CN214560899U

CN214560899U - Stewart platform structure

Info

Publication number: CN214560899U
Application number: CN202120934353.4U
Authority: CN
Inventors: 杨令辉; 李键; 张亚杰; 周瑞平
Original assignee: Shanghai Ocean Engineering Equipment Manufacturing Innovation Center Co ltd
Current assignee: Shanghai Ocean Engineering Equipment Manufacturing Innovation Center Co ltd
Priority date: 2021-05-03
Filing date: 2021-05-03
Publication date: 2021-11-02
Anticipated expiration: 2031-05-03

Abstract

The utility model relates to a stewart field, concretely relates to stewart platform structure, its technical scheme is: including moving platform and quiet platform, the top outer wall of quiet platform is provided with the hydro-cylinder, the hydro-cylinder all is connected with moving the platform, the mounting groove has all been seted up to the triangle department of quiet platform bottom outer wall, the both sides inner wall on mounting groove top all is provided with oil bag two, one side outer wall of oil bag two all is provided with oil pipe two, the beneficial effects of the utility model are that: when the support plate, the bottom plate and the static platform are fixed, the bottom surfaces of the support plate, the bottom plate and the static platform are on the same horizontal line, the other part of hydraulic oil in the oil bag II enters the oil bag I, the sliding block is extruded out of the oil bag I, the static platform is further supported, and once the stress is uneven or constantly changes in the bearing process of the platform structure, the static platform in the platform is prevented from being displaced easily without a corresponding stable support structure, so that the phenomenon of data deviation is caused, and the use efficiency of the Stewart platform structure is improved.

Description

Stewart platform structure

Technical Field

The utility model relates to a stewart field, concretely relates to stewart platform structure.

Background

The Stewart platform parallel mechanism has the characteristics of high rigidity, strong bearing capacity, non-accumulative position error and the like, is complementary with a serial mechanism in application, and becomes a research hotspot of space mechanics. At present, the Stewart platform parallel mechanism is widely applied to the industries of aviation, aerospace, seabed operation, underground mining, manufacturing and assembling and the like. The practical application and theoretical research of the parallel mechanism obtain a great deal of research results.

The application range of the Stewart platform is wide, the position of a hydraulic oil cylinder is usually calculated through compensation, data is fine, the platform structure needs to be placed on a plane when the Stewart platform is used, changed data is recorded and calculated, however, once stress is uneven or constantly changes in the bearing process of the platform structure, a static platform in the platform is easy to displace without a corresponding stable supporting structure, so that data deviation is caused, and the use efficiency of the Stewart platform structure is reduced.

Therefore, the invention of a stewart platform structure is necessary.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model provides a stewart platform structure is provided with stable supporting structure through the bottom at quiet platform to solve the inhomogeneous or constantly change of platform atress, lead to the problem that the deviation phenomenon appears in the data.

In order to achieve the above object, the present invention provides the following technical solutions: a stewart platform structure comprises a movable platform and a static platform, wherein an oil cylinder is arranged on the outer wall of the top end of the static platform, the oil cylinder is connected with the movable platform, mounting grooves are formed in the triangular parts of the outer wall of the bottom end of the static platform, oil bags II are arranged on the inner walls of the two sides of the top end of the mounting grooves, oil pipes II are arranged on the outer wall of one side of each oil bag II, one ends, away from the oil bags II, of the oil pipes II are sleeved with oil bags III, circular grooves are formed in the inner walls of the two sides of the top end of the mounting grooves, supporting rods are connected with the inner walls of the circular grooves in a sliding mode, springs are sleeved on the outer walls of the supporting rods, pressing plates are fixedly connected to the outer walls of one side of the supporting rods and located under the oil bags II, a bottom plate is arranged on the outer wall of the bottom end of the oil bags III, an arc-shaped groove is formed in the outer wall of the bottom end of the bottom plate, and vacuum suction nozzles are arranged on the inner walls of the arc-shaped groove, and the vacuum suction nozzles are connected with the oil bags in a three-phase manner.

Preferably, the bottom outer wall of bracing piece all has the backup pad through the screwed connection, the equal rigid coupling of one side outer wall of backup pad has the fixture block, the draw-in groove has all been seted up to the both sides inner wall of mounting groove bottom, the size looks adaptation of fixture block and draw-in groove.

Preferably, the outer wall on one side of the top end of the clamping block is provided with a clamping rod, the inner wall on one side of the top end of the clamping groove is provided with a jack, the clamping rod is matched with the size of the jack, and the inner wall on one side of the jack is provided with a reset button.

Preferably, the three corners department of quiet platform bottom outer wall all seted up the rectangle recess, the rectangle recess all is located the both sides of mounting groove, two equidistance spouts that distribute are all seted up to one side outer wall of rectangle recess, the equal sliding connection of inner wall of spout has the sliding block.

Preferably, the inner walls of the rectangular grooves are provided with first oil bags, the first oil bags are connected with the sliding block, the outer walls of the top ends of the first oil bags are provided with first oil pipes, and the first oil pipes are connected with the second oil bags.

Preferably, the bottom outer wall of the supporting plate is bonded with a rubber pad, and the bottom outer wall of the rubber pad is provided with anti-skid lines.

Preferably, the outer wall of the bottom end of the movable platform is provided with a connecting rope, the outer wall of the bottom end of the connecting rope is provided with a small ball, and the small ball is located right above the static platform.

Preferably, the connecting rope is made of nylon, and the small ball is made of rubber.

Preferably, the vacuum suction nozzle is made of nitrile rubber.

Preferably, the sliding block is the plastic material, the bottom outer wall of sliding block is provided with anti-skidding arch.

The utility model has the advantages that:

1. a stewart platform structure is provided with a static platform, a supporting plate, a bottom plate, an oil bag I, an oil bag II, an oil bag III, a vacuum suction nozzle and a sliding block, wherein the static platform is pressed, the supporting plate at the bottom of the static platform is stressed to move upwards, the supporting rod moves upwards along with the supporting plate, the supporting rod drives the pressing plate to move to press the oil bag II when moving upwards, hydraulic oil in the oil bag II respectively enters the oil bag I and the oil bag III through the oil pipe I and the oil pipe II, the volume of the oil bag III is increased to extrude the bottom plate downwards, the vacuum suction nozzle is adsorbed on a plane under the action of the oil bag III, a clamping rod on a clamping block is inserted into a jack on the static platform when the clamping block moves upwards along with the supporting plate, the bottom surfaces of the supporting plate, the bottom plate and the static platform are on the same horizontal line when being fixed, the other part of the hydraulic oil in the oil bag II enters the oil bag I, the sliding block is extruded out by the oil bag I to further support the static platform, the phenomenon that a static platform in the platform is easy to displace without a corresponding stable supporting structure once the stress is uneven or constantly changed in the bearing process of the platform structure is avoided, so that the data deviation is caused, and the use efficiency of the Stewart platform structure is improved;

2. the utility model provides a whether stewart platform structure is through being provided with connecting rope, bobble and backup pad, and the rubber pad and the anti-skidding line of backup pad bottom can increase frictional force, further improves the stability of mechanism, can be directly through connecting whether the bobble test structure that the rope is connected levels before the measurement, has improved the practicality of structure.

Drawings

Fig. 1 is a schematic perspective view of the overall structure provided by the present invention;

fig. 2 is a schematic perspective view of a stable supporting structure of a static platform provided by the present invention;

fig. 3 is a bottom view of the static platform structure provided by the present invention.

In the figure: 1. a static platform; 2. a slider; 3. a reset button; 4. a support plate; 5. a base plate; 6. a spring; 7. a pellet; 8. connecting ropes; 9. a movable platform; 10. an oil cylinder; 11. a first oil bag; 12. an oil pipe I; 13. a second oil bag; 14. a third oil pocket; 15. an oil pipe II; 16. a support bar; 17. a clamping block; 18. a clamping rod; 19. a pressing plate; 20. a vacuum nozzle.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

Referring to the attached drawings 1-3, the utility model provides a stewart platform structure, which comprises a movable platform 9 and a static platform 1, wherein the outer wall of the top end of the static platform 1 is provided with an oil cylinder 10, the oil cylinder 10 is connected with the movable platform 9, three corners of the outer wall of the bottom end of the static platform 1 are provided with mounting grooves (not marked in the figure), the inner walls of two sides of the top end of the mounting grooves are provided with oil bag II 13, the outer wall of one side of the oil bag II 13 is provided with oil pipe II 15, one end of the oil pipe II 15 far away from the oil bag II 13 is sleeved with oil bag III 14, the inner walls of two sides of the top end of the mounting grooves are provided with circular grooves (not marked in the figure), the inner walls of the circular grooves are connected with a support rod 16 in a sliding manner, the outer wall of the support rod 16 is sleeved with a spring 6, the outer wall of one side of the support rod 16 is fixedly connected with a press plate 19, the press plate 19 is positioned under the oil bag II 13, the outer wall of the bottom end of the oil bag III 14 is provided with a bottom plate 5, an arc-shaped groove (not marked in the figure) is formed in the outer wall of the bottom end of the bottom plate 5, vacuum suction nozzles 20 are arranged on the inner wall of the arc-shaped groove, and the vacuum suction nozzles 20 are connected with the third oil bag 14.

Further, the bottom outer wall of bracing piece 16 all has backup pad 4 through the screw connection, and the equal rigid coupling of one side outer wall of backup pad 4 has fixture block 17, and the draw-in groove (not mark in the picture) has all been seted up to the both sides inner wall of mounting groove bottom, and the size looks adaptation of fixture block 17 and draw-in groove increases the agreeable nature between quiet platform 1 and the backup pad 4, conveniently carries on spacingly to backup pad 4, and it is convenient to install and use.

Further, one side outer wall on fixture block 17 top all is provided with kelly 18, one side inner wall on draw-in groove top all is provided with the jack (not mark in the picture), kelly 18 all with the size looks adaptation of jack, one side inner wall of jack all is provided with reset button 3, one side inner wall swing joint of jack has reset button 3, it is fixed through kelly 18 to make backup pad 4 rise after the take the altitude, conveniently increase the stability of quiet platform 1, and can reset the kelly through reset button 3 after the use is accomplished.

Further, rectangular groove (not mark in the figure) has all been seted up to the three corners department of 1 bottom outer wall of quiet platform, and rectangular groove all is located the both sides of mounting groove, and two equidistance distribution's spout (not mark in the figure) have all been seted up to one side outer wall of rectangular groove, and the equal sliding connection of inner wall of spout has sliding block 2, increases the area of contact between quiet platform 1 and the plane through sliding block 2, further increases the stability of structure.

Furthermore, the inner walls of the rectangular grooves are provided with a first oil bag 11, the first oil bag 11 is connected with the sliding block 2, the outer wall of the top end of the first oil bag 11 is provided with a first oil pipe 12, and the first oil pipe 12 is connected with a second oil bag 13.

Further, the bottom outer wall of backup pad 4 all bonds and has had the rubber pad (not mark in the figure), and the bottom outer wall of rubber pad all is provided with anti-skidding line, and the slip of sliding block 2 is controlled through the volume change of oil bag 11, does not need extra operating procedure, and the rubber pad and the anti-skidding line of backup pad 4 bottom can increase frictional force, prevent that the accuracy of static platform 1 displacement influence data from appearing.

Further, the bottom outer wall that moves platform 9 is provided with connects rope 8, and the bottom outer wall of connecting rope 8 is provided with bobble 7, and bobble 7 is located quiet platform 1 directly over, bears before measuring, moves platform 9 bottom and connects whether bobble 7 that rope 8 connects is perpendicular to the center department of pointing to quiet platform 1 downwards through observing to the level of platform structure calibrates, further improves measuring accuracy.

Further, the connecting rope 8 is made of nylon, and the small ball 7 is made of rubber.

Further, the vacuum nozzle 20 is made of nitrile rubber.

Further, sliding block 2 is the plastic material, and the bottom outer wall of sliding block 2 is provided with non-slip raised.

The utility model discloses a use as follows: the static platform 1 is placed on a plane by a person skilled in the art, when a platform structure is required to be used for carrying measurement, the static platform 1 is pressed, the support plate 4 at the bottom of the static platform 1 is forced to move upwards, the support rod 16 moves upwards along with the support rod, the spring 6 supports and buffers the structure, the support rod 16 moves upwards to drive the pressing plate 19 to move to press the oil bag II 13, hydraulic oil in the oil bag II 13 enters the oil bag I11 and the oil bag III 14 through the oil pipe I12 and the oil pipe II 15 respectively, the volume of the oil bag III 14 is increased to press the bottom plate 5 downwards, the bottom plate 5 moves downwards, the vacuum suction nozzle 20 is sucked on the plane under the action of the oil bag III 14, when the fixture block 17 moves upwards along with the support plate 4, the fixture block 18 on the fixture block 17 is inserted into the insertion hole on the static platform 1, when the support plate 4, the bottom plate 5 and the static platform 1 are fixed on the same horizontal line, and the other part of the hydraulic oil in the oil bag II 13 enters the oil bag I11, oil bag 11 extrudes sliding block 2, further supports quiet platform 1, places through the connection rope 8 and the 7 inspection platform structures of bobble of moving platform 9 bottom whether level, bears after the measurement, presses reset button 3, takes off vacuum suction nozzle 20, and backup pad 4 and bottom plate 5 reset, and the rubber pad and the anti-skidding line increase frictional force of backup pad 4 bottom further improve stability, accomplish the use of stewart platform structure.

The above description is only a preferred embodiment of the present invention, and any person skilled in the art may modify the present invention or modify it into an equivalent technical solution by using the technical solutions described above. Therefore, any simple modifications or equivalent replacements made according to the technical solution of the present invention belong to the scope of the claimed invention as far as possible.

Claims

1. A stewart platform structure comprises a movable platform (9) and a static platform (1), and is characterized in that: the oil tank is characterized in that an oil cylinder (10) is arranged on the outer wall of the top end of the static platform (1), the oil cylinder (10) is connected with the movable platform (9), mounting grooves are formed in three corners of the outer wall of the bottom end of the static platform (1), oil bag II (13) is arranged on the inner walls of two sides of the top end of the mounting grooves, an oil pipe II (15) is arranged on the outer wall of one side of the oil bag II (13), an oil bag III (14) is sleeved at one end, far away from the oil bag II (13), of the oil pipe II (15), circular grooves are formed in the inner walls of two sides of the top end of the mounting grooves, supporting rods (16) are connected with the inner walls of the circular grooves in a sliding mode, springs (6) are sleeved on the outer walls of the supporting rods (16), pressing plates (19) are fixedly connected to the outer wall of one side of the supporting rods (16), the pressing plates (19) are located under the oil bag II (13), and a bottom plate (5) is arranged on the outer wall of the bottom end of the oil bag III (14), the bottom outer wall of bottom plate (5) has seted up the arc wall, the inner wall of arc wall all is provided with vacuum nozzle (20), vacuum nozzle (20) all are connected with oil pocket three (14).

2. A stewart platform structure as claimed in claim 1, wherein: the bottom outer wall of bracing piece (16) all has backup pad (4) through the screw connection, the equal rigid coupling of one side outer wall of backup pad (4) has fixture block (17), the draw-in groove has all been seted up to the both sides inner wall of mounting groove bottom, the size looks adaptation of fixture block (17) and draw-in groove.

3. A stewart platform structure as claimed in claim 2, wherein: the fixture is characterized in that a clamping rod (18) is arranged on the outer wall of one side of the top end of the fixture block (17), a jack is arranged on the inner wall of one side of the top end of the fixture groove, the clamping rod (18) is matched with the size of the jack, and a reset button (3) is arranged on the inner wall of one side of the jack.

4. A stewart platform structure as claimed in claim 1, wherein: the three corners department of quiet platform (1) bottom outer wall all seted up the rectangle recess, the rectangle recess all is located the both sides of mounting groove, two equidistance spouts that distribute are all seted up to one side outer wall of rectangle recess, the equal sliding connection of inner wall of spout has sliding block (2).

5. A stewart platform structure as claimed in claim 4, wherein: the inner wall of the rectangular groove is provided with a first oil bag (11), the first oil bag (11) is connected with the sliding block (2), the outer wall of the top end of the first oil bag (11) is provided with a first oil pipe (12), and the first oil pipe (12) is connected with a second oil bag (13).

6. A stewart platform structure as claimed in claim 2, wherein: the bottom outer wall of the supporting plate (4) is bonded with a rubber pad, and the bottom outer wall of the rubber pad is provided with anti-skid lines.

7. A stewart platform structure as claimed in claim 1, wherein: the bottom outer wall of moving platform (9) is provided with connects rope (8), the bottom outer wall of connecting rope (8) is provided with bobble (7), bobble (7) are located quiet platform (1) directly over.

8. A stewart platform structure as claimed in claim 7, wherein: the connecting rope (8) is made of nylon, and the small ball (7) is made of rubber.

9. A stewart platform structure as claimed in claim 1, wherein: the vacuum suction nozzle (20) is made of nitrile rubber.

10. A stewart platform structure as claimed in claim 4, wherein: sliding block (2) are the plastic material, the bottom outer wall of sliding block (2) is provided with anti-skidding arch.