CN211362273U - Modular variable structure parameter six-degree-of-freedom bench - Google Patents
Modular variable structure parameter six-degree-of-freedom bench Download PDFInfo
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- CN211362273U CN211362273U CN201921694057.0U CN201921694057U CN211362273U CN 211362273 U CN211362273 U CN 211362273U CN 201921694057 U CN201921694057 U CN 201921694057U CN 211362273 U CN211362273 U CN 211362273U
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Abstract
The utility model provides a modularization varistructure parameter six degrees of freedom platform frame, it includes the upper ledge, the underframe, the two universal seats of three upper cantilever, the two universal seats of three lower cantilever and six straight line actuating device, the upper ledge comprises upper platform and regular hexagon aluminium alloy frame two parts, the underframe comprises platform, hexagon wire casing, three long shrouding, three short shrouding, six leveling device and six rings down of combination formula, through upper ledge and underframe structure, can realize the modularization, according to needs such as working space, modularization reorganization carries out. The utility model has the advantages of modularization and variable structure parameters.
Description
The technical field is as follows:
the invention belongs to a six-degree-of-freedom parallel mechanism, and particularly relates to a modular variable structure parameter six-degree-of-freedom bench.
Background art:
the six-degree-of-freedom parallel mechanism has the advantages of high rigidity, high precision and the like, and has important application prospects in the field of automobile testing. In order to test various performances of test pieces such as automobiles or parts in a laboratory, the working condition of the tested piece needs to be reproduced at first, and the six-freedom-degree rack can completely reproduce the movement working condition of six degrees of freedom in total of angles and displacements in the transverse direction, the longitudinal direction and the vertical direction of the tested piece. In order to adapt to the different requirements of different test pieces on different working conditions, the six-degree-of-freedom rack with variable structure parameters is adopted, so that the development cost of the rack can be greatly saved.
The invention provides a six-degree-of-freedom motion platform with a patent number of 201220421793.0, the six-degree-of-freedom motion platform provides auxiliary power support for a piston rod in a double-power support mode, and the six-degree-of-freedom motion platform has the advantage of simple structure, but in the six-degree-of-freedom motion platform, a screw rod auxiliary bearing needs to use air pressure and hydraulic auxiliary support under the action of heavy load, so that the manufacturing cost is increased, and structural parameters of the six-degree-of-freedom motion platform cannot be changed according to. The patent with the patent number of 201520743788.5 provides a novel six-degree-of-freedom driving simulation platform, the mechanism of the invention is compact, a driver seat is positioned on the simulation platform, the body feeling is real, but the invention is only suitable for occasions such as driver training and teaching, and the like, and the mechanism parameters cannot be changed according to the working conditions of test pieces such as actual automobiles or parts, and the like, so that the modularization recombination is realized.
The invention content is as follows:
the invention aims to provide a modularized variable structure parameter type six-degree-of-freedom motion simulation bench which has variable structure parameters, can be modularized and recombined and has high mechanical reliability. The main principle of the invention is as follows: six straight line actuating devices are used for fastening and connecting the upper platform and the lower platform, and the positions of the upper platform and the lower platform are adjusted through the upper cantilever double universal seats, so that different structural parameters are met, and the modularized reorganization requirement is realized.
The technical scheme of the invention is as follows:
a modular variable structure parameter six-degree-of-freedom bench comprises an upper frame, a lower frame, three upper cantilever double universal seats, three lower cantilever double universal seats and six linear actuating devices; the method is characterized in that: the upper frame consists of an upper platform and a regular hexagon aluminum profile frame, the regular hexagon aluminum profile frame is formed by splicing six equal-length aluminum profiles, and the regular hexagon aluminum profile frame is fixed on the lower surface of the upper platform; the lower frame consists of a combined lower platform, a hexagonal trunking, three long sealing plates, three short sealing plates, six leveling devices and six lifting rings, the combined lower platform consists of three mounting seats and three connecting cross beams, the three mounting seats are connected by the three connecting cross beams in pairs to form an annular hexagonal frame, the long sealing plates are connected to three long sides outside the annular hexagonal frame, the short sealing plates are connected to three short sides outside the annular hexagonal frame, the hexagonal trunking is connected to the inner side of the annular hexagonal frame, the two leveling devices are symmetrically arranged below each mounting seat, and the two lifting rings are symmetrically arranged on the left side and the right side of each mounting seat; each upper cantilever double universal seat consists of an upper cantilever seat, two upper cantilever shafts and two adapters, the bottom surfaces of the three upper cantilever seats are fixed on the lower bottom surface of an upper platform in the upper frame, the two upper cantilever shafts are respectively connected with the upper cantilever seats through two first rotating pairs, and the two adapters are respectively connected with the two upper cantilever shafts through two second rotating pairs; each lower cantilever double-universal seat consists of a lower cantilever seat, two lower cantilever shafts and two adapter flanges, the bottom surfaces of the lower cantilever seats are fixed on three mounting seats in the lower frame, the two lower cantilever shafts are respectively connected with the lower cantilever seats through two third revolute pairs, and the two adapter flanges are respectively connected with the two lower cantilever shafts through two fourth revolute pairs; the upper ends of the six linear actuating devices are respectively and fixedly connected with six adapters in the three upper cantilever double universal seats, and the lower ends of the six linear actuating devices are respectively and fixedly connected with six adapter flanges in the three lower cantilever double universal seats.
Preferably, the upper platform in the upper frame is provided with a plurality of adjustable mounting holes, the upper cantilever bases in the upper cantilever double-universal bases are mounted in the adjustable mounting holes through screws, the three upper cantilever base mounting positions are circumferentially and uniformly distributed, the upper cantilever bases are of a bilateral symmetry structure, and the symmetry plane of the upper cantilever bases coincides with the symmetry plane of the side length corresponding to the regular hexagon aluminum profile frame.
Preferably, three mount pads in the platform are the circumference equipartition under the combination formula, and every mount pad all opens has a plurality of adjustable mounting holes, lower cantilever seat in the two universal seats of cantilever down passes through the screw and installs in above-mentioned adjustable mounting hole, and mount pad and lower cantilever seat are bilateral symmetry structure and both planes of symmetry coincide.
Preferably, the axes of the two first revolute pairs in each upper cantilever double-universal seat are parallel to each other, the planes determined by the two axes are perpendicular to the symmetry plane of the upper cantilever seat, and the included angle between the plane and the bottom surface of the upper cantilever seat is 15-30 degrees; the second revolute pair axes are perpendicular to the respective first revolute pair axes.
Preferably, the axes of the two third revolute pairs in each lower cantilever double-universal seat are parallel to each other, the plane determined by the two axes is perpendicular to the symmetry plane of the lower cantilever seat, and the included angle between the plane and the bottom surface of the lower cantilever seat is 0-30 degrees; the fourth revolute pair axis is perpendicular to the corresponding third revolute pair axis.
Further, the linear actuator may be a combination of an electric cylinder in which the motor and the extension bar are not anti-twisted, or a hydraulic cylinder.
Furthermore, the circumferential diameter of the three upper cantilever double universal seats is not larger than that of the three lower cantilever double universal seats, and when the extension amount of the linear actuating device is consistent, the upper cantilever double universal seats and the corresponding lower cantilever double universal seats are superposed and the projection positions of the upper cantilever double universal seats and the lower cantilever double universal seats are opposite.
Compared with the prior art, the invention has the following advantages:
(1) the six-degree-of-freedom rack is in a modular design and can be quickly recombined;
(2) the six-degree-of-freedom bench can quickly adjust the structural parameters according to the test requirement;
(3) the six-degree-of-freedom rack is compact in structure, reasonable in wiring design, neat and attractive.
Description of the drawings:
fig. 1 is a front view of the present invention.
Fig. 2 is a bottom view of the upper frame of the present invention.
Fig. 3 is a front view of the lower frame of the present invention.
Fig. 4 is a top view of the lower frame of the present invention.
FIG. 5 is a close-up view of the adjustable mounting position of the lower cantilever gimbal according to the present invention.
FIG. 6 is a close-up view of the adjustable mounting position of the upper suspension gimbal assembly of the present invention.
In the figure: the device comprises a 1-lower frame, a 2-lower cantilever double universal seat, a 3-linear actuating device, a 4-upper cantilever double universal seat, a 5-upper frame, a 1-1 leveling device, a 1-2 combined lower platform, a 1-3 long sealing plate, a 1-4 lifting ring, a 1-5 short sealing plate, a 1-6 hexagonal wire casing, a 1-2-1 connecting beam, a 1-2-2 mounting seat, a 2-1 lower adapter flange, a 2-2 lower cantilever shaft, a 2-3 lower cantilever seat, a 4-1 upper cantilever shaft, a 4-2 upper cantilever seat, a 4-3 upper adapter flange, a 5-1 upper platform and a 5-2 regular hexagonal aluminum profile frame.
The specific implementation mode is as follows:
a modular variable structure parameter six-degree-of-freedom bench comprises an upper frame 5, a lower frame 1, three upper cantilever double universal seats 4, three lower cantilever double universal seats 2 and six linear actuating devices 3; the method is characterized in that: the upper frame 5 consists of an upper platform 5-1 and a regular hexagon aluminum profile frame 5-2, the regular hexagon aluminum profile frame 5-2 is formed by splicing six equal-length aluminum profiles, and the regular hexagon aluminum profile frame is fixed on the lower surface of the upper platform 5-1; the lower frame 1 consists of six leveling devices 1-1, a combined lower platform 1-2, three long sealing plates 1-3, six lifting rings 1-4, three short sealing plates 1-5 and hexagonal wire grooves 1-6, the combined lower platform 1-2 consists of three connecting beams 1-2-1 and three mounting seats 1-2-2, every two of the three mounting seats 1-2-2 are connected by three connecting beams 1-2-1 to form an annular hexagonal frame, the long sealing plates 1-3 are connected with three long sides outside the annular hexagonal frame, the short sealing plates 1-5 are connected with three short sides outside the annular hexagonal frame, the hexagonal wire grooves 1-6 are connected with the inner side of the annular hexagonal frame, two leveling devices 1-1 are symmetrically arranged below each mounting seat 1-2-2, two hanging rings 1-4 are symmetrically arranged on the left side and the right side of each mounting seat; each upper cantilever double-universal seat 4 consists of two upper cantilever shafts 4-1, an upper cantilever seat 4-2 and two upper adapter flanges 4-3, the bottom surfaces of the three upper cantilever seats 4-2 are fixed on the lower bottom surface of an upper platform 5-1 in the upper frame 5, the two upper cantilever shafts 4-1 are respectively connected with the upper cantilever seats 4-2 through two first rotating pairs, and the two upper adapter flanges 4-3 are respectively connected with the two upper cantilever shafts 4-1 through two second rotating pairs; each lower cantilever double universal seat 2 consists of a lower cantilever seat 2-3, two lower cantilever shafts 2-2 and two lower adapter flanges 2-1, the bottom surfaces of the lower cantilever seats 2-3 are fixed on three mounting seats 1-2-2 in the lower frame 1, the two lower cantilever shafts 2-2 are respectively connected with the lower cantilever seats 2-3 through two third revolute pairs, and the two lower adapter flanges 2-1 are respectively connected with the two lower cantilever shafts 2-2 through two fourth revolute pairs; the upper ends of the six linear actuating devices 3 are respectively and fixedly connected with six upper adapter flanges 4-3 in the three upper cantilever double universal seats 4, and the lower ends of the six linear actuating devices 3 are respectively and fixedly connected with six lower adapter flanges 2-1 in the three lower cantilever double universal seats 2.
Preferably, the upper platform 5-1 in the upper frame 5 is provided with a plurality of adjustable mounting holes, the upper cantilever bases 4-2 in the upper cantilever double universal bases 4 are mounted in the adjustable mounting holes through screws, the mounting positions of the three upper cantilever bases 4-2 are circumferentially and uniformly distributed, the upper cantilever bases 4-2 are in a bilateral symmetry structure, and the symmetry plane of the upper cantilever bases 4-2 coincides with the symmetry plane of the corresponding side length of the regular hexagon aluminum profile frame 5-2.
Preferably, three installation bases 1-2-2 in the combined lower platform 1-2 are uniformly distributed in a circumferential manner, each installation base 1-2-2 is provided with a plurality of adjustable installation holes, a lower cantilever base 2-3 in the lower cantilever double-universal base 2 is installed in the adjustable installation holes through screws, and the installation bases 1-2-2 and the lower cantilever base 2-3 are of a bilateral symmetry structure and the symmetry planes of the installation bases 1-2-2 and the lower cantilever base 2-3 are coincident.
Preferably, the axes of the two first revolute pairs in each upper cantilever double-universal seat 4 are parallel to each other, the plane determined by the two axes is perpendicular to the symmetry plane of the upper cantilever seat 4-2, and the included angle between the plane and the bottom surface of the upper cantilever seat 4-2 is 15-30 degrees; the second revolute pair axes are perpendicular to the respective first revolute pair axes.
Preferably, the axes of the two third revolute pairs in each lower cantilever double-universal seat 2 are parallel to each other, the plane determined by the two axes is perpendicular to the symmetry plane of the lower cantilever seat 2-3, and the included angle between the plane and the bottom surface of the lower cantilever seat 2-3 is 0-30 degrees; the fourth revolute pair axis is perpendicular to the corresponding third revolute pair axis.
Further, the linear actuator 3 may be a combination of an electric cylinder with a non-torsion-proof motor and an extension rod, or a hydraulic cylinder.
Further, the circumferential diameter of the three upper cantilever double universal seats 4 is not larger than the circumferential diameter of the three lower cantilever double universal seats 2, and when the linear actuator 3 extends out in a consistent amount, the upper cantilever double universal seats 4 and the corresponding lower cantilever double universal seats 2 are superposed on the symmetry plane and the projection positions on the combined lower platform 1-2 are opposite.
Claims (7)
1. The utility model provides a six degree of freedom platforms of modularization varistructure parameter, its includes that the device is moved to last frame, underframe, the two universal seats of cantilever on the three, the two universal seats of three lower cantilever and six straight lines, its characterized in that: the upper frame consists of an upper platform and a regular hexagon aluminum profile frame, the regular hexagon aluminum profile frame is formed by splicing six equal-length aluminum profiles, and the regular hexagon aluminum profile frame is fixed on the lower surface of the upper platform; the lower frame consists of a combined lower platform, a hexagonal trunking, three long sealing plates, three short sealing plates, six leveling devices and six lifting rings, the combined lower platform consists of three mounting seats and three connecting cross beams, the three mounting seats are connected by the three connecting cross beams in pairs to form an annular hexagonal frame, the long sealing plates are connected to three long sides outside the annular hexagonal frame, the short sealing plates are connected to three short sides outside the annular hexagonal frame, the hexagonal trunking is connected to the inner side of the annular hexagonal frame, the two leveling devices are symmetrically arranged below each mounting seat, and the two lifting rings are symmetrically arranged on the left side and the right side of each mounting seat; each upper cantilever double universal seat consists of an upper cantilever seat, two upper cantilever shafts and two adapters, the bottom surfaces of the three upper cantilever seats are fixed on the lower bottom surface of an upper platform in the upper frame, the two upper cantilever shafts are respectively connected with the upper cantilever seats through two first rotating pairs, and the two adapters are respectively connected with the two upper cantilever shafts through two second rotating pairs; each lower cantilever double-universal seat consists of a lower cantilever seat, two lower cantilever shafts and two adapter flanges, the bottom surfaces of the lower cantilever seats are fixed on three mounting seats in the lower frame, the two lower cantilever shafts are respectively connected with the lower cantilever seats through two third revolute pairs, and the two adapter flanges are respectively connected with the two lower cantilever shafts through two fourth revolute pairs; the upper ends of the six linear actuating devices are respectively and fixedly connected with six adapters in the three upper cantilever double universal seats, and the lower ends of the six linear actuating devices are respectively and fixedly connected with six adapter flanges in the three lower cantilever double universal seats.
2. A modular variable structure parameter six degree of freedom gantry according to claim 1, characterized in that: the upper platform in the upper frame is provided with a plurality of adjustable mounting holes, the upper cantilever seats in the upper cantilever double universal seats are mounted in the adjustable mounting holes through screws, the three upper cantilever seat mounting positions are circumferentially and uniformly distributed, the upper cantilever seats are of a bilateral symmetry structure, and the symmetry plane of the upper cantilever seats is coincided with the symmetry plane of the side length corresponding to the regular hexagon aluminum profile frame.
3. A modular variable structure parameter six degree of freedom gantry according to claim 1, characterized in that: three mount pads in the platform are the circumference equipartition under the combination formula, and every mount pad has all opened a plurality of adjustable mounting holes, the lower cantilever seat in the two universal seats of cantilever down passes through the screw and installs in above-mentioned adjustable mounting hole, and mount pad and lower cantilever seat are bilateral symmetry structure and coincidence of both planes of symmetry.
4. A modular variable structure parameter six degree of freedom gantry according to claim 1, characterized in that: the axes of the two first rotating pairs in each upper cantilever double-universal seat are parallel to each other, the planes determined by the two axes are vertical to the symmetrical plane of the upper cantilever seat, and the included angle between the plane and the bottom surface of the upper cantilever seat is 15-30 degrees; the second revolute pair axes are perpendicular to the respective first revolute pair axes.
5. A modular variable structure parameter six degree of freedom gantry according to claim 1, characterized in that: the axes of two third revolute pairs in each lower cantilever double-universal seat are parallel to each other, the planes determined by the two axes are vertical to the symmetrical plane of the lower cantilever seat, and the included angle between the plane and the bottom surface of the lower cantilever seat is 0-30 degrees; the fourth revolute pair axis is perpendicular to the corresponding third revolute pair axis.
6. A modular variable structure parameter six degree of freedom gantry according to claim 1, characterized in that: the linear actuating device can be a combination of an electric cylinder with a motor and an extension rod which are not anti-torsion, and can also be a hydraulic cylinder.
7. A modular variable structure parameter six degree of freedom gantry according to claim 1, characterized in that: the circumference diameter of the three upper cantilever double universal seats is not more than that of the three lower cantilever double universal seats, and when the extension amount of the linear actuating device is consistent, the upper cantilever double universal seats and the corresponding lower cantilever double universal seats are superposed on the symmetry plane and the projection positions of the upper cantilever double universal seats and the lower cantilever double universal seats are opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921694057.0U CN211362273U (en) | 2019-10-11 | 2019-10-11 | Modular variable structure parameter six-degree-of-freedom bench |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921694057.0U CN211362273U (en) | 2019-10-11 | 2019-10-11 | Modular variable structure parameter six-degree-of-freedom bench |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211362273U true CN211362273U (en) | 2020-08-28 |
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ID=72166213
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921694057.0U Expired - Fee Related CN211362273U (en) | 2019-10-11 | 2019-10-11 | Modular variable structure parameter six-degree-of-freedom bench |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211362273U (en) |
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2019
- 2019-10-11 CN CN201921694057.0U patent/CN211362273U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200828 Termination date: 20211011 |