CN211902159U - Self-balancing three-degree-of-freedom platform - Google Patents
Self-balancing three-degree-of-freedom platform Download PDFInfo
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- CN211902159U CN211902159U CN202020433083.4U CN202020433083U CN211902159U CN 211902159 U CN211902159 U CN 211902159U CN 202020433083 U CN202020433083 U CN 202020433083U CN 211902159 U CN211902159 U CN 211902159U
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- 230000003068 static effect Effects 0.000 claims description 22
- 230000000087 stabilizing effect Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Abstract
The utility model discloses a self-balancing three degree of freedom platforms, including quiet platform and movable platform, quiet platform all is three horn shapes with movable platform, the outside of quiet platform is connected with the loop forming element, and be provided with the stabilizing mean who is connected with quiet platform on the inner wall of loop forming element, the upper end of quiet platform is rotated and is connected with three first pivot, the first U-shaped piece of upper end fixedly connected with of first pivot, the upside of first U-shaped piece is equipped with the second U-shaped piece rather than corresponding, and be connected by universal joint between first U-shaped piece and the second U-shaped piece, be connected with electric cylinder on the lateral wall that first U-shaped piece was kept away from to the second U-shaped piece, electric cylinder's flexible end rotates with movable platform's lower terminal surface and is connected. The utility model discloses a third U-shaped spare and spherical rotating-mode improve the flexibility of moving platform motion to utilize electric cylinder to control, and guarantee overall structure's rigidity.
Description
Technical Field
The utility model relates to a three degree of freedom platform technical field especially relates to self-balancing three degree of freedom platforms.
Background
In the field of photography, photography or monitoring, when a carrier carrying a camera runs, the carrier has vibration or disturbance of external air flow and uneven ground, which inevitably causes adverse effect on the imaging quality of equipment and even serious distortion of an imaging system, so that a self-stabilizing platform is required to be configured to carry the camera, which is a common choice. In other exhibition applications, adaptive bearing of the exhibited objects is also generally achieved by a self-balancing platform, while the bearing capacity of a small self-balancing platform is limited, and the exhibition bearing requirements for alloy pieces or fossil-like articles are difficult to bear.
In addition, most of the traditional self-balancing platforms, especially the simulation motion platform, are hydraulic platforms, which have the disadvantages of large structure, low motion accuracy and safety and reliability, and in addition, the platform is tightly controlled and easy to damage, needs to be integrally replaced, and increases the use cost.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defects existing in the prior art, and providing a self-balancing three-degree-of-freedom platform.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the self-balancing three-degree-of-freedom platform comprises a static platform and a movable platform, wherein the static platform and the movable platform are both triangular, the outer side of the static platform is connected with a ring-shaped piece, the upper end of the static platform is rotatably connected with three first rotating shafts, the upper ends of the first rotating shafts are fixedly connected with first U-shaped pieces, the upper sides of the first U-shaped pieces are provided with second U-shaped pieces corresponding to the first U-shaped pieces, the first U-shaped pieces and the second U-shaped pieces are connected through universal joints, the side walls, far away from the first U-shaped pieces, of the second U-shaped pieces are connected with electric cylinders, and the telescopic ends of the electric cylinders are rotatably connected with the lower end face;
the magnetic suspension type magnetic suspension device is characterized by further comprising three fixed blocks fixedly connected to the inner wall of the annular piece, a trapezoidal through groove corresponding to the static platform is formed in the upper end of each fixed block, a first magnet is fixedly connected to the bottom wall of the trapezoidal through groove, and a second magnet adsorbed to the first magnet is fixedly connected to the side wall of the static platform.
Preferably, the inner wall of the ring-shaped member is fixedly connected with a rubber cushion pad, the fixing block is fixedly connected to the inner wall of the rubber cushion pad, and a plurality of mounting holes which are communicated up and down are uniformly distributed at the upper end of the ring-shaped member.
Preferably, the electric cylinder is connected with an external air pump, and a pipeline communicated with the air pump is fixedly connected to the side wall of the electric cylinder.
Preferably, one of them electric cylinder's flexible end rotates and is connected with third U-shaped spare, and the upper end of third U-shaped spare rotates and is connected with the second pivot, the second pivot rotates with the lower terminal surface that moves the platform to be connected, two in addition electric cylinder's flexible end rotates and is connected with spherical, spherical upper end fixedly connected with third pivot, and the upper end of third pivot rotates with the lower extreme that moves the platform to be connected.
Preferably, the opposite side walls of the static platform and the movable platform are respectively provided with a circular groove corresponding to the first rotating shaft, the second rotating shaft and the third rotating shaft, the circular grooves are fixedly connected with bearing seats, and the first rotating shaft, the second rotating shaft and the third rotating shaft are respectively and rotatably connected with bearings in the bearing seats.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the self-balancing three-degree-of-freedom platform of the utility model takes the magnetic connecting mechanism arranged outside the static platform as a stabilizing mechanism, avoids the direct connection of the static platform and an external structure, reduces the contact damage of the static platform, and is favorable for the disassembly and the assembly of the static platform and a ring-shaped piece under the adsorption action of the first magnet and the second magnet;
2. because such slight balance platform bears a burden usually and has certain load, consequently passes through the utility model discloses a third U-shaped spare and spherical rotation mode improve the movable platform flexibility ratio of self-balancing motion, when utilizing electric cylinder to control, improve the accuracy to overall structure's rigidity can be guaranteed.
Drawings
Fig. 1 is a structural diagram of a self-balancing three-degree-of-freedom platform provided by the present invention;
fig. 2 is a top view of the fixing block and the magnetic connecting mechanism of the self-balancing three-degree-of-freedom platform provided by the present invention;
fig. 3 is a side structure diagram of the fixing block of the self-balancing three-degree-of-freedom platform according to the present invention.
In the figure: the device comprises a static platform 1, a movable platform 2, a ring-shaped part 3, a first rotating shaft 4, a first U-shaped part 5, a second U-shaped part 6, an electric cylinder 7, a fixed block 8, a first magnet 9, a second magnet 10, a rubber cushion pad 11, a third U-shaped part 12, a second rotating shaft 13, a spherical part 14 and a third rotating shaft 15.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
The self-balancing three-degree-of-freedom platform shown in fig. 1 to 3 includes a static platform 1 and a dynamic platform 2, and both the static platform 1 and the dynamic platform 2 are triangular.
The outside of quiet platform 1 is connected with loop forming element 3, and is provided with the stabilizing mean who is connected with quiet platform 1 on the inner wall of loop forming element 3. The stabilizing mean who combines the example of fig. 2 includes three fixed block 8 of fixed connection on the loop forming element 3 inner wall, and the trapezoidal logical groove that corresponds with quiet platform 1 is seted up to the upper end of fixed block 8, and trapezoidal logical inslot diapire is last fixedly connected with first magnet 9, fixedly connected with and the adsorbed second magnet 10 of first magnet 9 on the lateral wall of quiet platform 1.
Preferably, fixedly connected with rubber buffer 11 on the inner wall of loop forming element 3, 8 fixed connection of fixed block are on rubber buffer 11's inner wall, and the upper end equipartition of loop forming element 3 has the mounting hole of a plurality of upper and lower intercommunications, and rubber buffer 11 plays the effect of buffering, plays the effect of protection to quiet platform 1.
So, and be provided with stabilizing mean through the outside at quiet platform 1, avoid quiet platform 1 direct and external structure to be connected, the condition of damage appears in quiet platform 1 of relative reduction to under the adsorption of first magnet 9 and second magnet 10, do benefit to the dismouting of quiet platform 1 and loop forming element 3, when carrying out the platform and building or change the object that carries on scene and show, can realize quick dismouting.
Referring to fig. 1, the upper end of the stationary platform 1 is rotatably connected with three first rotating shafts 4, the upper ends of the first rotating shafts 4 are fixedly connected with first U-shaped members 5, the upper sides of the first U-shaped members 5 are provided with corresponding second U-shaped members 6, and the first U-shaped members 5 are connected with the second U-shaped members 6 through universal joints.
The side wall of the second U-shaped part 6 far away from the first U-shaped part 5 is connected with an electric cylinder 7, the telescopic end of the electric cylinder 7 is rotatably connected with the lower end face of the movable platform 2, the electric cylinder 7 is connected with an external air pump, and the side wall of the electric cylinder 7 is fixedly connected with a pipeline communicated with the air pump.
In a specific embodiment, a telescopic end of one of the electric cylinders 7 is rotatably connected with a third U-shaped member 12, an upper end of the third U-shaped member 12 is rotatably connected with a second rotating shaft 13, and the second rotating shaft 13 is rotatably connected with a lower end surface of the movable platform 2.
The telescopic ends of the other two electric cylinders 7 are rotatably connected with a spherical part 14, the upper end of the spherical part 14 is fixedly connected with a third rotating shaft 15, and the upper end of the third rotating shaft 15 is rotatably connected with the lower end of the movable platform 2.
The opposite side walls of the static platform 1 and the movable platform 2 are respectively provided with a circular groove corresponding to the first rotating shaft 4, the second rotating shaft 13 and the third rotating shaft 15, a bearing seat is fixedly connected in the circular groove, and the first rotating shaft 4, the second rotating shaft 13 and the third rotating shaft 15 are respectively and rotatably connected with a bearing in the bearing seat.
So, through the rotation mode of third U-shaped spare 12 and spherical 14, it is shown in combination figure 1, can improve the flexibility that moves platform 2 to control with electric cylinder 7 the utility model discloses a can bear great exhibition article under the prerequisite of little platform, little cylinder body (electric cylinder), guarantee overall structure's rigidity.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (7)
1. A self-balancing three-degree-of-freedom platform is characterized by comprising a static platform (1) and a movable platform (2), wherein the static platform (1) and the movable platform (2) are both triangular;
the outer side of the static platform (1) is connected with a ring-shaped piece (3);
the upper end of the static platform (1) is rotatably connected with three first rotating shafts (4), the upper ends of the first rotating shafts (4) are fixedly connected with first U-shaped parts (5), second U-shaped parts (6) corresponding to the first U-shaped parts (5) are arranged on the upper sides of the first U-shaped parts (5), and the first U-shaped parts (5) and the second U-shaped parts (6) are connected through universal joints;
the side wall, far away from the first U-shaped part (5), of the second U-shaped part (6) is connected with three electric cylinders (7), and the telescopic ends of the electric cylinders (7) are rotatably connected with the lower end face of the movable platform (2);
the ring-shaped part (3) is characterized in that three fixing blocks (8) are arranged on the inner wall of the ring-shaped part (3), a trapezoidal through groove corresponding to the static platform (1) is formed in the upper end of each fixing block (8), a first magnet (9) is fixedly connected to the bottom wall of the trapezoidal through groove, and a second magnet (10) adsorbed by the first magnet (9) is fixedly connected to the side wall of the static platform (1).
2. The platform with three degrees of freedom according to claim 1, wherein the inner wall of the ring-shaped member (3) is fixedly connected with a rubber cushion (11).
3. The platform with three degrees of freedom according to claim 2, wherein the fixed block (8) is fixedly connected to the inner wall of the rubber cushion (11), and a plurality of mounting holes which are communicated up and down are uniformly distributed at the upper end of the ring-shaped member (3).
4. The self-balancing three-degree-of-freedom platform according to claim 1, wherein the electric cylinder (7) is connected with an external air pump, and a pipeline communicated with the air pump is fixedly connected to a side wall of the electric cylinder (7).
5. The platform with three degrees of freedom according to any one of claims 1 to 4, wherein a third U-shaped member (12) is rotatably connected to a telescopic end of one of the electric cylinders (7), a second rotating shaft (13) is rotatably connected to an upper end of the third U-shaped member (12), the second rotating shaft (13) is rotatably connected to a lower end surface of the movable platform (2), spherical members (14) are rotatably connected to telescopic ends of the other two electric cylinders (7), a third rotating shaft (15) is fixedly connected to an upper end of each spherical member (14), and an upper end of each third rotating shaft (15) is rotatably connected to a lower end of the movable platform (2).
6. The platform with three degrees of freedom according to claim 5, wherein the opposite side walls of the static platform (1) and the movable platform (2) are respectively provided with a circular groove corresponding to the first rotating shaft (4), the second rotating shaft (13) and the third rotating shaft (15), and a bearing seat is fixedly connected in the circular groove.
7. The platform with three degrees of freedom according to claim 6, wherein the first rotating shaft (4), the second rotating shaft (13) and the third rotating shaft (15) are respectively connected with bearings in the bearing seat in a rotating manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020433083.4U CN211902159U (en) | 2020-03-30 | 2020-03-30 | Self-balancing three-degree-of-freedom platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020433083.4U CN211902159U (en) | 2020-03-30 | 2020-03-30 | Self-balancing three-degree-of-freedom platform |
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| Publication Number | Publication Date |
|---|---|
| CN211902159U true CN211902159U (en) | 2020-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020433083.4U Expired - Fee Related CN211902159U (en) | 2020-03-30 | 2020-03-30 | Self-balancing three-degree-of-freedom platform |
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| CN (1) | CN211902159U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692753A (en) * | 2020-12-16 | 2021-04-23 | 宁波职业技术学院 | Extensible mechanism with turning function |
| CN114916802A (en) * | 2022-05-09 | 2022-08-19 | 江西现代职业技术学院 | Cultural relic display device convenient to angle regulation |
-
2020
- 2020-03-30 CN CN202020433083.4U patent/CN211902159U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692753A (en) * | 2020-12-16 | 2021-04-23 | 宁波职业技术学院 | Extensible mechanism with turning function |
| CN112692753B (en) * | 2020-12-16 | 2022-05-13 | 宁波职业技术学院 | Extensible mechanism with turning function |
| CN114916802A (en) * | 2022-05-09 | 2022-08-19 | 江西现代职业技术学院 | Cultural relic display device convenient to angle regulation |
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Granted publication date: 20201110 |