CN220688625U - Six-degree-of-freedom platform capable of ascending and descending in large stroke - Google Patents
Six-degree-of-freedom platform capable of ascending and descending in large stroke Download PDFInfo
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- CN220688625U CN220688625U CN202322077817.6U CN202322077817U CN220688625U CN 220688625 U CN220688625 U CN 220688625U CN 202322077817 U CN202322077817 U CN 202322077817U CN 220688625 U CN220688625 U CN 220688625U
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- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 abstract description 7
- 238000004088 simulation Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 abstract description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
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- 239000012636 effector Substances 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of motion platforms, in particular to a six-degree-of-freedom platform capable of ascending and descending in a large stroke. Comprising the following steps: a chassis structure; the lifting component comprises four groups of linear transmission structures, a first end of each linear transmission structure is connected to the chassis structure, and a second end of each linear transmission structure extends upwards; the lifting platform is connected to the linear transmission structure and can be driven by the linear transmission structure to move along the length direction of the lifting platform; the six-degree-of-freedom motion platform is connected to the upper end face of the lifting platform. This application combines structure with lead screw vertical lift structure and six degrees of freedom platform, and the platform can realize the vertical lifting motion of large stroke through lead screw vertical lift mechanism, also can realize motion gesture simulation through six degrees of freedom, and this kind of combined mechanism reduces overall dimension under the circumstances that satisfies such demand to reduction in production cost.
Description
Technical Field
The utility model relates to the technical field of motion platforms, in particular to a six-degree-of-freedom platform capable of ascending and descending in a large stroke.
Background
The existing multi-degree-of-freedom motion simulation platform is generally applied to the fields of automobiles, ships and flight simulation, and can meet the requirements of large volume of the large-stroke vertical lifting and multi-degree-of-freedom motion simulation platform, high input cost is achieved particularly by using a long-stroke electric cylinder, and flexibility of the platform is restrained.
If the vertical electric cylinder is adopted, the simulation of the multi-freedom-degree motion of the tail end cannot be supported only by long-stroke vertical lifting, so that the small-sized multi-freedom-degree motion platform which supports long-stroke vertical lifting and realizes multi-freedom-degree motion is hardly available in the market.
Disclosure of Invention
The utility model provides a six-degree-of-freedom platform capable of lifting in a large stroke, which comprises:
a chassis structure;
the lifting component comprises four groups of linear transmission structures, a first end of each linear transmission structure is connected to the chassis structure, and a second end of each linear transmission structure extends upwards;
the lifting platform is connected to the linear transmission structure and can be driven by the linear transmission structure to move along the length direction of the lifting platform;
the six-degree-of-freedom motion platform is connected to the upper end face of the lifting platform;
four groups of linear transmission structures are distributed on the periphery of the six-degree-of-freedom motion platform.
Preferably, the linear transmission structure comprises a guide rod and a screw rod which are arranged in parallel, a screw rod sleeve sleeved on the outer wall of the screw rod is connected to the lifting platform, and the screw rod sleeve is connected with the screw rod in a transmission mode.
Preferably, the lifting component further comprises a driving component for driving the linear transmission structure, the driving component comprises a motor and a steering gear, an output shaft of the motor is connected to the steering gear, and an output end of the steering gear is connected with the screw rod.
Preferably, the output end of the motor is connected with a first steering gear, the first steering gear comprises two output ends, each output end is connected with two second steering gears in series, and the output ends of the four second steering gears are connected with one screw rod.
Preferably, a guard rail is arranged at the edge of the lifting platform.
Preferably, the six-degree-of-freedom motion platform comprises six electric cylinders and a motion platform, wherein first ends of the six electric cylinders are connected to the lifting platform, and second ends of the six electric cylinders are connected to the motion platform.
Preferably, the bottom end of each electric cylinder is connected to the lifting platform through a first hook joint, and the upper end of each electric cylinder is connected to the movable platform through a second hook joint.
Preferably, the chassis structure comprises a load-bearing frame and rollers connected to the load-bearing frame.
Compared with the prior art, the utility model has the advantages that:
this application combines structure with lead screw vertical lift structure and six degrees of freedom platform, and the platform can realize the vertical lifting motion of large stroke through lead screw vertical lift mechanism, also can realize motion gesture simulation through six degrees of freedom, and this kind of combined mechanism reduces overall dimension under the circumstances that satisfies such demand to reduction in production cost.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the utility model will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic view of a six degree of freedom platform for large travel lift of the present utility model;
FIG. 2 is a schematic view of the chassis structure of the present utility model;
FIG. 3 is a schematic view of a six degree of freedom motion platform according to the present utility model;
FIG. 4 is a schematic diagram of the structure of the four sets of linear drive arrangements of the present utility model;
FIG. 5 is a schematic view of the lift platform of the present utility model in a low limit position;
fig. 6 is a schematic view of the lift platform of the present utility model in a high limit position.
Detailed Description
For a better understanding of the technical content of the present utility model, specific examples are set forth below, along with the accompanying drawings.
Referring to fig. 1-2, the utility model provides a six-degree-of-freedom platform with large travel lifting, which comprises a chassis structure 10, a lifting component 20, a lifting platform 30 and a six-degree-of-freedom moving platform 40, wherein the chassis structure 10 is used for providing support for the moving platform, the lifting component 20 is arranged between the chassis structure 10 and the lifting platform 30, so as to control the lifting of the lifting platform 30, the travel of the lifting component 20 is the lifting travel of the lifting platform 30, namely, the lifting travel comprises the lowest position and the highest position, and the six-degree-of-freedom moving platform 40 is fixed to the lifting platform 30 and is used as an end effector to simulate the six-degree-of-freedom movement of a load, and the requirement of a user on the large-scale lifting of the six-degree-of-freedom moving platform 40 is met through the lifting function of the lifting platform 30.
The chassis structure 10 comprises a load-bearing frame 11 and rollers 12, wherein the rollers 12 are connected to the load-bearing frame 11. The bearing frame 11 is constructed into a rectangular frame structure, is formed by welding square steel, has good bearing capacity, and four rollers 12 can flexibly move and stop at four corners of the bearing frame 11.
As shown in connection with fig. 3, the six degree of freedom motion platform 40 includes six motorized cylinders with first ends connected to the lift platform 30 and a movable platform 48 with second ends connected to the movable platform 48. Specifically, the bottom end of each electric cylinder (lower hinge 42) is connected to the lifting platform 30 by a first hook joint 41, and the upper end of each electric cylinder (upper hinge 46) is connected to the movable platform 48 by a second hook joint 47.
It should be understood that each electric cylinder comprises a servo motor 43, an electric cylinder 44 and a telescopic guide rod 45, and that six electric cylinders and six hookes up and down respectively form a 6-6 mechanism, called a Stewart platform. The lower platform is fixed, and is connected with the upper platform through six telescopic electric cylinders and Hooke hinges, and the Hooke hinges are arranged at the connecting positions of the upper platform and the six telescopic electric cylinders, so that the normal operation of the platform and the rigidity of the whole structure are ensured.
In an alternative embodiment, the lifting member 20 comprises four sets of linear drive structures, the first ends of which are connected to the chassis structure 10 and the second ends of which extend upwards; the lift platform 30 is coupled to and can be driven by a linear drive structure to move along its length. Thus, the length of the linear transmission structure determines the lifting travel of the lifting platform 30, and the requirement of a user on the height control of the moving platform can be met by controlling the length of the linear transmission structure.
Preferably, the edge of the lifting platform 30 is provided with a guard rail 31.
In order to ensure the stability of the motion platform under high load, four sets of linear driving structures are distributed on the periphery of the six-degree-of-freedom motion platform 40.
It should be appreciated that in order to make the device as compact as possible and to enable a wide range of height adjustment, it is particularly suitable to use a screw for height adjustment, and therefore, preferably, the linear transmission structure comprises a guide rod 21 and a screw 22 arranged in parallel, and the lifting platform 30 is connected with a screw sleeve 238 sleeved on the outer wall of the screw 22, and the screw sleeve 238 is in transmission connection with the screw 22.
In this way, the driving part 23 is used to control the rotation of the screw 22 to control the lifting of the lifting platform 30, the lowest position of the screw 22 is the lowest adjustment position of the lifting platform 30, the highest position of the screw 22 is the highest adjustment position of the lifting platform 30, and the guide rod 21 is used to provide the reliability of the lifting platform 30 in the lifting process, for example, as shown in fig. 5-6.
In an alternative embodiment, the lifting member 20 further comprises a driving member 23 for driving the linear transmission structure, the driving member comprising a motor 231 and a steering gear, the output shaft of the motor 231 being connected to the steering gear, the output of the steering gear being connected to the screw 22.
The steering gear can be a reduction gearbox or a gear box, and is used for changing the transmission ratio and the axial direction of the input shaft and the output shaft.
Further, in order to accurately control the synchronous rotation of each screw 22, four motors may be used to coordinate the control through a driving circuit.
Preferably, only one driving motor is used to synchronously control the four screw rods 22, and as shown in fig. 4, the output end of the motor 231 is connected with the first diverter 233, the first diverter 233 comprises two output ends, each output end is connected with two second diverters 234 in series, and the output ends of the four second diverters 234 are all connected with one screw rod 22.
Specifically, the motor 231 adopts a servo motor, the output end of the servo motor is connected with the first steering gear 233 through a coupling 232, two ends of the first steering gear 233 are respectively connected with a second steering gear 234 through transmission shafts, the horizontal direction of the second steering gear 234 is connected with the other steering gear 234 through a cross 235 and the transmission shaft 236, and the second steering gear 234 is provided with an output shaft in the vertical direction and is connected with the screw rod 22.
Optionally, the transmission system formed by the steering gear, the screw rod and the screw rod sleeve has good self-locking property, namely the transmission direction is unidirectional, and after power is lost, the motion platform cannot fall freely, so that the safety is high.
In combination with the above embodiment, the application combines the screw rod vertical lifting structure with the six-degree-of-freedom platform, and the platform can realize large-stroke vertical lifting motion through the screw rod vertical lifting mechanism, and can also realize motion gesture simulation through six degrees of freedom, and the combined mechanism reduces the overall size under the condition of meeting the requirements, so that the production cost is reduced.
While the utility model has been described with reference to preferred embodiments, it is not intended to be limiting. Those skilled in the art will appreciate that various modifications and adaptations can be made without departing from the spirit and scope of the present utility model. Accordingly, the scope of the utility model is defined by the appended claims.
Claims (8)
1. A six degree of freedom platform for large travel lift comprising:
-a chassis structure (10);
a lifting member (20) comprising four sets of linear drive structures, the linear drive structures having first ends connected to the chassis structure (10) and second ends extending upwardly;
a lifting platform (30) connected to the linear drive structure and capable of being driven by the linear drive structure to move along its length;
a six-degree-of-freedom motion platform (40) connected to an upper end surface of the lifting platform (30);
wherein four sets of linear drive structures are distributed at the periphery of the six-degree-of-freedom motion platform (40).
2. The large-stroke lifting six-degree-of-freedom platform according to claim 1, wherein the linear transmission structure comprises a guide rod (21) and a screw rod (22) which are arranged in parallel, the lifting platform (30) is connected with a screw rod sleeve (238) sleeved on the outer wall of the screw rod (22), and the screw rod sleeve (238) is in transmission connection with the screw rod (22).
3. The six degree of freedom platform of claim 2 wherein the lifting means (20) further comprises a drive means (23) for driving the linear transmission, the drive means comprising a motor (231) and a steering gear, the output shaft of the motor (231) being connected to the steering gear, the output of the steering gear being connected to the screw (22).
4. A six degree of freedom platform for large travel lift according to claim 3, wherein the output end of the motor (231) is connected to a first steering gear (233), the first steering gear (233) comprises two output ends, each output end is connected in series with two second steering gears (234), and the output ends of the four second steering gears (234) are connected to one screw (22).
5. The six-degree-of-freedom platform for large-stroke lifting according to claim 1, wherein a guard rail (31) is provided at the edge of the lifting platform (30).
6. The high stroke, high lift, six degree of freedom platform of claim 1 wherein the six degree of freedom motion platform (40) comprises six motorized cylinders and a motion platform (48), a first end of the six motorized cylinders being connected to the lift platform (30) and a second end of the six motorized cylinders being connected to the motion platform (48).
7. The six degree of freedom high lift platform of claim 6 wherein the bottom end of each of the motorized cylinders is connected to the lift platform (30) by a first hook (41) and the upper end of each of the motorized cylinders is connected to the movable platform (48) by a second hook (47).
8. The high stroke, high lift six degree of freedom platform of claim 1 wherein the chassis structure (10) includes a load bearing frame (11) and a roller (12), the roller (12) being connected to the load bearing frame (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322077817.6U CN220688625U (en) | 2023-08-03 | 2023-08-03 | Six-degree-of-freedom platform capable of ascending and descending in large stroke |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322077817.6U CN220688625U (en) | 2023-08-03 | 2023-08-03 | Six-degree-of-freedom platform capable of ascending and descending in large stroke |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220688625U true CN220688625U (en) | 2024-03-29 |
Family
ID=90410362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322077817.6U Active CN220688625U (en) | 2023-08-03 | 2023-08-03 | Six-degree-of-freedom platform capable of ascending and descending in large stroke |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220688625U (en) |
-
2023
- 2023-08-03 CN CN202322077817.6U patent/CN220688625U/en active Active
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