CN212601721U - Multi-degree-of-freedom motion platform - Google Patents
Multi-degree-of-freedom motion platform Download PDFInfo
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- CN212601721U CN212601721U CN202020848440.3U CN202020848440U CN212601721U CN 212601721 U CN212601721 U CN 212601721U CN 202020848440 U CN202020848440 U CN 202020848440U CN 212601721 U CN212601721 U CN 212601721U
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Abstract
The utility model discloses a multi freedom motion platform, include: an upper platform and a lower platform; the fixed part of the driving mechanism is fixedly connected with the lower platform, and the movable part of the driving mechanism is rotatably connected with the upper platform; the auxiliary mechanism comprises a guide sleeve fixedly connected with the lower platform, a guide shaft rotatably connected with the upper platform and a spring sleeved outside the guide shaft; the guide shaft is axially slidably sleeved in the guide sleeve, one end of the spring is fixedly connected with the guide shaft, and the other end of the spring is fixedly connected with the guide sleeve. Like this, it has reduced actuating mechanism's power, reduces the required holding power of actuating mechanism, has prevented that the axle from taking place to twist reverse, avoids the lead screw to bear the effect of great torsion, has prolonged equipment life.
Description
Technical Field
The utility model belongs to the technical field of the simulation platform, especially, relate to a multi freedom motion platform.
Background
With the rise of activities such as motion simulation, simulated driving and the like, the multi-degree-of-freedom motion platform with three degrees of freedom, six degrees of freedom and the like is widely applied. In the prior art, taking a three-degree-of-freedom motion platform as an example, the driving mode of the three-degree-of-freedom motion platform adopts a ball screw electric cylinder as a driving part, the output power requirement of a motor is large, in the working process, only the ball screw between an upper platform and a lower platform serves as a connecting part and a supporting part, the stress of the screw rod is large, the output shaft is easy to twist, the screw rod needs to bear large torsion, and the service life of the equipment is seriously influenced by bearing the torsion for a long time.
SUMMERY OF THE UTILITY MODEL
To solve the problems in the prior art, the present invention provides a multi-degree-of-freedom motion platform to at least partially solve at least one of the above technical problems.
The utility model discloses a following technical scheme realizes above-mentioned purpose:
a multiple degree of freedom motion platform comprising:
an upper platform and a lower platform;
the fixed part of the driving mechanism is fixedly connected with the lower platform, and the movable part of the driving mechanism is rotatably connected with the upper platform;
the auxiliary mechanism comprises a guide sleeve fixedly connected with the lower platform, a guide shaft rotatably connected with the upper platform and a spring sleeved outside the guide shaft; the guide shaft is axially slidably sleeved in the guide sleeve, one end of the spring is fixedly connected with the guide shaft, and the other end of the spring is fixedly connected with the guide sleeve.
Furthermore, the driving mechanism comprises a horizontal motor, a crank in transmission connection with the horizontal motor, and a link mechanism in rotatable connection with the crank, wherein one end of the link mechanism, which is far away from the crank, is fixedly connected with the upper platform, the crank is rotatably mounted on a fixed seat, and the fixed seat is fixedly connected with the lower platform.
Furthermore, the driving mechanism further comprises a speed reducer arranged on the vertical plate of the fixed seat, an output shaft of the horizontal motor is in transmission connection with the speed reducer, and an output shaft of the speed reducer is fixedly connected with one end of the crank.
Further, the link mechanism includes:
a connecting rod body;
one end of the connecting rod body is connected with the crank through the first joint bearing;
and the other end of the connecting rod body is rotatably connected with the upper platform through the second joint bearing.
Furthermore, the guide sleeve is a spline sleeve, and the guide shaft is a spline shaft matched with the spline sleeve.
Furthermore, the auxiliary mechanism further comprises a universal joint, wherein one end of the spline shaft is connected with the universal joint through a flange, and is rotatably connected with the upper platform through the universal joint.
Further, the driving mechanism comprises a first crank mechanism, a second crank mechanism and a third crank mechanism, the first crank mechanism and the second crank mechanism are located behind the lower platform and are symmetrically arranged, the third crank mechanism is located in the front of the lower platform, and the third crank mechanism is located in the middle of the lower platform.
Further, the projections of the first crank mechanism, the second crank mechanism and the third crank mechanism on the lower platform are in an isosceles triangle shape.
Further, the auxiliary mechanism is located at the core position of the isosceles triangle.
Further, the multi-degree-of-freedom motion platform is specifically a three-degree-of-freedom motion platform.
The utility model provides a multi-degree-of-freedom motion platform, which is additionally provided with an auxiliary mechanism between an upper platform and a lower platform, wherein the auxiliary mechanism comprises a guide sleeve fixedly connected with the lower platform, a guide shaft rotatably connected with the upper platform, and a spring sleeved outside the guide shaft; the guide shaft is axially slidably sleeved in the guide sleeve, one end of the spring is fixedly connected with the guide shaft, and the other end of the spring is fixedly connected with the guide sleeve. Therefore, in the working process, when the upper platform moves downwards, the guide shaft is driven to move downwards along the guide sleeve and compress the spring, so that the spring stores energy; when the upper platform moves upwards, the spring in a compressed state releases elasticity and provides upward force, so that the output torque of the driving mechanism can be reduced, and the power of the driving mechanism is reduced; when the device is static, the spring provides a certain supporting force for the upper platform, and the supporting force required by the driving mechanism is reduced; meanwhile, the auxiliary mechanism has the function of a fulcrum, can bear various side tilting forces, can prevent the platform from twisting, avoids the crankshaft from bearing the action of larger torsion force, and prolongs the service life of the equipment.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of a multiple degree of freedom motion platform provided by the present invention;
FIG. 2 is a schematic structural diagram of a driving mechanism in the multiple degree of freedom motion platform shown in FIG. 1;
FIG. 3 is a side cross-sectional view of the drive mechanism shown in FIG. 2;
fig. 4 is a schematic structural diagram of an auxiliary mechanism in the multiple degree of freedom motion platform shown in fig. 1.
Description of reference numerals:
1-first crank mechanism 2-second crank mechanism 3-third crank mechanism 4-auxiliary mechanism
5-lower platform 6-upper platform
11-horizontal motor 12-speed reducer 13-fixing seat 14-crank 15-first joint bearing
16-connecting rod body 17-second joint bearing 18-double lug seat
41-universal joint 42-spline shaft 43-spring 44-spline housing
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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a specific embodiment of the multiple degree of freedom motion platform provided in the present invention.
In a specific embodiment, the multi-degree-of-freedom motion platform provided by the present invention can be specifically a three-degree-of-freedom platform or a six-degree-of-freedom platform, and this specific embodiment takes a three-degree-of-freedom platform as an example. As shown in fig. 1, the multiple degree of freedom motion platform includes an upper platform 6 and a lower platform 5, wherein the lower platform 5 is used for being placed on a horizontal field such as the ground, and the upper platform 6 is located above the lower platform 5 and is used for supporting additional components such as a seat.
The multi-degree-of-freedom motion platform further comprises a driving mechanism and an auxiliary mechanism 4, wherein a fixed part of the driving mechanism is fixedly connected with the lower platform, a movable part of the driving mechanism is rotatably connected with the upper platform, the fixed part of the driving mechanism can be a fixed seat 13 for example, the fixed seat 13 is fixedly connected with the lower platform in a bolt connection mode, and the movable part can be a joint bearing or a universal joint 41 and other structures for example. As shown in fig. 4, the auxiliary mechanism includes a guide sleeve fixedly connected to the lower platform, a guide shaft rotatably connected to the upper platform, and a spring 43 sleeved outside the guide shaft; the guide shaft is axially slidably sleeved in the guide sleeve, one end of the spring 43 is fixedly connected with the guide shaft, and the other end of the spring is fixedly connected with the guide sleeve. The added auxiliary mechanism can store energy when the platform moves downwards and release energy when the platform moves upwards, so that the power of the motor and the stress of the transmission mechanism are reduced.
Specifically, this uide bushing can be the spline housing, this moment, the uide shaft for with spline housing complex integral key shaft 42, with integral key shaft 42 and spline housing cooperation installation for only can realize axial motion between uide shaft and the uide bushing, and spline fit has restricted circumference relative rotation, thereby need not to set up in addition and prevent turning round the device and can realize preventing turning round the function, has reduced the complexity of mechanism, and has better preventing turning round the effect. Theoretically speaking, the guide sleeve can also be of a common sleeve structure, the guide shaft can also be an optical axis, and an anti-twisting device needs to be arranged between the guide sleeve and the guide shaft.
The auxiliary mechanism further comprises a universal joint 41, one end of the spline shaft 42 is connected with the universal joint 41 through a flange, and is rotatably connected with the upper platform through the universal joint 41, so that the auxiliary mechanism can adjust the direction at any time along with the movement of the upper platform, and a better stress state is guaranteed.
In the above embodiment, the auxiliary mechanism 4 mainly functions as a fulcrum, and receives various tilting forces while preventing torsion, so that the three crankshafts move within a certain range around the auxiliary mechanism as a central fulcrum. The spline shaft 42 of the assist mechanism can move up and down inside the spline housing 44, and the spring 43 is provided between the spline shaft 42 and the spline housing 44. When the upper platform 6 moves downwards, the spline 42 is driven to move downwards, so that the spring is compressed, and the spring stores energy; when the upper platform 6 moves upwards, the spring in the compressed state exerts an upward force, thereby reducing the output torque of the drive mechanism, and when at rest, the spring can also support the weight on the upper platform.
Specifically, as shown in fig. 2 and 3, the driving mechanism includes a horizontal motor 11, a crank 14 in transmission connection with the horizontal motor 11, and a link mechanism in rotatable connection with the crank 14, wherein one end of the link mechanism, which is far away from the crank 14, is fixedly connected with the upper platform, the crank 14 is rotatably mounted on a fixed seat 13, and the fixed seat 13 is fixedly connected with the lower platform. Therefore, the crankshaft connecting rod mechanism is used as the driving mechanism of the platform, compared with the traditional electric cylinder transmission mechanism, the linear motion is softer, the steering is more natural, and meanwhile, the height of the platform is greatly reduced relative to that of the electric cylinder platform, so that the comfort and the experience of the platform are better.
In order to realize speed adjustment, the driving mechanism further includes a speed reducer 12 mounted on the vertical plate of the fixing seat 13, an output shaft of the horizontal motor 11 is in transmission connection with the speed reducer 12, an output shaft of the speed reducer 12 is fixedly connected with one end of the crank 14, and the horizontal motor 11 is specifically a servo motor.
The connecting rod mechanism comprises a connecting rod body 16, a first joint bearing 15 and a second joint bearing 17, one end of the connecting rod body 16 is connected with the crank 14 through the first joint bearing 15, and the other end of the connecting rod body 16 is rotatably connected with the upper platform through the second joint bearing 17. Therefore, the upper end and the lower end of the connecting rod body 16 of the driving mechanism are provided with the indoor joint bearings, and the indoor joint bearings can move in any direction, so that the torsion on the connecting rod is eliminated, and the moving flexibility of the platform is improved.
Specifically, the crank-link mechanism as the driving mechanism includes a servo motor, a speed reducer 12, a fixing base 13, a crank, a link mechanism, and a binaural base 18, and the entire crank mechanism is laid flat. The servo motor 11 is directly connected with the speed reducer 12 through a screw, the connected assembly is fixed on a fixed seat 13 through the speed reducer 12 in a flange mode, the bottom of the fixed seat 13 is flat, a hole is formed in the bottom of the fixed seat 13 and used for being fixed with the lower platform 5, and a vertical plate on the fixed seat 13 is used for fixing the speed reducer 13; one end of the crank 14 is connected with an output shaft of the speed reducer through a locking screw, and rotates along with the rotation of the speed reducer, and the other end of the crank 14 is connected with a first joint bearing 15 in the connecting rod mechanism; because the knuckle bearing can rotate freely, so the crank drives the connecting rod to move up and down in a certain range, the connecting rod mechanism comprises a first knuckle bearing 15, a connecting rod body 16 and a second knuckle bearing 17, and the crank mechanism can rotate in two planes under the action of the knuckle bearing, so that the connecting rod is free from torsion.
Furthermore, the driving mechanisms are three groups and are named as a first crank mechanism, a second crank mechanism and a third crank mechanism for convenience in description, and the structural composition of each group of driving mechanisms is the same. The first crank mechanism and the second crank mechanism are located behind the lower platform and are symmetrically arranged, the third crank mechanism is located in the front of the lower platform, and the third crank mechanism is located in the middle of the lower platform. Specifically, in the actual use process, first crank mechanism and second crank mechanism are located the rear and the symmetrical arrangement of platform down, and second crank mechanism is located the anterior intermediate position of platform down, and complementary unit is located the third crank mechanism directly behind, and concrete position can be according to last platform focus position, adjusts from beginning to end.
Further, the projections of the first crank mechanism 1, the second crank mechanism 2 and the third crank mechanism 3 on the lower platform are in an isosceles triangle shape. The three crankshaft mechanisms are arranged in an isosceles triangle shape, the auxiliary mechanism 4 is located in the middle of the isosceles triangle, and the auxiliary mechanism is located at the core position of the isosceles triangle. The three-free-motion platform realizes that the servo motor drives the speed reducer to do circular motion so as to drive the crank connecting rod to do up-and-down motion, and realizes the motions of front-and-back swing, left-and-right swing, up-and-down translation and the like of the whole platform through the combined motion of the three crank connecting rod mechanisms.
In the above embodiment, the multi-degree-of-freedom motion platform provided by the present invention is additionally provided with an auxiliary mechanism between the upper platform and the lower platform, wherein the auxiliary mechanism comprises a guide sleeve fixedly connected with the lower platform, a guide shaft rotatably connected with the upper platform, and a spring sleeved outside the guide shaft; the guide shaft is axially slidably sleeved in the guide sleeve, one end of the spring is fixedly connected with the guide shaft, and the other end of the spring is fixedly connected with the guide sleeve. Therefore, in the working process, when the upper platform moves downwards, the guide shaft is driven to move downwards along the guide sleeve and compress the spring, so that the spring stores energy; when the upper platform moves upwards, the spring in a compressed state releases elasticity and provides upward force, so that the output torque of the driving mechanism can be reduced, and the power of the driving mechanism is reduced; when the device is static, the spring provides a certain supporting force for the upper platform, and the supporting force required by the driving mechanism is reduced; meanwhile, the auxiliary mechanism has the function of a fulcrum, can bear various side tilting forces, can prevent the platform from twisting, avoids the crankshaft from bearing the action of larger torsion force, and prolongs the service life of the equipment.
The above embodiment is the preferred embodiment of the present invention, which is only used to facilitate the explanation of the present invention, it is not right to the present invention, which makes the limitation of any form, any of the commonly known people in the technical field, if the present invention does not depart from the technical features of the present invention, the present invention utilizes the present invention to make the equivalent embodiment of local change or modification, and does not depart from the technical features of the present invention, which all still belongs to the technical features of the present invention.
Claims (10)
1. A multiple degree of freedom motion platform, comprising:
an upper platform and a lower platform;
the fixed part of the driving mechanism is fixedly connected with the lower platform, and the movable part of the driving mechanism is rotatably connected with the upper platform;
the auxiliary mechanism comprises a guide sleeve fixedly connected with the lower platform, a guide shaft rotatably connected with the upper platform and a spring sleeved outside the guide shaft; the guide shaft is axially slidably sleeved in the guide sleeve, one end of the spring is fixedly connected with the guide shaft, and the other end of the spring is fixedly connected with the guide sleeve.
2. The multi-degree-of-freedom motion platform as claimed in claim 1, wherein the driving mechanism comprises a horizontal motor, a crank in transmission connection with the horizontal motor, and a link mechanism in rotatable connection with the crank, wherein one end of the link mechanism, which is far away from the crank, is fixedly connected with the upper platform, the crank is rotatably mounted on a fixed seat, and the fixed seat is fixedly connected with the lower platform.
3. The multi-degree-of-freedom motion platform as claimed in claim 2, wherein the driving mechanism further comprises a speed reducer mounted on the vertical plate of the fixing base, an output shaft of the horizontal motor is in transmission connection with the speed reducer, and an output shaft of the speed reducer is fixedly connected with one end of the crank.
4. The multiple degree of freedom motion platform of claim 3, wherein the linkage mechanism comprises:
a connecting rod body;
one end of the connecting rod body is connected with the crank through the first joint bearing;
and the other end of the connecting rod body is rotatably connected with the upper platform through the second joint bearing.
5. The multiple degree of freedom motion platform of claim 1, wherein the guide housing is a spline housing and the guide shaft is a spline shaft that mates with the spline housing.
6. The multiple degree of freedom motion platform of claim 5, wherein the assist mechanism further includes a universal joint, one end of the spline shaft being connected to the universal joint via a flange and rotatably connected to the upper platform via the universal joint.
7. The multiple degree of freedom motion platform of any one of claims 1-6, wherein the drive mechanism includes a first crank mechanism, a second crank mechanism, and a third crank mechanism, the first crank mechanism and the second crank mechanism are located behind the lower platform and are symmetrically arranged, the third crank mechanism is located in front of the lower platform, and the third crank mechanism is located in a middle position of the lower platform.
8. The multiple degree of freedom motion platform of claim 7, wherein the projections of the first crank mechanism, the second crank mechanism, and the third crank mechanism on the lower platform are in the shape of an isosceles triangle.
9. The multiple degree of freedom motion platform of claim 8, wherein the assist mechanism is located at a centroid of an isosceles triangle.
10. The multiple degree of freedom motion platform of any one of claims 1-6, wherein the multiple degree of freedom motion platform is specifically a three degree of freedom motion platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020848440.3U CN212601721U (en) | 2020-05-20 | 2020-05-20 | Multi-degree-of-freedom motion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020848440.3U CN212601721U (en) | 2020-05-20 | 2020-05-20 | Multi-degree-of-freedom motion platform |
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| Publication Number | Publication Date |
|---|---|
| CN212601721U true CN212601721U (en) | 2021-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020848440.3U Active CN212601721U (en) | 2020-05-20 | 2020-05-20 | Multi-degree-of-freedom motion platform |
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|---|---|
| CN (1) | CN212601721U (en) |
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- 2020-05-20 CN CN202020848440.3U patent/CN212601721U/en active Active
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