CN220864026U - Different-direction six-degree-of-freedom parallel platform for aerospace docking - Google Patents
Different-direction six-degree-of-freedom parallel platform for aerospace docking Download PDFInfo
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- CN220864026U CN220864026U CN202322407359.8U CN202322407359U CN220864026U CN 220864026 U CN220864026 U CN 220864026U CN 202322407359 U CN202322407359 U CN 202322407359U CN 220864026 U CN220864026 U CN 220864026U
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 13
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 abstract description 2
- 150000001875 compounds Chemical class 0.000 abstract description 2
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses an anisotropic six-degree-of-freedom parallel platform for aerospace docking, which comprises a movable platform and a fixed platform, wherein the fixed platform is arranged on the ground, and the fixed platform is in supporting connection with the movable platform through six groups of supporting components; the support assembly comprises a mounting plate arranged on the fixed platform, a driving motor is arranged on one side of the mounting plate, a screw rod is fixedly connected to the output end of the driving motor, a movable seat is connected to the outer surface of the screw rod in a threaded manner, and the support assembly relates to the technical field of six-degree-of-freedom platforms. Compared with a serial configuration, the parallel support assembly has the characteristics of good rigidity, high precision, high speed, high acceleration and the like, the parallel platform can realize movement with the amplitude of 200mm in the butt joint direction, the other two translation directions can realize movement with the amplitude of 50mm, the rotation amplitude of 1.5deg in the three directions of pitching, yawing and swaying can be realized, and certain degree of compound movement can be realized.
Description
Technical Field
The utility model belongs to the technical field of six-degree-of-freedom platforms, and particularly relates to an anisotropic six-degree-of-freedom parallel platform for aerospace docking.
Background
Six-degree-of-freedom platforms are often used in robotics, spacecraft simulators, flight simulators, and the like. The device can realize various movements such as translation, rotation, tilting and the like through the control mechanism, so that the device can simulate more complex movement tracks in the real world. Six-degree-of-freedom platforms have greater flexibility and freedom than other types of mechanical systems.
However, the displacement of the six-degree-of-freedom platform in the prior art in a single direction is smaller, the fixed platform of the six-degree-of-freedom platform in the prior art is larger than the movable platform, the occupied area of the fixed platform is too large, and the space utilization rate is low.
Disclosure of utility model
The utility model aims to provide an anisotropic six-degree-of-freedom parallel platform for aerospace docking, which solves the problems that: the displacement of the six-degree-of-freedom platform in the prior art in a single direction is small, the fixed platform is larger than the movable platform, the occupied area of the fixed platform is too large, and the space utilization rate is low.
In order to solve the technical problems, the utility model is realized by the following technical scheme:
The utility model relates to an anisotropic six-degree-of-freedom parallel platform for space docking, which comprises a movable platform and a fixed platform, wherein the fixed platform is arranged on the ground and is in supporting connection with the movable platform through six groups of supporting components;
The support assembly comprises a mounting plate arranged on a fixed platform, a driving motor is arranged on one side of the mounting plate, a screw rod is fixedly connected to the output end of the driving motor, a moving seat is connected to the outer surface of the screw rod in a threaded mode, the bottom of the moving seat slides on the mounting plate through a sliding assembly, the top of the moving seat is fixedly connected with a lower ball winch, a connecting rod is connected to the lower ball winch, the top end of the connecting rod is connected with an upper ball winch, and the upper ball winch is arranged at the bottom of the moving platform through a mounting block.
Further, the sliding component comprises a connecting track arranged on the mounting plate and a sliding block fixedly connected to the bottom of the movable seat, and the sliding block slides on the connecting track.
Further, the size of the movable platform is Yu Dingping stages, and the bottom ends of all the connecting rods extend upwards obliquely from the periphery of the fixed platform and are connected with the periphery of the movable platform.
Further, the output end of the driving motor is provided with a coupler.
The utility model has the following beneficial effects:
Compared with a serial configuration, the parallel support assembly has the characteristics of good rigidity, high precision, high speed, high acceleration and the like, the parallel platform can realize the movement with the amplitude of 200mm in the butt joint direction, the other two translation directions can realize the movement with the amplitude of 50mm, the rotation amplitude of 1.5deg in the three directions of pitching, yawing and swaying can be realized, and the compound movement to a certain extent can be realized; meanwhile, the driving motor drives the screw rod through the coupler to drive the movable seat and the lower ball fixedly connected to the movable seat to move, the connecting rod can realize rotation in all directions through ball hinge connection, and adjustment of different positions of the movable platform is realized through the difference of the movement speeds of the six driving motors.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed for 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 utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a six degrees of freedom parallel platform in different directions for aerospace docking;
Fig. 2 is a schematic structural view of a support assembly in an anisotropic six-degree-of-freedom parallel platform for aerospace docking.
In the drawings, the list of components represented by the various numbers is as follows:
1. A movable platform; 2. a fixed platform; 3. a support assembly; 31. a mounting plate; 32. a driving motor; 33. a screw rod; 34. a movable seat; 35. a sliding assembly; 351. a slide block; 352. a connecting rail; 36. ball laying and twisting; 37. a connecting rod; 38. ball feeding and twisting; 39. a mounting block; 4. a coupling.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1-2, the present utility model is an anisotropic six-degree-of-freedom parallel platform for space docking, which comprises a movable platform 1 and a fixed platform 2, wherein the size of the movable platform 1 is larger than that of the fixed platform 2, and the bottom ends of all connecting rods 37 extend obliquely upwards from the periphery of the fixed platform 2 and are connected with the periphery of the movable platform. The fixed platform 2 is arranged on the ground, the fixed platform 2 supports and connects the movable platform 1 through six groups of support assemblies 3, wherein two pairs of two support assemblies 3 are arranged in parallel, the two groups of support assemblies 3 arranged in parallel are arranged on the front side and the rear side of one end of the fixed platform 2, and the other two groups of support assemblies 3 are arranged on the front side and the rear side of the other end of the fixed platform 2; the support assembly 3 comprises a mounting plate 31 mounted on the fixed platform 2, a driving motor 32 is mounted on one side of the mounting plate 31, and a coupling 4 is arranged at the output end of the driving motor 32. The output end of the driving motor 32 is fixedly connected with a screw rod 33, the outer surface of the screw rod 33 is in threaded connection with a movable seat 34, the bottom of the movable seat 34 slides on the mounting plate 31 through a sliding assembly 35, the top of the movable seat 34 is fixedly connected with a lower ball winch 36, the lower ball winch 36 is connected with a connecting rod 37, the top end of the connecting rod 37 is connected with an upper ball winch 38, and the upper ball winch 38 is mounted at the bottom of the movable platform 1 through a mounting block 39.
Through the support component 3 that sets up in parallel at the butt joint direction can realize the removal of amplitude 200mm, other two translation directions can realize the removal of amplitude 50mm (the non-butt joint direction is only done fine setting so the travel distance is less), can realize pitch, yaw, swing three direction rotation amplitude 1.5deg (the rotation direction is also done fine setting) too, when moving platform 1 specifically adjusts, start driving motor 32, driving motor 32 passes through shaft coupling 4 drive lead screw 33, cooperation lead screw 33 and remove the threaded connection between the seat 34 and slip subassembly 35, drive and remove seat 34 and link firmly down ball hank 36 on removing seat 34 and do rectilinear motion, connecting rod 37 accessible spherical hinge connection realizes the rotation of each direction, the adjustment of moving platform 1 different positions is realized through the difference of six driving motor 32 velocity of movement.
The sliding assembly 35 includes a connection rail 352 provided on the mounting plate 31 and a slider 351 fixedly coupled to the bottom of the moving seat 34, and the slider 351 slides on the connection rail 352.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the utility model disclosed above are intended only to assist in the explanation of the utility model. The preferred embodiments are not exhaustive or to limit the utility model to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best understand and utilize the utility model. The utility model is limited only by the claims and the full scope and equivalents thereof.
Claims (4)
1. An anisotropic six-degree-of-freedom parallel platform for aerospace docking is characterized in that: the device comprises a movable platform (1) and a fixed platform (2), wherein the fixed platform (2) is arranged on the ground, the fixed platform (2) is in supporting connection with the movable platform (1) through six groups of supporting components (3), two pairs of two supporting components (3) are arranged in parallel, the two groups of supporting components (3) which are arranged in parallel are arranged on the front side and the rear side of one end of the fixed platform (2), and the other two groups of supporting components (3) are arranged on the front side and the rear side of the other end of the fixed platform (2);
The supporting component (3) comprises a mounting plate (31) mounted on the fixed platform (2), a driving motor (32) is mounted on one side of the mounting plate (31), a screw rod (33) is fixedly connected to the output end of the driving motor (32), a moving seat (34) is connected to the outer surface of the screw rod (33) in a threaded mode, the bottom of the moving seat (34) slides on the mounting plate (31) through a sliding component (35), a lower ball winch (36) is fixedly connected to the top of the moving seat (34), a connecting rod (37) is connected to the lower ball winch (36), an upper ball winch (38) is connected to the top end of the connecting rod (37), and the upper ball winch (38) is mounted on the bottom of the movable platform (1) through a mounting block (39).
2. A six degrees of freedom parallel platform for aerospace docking according to claim 1, wherein the sliding assembly (35) comprises a connecting track (352) provided on the mounting plate (31) and a slider (351) fixedly connected to the bottom of the mobile seat (34), and the slider (351) slides on the connecting track (352).
3. The six-degree-of-freedom parallel platform for aerospace docking according to claim 1, wherein the movable platform (1) is larger than the fixed platform (2), and the bottom ends of all connecting rods (37) extend obliquely upwards from the periphery of the fixed platform (2) and are connected with the periphery of the movable platform.
4. The six degrees of freedom parallel platform for aerospace docking according to claim 1, wherein the output end of the drive motor (32) is provided with a coupling (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322407359.8U CN220864026U (en) | 2023-09-05 | 2023-09-05 | Different-direction six-degree-of-freedom parallel platform for aerospace docking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322407359.8U CN220864026U (en) | 2023-09-05 | 2023-09-05 | Different-direction six-degree-of-freedom parallel platform for aerospace docking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220864026U true CN220864026U (en) | 2024-04-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322407359.8U Active CN220864026U (en) | 2023-09-05 | 2023-09-05 | Different-direction six-degree-of-freedom parallel platform for aerospace docking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220864026U (en) |
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2023
- 2023-09-05 CN CN202322407359.8U patent/CN220864026U/en active Active
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