201211440 六、發明說明： 【發明所屬之技術領域】201211440 VI. Description of the invention: [Technical field to which the invention belongs]
[0001] 本發明涉及一種運動平A D，尤其涉及一種六自由度運動 平台。 【先前技術】 [0002] [0003] 一般六自由度運動平台誉^ 韦包括一定平台、六支鏈及一動 平台。定平台一般固定放番 置’六支鏈均利用球较連接定 平台及動平台，且每—* 足鏈都可伸縮運動。如此，藉由 控制支鏈’可使動平台相 相對於定平台做三維移動及繞坐 標軸轉動等各種轨跡之運鈑‘ 逆動’廣泛用於飛行模擬、海浪 模擬等實驗中。惟，此 、自由度運動平台於長時間使用 後，球较容㈣生耗，導致於財"㈣程中發生 晃動，疋位精度較低，難以使用於高精度要求之場合。 【發明内容】 馨於上述内容’有必要提供—種定位精度高之六自由度 運動平台。 闺-種六自*度運動平台，其峨—定平台、六支鏈、一 動平台及十二組固定組件。每一支鏈兩端均設置有一球 頭疋平台及動平台上均開設有與該球頭對應之球窩。 每支鍵一端之球頭藉由一組固定組件轉動連接於定平 台上’另一端之球頭藉由另一組固定組件轉動連接於動 平台上。固定組件包括蓋設於球窩上並與球頭相接觸之 球蓋及將球蓋固定於定平台上之固定件。固定件上套設 有彈性件’彈性件提供彈性力，使球蓋與球頭貼合。 [0005] 所述六自由度運動平台於固定件上安裝有彈性件，保證 099131131[0001] The present invention relates to a sport level A D, and more particularly to a six degree of freedom motion platform. [Prior Art] [0002] [0003] The general six-degree-of-freedom motion platform has a certain platform, a six-chain and a moving platform. The fixed platform is generally fixed. The six branches are connected to the fixed platform and the movable platform by using the ball, and each-* foot chain can be telescopically moved. In this way, by controlling the branch ′, the trajectory of the trajectory such as the three-dimensional movement of the movable platform relative to the fixed platform and the rotation of the coordinate axis can be widely used in experiments such as flight simulation and ocean wave simulation. However, after the long-term use of the degree-of-freedom motion platform, the ball is more versatile (four), which causes the swaying in the course of the fiscal (4) process, and the clamping accuracy is low, which is difficult to use in the occasion of high precision requirements. SUMMARY OF THE INVENTION It is necessary to provide a six-degree-of-freedom motion platform with high positioning accuracy.闺-Six-six-degree motion platform, which is a fixed platform, a six-branched chain, a moving platform and twelve sets of fixed components. A ball head platform and a ball socket corresponding to the ball head are disposed on both ends of each chain. The ball end of one end of each key is rotatably coupled to the fixed stage by a fixed set of components. The ball end of the other end is rotatably coupled to the movable platform by another set of fixing components. The fixing component comprises a ball cover that is placed on the ball socket and is in contact with the ball head, and a fixing member that fixes the ball cover to the fixed platform. The fixing member is sleeved with an elastic member. The elastic member provides an elastic force to fit the ball cover to the ball head. [0005] The six-degree-of-freedom motion platform is mounted with elastic members on the fixing member to ensure that 099131131
表單編號刷(Π $ 4 I/* 15 I 0992054595-0 201211440 [0006] [0007] Ο [0008] ❹ [0009] 099131131 球頭於轉動過程中轉動狀，即使於長久使用後，球頭 髮生磨損，彈性件將會壓持球蓋及塾片，使球頭仍然與 球蓋及墊片保持貼合’仍能保持球頭轉動穩定。 【實施方式】 下面結合附圖及實施方式對本發明之六自由度運動平台 作進一步之詳細說明。 凊參見圖1及圖2，本發明之六自由度運動平台2〇〇包括— 定平台21、六支鏈23、-動平台25及十二組固定組件2? 。其中，每一支鏈23之一端轉動連接於定平台21上另 一端轉動連接於動平台25上，且每—支鏈23可伸縮，使 動平台25相對於定平台21做三維運動或繞不同之坐標軸 轉動，進而以不同之方位承載物件咸做其他角途。固定 組件27用於將支鍵23安裝於定平台21及動平台25上。 定平台21呈圓形，於一表面上開設有六凹槽21〇，並於每 一凹槽210之底壁上開設有一球窩2、ιι，用於安裝六支鏈 23。六凹槽210兩兩一組相鄰分佈於定平台21鄰近周緣之 位置。定平台21於每一凹槽210之底壁上球窩211周圍開 設有四固定孔213。動平台25與定平台21相似，動平台 25上亦開設有六凹槽250，並於每一凹槽250之底壁上開 設有一球窩251及四固定孔253。 請一併參見圖3及圖4 ’每一支鏈23包括一本體231、分別 位於本體231兩端之二連接部233。本體231内設置有氣 缸2311。連接部233包括連接桿2331及球頭2333。連接 桿2331設置於本體231上，且可於氣缸2311之驅動下伸 縮。球頭2333形成於連接桿2331遠離本體231之一端， 表單編號Α0101 第5頁/共15頁 0992054595-0 201211440 且與定平台21之球窩211相匹配。 [0010] 每一固定組件27包括一球蓋271、一墊片273、複數固定 件275及四彈性件277。球蓋271於其中部開設有防脫孔 2711，並於防脫孔2711之周圍開設有四導引孔2713。防 脫孔2711之尺寸小於球頭2333之直徑而大於連接桿2331 之尺寸，使支鏈23之連接桿2331可穿過防脫孔271丨且球 頭2333不能從防脫孔2711内脫出。導引孔2713用於供固 定件275穿過。墊片273上開設有與防脫孔2711尺寸相同 之通孔2731 ’並于通孔2731周圍開設有與球蓋271之導 引孔2713相同之導引私2733。本實施方式中，固定件 275為固定銷’墊片273為橡膠墊片，彈性件277為碟形 彈片’固定件275之數量為四。 [0011] 組裝時，每一支鏈23—端之球頭2333設置於定平台21上 之球窩211内’墊片273和球蓋271依次套設於支鏈23之 連接桿2331上’然後蓋於定平台21凹.槽210之底壁上， 每一固定件275依次穿過彈姓件277、球蓋271及墊片273 之導引孔2713、2733並螺合於定平台21之固定孔213内 ，將球蓋271與墊片273固定於定平台21上，使用球頭 2333位於球窩211内’且部分位於球蓋271之防脫孔2711 及墊片273之通孔2731内轉動，不能從球蓋271内脫出。 以同樣之方式，可將支鏈23之另一端藉由另一組固定組 件27可轉動地安裝於動平台25上。彈性件277處於壓縮狀 態，提供彈性力，將球蓋271緊密鎖固於定平台21上，球 頭2333之外壁與墊片273之通孔2731側壁或球蓋271防脫 孔2711之側壁相貼合，防止球頭2333於轉動過程中發生 099131131 表單編號A0101 0992054595-0 201211440 [0012] Ο 晃動’更為穩定’同時亦可減少球頭2333轉動時候之磨 損。用戶可控制六支鏈23之其中—或者複數之 ' 磨 2331伸出預定長度，進而使動平台25根據實際需要觸 或者旋轉至預定位置，並精確定位。 ’ 本發明之六自由度運動平台2〇〇於固定件奶上安裝有彈 性件277 ’保證球頭2333於轉動過程中轉動穩定。即使於 長久使用後，球頭髮生磨損，彈性件277將會壓持球蓋 271及墊片273，使球頭2333仍然與球蓋271及墊片273 保持貼合’保持球頭2 3 3 3轉動穩定《可理解，彈性件2 7 7 不限於碟形彈片’亦可為彈簧。墊片273可省略。 [0013] 综上所述，本發明確已符合發明專利之要件，遂依法提 出專利申請。惟，以上所述者僅為本發明之較佳實施方 式，自不能以此限制本案之申請專利範圍。舉凡熟悉本 案技藝之人士援依本發明之精神所作之等效修飾或變化 ，皆應涵蓋於以下申請專利範圍内。 〇 W [0014] 【圖式簡單說明】 —-圖1係本發明實施方式之六自由1度運動平台之立體圖。 [0015] 圖2係圖1所示六自由度運動平台之立體分解圖。 [0016] 圖3係圖2所示之六自由度運動平台之支鏈與固定組件之 立體分解放大圖。 [0017] 圖4係圖1所示之六自由度運動平台之剖視圖。 [0018] 【主要元件符號說明】 六自由度運動平台200 099131131 表單編號A0101 第7頁/共15頁 0992054595-0 201211440 [0019] 定平台21 [0020] 凹槽 2 1 0 [0021] 球窩 211 [0022] 固定孔21 3 [0023] 支鏈 23 [0024] 本體 2 31 [0025] 氣缸 2311 [0026] 連接部233 [0027] 連接桿 2331 [0028] 球頭 2 333 [0029] 動平台25 [0030] 凹槽 2 5 0 [0031] 球窩 251 [0032] 固定孔253 [0033] 固定組件27 [0034] 球蓋 2 71 [0035] 防脫孔 2711 [0036] 導引孔 2713、2733 [0037] 墊片 273 099131131 表單編號A0101 第S頁/共15頁 0992054595-0 201211440 [0038] 通孔 2731 [0039] 固定件2 75 [0040] 彈性件2 77 〇 〇 099131131 表單編號A0101 第9頁/共15頁 0992054595-0Form numbering brush (Π $ 4 I/* 15 I 0992054595-0 201211440 [0006] [0007] Ο [0008] ❹ [0009] 099131131 The ball head rotates during rotation, even after long-term use, the ball head wears out. The elastic member will press the ball cover and the brace piece so that the ball head remains in contact with the ball cover and the gasket. The still stable rotation of the ball head can be maintained. [Embodiment] The sixth embodiment of the present invention will be described below with reference to the accompanying drawings and embodiments. The DOF motion platform is further described in detail. Referring to Figures 1 and 2, the six-degree-of-freedom motion platform 2 of the present invention includes a fixed platform 21, a six-branch 23, a moving platform 25, and twelve sets of fixed components. Wherein, one end of each branch 23 is rotatably connected to the other end of the fixed platform 21 and is rotatably connected to the movable platform 25, and each of the branches 23 is telescopic, so that the movable platform 25 performs three-dimensional movement with respect to the fixed platform 21. Or rotating around different coordinate axes, and then carrying the object in different directions to make other corners. The fixing component 27 is used to mount the branch 23 on the fixed platform 21 and the moving platform 25. The fixed platform 21 is circular, in one There are six grooves 21〇 on the surface, and each A ball socket 2 is provided on the bottom wall of the slot 210 for mounting the six branches 23. The six grooves 210 are adjacently disposed adjacent to the periphery of the fixed platform 21. The fixed platform 21 is in each groove. Four fixing holes 213 are defined around the ball socket 211 of the bottom wall of the 210. The movable platform 25 is similar to the fixed platform 21, and the movable platform 25 is also provided with six recesses 250, and a bottom wall is formed on each of the recesses 250. The ball socket 251 and the four fixing holes 253. Please refer to FIG. 3 and FIG. 4 together. Each of the links 23 includes a body 231 and two connecting portions 233 respectively located at two ends of the body 231. The cylinder 2311 is disposed in the body 231. The connecting portion 2331 includes a connecting rod 2331 and a ball head 2333. The connecting rod 2331 is disposed on the body 231 and is expandable and contractible under the driving of the cylinder 2311. The ball head 2333 is formed at one end of the connecting rod 2331 away from the body 231, Form No. Α0101, page 5 A total of 15 pages 0992054595-0 201211440 and matched with the ball socket 211 of the fixed platform 21. [0010] Each fixing component 27 includes a ball cover 271, a spacer 273, a plurality of fixing members 275 and four elastic members 277. The cover 271 is provided with a retaining hole 2711 at a central portion thereof, and is formed at the periphery of the anti-drop hole 2711. Four guiding holes 2713 are opened. The size of the anti-drop hole 2711 is smaller than the diameter of the ball head 2333 and larger than the size of the connecting rod 2331, so that the connecting rod 2331 of the branch 23 can pass through the anti-drop hole 271 and the ball head 2333 cannot The through hole 2711 is disengaged. The guiding hole 2713 is used for the fixing member 275 to pass through. The spacer 273 is provided with a through hole 2731' having the same size as the anti-drop hole 2711 and is provided with a ball cover around the through hole 2731. The guiding hole 2713 of 271 is the same as the guiding private 2733. In the present embodiment, the fixing member 275 is a fixing pin. The spacer 273 is a rubber spacer, and the elastic member 277 is a disc-shaped elastic member. The number of fixing members 275 is four. [0011] When assembled, the 23-end ball end 2333 of each branch is disposed in the ball socket 211 on the fixed platform 21, and the spacer 273 and the ball cover 271 are sequentially sleeved on the connecting rod 2331 of the branch 23'. Covering the bottom wall of the groove 210 of the fixed platform 21, each fixing member 275 sequentially passes through the guiding holes 2713, 2733 of the elastic member 277, the ball cover 271 and the spacer 273 and is screwed to the fixed platform 21 In the hole 213, the ball cover 271 and the spacer 273 are fixed on the fixed platform 21, and the ball head 2333 is located in the ball socket 211 and is partially rotated in the through hole 2731 of the ball cover 271 and the through hole 2731 of the spacer 273. It cannot be removed from the ball cover 271. In the same manner, the other end of the branch 23 can be rotatably mounted to the movable platform 25 by another set of fixing members 27. The elastic member 277 is in a compressed state and provides an elastic force to tightly lock the ball cover 271 to the fixed platform 21. The outer wall of the ball head 2333 is attached to the side wall of the through hole 2731 of the spacer 273 or the side wall of the ball cover 271 against the hole 2711. In order to prevent the ball head 2333 from occurring during the rotation 099131131 Form No. A0101 0992054595-0 201211440 [0012] 晃 Shaking 'more stable' can also reduce the wear of the ball head 2333 when rotating. The user can control one of the six branches 23 - or the plurality of 'mills 2331 ' to extend a predetermined length, thereby causing the movable platform 25 to be touched or rotated to a predetermined position according to actual needs, and accurately positioned. The six-degree-of-freedom motion platform 2 of the present invention is provided with an elastic member 277' on the fixing member milk to ensure that the ball head 2333 is rotationally stable during the rotation. Even after long-term use, the ball head wears, the elastic member 277 will hold the ball cover 271 and the spacer 273, so that the ball head 2333 remains in engagement with the ball cover 271 and the spacer 273. [Keep the ball head 2 3 3 3 Stable rotation "Understandably, the elastic member 27 7 is not limited to the disc-shaped elastic piece' may be a spring. The spacer 273 can be omitted. [0013] In summary, the present invention has indeed met the requirements of the invention patent, and the patent application is filed according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included within the scope of the following claims. BRIEF DESCRIPTION OF THE DRAWINGS [FIG. 1] FIG. 1 is a perspective view of a six-free 1 degree motion platform according to an embodiment of the present invention. 2 is an exploded perspective view of the six-degree-of-freedom motion platform shown in FIG. 1. 3 is a perspective exploded view of the branch and fixed assembly of the six-degree-of-freedom motion platform shown in FIG. 2. 4 is a cross-sectional view of the six-degree-of-freedom motion platform shown in FIG. 1. [Description of Main Component Symbols] Six Degrees of Freedom Motion Platform 200 099131131 Form No. A0101 Page 7 / Total 15 Page 0992054595-0 201211440 [0019] Fixed Platform 21 [0020] Groove 2 1 0 [0021] Ball Nest 211 [0022] fixing hole 21 3 [0023] branch 23 [0024] body 2 31 [0025] cylinder 2311 [0026] connecting portion 233 [0027] connecting rod 2331 [0028] ball head 2 333 [0029] moving platform 25 [ 0030] Groove 2 5 0 [0031] Ball and socket 251 [0032] Fixing hole 253 [0033] Fixing assembly 27 [0034] Ball cover 2 71 [0035] Anti-drop hole 2711 [0036] Guide hole 2713, 2733 [0037] ] Shims 273 099131131 Form No. A0101 Page S/15 pages 0992054595-0 201211440 [0038] Through hole 2731 [0039] Fixing member 2 75 [0040] Elastic member 2 77 〇〇099131131 Form No. A0101 Page 9 / Total 15 pages 0992054595-0