CN214136045U - Six-freedom-degree swinging device based on Stewart platform - Google Patents
Six-freedom-degree swinging device based on Stewart platform Download PDFInfo
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- CN214136045U CN214136045U CN202022687416.9U CN202022687416U CN214136045U CN 214136045 U CN214136045 U CN 214136045U CN 202022687416 U CN202022687416 U CN 202022687416U CN 214136045 U CN214136045 U CN 214136045U
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Abstract
The utility model discloses a six degrees of freedom swing device based on stewart platform, including upper mounting plate, lower platform, connection the upper mounting plate with six electric jar landing legs that the structure is the same of platform down, the electric jar landing leg including the body portion that has the slide rail, with body portion sliding connection's sliding part, set firmly in body portion and control gliding controller of sliding part, connection the upper mounting plate with the first hinge bar and the connection of sliding part the lower platform with the second hinge bar of body portion, it is a plurality of the electric jar landing leg passes through the controller control the sliding part with the relative position of body portion, and then change the upper mounting plate with the relative position of lower platform. Compared with the prior art, the utility model provides a six degrees of freedom sway device based on stewart platform, the structure is more reasonable, bearing capacity is strong, the reliability is high.
Description
Technical Field
The utility model relates to a motion platform technical field especially relates to a six degrees of freedom swing device based on stewart platform.
Background
In comparison with a tandem robot, a sturth-Stewart (Gough-Stewart) platform has advantages of high precision and strong bearing capacity, and is widely used as various six-degree-of-freedom motion simulation platforms in recent years. The stewart platform is widely used as a motion simulation platform of large-scale simulation test equipment such as an automobile motion simulator, a tank motion simulator, a ship motion simulator, a flight simulator and the like due to large rigidity, strong bearing capacity and high precision.
In the six-degree-of-freedom swing device manufactured based on the stewart platform in the related art, the structure of the electric cylinder support leg is often a telescopic rod structure, wherein the controller is often a servo motor arranged at the end part of the telescopic rod, and thus, the mechanism of the controller is fragile and cannot adapt to high-strength impact pressure. When the six-degree-of-freedom swinging device is used for swinging experiments of objects with large mass, the controller often cannot bear pressure, so that the application range of the six-degree-of-freedom swinging device is limited.
Therefore, there is a need to provide a six-degree-of-freedom swing device based on a stewart platform with more reasonable structure, strong bearing capacity and high reliability to solve the above problems.
SUMMERY OF THE UTILITY MODEL
The six-freedom-degree swinging device is more reasonable in structure, strong in bearing capacity and high in reliability and is based on the Stewart platform.
In order to achieve the above purpose, the utility model provides a following technical scheme:
the six-degree-of-freedom swinging device comprises an upper platform, a lower platform and six electric cylinder supporting legs which are connected with the upper platform and the lower platform and have the same structure, wherein each electric cylinder supporting leg comprises a body part with a sliding rail, a sliding part in sliding connection with the body part, a controller which is fixedly arranged on the body part and controls the sliding part to slide, a first hinged rod which is connected with the upper platform and the sliding part, and a second hinged rod which is connected with the lower platform and the body part, and the electric cylinder supporting legs control the relative positions of the sliding part and the body part through the controller so as to change the relative positions of the upper platform and the lower platform.
Preferably, the six electric cylinder support legs are respectively a first electric cylinder support leg, a second electric cylinder support leg, a third electric cylinder support leg, a fourth electric cylinder support leg, a fifth electric cylinder support leg and a sixth electric cylinder support leg which are sequentially arranged along the circumferential direction of the upper platform and the lower platform at intervals, and a hinge point of the first electric cylinder support leg and the upper platform is arranged close to a hinge point of the second electric cylinder support leg and the upper platform; the hinge point of the second electric cylinder support leg and the lower platform is arranged close to the hinge point of the third electric cylinder support leg and the lower platform; the hinge point of the third electric cylinder support leg and the upper platform is arranged close to the hinge point of the fourth electric cylinder support leg and the upper platform; the hinge point of the fourth electric cylinder support leg and the lower platform is arranged close to the hinge point of the fifth electric cylinder support leg and the lower platform; the hinge point of the fifth electric cylinder support leg and the upper platform is arranged close to the hinge point of the sixth electric cylinder support leg and the upper platform; and the hinge point of the sixth electric cylinder supporting leg and the lower platform is arranged close to the hinge point of the first electric cylinder supporting leg and the lower platform.
Preferably, the first hinge rod comprises a first fixed section fixedly connected with the upper platform, a second fixed section fixedly connected with the sliding portion and a first movable member connected with the first fixed section and the second fixed section, and the first fixed section and the second fixed section realize 360-degree rotation through the first movable member.
Preferably, the second hinge rod includes a third fixed section fixedly connected to the lower platform, a fourth fixed section fixedly connected to the body portion, and a second movable member connected to the third fixed section and the fourth fixed section, the third fixed section and the fourth fixed section realize 360-degree rotation through the second movable member, and the second movable member has the same structure as the first movable member.
Preferably, the first moving part/the second moving part includes being cylindric main part, following two first extension posts that extend to the opposite direction in the radial direction of main part and following two second extension posts that extend to the opposite direction in the radial direction of main part, two line perpendicular to between the first extension post is two line between the second extension post, first fixed segment/the third fixed segment passes through first extension post with the main part rotates to be connected, second fixed segment/the fourth fixed segment passes through the second extension post with the main part rotates to be connected.
Preferably, the main body includes a rectangular support body, a groove formed by recessing one side of the support body to the other side of the support body along a thickness direction of the support body, a through groove penetrating through the support body along a width direction of the support body, and an extension table formed by extending along a length direction of the support body, the slide rail is disposed on an inner side wall of the groove along the length direction of the support body, the controller penetrates through the through groove and is fixedly connected with an inner wall of the through groove, and the fourth fixing section is fixedly connected with the extension table.
Preferably, the second hinge rod further comprises a limit end fixedly connected with the third fixing section, and the limit end is arranged on one side, far away from the body part, of the lower platform.
In conclusion, compared with the prior art, the utility model provides a six degrees of freedom based on stewart platform sways device, through setting up the electricity jar landing leg including the body portion that has the slide rail, with body portion sliding connection's sliding part and set firmly in body portion and control the gliding controller of sliding part, and injecing a plurality of electricity jar landing leg passes through controller control the sliding part with body portion sets up relatively, and then changes the upper mounting plate with the relative position of lower platform, compare in prior art and utilize the telescopic link, and set up the controller in the structure of telescopic link tip, the atress direction of bearing capacity can be avoided to the controller, thereby makes six degrees of freedom based on stewart platform sway the device and can bear more weight, and suitability and reliability are higher.
Drawings
Fig. 1 is a schematic perspective view of a six-degree-of-freedom swing device based on a stewart platform according to the present invention;
fig. 2 is a schematic perspective view of a partial structure of a six-degree-of-freedom swing device based on a stewart platform according to the present invention;
fig. 3 is an enlarged view of a portion a of the six-degree-of-freedom rocking device based on the stewart platform shown in fig. 1.
In the figure, 100, six-freedom-degree swinging devices based on a Stewart platform; 10. an upper platform; 20. a lower platform; 30. an electric cylinder support leg; 31. a body portion; 311. a slide rail; 312. a support body; 313. a groove; 314. a through groove; 315. an extension stage; 32. a sliding part; 33. a controller; 34. a first hinge lever; 342. a second fixed section; 343. a first movable member; 35. a second hinge lever; 352. a fourth stationary section; 353. a second movable member; 3531. a main body portion; 3532. a first extended column; 3533. a second extended column; 354. and a limiting end.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples. The following experimental examples and examples are intended to further illustrate but not limit the invention.
Referring to fig. 1 to 3, the present invention provides a six-degree-of-freedom swing device 100 based on a stewart platform, wherein the six-degree-of-freedom swing device 100 based on the stewart platform includes an upper platform 10, a lower platform 20, and six electric cylinder legs 30 having the same structure and connecting the upper platform 10 and the lower platform 20.
The upper platform 10 is a moving platform of the six-degree-of-freedom rocking device 100 based on the stewart platform, the lower platform 20 is a fixed platform of the six-degree-of-freedom rocking device 100 based on the stewart platform, and when the six-degree-of-freedom rocking device is used, the six-degree-of-freedom change of an object is simulated through the movement of the upper platform 10 relative to the lower platform 20, so that the reproduction of certain specific environments is realized.
The electric cylinder support leg 30 includes a main body 31 having a slide rail 311, a sliding portion 32 slidably connected to the main body 31, a controller 33 fixedly mounted on the main body 31 and controlling the sliding of the sliding portion 32, a first hinge rod 34 connecting the upper platform 10 and the sliding portion 32, and a second hinge rod 35 connecting the lower platform 20 and the main body 31. The controller 33 controls the relative positions of the sliding part 32 and the body part 31 of the plurality of cylinder legs 30, so as to change the relative positions of the upper platform 10 and the lower platform 20. With this arrangement, compared to the prior art in which a controller (servo motor) is disposed at the end of the telescopic rod, the controller 33 does not need to be limited to the end of the sliding part 32, and thus the stress range of the electric cylinder support leg 30 is avoided, thereby increasing the bearing capacity of the six-degree-of-freedom swing device 100 based on the stewart platform.
Specifically, in the present embodiment, the controller 33 is partially embedded in the main body 31.
The main body 31 includes a support 312 having a rectangular shape, a recess 313 formed by recessing one side of the support 312 toward the other side in a thickness direction thereof, a through groove 314 formed by stringing the supports in a width direction of the support 312, and an extension table 315 formed by extending in a length direction of the support 312. The slide rail 311 is disposed on an inner side wall of the groove 313 along a length direction of the support 312, and the controller 33 passes through the through groove 314 and is fixedly connected to an inner wall of the through groove 314. By partially housing the controller 33 in the support 312, the structural strength of the support 312 is utilized to protect the controller 33, and the thickness space of the support 312 is fully utilized, so that the structure of the main body 31 is miniaturized and the reliability is enhanced.
Specifically, the six electric cylinder legs 30 are respectively a first electric cylinder leg, a second electric cylinder leg, a third electric cylinder leg, a fourth electric cylinder leg, a fifth electric cylinder leg and a sixth electric cylinder leg which are sequentially arranged along the circumferential direction of the upper platform 10 and the lower platform 20 at intervals, and a hinge point of the first electric cylinder leg and the upper platform 10 is arranged close to a hinge point of the second electric cylinder leg and the upper platform 10; the hinge point of the second electric cylinder support leg and the lower platform 20 is arranged close to the hinge point of the third electric cylinder support leg and the lower platform 20; the hinge point of the third electric cylinder support leg and the upper platform 10 is arranged close to the hinge point of the fourth electric cylinder support leg and the upper platform 10; the hinge point of the fourth electric cylinder support leg and the lower platform 20 is arranged close to the hinge point of the fifth electric cylinder support leg and the lower platform 20; the hinge point of the fifth electric cylinder support leg and the upper platform 10 is arranged close to the hinge point of the sixth electric cylinder support leg and the upper platform 10; the hinge point of the sixth electric cylinder support leg and the lower platform 20 is arranged close to the hinge point of the first electric cylinder support leg and the lower platform 20. Due to the arrangement, the upper platform 10 and the lower platform 20 are supported by the triangular structure in all directions, and the structural stability of the upper platform 10 is ensured.
The first hinge lever 34 includes a first fixed section (not numbered) fixedly connected to the upper platform 10, a second fixed section 342 fixedly connected to the sliding portion 32, and a first movable member 343 connecting the first fixed section and the second fixed section 342. The first fixed section and the second fixed section 342 realize 360 ° rotation through the first movable member 343.
The second hinge rod 35 includes a third fixed section 351 fixedly connected to the lower platform 20, a fourth fixed section 352 fixedly connected to the main body 31, a second movable member 353 connecting the third fixed section 351 and the fourth fixed section 352, and a limit end 354 fixedly connected to the third fixed section 351. The third fixed section 351 and the fourth fixed section 352 are rotated by 360 ° through the second movable member 353, the fourth fixed section 352 is fixedly connected to the extension table 315, and the second movable member 353 and the first movable member 343 have the same structure.
Specifically, in the present embodiment, only the structure of the second movable member 353 will be described. The second movable member 353 includes a cylindrical main body portion 3531, two first extending pillars 3532 extending in opposite directions along the radial direction of the main body portion 3531, and two second extending pillars 3533 extending in opposite directions along the radial direction of the main body portion 3531. A connecting line between the two first extending columns 3532 is perpendicular to a connecting line between the two second extending columns 3533, the third fixing section 351 is rotatably connected with the main body 3531 through the first extending column 3532, and the fourth fixing section 352 is rotatably connected with the main body 3531 through the second extending column 3533.
The limiting end 354 is disposed on a side of the lower platform 20 away from the main body 31.
Compared with the prior art, the utility model provides a six degrees of freedom swing device based on stewart platform, through setting up the electricity jar landing leg including the body portion that has the slide rail, with body portion sliding connection's sliding part and set firmly in body portion and control the gliding controller of sliding part, and injecing a plurality of electricity jar landing leg passes through controller control the sliding part with body portion sets up relatively, and then changes the upper mounting plate with the relative position of lower platform compares in prior art and utilizes the telescopic link and set up the controller in the structure of telescopic link tip, the atress direction of bearing capacity can be avoided to the controller, thereby makes six degrees of freedom swing device based on stewart platform can bear more weight, and suitability and reliability are higher.
It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should be construed as the scope of the present invention.
Claims (7)
1. The six-degree-of-freedom swinging device based on the Stewart platform is characterized by comprising an upper platform, a lower platform and six electric cylinder supporting legs which are connected with the upper platform and the lower platform and have the same structure, wherein each electric cylinder supporting leg comprises a body part with a slide rail, a sliding part in sliding connection with the body part, a controller which is fixedly arranged on the body part and controls the sliding part to slide, a first hinge rod which is connected with the upper platform and the sliding part, and a second hinge rod which is connected with the lower platform and the body part, and the electric cylinder supporting legs control the relative positions of the sliding part and the body part through the controller so as to further change the relative positions of the upper platform and the lower platform.
2. The stewart platform-based six-degree-of-freedom rocking device according to claim 1, wherein the six electric cylinder legs are respectively a first electric cylinder leg, a second electric cylinder leg, a third electric cylinder leg, a fourth electric cylinder leg, a fifth electric cylinder leg and a sixth electric cylinder leg which are sequentially arranged at intervals in the circumferential direction of the upper platform and the lower platform, and a hinge point of the first electric cylinder leg and the upper platform is arranged close to a hinge point of the second electric cylinder leg and the upper platform; the hinge point of the second electric cylinder support leg and the lower platform is arranged close to the hinge point of the third electric cylinder support leg and the lower platform; the hinge point of the third electric cylinder support leg and the upper platform is arranged close to the hinge point of the fourth electric cylinder support leg and the upper platform; the hinge point of the fourth electric cylinder support leg and the lower platform is arranged close to the hinge point of the fifth electric cylinder support leg and the lower platform; the hinge point of the fifth electric cylinder support leg and the upper platform is arranged close to the hinge point of the sixth electric cylinder support leg and the upper platform; and the hinge point of the sixth electric cylinder supporting leg and the lower platform is arranged close to the hinge point of the first electric cylinder supporting leg and the lower platform.
3. The sixhlet platform-based six-degree-of-freedom rocking device according to claim 2, wherein the first hinge rod includes a first fixed section fixedly connected to the upper platform, a second fixed section fixedly connected to the sliding portion, and a first movable member connecting the first fixed section and the second fixed section, and the first fixed section and the second fixed section are configured to rotate 360 ° by the first movable member.
4. The sixth-degree-of-freedom rocking device based on a stuart platform according to claim 3, wherein the second hinge rod includes a third fixed section fixedly connected to the lower platform, a fourth fixed section fixedly connected to the body portion, and a second movable member connecting the third fixed section and the fourth fixed section, the third fixed section and the fourth fixed section realize 360 ° rotation by the second movable member, and the second movable member has the same structure as the first movable member.
5. The Style platform-based six-degree-of-freedom swinging device according to claim 4, wherein the first/second movable member comprises a cylindrical main body portion, two first extending columns extending in opposite directions along a radial direction of the main body portion, and two second extending columns extending in opposite directions along the radial direction of the main body portion, a connecting line between the two first extending columns is perpendicular to a connecting line between the two second extending columns, the first/third fixed section is rotatably connected with the main body portion through the first extending columns, and the second/fourth fixed section is rotatably connected with the main body portion through the second extending columns.
6. The Style platform-based six-degree-of-freedom swinging device according to claim 4, wherein the body part comprises a rectangular supporting body, a groove formed by recessing one side of the supporting body in the thickness direction to the other side of the supporting body, a through groove penetrating through the supporting body in the width direction of the supporting body, and an extension table formed by extending along the length direction of the supporting body, the slide rail is arranged on the inner side wall of the groove along the length direction of the supporting body, the controller penetrates through the through groove and is fixedly connected with the inner wall of the through groove, and the fourth fixing section is fixedly connected with the extension table.
7. The Style platform-based six-degree-of-freedom rocking device according to claim 6, wherein the second hinge rod further comprises a limiting end fixedly connected to the third fixing section, and the limiting end is disposed on a side of the lower platform away from the body portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022687416.9U CN214136045U (en) | 2020-11-19 | 2020-11-19 | Six-freedom-degree swinging device based on Stewart platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022687416.9U CN214136045U (en) | 2020-11-19 | 2020-11-19 | Six-freedom-degree swinging device based on Stewart platform |
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| CN214136045U true CN214136045U (en) | 2021-09-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023132295A1 (en) * | 2022-01-06 | 2023-07-13 | 三菱重工機械システム株式会社 | Oscillation device and method for controlling oscillation device |
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- 2020-11-19 CN CN202022687416.9U patent/CN214136045U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023132295A1 (en) * | 2022-01-06 | 2023-07-13 | 三菱重工機械システム株式会社 | Oscillation device and method for controlling oscillation device |
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