CN109986540B - Adjustable six-degree-of-freedom platform - Google Patents
Adjustable six-degree-of-freedom platform Download PDFInfo
- Publication number
- CN109986540B CN109986540B CN201910307297.9A CN201910307297A CN109986540B CN 109986540 B CN109986540 B CN 109986540B CN 201910307297 A CN201910307297 A CN 201910307297A CN 109986540 B CN109986540 B CN 109986540B
- Authority
- CN
- China
- Prior art keywords
- support frame
- lower support
- hinged
- upper support
- guide rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Devices For Indicating Variable Information By Combining Individual Elements (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The invention relates to an adjustable six-degree-of-freedom platform which comprises an upper supporting frame, a lower supporting frame, an oil cylinder, a hinged base and a mounting seat, wherein the upper supporting frame is connected with the lower supporting frame through a hinge; the upper support frame extends out of three upper support guide rails, the lower support frame extends out of three lower support guide rails, the upper support guide rails and the lower support guide rails are in equidistant circumferential array, hinged bases capable of rotating and lifting towards the centers of the upper support frame and the lower support frame are respectively arranged on opposite inner sides of the upper support guide rails and the lower support guide rails, two mounting seats are arranged on the hinged bases, and the mounting seats are hinged with the oil cylinders; and the two oil cylinders of each upper bracket guide rail are respectively connected with the mounting seats of the lower bracket guide rails which are adjacent in an opposite direction. The invention flexibly adjusts the distance from the hinged base to the centers of the upper support frame and the lower support frame and the inclination angle of the upper surface of the hinged base according to different practical working conditions, thereby reasonably distributing the load of each oil cylinder and simultaneously accurately calculating the load limit condition of each oil cylinder.
Description
Technical Field
The invention relates to the technical field of working platforms, in particular to an adjustable six-degree-of-freedom platform.
Background
The six-degree-of-freedom platform can be applied to active motion equipment such as a flight simulator, a driving simulator and the like, and can also be used for compensating complex motion on severe land and sea. Under the existing technical conditions, the six-degree-of-freedom platform with different models is required to deal with different working conditions and application objects, and has poor universality and high manufacturing cost.
Disclosure of Invention
The invention aims to provide an adjustable six-degree-of-freedom platform aiming at the defects in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
an adjustable six-degree-of-freedom platform comprises an upper support frame, a lower support frame, an oil cylinder, a hinged base and a mounting seat; the upper support frame extends three upper support guide rails outwards along the direction of a central ray, the lower support frame extends three lower support guide rails outwards along the direction of the central ray, and the upper support guide rails and the lower support guide rails are in an equidistant circumferential array; the upper support guide rail and the lower support guide rail are arranged in a vertically staggered manner, hinged bases which can rotate and lift towards the centers of the upper support frame and the lower support frame are respectively arranged on the opposite inner sides of the upper support guide rail and the lower support guide rail, two mounting seats are arranged on the hinged bases, and the mounting seats are hinged with the oil cylinder; and the two oil cylinders of each upper bracket guide rail are respectively connected with the mounting seats of the lower bracket guide rails which are adjacent in an opposite direction.
In a further description, the hinge base includes an upper hinge base and a lower hinge base, the upper hinge base is disposed outside the lower hinge base, and an upper surface of the upper hinge base is an inclined surface inclined toward centers of the upper support frame and the lower support frame; the lower hinged base is provided with a gear shaft, and the gear shaft is meshed with the rack of the upper hinged base.
In a further description, the centers of the upper bracket guide rail and the lower bracket guide rail are both provided with guide grooves; the center of the guide groove is provided with a clamping slide block which slides along the guide groove, and the hinged base is arranged on the clamping slide block.
In a further description, a rotating block is connected between the mounting seats through a bearing, the rotating block has a degree of freedom of rotating motion in the mounting seats, and the rotating block is connected with an ear ring of the oil cylinder.
In a further description, equidistant unthreaded holes are formed in two sides of the guide groove, and the screw penetrates through the unthreaded holes and positions the hinged base through the nut.
Further, the installation seats on each hinge base are symmetrically arranged, and the installation seats are fixed on the hinge bases through bolts.
In a further description, a cavity is arranged in the center of the rotating block, and an ear ring of the oil cylinder extends into the cavity and is fixed with the rotating block through a bolt.
In a further description, the upper support frame and the lower support frame are arranged in an equidistant and staggered mode, and the angle between the upper support frame guide rail and the adjacent lower support frame guide rail is consistent.
The invention has the beneficial effects that: the distance from the hinged base to the centers of the upper support frame and the lower support frame and the inclination angle of the upper surface of the hinged base are flexibly adjusted according to different actual working conditions, so that the load of each oil cylinder is reasonably distributed, and meanwhile, the load limit condition of each oil cylinder can be accurately calculated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic overall structure of one embodiment of the present invention;
FIG. 2 is a front view of one embodiment of the present invention;
FIG. 3 is a top view of one embodiment of the present invention;
FIG. 4 is a schematic view of an upper/lower support bracket of one embodiment of the present invention;
figure 5 is a schematic view of a hinged base of one embodiment of the present invention.
Wherein: the device comprises an upper support frame 1, an upper support guide rail 11, a lower support frame 2, a lower support guide rail 21, an oil cylinder 3, a hinged base 4, an upper hinged base 41, a lower hinged base 42, a gear shaft 43, a mounting seat 6, a rotating block 7, a cavity 71, a guide groove 01, a clamping slide block 02 and a unthreaded hole 03.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1-5, an adjustable six-degree-of-freedom platform comprises an upper support frame 1, a lower support frame 2, an oil cylinder 3, a hinged base 4 and a mounting seat 6; the upper support frame 1 extends three upper support guide rails 11 outwards along the direction of a central ray, the lower support frame 2 extends three lower support guide rails 21 outwards along the direction of the central ray, and the upper support guide rails 11 and the lower support guide rails 21 are in an equidistant circumferential array; the upper support guide rail 11 and the lower support guide rail 21 are arranged in a vertically staggered manner, hinged bases 4 which can rotate and lift towards the centers of the upper support frame 1 and the lower support frame 2 are respectively arranged on the opposite inner sides of the upper support guide rail 11 and the lower support guide rail 21, two mounting seats 6 are arranged on the hinged bases 4, and the mounting seats 6 are hinged with the oil cylinder 3; the two oil cylinders 3 of each upper bracket guide rail 11 are respectively connected with the mounting seats 6 of the lower bracket guide rails 21 which are adjacent to each other in an opposite mode.
Through controlling the crisscross hydro-cylinder 3 that sets up respectively, can adjust upper bracket 1 and make different actions in six degrees of freedom, because the both ends setting of hydro-cylinder 3 is on articulated base 4 that can the lifting, when adjusting the state of upper bracket 1, except can adjusting the flexible of hydro-cylinder 3, can also adjust the inclination of articulated base 4, consequently when upper bracket 1 is located a certain fixed state, will have different hydro-cylinder 3 and articulated base 4's cooperation to adapt to with it, from this, just can adapt to different operating modes, nimble flexible adjustment hydro-cylinder 3's flexible degree and articulated base 4's inclination under different operating modes, make every hydro-cylinder 3 reach the state of best bearing stress.
To explain further, the hinge base 4 includes an upper hinge base 41 and a lower hinge base 42, the upper hinge base 41 is disposed outside the lower hinge base 42, and the upper surface of the upper hinge base 41 is an inclined surface inclined toward the centers of the upper support frame 1 and the lower support frame 2; the lower hinge base 42 is provided with a gear shaft 43, and the gear shaft 43 is engaged with the rack of the upper hinge base 41.
Under the cooperation of the gear rack, the inclination angle of the hinged base 4 can be accurately adjusted by controlling the rotation of the gear shaft 43, so that the stress borne by each oil cylinder 3 can be conveniently calculated, the inclination angle of the hinged base 4 can be adjusted within the load range of the oil cylinder 3, the stress is reasonably distributed to each oil cylinder 3, and the stable operation of the platform is kept.
To be further described, the centers of the upper bracket guide rail 11 and the lower bracket guide rail 21 are provided with a guide groove 01; the center of the guide groove 01 is provided with a clamping slide block 02 sliding along the guide groove 01, and the hinged base 4 is arranged on the clamping slide block 02.
The articulated base 4 can slide on the guide rail, just can adjust the distance of articulated base 4 to the platform geometric center under different loads, considers articulated platform turned angle's parameter again simultaneously, just can be nimble calculate the most suitable mathematical model to different actual conditions, the maximum load that the extreme position of each direction can bear to full play platform's function.
In a further description, a rotating block 7 is connected between the mounting seats 6 through a bearing, the rotating block 7 has a rotational motion with one degree of freedom in the mounting seats 6, and the rotating block 7 is connected with an earring of the oil cylinder 3.
Because the hinged base 4 needs to be adjusted in angle and position, the rotating block 7 hinged with the oil cylinder 3 is limited to a rotational motion with one degree of freedom for conveniently simulating and calculating the load of each oil cylinder 3, and the adjustment and the control are convenient.
In a further description, equidistant light holes 03 are formed in two sides of the guide groove 01, and a screw rod penetrates through the light holes 03 and positions the hinged base 4 through a nut.
After adjusting the hinged base 4 to a proper position, the hinged base 4 is positioned by the screw and the nut passing through the unthreaded hole 03, and when the oil cylinder 3 is adjusted, the hinged base 4 does not slide on the upper bracket guide rail 11 and the lower bracket guide rail 21.
To be further described, the mounting seats 6 on each of the hinged bases 4 are symmetrically arranged, and the mounting seats 6 are fixed to the hinged bases 4 through bolts.
The stretching of each oil cylinder 3 needs to be coordinated, the stress balance of the whole platform is kept, and after the mounting seats 6 are symmetrically arranged, the oil cylinders 3 connected with the mounting seats 6 are equidistantly staggered, so that the oil cylinders 3 are convenient to regulate.
In a further description, a cavity 71 is formed in the center of the rotating block 7, and an ear ring of the oil cylinder 3 extends into the cavity 71 and is fixed with the rotating block 7 through a bolt.
Therefore, the connecting point of the oil cylinder 3 and the rotating block 7 can be kept at the center of the rotating block 7, the load of the oil cylinder 3 can be conveniently calculated when the inclination angle of the hinged base 4 is adjusted, and meanwhile, the oil cylinder 3 and the rotating block 7 can be conveniently detached.
In a further description, the upper support frame 1 and the lower support frame 2 are arranged in an equidistant and staggered manner, and the angles between the upper support frame guide rail 11 and the adjacent lower support frame guide rail 21 are consistent.
When the upper support frame 1 and the lower support frame 2 are arranged in an equidistance staggered manner and the angles between the upper support guide rail 11 and the adjacent lower support guide rail 21 are consistent, the coordination of the whole frame of the platform can be easily maintained, and the regulation and control of each parameter of the platform are facilitated.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. An adjustable six-degree-of-freedom platform is characterized in that: the device comprises an upper support frame, a lower support frame, an oil cylinder, a hinged base and a mounting seat; the upper support frame extends three upper support guide rails outwards along the direction of a central ray, the lower support frame extends three lower support guide rails outwards along the direction of the central ray, and the upper support guide rails and the lower support guide rails are in an equidistant circumferential array; the upper support guide rail and the lower support guide rail are arranged in a vertically staggered manner, hinged bases which can rotate and lift towards the centers of the upper support frame and the lower support frame are respectively arranged on the opposite inner sides of the upper support guide rail and the lower support guide rail, two mounting seats are arranged on the hinged bases, and the mounting seats are hinged with the oil cylinder; the two oil cylinders of each upper bracket guide rail are respectively connected with the mounting seats of the lower bracket guide rails which are adjacent in opposite directions;
the hinge base comprises an upper hinge base and a lower hinge base, the upper hinge base is arranged on the outer side of the lower hinge base, and the upper surface of the upper hinge base is an inclined surface inclined towards the centers of the upper support frame and the lower support frame; the lower hinged base is provided with a gear shaft, and the gear shaft is meshed with the rack of the upper hinged base.
2. The adjustable six-degree-of-freedom platform of claim 1, wherein: guide grooves are formed in the centers of the upper support guide rail and the lower support guide rail; the center of the guide groove is provided with a clamping slide block which slides along the guide groove, and the hinged base is arranged on the clamping slide block.
3. The adjustable six-degree-of-freedom platform of claim 1, wherein: be connected with rotatory piece through the bearing between the mount pad, rotatory piece is in the rotary motion who has a degree of freedom in the mount pad, rotatory piece with the earrings of hydro-cylinder are connected.
4. The adjustable six-degree-of-freedom platform of claim 2, wherein: the guide slot both sides are equipped with the equidistance unthreaded hole, and the screw rod passes the unthreaded hole and fixes a position through the nut articulated base.
5. The adjustable six-degree-of-freedom platform of claim 1, wherein: every mount pad symmetry setting on the articulated base, just the mount pad passes through the bolt fastening to on the articulated base.
6. The adjustable six-degree-of-freedom platform of claim 3, wherein: the center of the rotating block is provided with a cavity, and an earring of the oil cylinder extends into the cavity and is fixed with the rotating block through a bolt.
7. The adjustable six-degree-of-freedom platform of claim 1, wherein: the upper support frame and the lower support frame are arranged in an equidistant and staggered mode, and the angles between the upper support guide rail and the adjacent lower support guide rail are consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910307297.9A CN109986540B (en) | 2019-04-15 | 2019-04-15 | Adjustable six-degree-of-freedom platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910307297.9A CN109986540B (en) | 2019-04-15 | 2019-04-15 | Adjustable six-degree-of-freedom platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109986540A CN109986540A (en) | 2019-07-09 |
| CN109986540B true CN109986540B (en) | 2022-04-29 |
Family
ID=67133879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910307297.9A Active CN109986540B (en) | 2019-04-15 | 2019-04-15 | Adjustable six-degree-of-freedom platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109986540B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112496959B (en) * | 2020-11-26 | 2022-04-22 | 深圳市伊伯斯义齿有限公司 | False tooth manufacturing process and manufacturing equipment thereof |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08150526A (en) * | 1994-11-29 | 1996-06-11 | Toyoda Mach Works Ltd | Machine tool |
| JPH08229871A (en) * | 1995-02-28 | 1996-09-10 | Mitsubishi Heavy Ind Ltd | Robot neck-body mechanism device |
| KR20020059291A (en) * | 2002-06-11 | 2002-07-12 | 브이에스텍 주식회사 | 3 omitted |
| CN102350699A (en) * | 2011-09-30 | 2012-02-15 | 汕头大学 | Six-DOF (degree of freedom) parallel robot with less branch chains |
| CN104021718A (en) * | 2014-04-30 | 2014-09-03 | 燕山大学 | Closed-loop subchain contained three-freedom-degree parallel swing platform |
| CN204480577U (en) * | 2015-03-18 | 2015-07-15 | 山西省交通科学研究院 | A kind of parallel Dual Drive emulation platform of simulated vehicle low-and high-frequency motion |
| CN105243911A (en) * | 2015-10-22 | 2016-01-13 | 燕山大学 | Structure parameter-adjustable parallel motion table with combined spring bearing branches |
| CN106624775A (en) * | 2016-11-29 | 2017-05-10 | 洛阳博智自动控制技术有限公司 | Assembling method for six-degree-of-freedom motion platform |
| CN107443173A (en) * | 2017-08-22 | 2017-12-08 | 北京交通大学 | A kind of big stroke with restructural characteristic, high rigidity serial-parallel mirror lathe |
| CN208629374U (en) * | 2018-08-13 | 2019-03-22 | 华东至正工业自动化(常熟)有限公司 | A kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism |
-
2019
- 2019-04-15 CN CN201910307297.9A patent/CN109986540B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08150526A (en) * | 1994-11-29 | 1996-06-11 | Toyoda Mach Works Ltd | Machine tool |
| JPH08229871A (en) * | 1995-02-28 | 1996-09-10 | Mitsubishi Heavy Ind Ltd | Robot neck-body mechanism device |
| KR20020059291A (en) * | 2002-06-11 | 2002-07-12 | 브이에스텍 주식회사 | 3 omitted |
| CN102350699A (en) * | 2011-09-30 | 2012-02-15 | 汕头大学 | Six-DOF (degree of freedom) parallel robot with less branch chains |
| CN104021718A (en) * | 2014-04-30 | 2014-09-03 | 燕山大学 | Closed-loop subchain contained three-freedom-degree parallel swing platform |
| CN204480577U (en) * | 2015-03-18 | 2015-07-15 | 山西省交通科学研究院 | A kind of parallel Dual Drive emulation platform of simulated vehicle low-and high-frequency motion |
| CN105243911A (en) * | 2015-10-22 | 2016-01-13 | 燕山大学 | Structure parameter-adjustable parallel motion table with combined spring bearing branches |
| CN106624775A (en) * | 2016-11-29 | 2017-05-10 | 洛阳博智自动控制技术有限公司 | Assembling method for six-degree-of-freedom motion platform |
| CN107443173A (en) * | 2017-08-22 | 2017-12-08 | 北京交通大学 | A kind of big stroke with restructural characteristic, high rigidity serial-parallel mirror lathe |
| CN208629374U (en) * | 2018-08-13 | 2019-03-22 | 华东至正工业自动化(常熟)有限公司 | A kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109986540A (en) | 2019-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20190178440A1 (en) | Arm-Supporting Structure | |
| EP1610653A2 (en) | Articulated mount | |
| CN105605379A (en) | Display support apparatus | |
| CN109986540B (en) | Adjustable six-degree-of-freedom platform | |
| CN101944648A (en) | Antenna mounting frame | |
| EP3005970B1 (en) | Stand having counterbalance part | |
| KR20170001318A (en) | Indoor golf swing plate structure | |
| CN215132473U (en) | Operating bed | |
| CN210715606U (en) | Bearing seat capable of adjusting height | |
| US4223591A (en) | Adjustable mount for gun pod and the like | |
| CN108927789B (en) | Robot base strutting arrangement | |
| CN211362252U (en) | Three-axis servo manipulator | |
| CN112438854A (en) | Multifunctional operating bed | |
| CN110119100B (en) | Intelligent control system and method of adjustable six-degree-of-freedom platform | |
| CN109879183A (en) | Positioning method, positioning device and positioning kit for knuckle arm tail sliding block of suspension arm | |
| DE102014018550A1 (en) | "Position stabilized carrier system for the taking of aerial photosensors" | |
| CN209745476U (en) | Be applicable to unmanned aerial vehicle focus measuring device | |
| CN214074102U (en) | Multifunctional operating bed | |
| CN215433663U (en) | Posture adjusting device | |
| CN211525959U (en) | Display mounting rack | |
| CN213842644U (en) | Suspension simulation mechanism | |
| CN222348538U (en) | Adjustable mobile power trailing arm | |
| CN220886729U (en) | Backing plate structure of lorry-mounted crane | |
| CN208347173U (en) | A kind of fixed device of adjustable cylinder | |
| CN208451560U (en) | Multiple degrees of freedom adjustment testing stand in three-dimensional space |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |