CN211459491U - Multi-degree-of-freedom simulated motion platform based on Mecanum wheels - Google Patents
Multi-degree-of-freedom simulated motion platform based on Mecanum wheels Download PDFInfo
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- CN211459491U CN211459491U CN202020013502.9U CN202020013502U CN211459491U CN 211459491 U CN211459491 U CN 211459491U CN 202020013502 U CN202020013502 U CN 202020013502U CN 211459491 U CN211459491 U CN 211459491U
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- mecanum wheel
- base frame
- mecanum
- motion platform
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 17
- 238000004088 simulation Methods 0.000 claims abstract description 13
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses a multi-degree-of-freedom simulation motion platform based on Mecanum wheels, which comprises a base frame, a driving device, Mecanum wheels and a carrier platform; the driving device is fixed on the inner side of the base frame and comprises a servo motor and a speed reducer corresponding to the servo motor; the Mecanum wheel is connected with the speed reducer, and the top point of the Mecanum wheel is higher than that of the base frame to form a convex contact point; the carrier platform is arranged at the top of the base frame and is in contact with the contact point protruding from the Mecanum wheel to form a supporting point. The utility model provides the high motion efficiency of platform under the prerequisite that reaches same motion effect, has reduced the volume of equipment, and equipment is portable light more, and occupation space is little, and the transportation is convenient, has reduced manufacturing cost simultaneously.
Description
Technical Field
The utility model relates to a motion simulation platform particularly relates to a multi freedom simulation motion platform based on mecanum wheel.
Background
The simulation exercise equipment is applied to multiple fields and multiple industries, wherein the simulation exercise equipment comprises a VR industry, and a multiple-degree-of-freedom VR seat is common simulation exercise equipment in the VR industry.
However, most of the simulation motion devices adopt two or more electric cylinders, and the linear motion combination of the air cylinder or the hydraulic cylinder forms multiple degrees of freedom, and the main problems of the simulation motion devices are as follows: when a large deflection angle is needed, the needed electric cylinder, the air cylinder or the hydraulic cylinder also need a large self-stroke, so the volume of the equipment also needs to be increased correspondingly, thereby the equipment has a large volume, the transportation is inconvenient, and the cost of the equipment is also increased.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to current defect and not enough, provided a multi freedom emulation motion platform based on mecanum wheel, this motion platform is portable light, and occupation space is little, and the motion efficiency is high.
In order to achieve the above object, the utility model adopts the following technical scheme:
a multi-degree-of-freedom simulation motion platform based on Mecanum wheels comprises: the device comprises a base frame, a driving device, Mecanum wheels and a carrier platform;
the driving device comprises a servo motor and a speed reducer corresponding to the servo motor, and is fixed on the inner side of the base frame;
the Mecanum wheel comprises a wheel hub and balls, a shaft rod is arranged on the outer ring of the wheel hub, the balls are sleeved on the shaft rod, the balls rotate around the shaft rod, a shaft hole is formed in the center of the Mecanum wheel, the shaft hole is connected with an output shaft of the speed reducer, the top point of the Mecanum wheel is higher than the top of the base frame, and a convex contact point is formed;
the carrier platform is arranged at the top of the base frame and is in contact with the contact point protruding from the Mecanum wheel to form a supporting point.
Furthermore, the driving device is provided with at least three groups and is fixed on the inner side of the base frame through the supporting plate.
Furthermore, the supporting plate is L-shaped, one end of the supporting plate is fixed on the base frame through a bolt, and the other end of the supporting plate is fixed on the speed reducer through a bolt.
Furthermore, the lower surface of the carrier platform is a spherical surface and is in contact with a contact point protruding from the Mecanum wheel, and the upper surface of the carrier platform is a plane and is used for mounting a function carrier.
Furthermore, the multi-degree-of-freedom simulation motion platform based on the Mecanum wheels is provided with a controller used for controlling the starting and stopping of the servo motor.
Further, the controller is an STM32 series embedded controller fixed to the bottom of the fixed frame and electrically connected to the servo motor.
Further, the base frame is a cage structure made of a steel frame.
Compared with the prior art, the beneficial effects of the utility model reside in that: through motor drive the utility model discloses the wheel hub of mecanum wheel that is equipped with carries out rotary motion to and make the ball rotate around the axostylus axostyle on the wheel hub, make mecanum wheel accomplish 45 orientations rotation under the combined motion of two directions, under three drive assembly's of group synergism, realize motion platform's slope gesture and 360 rotatory gestures. Through adopting mecanum wheel and drive arrangement lug connection, replaced electric jar linear motion subassembly, improve the motion efficiency of platform, under the prerequisite that reaches same motion effect, reduced the volume of equipment, equipment is portable light more, and occupation space is little, and the transportation is convenient, has reduced manufacturing cost simultaneously.
Drawings
Fig. 1 is a schematic structural diagram of a multi-degree-of-freedom simulation motion platform based on mecanum wheels.
Fig. 2 is a schematic structural diagram of the bottom frame, the driving device and the mecanum wheel of the present invention.
Fig. 3 is a partially enlarged view at B in fig. 2.
Fig. 4 is a top view of the bottom frame, drive assembly and mecanum wheel of the present invention.
Fig. 5 is a front view of a mecanum wheel of the present invention.
Fig. 6 is a cross-sectional view of the connection of the speed reducer and the mecanum wheel of the present invention.
Fig. 7 is a front view of the bottom frame, drive assembly and mecanum wheel of the present invention.
Fig. 8 is a front view of the speed reducer of the present invention.
Fig. 9 is an axial view of the speed reducer of the present invention.
Fig. 10 is an isometric view of a mecanum wheel of the present invention.
Fig. 11 is a partial enlarged view at a in fig. 1.
Fig. 12 is a schematic structural diagram of the combination of the multi-degree-of-freedom simulated motion platform based on mecanum wheels and a seat according to the present invention.
Description of reference numerals:
10. a base frame; 20. a drive device; 21. a support plate; 22. a speed reducer; 23. a servo motor; 24. an output shaft of the reducer; 30. a Mecanum wheel; 31. a hub; 32. a ball bearing; 40. a carrier platform.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways.
With reference to fig. 1, the utility model discloses an example multi freedom emulation motion platform based on mecanum wheel according to the utility model discloses includes: base frame 10, drive 20, mecanum wheel 30, and carrier platform 40;
as shown in fig. 1-3, the driving device 20 includes a servo motor 23 and a speed reducer 22 corresponding thereto, and the driving device 20 is fixed inside the base frame 10 by a supporting plate 21; in this embodiment, three sets of driving devices are preferred, and the speed reducer 22 is preferably a worm speed reducer.
Preferably, the base frame is a cage structure made of a steel frame to realize the manufacture of the vehicle and the virtual simulation seat loaded thereon, as shown in fig. 12.
As shown in fig. 4, the support plate 21 is L-shaped, one end of the support plate 21 is fixed to the base frame 10 by a bolt, and the other end of the support plate 21 is fixed to the reduction gear 22 by a bolt.
As shown in fig. 5-9, the mecanum wheel 30 has a shaft hole in the center, the shaft hole is connected to the reducer output shaft 24, and the top of the mecanum wheel 30 is higher than the top of the base frame 10, forming a convex contact point.
As shown in fig. 5 and 10, the mecanum wheel 30 includes a wheel hub 31 and balls 32, a shaft is provided on an outer ring of the wheel hub 31, the balls 32 are sleeved on the shaft, and the balls 32 rotate around the shaft; the mecanum wheel of this embodiment is preferably a dual-row wheel configuration.
As shown in fig. 1 and 11, carrier platform 40 is placed on top of base frame 10 and contacts the protruding contact points of mecanum wheels 30 to form support points.
As shown in fig. 11 and 12, the lower surface of carrier platform 40 is spherical and contacts with the contact points protruding from the mecanum wheel, and the upper surface of carrier platform 40 is flat and is used for mounting a functional carrier, such as a seat.
Additionally, the utility model discloses a multi freedom emulation motion platform based on mecanum wheel is equipped with the controller for control servo motor's start-up and stop and positive reverse switching.
Preferably, the controller is an STM32 series embedded controller, fixed to the bottom of the fixed frame 10, electrically connected to the servo motor 20.
The utility model discloses a multi freedom emulation motion platform's based on mecanum wheel use method as follows:
the motor drives the wheel hub 31 of the mecanum wheel to perform a rotational movement and the balls 32 are rotated around the shaft on the wheel hub 31, so that the mecanum wheel 30 can perform a 45 ° directional rotation in a combined movement in two directions.
When any one of the three sets of motors rotates, the carrier platform 40 is inclined in the direction opposite to the rotation direction of the motor rotating shaft;
when any two motor rotating shafts simultaneously move clockwise or anticlockwise at the same speed, the carrier platform 40 can also achieve the effect of inclination;
when the rotating shafts of any two motors rotate at the same speed in opposite directions and the other motor does not rotate, the carrier platform 40 rotates;
when any two motor rotating shafts rotate at different speeds and the other motor does not rotate, the carrier platform 40 can rotate in an included angle direction with the rotating direction of any motor rotating shaft.
Through the cooperation of the three groups of driving components, the inclined posture and the 360-degree rotating posture of the moving platform are finally realized.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention. The present invention is intended to cover by those skilled in the art various modifications and adaptations of the invention without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention is subject to the claims.
Claims (7)
1. A multi-degree-of-freedom simulation motion platform based on Mecanum wheels is characterized by comprising: the device comprises a base frame, a driving device, Mecanum wheels and a carrier platform;
the driving device comprises a servo motor and a speed reducer corresponding to the servo motor, and is fixed on the inner side of the base frame;
the Mecanum wheel comprises a wheel hub and balls, a shaft rod is arranged on the outer ring of the wheel hub, the balls are sleeved on the shaft rod, the balls rotate around the shaft rod, a shaft hole is formed in the center of the Mecanum wheel, the shaft hole is connected with an output shaft of the speed reducer, the top point of the Mecanum wheel is higher than the top of the base frame, and a convex contact point is formed;
the carrier platform is arranged at the top of the base frame and is in contact with the contact point protruding from the Mecanum wheel to form a supporting point.
2. The mecanum wheel-based multiple degree of freedom simulated motion platform of claim 1, wherein: the driving device is at least provided with three groups and is fixed on the inner side of the base frame through a supporting plate.
3. The mecanum wheel-based multiple degree of freedom simulated motion platform of claim 2, wherein: the supporting plate is L-shaped, one end of the supporting plate is fixed on the base frame through a bolt, and the other end of the supporting plate is fixed on the speed reducer through a bolt.
4. The mecanum wheel-based multiple degree of freedom simulated motion platform of claim 1, wherein: the lower surface of the carrier platform is a spherical surface and is in contact with a contact point protruding from the Mecanum wheel, and the upper surface of the carrier platform is a plane and is used for mounting a functional carrier.
5. The mecanum wheel-based multiple degree of freedom simulated motion platform of any one of claims 1 to 4, wherein: the multi-degree-of-freedom simulation motion platform based on the Mecanum wheels is provided with a controller used for controlling the starting and stopping of the servo motor.
6. The mecanum wheel-based multiple degree of freedom simulated motion platform of claim 5, wherein: the controller is an STM32 series embedded controller, is fixed at the bottom of the fixed frame and is electrically connected to the servo motor.
7. The mecanum wheel-based multiple degree of freedom simulated motion platform of claim 1, wherein: the base frame is a cage structure made of a steel frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020013502.9U CN211459491U (en) | 2020-01-06 | 2020-01-06 | Multi-degree-of-freedom simulated motion platform based on Mecanum wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020013502.9U CN211459491U (en) | 2020-01-06 | 2020-01-06 | Multi-degree-of-freedom simulated motion platform based on Mecanum wheels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211459491U true CN211459491U (en) | 2020-09-11 |
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ID=72368347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020013502.9U Expired - Fee Related CN211459491U (en) | 2020-01-06 | 2020-01-06 | Multi-degree-of-freedom simulated motion platform based on Mecanum wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211459491U (en) |
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2020
- 2020-01-06 CN CN202020013502.9U patent/CN211459491U/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: 20200911 |