 is directly disposed on the lower end of the motor mounting base 12.
Furthermore, in order to accurately control the stroke of the telescopic mechanism, a sensor (not shown) for measuring the stroke of the telescopic mechanism 1 is mounted on the guide mounting 14.
Referring to fig. 6, a six-degree-of-freedom motion device based on a Stewart parallel mechanism is described, and the six-degree-of-freedom motion device can comprise six telescopic mechanisms 1, a motion platform 2, a base 3 and twelve hooke joints 4. The hooke's joints 4 are fixedly mounted (e.g., by welding or screws, etc.) on the lower and upper surfaces of the motion platform 2 and the base 3. The moving platform 2 and the base 3 are respectively hinged with the upper end and the lower end of the telescopic mechanism 1 through corresponding Hooke joints 4. Therefore, the motion of the motion platform 2 in six degrees of freedom in space is realized through the telescopic motion of the six telescopic mechanisms 1. Because the telescopic mechanism 1 has the advantages of low cost and high motion precision, the six-degree-of-freedom motion device also has the advantages of low cost and high motion precision.
In the embodiment shown, six telescopic mechanisms 1 form three regular triangles and three inverted triangles alternating with each other. The arrangement mode enables the motion platform 2 of the six-degree-of-freedom motion device to have the advantages of good balance and stability, and further improves the motion precision of the motion platform.
The preferred embodiments of the present invention have been described in detail, but it should be understood that various changes and modifications of the invention can be made by those skilled in the art after reading the above teaching of the present invention. Such equivalents are intended to fall within the scope of the claims appended hereto.
Claims (12)
1. A telescopic mechanism is characterized by comprising a voice coil motor, a motor mounting seat and a guide device, wherein the voice coil motor is mounted in the motor mounting seat, the guide device comprises a guide sleeve and a guide pillar, the guide pillar is mounted in the guide sleeve in a vertically sliding mode, a rolling piece is arranged between the guide sleeve and the guide pillar, and the lower end of the guide sleeve and the lower end of the guide pillar are fixedly connected with the motor mounting seat and a rotor of the voice coil motor respectively.
2. The telescoping mechanism of claim 1, further comprising a guide mount, an upper end mount and a lower end mount, the guide mount being fixedly attached to an upper end of the motor mount, the guide being fixedly mounted in the guide mount, the upper end mount being fixedly attached to an upper end of the guide post and being movably sleeved on the guide mount, the lower end mount being fixedly attached to a lower end of the motor mount.
3. The telescoping mechanism of claim 2, wherein the upper end mount and the lower end mount each have a yoke-shaped connection portion for mating with a cross of a hooke joint.
4. The telescopic mechanism as claimed in claim 2, wherein the lower end of the guide sleeve is formed with a mounting flange, and the guide sleeve is fixedly mounted in the guide mounting seat through the mounting flange.
5. A telescopic mechanism according to claim 2, wherein a sensor is mounted on the guide mounting for measuring the stroke of the telescopic mechanism.
6. A telescopic mechanism according to claim 1, wherein said rolling elements are needle rollers.
7. The retracting mechanism according to claim 1, wherein said guiding means is further provided with a sleeve fixedly fitted on said guide post and provided with a mounting groove for mounting said rolling member.
8. Telescopic mechanism according to any one of claims 1 to 7, wherein the cross section of the guide post is polygonal.
9. A six degree-of-freedom motion device based on a stewart parallel mechanism, characterized in that the six degree-of-freedom motion device comprises a motion platform, a base, and a plurality of telescoping mechanisms according to any one of claims 1-8, wherein the motion platform and the base are hinged with the upper and lower ends of the telescoping mechanisms respectively through hinges.
10. The six-degree-of-freedom motion device of claim 9, wherein the six-degree-of-freedom motion device has six telescoping mechanisms.
11. The six-degree-of-freedom kinematic device of claim 9 in which the hinge is a ball hinge or a hooke hinge.
12. The six-degree-of-freedom kinematic device of claim 10, in which the six telescopic mechanisms form between them three regular triangles and three inverted triangles alternating with each other.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921797920.5U CN211278393U (en) | 2019-10-24 | 2019-10-24 | Six-freedom-degree movement device based on Stewart parallel mechanism and telescopic mechanism thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921797920.5U CN211278393U (en) | 2019-10-24 | 2019-10-24 | Six-freedom-degree movement device based on Stewart parallel mechanism and telescopic mechanism thereof |
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| CN211278393U true CN211278393U (en) | 2020-08-18 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587583A (en) * | 2019-10-24 | 2019-12-20 | 上海隐冠半导体技术有限公司 | Six-freedom-degree movement device based on Stewart parallel mechanism and telescopic mechanism thereof |
| CN114973903A (en) * | 2022-06-10 | 2022-08-30 | 范莹莹 | Multi-degree-of-freedom simulation platform for intelligent classroom teaching |
| CN114992475A (en) * | 2022-06-20 | 2022-09-02 | 广州大学 | Multifunctional camera holder carried on water surface ship |
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2019
- 2019-10-24 CN CN201921797920.5U patent/CN211278393U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587583A (en) * | 2019-10-24 | 2019-12-20 | 上海隐冠半导体技术有限公司 | Six-freedom-degree movement device based on Stewart parallel mechanism and telescopic mechanism thereof |
| CN114973903A (en) * | 2022-06-10 | 2022-08-30 | 范莹莹 | Multi-degree-of-freedom simulation platform for intelligent classroom teaching |
| CN114992475A (en) * | 2022-06-20 | 2022-09-02 | 广州大学 | Multifunctional camera holder carried on water surface ship |
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| CB03 | Change of inventor or designer information |
Inventor after: Meng Hui Inventor after: Wu Huoliang Inventor after: Qu Xiaochen Inventor after: Huang Chuan Inventor after: Yang Risheng Inventor after: Chen Xiaohu Inventor after: Li Xing Inventor before: Meng Hui Inventor before: Wu Huoliang Inventor before: Qu Xiaochen Inventor before: Huang Chuan Inventor before: Wang Yue Inventor before: Yang Risheng Inventor before: Chen Xiaohu Inventor before: Li Xing |