CN221936746U - Four-degree-of-freedom crank connecting rod motion platform - Google Patents

Abstract

The utility model relates to the technical field of motion platforms, and specifically to a four-degree-of-freedom crank-connecting rod motion platform, comprising a fixed platform, a moving platform, a three-degree-of-freedom driving member and a transverse driving member, wherein the three-degree-of-freedom driving member is configured to drive the moving platform to flip along an "X" axis, flip along a "Y" axis and move in a "Z" direction, and the transverse driving member is configured to drive the first crank-connecting rod mechanism to move in the "X"direction; by arranging three groups of three-degree-of-freedom crank-connecting rod driving components arranged in an isosceles triangle, and combining a crank-connecting rod driving component for controlling the horizontal displacement of the moving platform, and making the median perpendicular lines of the four groups of crank-connecting rod driving components parallel to the straight line where the fisheye bearing articulated shaft is located, the crank-connecting rod driving components do not interfere with each other in controlling the moving platform, thereby solving the disadvantage that the traditional three-degree-of-freedom crank-connecting rod motion platform cannot perform forward and backward displacement, and at the same time improving the diversity of the platform motion posture.

Description

Four-degree-of-freedom crank-connecting rod motion platform

Technical Field

The utility model relates to the technical field of motion platforms, in particular to a four-degree-of-freedom crank-connecting rod motion platform.

Background Art

Multi-degree-of-freedom motion platforms are widely used in industrial production, entertainment and leisure and other fields, such as motion simulation, flight/driving simulation, geological motion simulation, stability compensation, dynamic theaters, etc. Currently, three-degree-of-freedom crank-connecting rod motion platforms are usually used in scientific research and entertainment, factory lifting of goods and other fields.

The traditional three-DOF crank-connecting rod motion platform has only three degrees of freedom, no forward and backward movement, and a single motion posture. It cannot provide more realistic motion scenes in some places (such as VR motion theaters and motion simulation warehouses). Therefore, a four-DOF motion platform with a simple structure is urgently needed.

Utility Model Content

The utility model provides a four-degree-of-freedom crank-connecting rod motion platform, comprising:

A fixed platform is arranged and fixed on the load surface;

A moving platform is arranged above the fixed platform, and a fisheye bearing is hingedly installed at the bottom of the moving platform;

A plurality of three-degree-of-freedom driving members, wherein the three-degree-of-freedom driving members include a first driver fixedly mounted on the fixed platform and a first crank-connecting rod mechanism arranged on an output shaft of the first driver, wherein a connecting rod end of the first crank-connecting rod mechanism is hingedly connected to the moving platform through the fisheye bearing;

Definition: The length direction of the fixed platform is the "X" direction, the width direction is the "Y" direction, and the height direction is the "Z" direction. The three-degree-of-freedom driving member is configured to drive the dynamic platform to flip along the "X" axis, flip along the "Y" axis, and move in the "Z" direction;

Wherein, a transverse driving member is provided on the fixed platform, and the transverse driving member is configured to drive the first crank-connecting rod mechanism to move in the "X" direction.

Preferably, the transverse driving member comprises:

A second driver is arranged to be fixedly mounted on the fixed platform;

a second crank-connecting rod mechanism, wherein a crank end of the second crank-connecting rod mechanism is arranged to be fixedly mounted on an output shaft of the second driver;

A clamping hoop is arranged and sleeved on the outer side of the first crank-connecting rod mechanism;

Wherein, the connecting rod end of the second crank-connecting rod mechanism is hingedly mounted on the outer side of the clamp, so that the clamp can be driven by the second crank-connecting rod mechanism to move in the "X" direction.

Preferably, a screw hole is opened on the circumferential side of the clamp, and a bolt is installed through the screw hole. The clamp and the connecting rod end of the first crank-connecting rod mechanism are screwed and fixed by the bolt to adjust the distance between the clamp and the rotation center of the second crank-connecting rod mechanism.

Preferably, the transverse driving member is arranged beside any one of the three-degree-of-freedom driving members, and the plane where the second crank-connecting rod mechanism moves is parallel to the plane where the first crank-connecting rod mechanism moves.

Preferably, the first driver includes a first motor and a first reducer fixed on the output side of the first motor, the first crank-connecting rod mechanism includes a first crank fixed on the output shaft of the first reducer and a first connecting rod hinged to the first crank, and the other end of the first connecting rod is fixedly mounted with the fisheye bearing.

Preferably, the second driver includes a second motor and a second reducer fixed on the output side of the second motor, the second crank-connecting rod mechanism includes a second crank fixed on the output shaft of the second reducer and a second connecting rod hinged to the second crank, and the other end of the first connecting rod is hingedly mounted on the clamp.

Preferably, the straight line where the second connecting rod and the clamp articulation axis are located is parallel to the straight line where the fisheye bearing articulation axis is located, and is parallel to the perpendicular midline of the second connecting rod.

Preferably, the plane where the first crank-connecting rod mechanism moves and the plane where the second crank-connecting rod mechanism moves are both parallel to the “X” direction.

Preferably, the three-degree-of-freedom driving members are arranged in three groups and are distributed between the fixed platform and the moving platform in the form of an isosceles triangle along the plane where the fixed platform is located, and the "X" direction is parallel to the symmetry axis of the isosceles triangle.

Preferably, the transverse driving member is configured to drive the three-degree-of-freedom driving member located at the apex of an isosceles triangle.

Compared with the prior art, the advantages of the utility model are:

The utility model provides three groups of three-degree-of-freedom crank-connecting rod driving components arranged in an isosceles triangle so that the moving platform has three degrees of freedom, and is combined with a crank-connecting rod driving component for controlling the horizontal displacement of the moving platform, and the median perpendicular lines of the four groups of crank-connecting rod driving components are parallel to the straight line where the fisheye bearing hinge axis is located, so that the crank-connecting rod driving components do not interfere with each other in controlling the moving platform, thereby solving the shortcoming that the traditional three-degree-of-freedom crank-connecting rod motion platform cannot perform forward and backward displacement, and at the same time improves the diversity of the platform's motion postures to meet more application scenarios.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are not intended to be drawn to scale. In the accompanying drawings, each identical or nearly identical component shown in various figures may be represented by the same reference numeral. For the sake of clarity, not every component is labeled in each figure. Now, embodiments of various aspects of the utility model will be described by way of example and with reference to the accompanying drawings, in which:

FIG1 is a schematic diagram of the three-dimensional structure of a crank-connecting rod motion platform with four degrees of freedom shown in an embodiment of the utility model;

2 is a schematic diagram of the right side structure of a four-degree-of-freedom crank-connecting rod motion platform shown in an embodiment of the utility model;

3 is a schematic diagram of the three-degree-of-freedom driving member and the lateral driving member in the four-degree-of-freedom crank-connecting rod motion platform shown in an embodiment of the present utility model;

Fig. 4 is a schematic cross-sectional view of the structure along the line A-A in Fig. 3;

10. Fixed platform; 11. First bearing seat; 12. Second bearing seat; 20. Moving platform; 21. Fisheye bearing seat; 30. Three-degree-of-freedom driving member; 31. First driver; 311. First motor; 312. First reducer; 32. First crank-connecting rod mechanism; 321. First crank; 322. First connecting rod; 40. Transverse driving member; 41. Second driver; 411. Second motor; 412. Second reducer; 42. Second crank-connecting rod mechanism; 421. Second crank; 422. Second connecting rod; 43. Hoop; 431. Bolt; 50. Fisheye bearing.

DETAILED DESCRIPTION

In order to better understand the technical content of the present invention, specific embodiments are described below in conjunction with the accompanying drawings.

The utility model provides a four-degree-of-freedom crank-connecting rod motion platform, aiming to solve the problem that the crank-connecting rod three-degree-of-freedom motion platform has no forward and backward movement and a single motion posture. The device mainly includes a fixed platform 10, a moving platform 20, a three-degree-of-freedom driving member 30 and a transverse driving member 40.

As shown in Figures 1 and 2, the fixed platform 10 is arranged and fixed on a load surface, such as the ground, a work platform, etc., the moving platform 20 is arranged above the fixed platform 10, and a fisheye bearing 50 is hingedly installed at the bottom of the moving platform 20. Specifically, the fixed platform 10 and the moving platform 20 are both welded with steel structures to form a rectangular frame to form a rectangular supporting surface, wherein the area of the moving platform 20 is slightly smaller than that of the fixed platform 10, and a fisheye bearing seat 21 is fixedly installed at the bottom of the moving platform 20 corresponding to the fisheye bearing 50, and the fisheye bearing 50 is hingedly installed on the fisheye bearing seat 21.

Furthermore, a plurality of three-degree-of-freedom driving members 30 are disposed between the fixed platform 10 and the movable platform 20 , and the number of the fisheye bearings 50 corresponds to the number of the three-degree-of-freedom driving members 30 , and the three-degree-of-freedom driving members 30 can be used to drive the movable platform 20 to move.

Specifically, the three-degree-of-freedom driving member 30 includes a first driver 31 fixedly mounted on the fixed platform 10 and a first crank-connecting rod mechanism 32 arranged on the output shaft of the first driver 31, and the connecting rod end of the first crank-connecting rod mechanism 32 is hinged to the moving platform 20 through a fisheye bearing 50, wherein the first driver 31 includes a first motor 311 and a first reducer 312 fixed on the output side of the first motor 311, and a part of the first reducer 312 is fixed to the fixed platform 10 through a first bearing seat 11.

The first crank-connecting rod mechanism 32 comprises a first crank 321 fixed to the output shaft of the first reducer 312 and a first connecting rod 322 hinged to the first crank 321 , and the other end of the first connecting rod 322 is fixedly mounted with a fisheye bearing 50 .

In this way, when working, the output shaft of the first motor 311 drives the first crank 321 to rotate around the output shaft of the first reducer 312 after being decelerated by the first reducer 312, driving the first connecting rod 322 at the other end of the first crank 321 to swing back and forth, thereby driving the upper moving platform 20 to move.

As shown in Figure 1, the length direction of the fixed platform 10 is defined as the "X" direction, the width direction is the "Y" direction, and the height direction is the "Z" direction. The three-degree-of-freedom driving member 30 is configured to drive the moving platform 20 to flip along the "X" axis, that is, the three three-degree-of-freedom driving members 30 are started at different timings. They are started in sequence along the "Y" direction, which can drive the moving platform 20 to flip back and forth along the "X" axis and flip along the "Y" axis, that is, the two groups of three-degree-of-freedom driving members 30 distributed along the "Y" direction are started in sequence, which can drive the moving platform 20 to flip back and forth along the "Y" axis and move along the "Z" direction, that is, the three three-degree-of-freedom driving members 30 are started synchronously, which can drive the moving platform 20 to reciprocate in the "Z" direction. In this way, the three-degree-of-freedom motion of the moving platform 20 is realized.

1 and 3 , in order to realize the four-degree-of-freedom motion of the moving platform 20 , a transverse driving member 40 is provided on the fixed platform 10 , and the transverse driving member 40 is configured to drive the first crank-connecting rod mechanism 32 to move in the “X” direction.

The transverse driving member 40 includes a second driver 41 , a second crank-connecting rod mechanism 42 and a clamp 43 .

Specifically, the second driver 41 is configured to be fixedly installed on the fixed platform 10. The second driver 41 includes a second motor 411 and a second reducer 412 fixed on the output side of the second motor 411. Part of the second reducer 412 is fixed to the fixed platform 10 through a second bearing seat 12. In an optional embodiment, the first motor 311, the first reducer 312 and the second motor 411, the second reducer 412 may adopt the same or different models. In order to facilitate control, the same model is generally adopted.

Furthermore, the crank end of the second crank-connecting rod mechanism 42 is fixedly mounted on the output shaft of the second driver 41 , the clamp 43 is sleeved on the outside of the first crank-connecting rod mechanism 32 , and the connecting rod end of the second crank-connecting rod mechanism 42 is hingedly mounted on the outside of the clamp 43 .

As shown in Figure 3, the second crank-connecting rod mechanism 42 includes a second crank 421 fixed to the output shaft of the second reducer 412 and a second connecting rod 422 hinged to the second crank 421. The other end of the first connecting rod 322 is hingedly installed with a clamp 43. During operation, the output shaft of the second motor 411 drives the second crank 421 to rotate around the output shaft of the second reducer 412 after being decelerated by the second reducer 412, thereby driving the second connecting rod 422 at the other end of the second crank 421 to swing back and forth, so that the clamp 43 moves in the "X" direction.

In this way, driven by the second driver 41 , the second crank-connecting rod mechanism 42 can drive the clamp 43 to move back and forth in the “X” direction, thereby realizing the lateral movement of the moving platform 20 , so that the moving platform 20 has four degrees of freedom.

Furthermore, in order to adjust the connection position between the clamp 43 and the first connecting rod 322, screw holes are opened on the circumferential side of the clamp 43, and bolts 431 are installed through the screw holes. The clamp 43 and the connecting rod end of the first crank-connecting rod mechanism 32 are screwed and fixed by bolts 431 to adjust the distance between the rotation center of the clamp 43 and the second crank-connecting rod mechanism 42, so that the forward and backward displacement distance of the entire moving platform 20 along the "X" direction can be adjusted.

As shown in Figure 4, in order to enable the dynamic platform 20 to flip along the "X" axis, flip along the "Y" axis and move in the "Z" direction under the drive of the three-degree-of-freedom driving member 30, and to move along the "X" direction under the drive of the transverse driving member 40, the straight line where the hinge axis of the second connecting rod 422 and the clamp 43 is located is parallel to the straight line where the hinge axis of the fisheye bearing 50 is located, and is parallel to the mid-point of the second connecting rod 422, and the plane where the first crank-connecting rod mechanism 32 moves and the plane where the second crank-connecting rod mechanism 42 moves are both parallel to the "X" direction.

In this way, the movements of the four groups of crank-connecting rod motion mechanisms do not interfere with each other, and the moving platform 20 can be driven to realize four-degree-of-freedom movement under synchronous movement.

As shown in Figures 1 and 2, in a preferred embodiment, the three-degree-of-freedom driving members 30 are arranged in three groups and are distributed between the fixed platform 10 and the moving platform 20 in an isosceles triangle along the plane where the fixed platform 10 is located, and the "X" direction is parallel to the symmetry axis of the isosceles triangle. In this way, the three groups of three-degree-of-freedom driving members 30 can provide stable support for the moving platform 20, enhance the carrying capacity of the moving platform 20, and maintain the stability of the moving state of the moving platform 20.

Furthermore, the transverse driving member 40 is arranged beside any one of the three-degree-of-freedom driving members 30, and the plane where the second crank-connecting rod mechanism 42 moves is parallel to the plane where the first crank-connecting rod mechanism 32 moves. In this way, the moving platform 20 can be driven to perform transverse movement without interfering with the movement of the three-degree-of-freedom driving member 30.

Preferably, the transverse driving member 40 is configured to drive the three-degree-of-freedom driving member 30 located at the apex of the isosceles triangle, with the three-degree-of-freedom driving member 30 in the middle position serving as the active member and the three-degree-of-freedom driving members 30 symmetrically distributed on both sides serving as the driven members, thereby making the structure more stable.

In combination with the above embodiments, the utility model designs three groups of three-degree-of-freedom crank-connecting rod driving components arranged in an isosceles triangle, so that the moving platform 20 has three degrees of freedom, and is combined with a crank-connecting rod driving component for controlling the horizontal displacement of the moving platform 20, and the median perpendicular lines of the four groups of crank-connecting rod driving components are parallel to the straight line where the hinge axis of the fisheye bearing 50 is located, so that the crank-connecting rod driving components do not interfere with each other in controlling the moving platform 20, thereby solving the shortcoming that the traditional three-degree-of-freedom crank-connecting rod motion platform cannot be displaced forward and backward, and at the same time improves the diversity of the platform's motion postures to meet more application scenarios.

Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. A person with ordinary knowledge in the technical field to which the present invention belongs may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the definition of the claims.

Claims (10)

1. A four-degree-of-freedom crank link motion platform, comprising:

a fixed platform (10) which is arranged and fixed on the load surface;

The moving platform (20) is arranged above the fixed platform (10), and a fisheye bearing (50) is hinged to the bottom of the moving platform (20);

The three-degree-of-freedom driving pieces (30), the three-degree-of-freedom driving pieces (30) comprise a first driver (31) fixedly installed on the fixed platform (10) and a first crank-link mechanism (32) arranged on an output shaft of the first driver (31), and a link end of the first crank-link mechanism (32) is hinged with the movable platform (20) through the fisheye bearing (50);

Definition: the length direction of the fixed platform (10) is an X direction, the width direction of the fixed platform is a Y direction, the height direction of the fixed platform is a Z direction, and the three-degree-of-freedom driving piece (30) is arranged to drive the movable platform (20) to turn over along the X axis, turn over along the Y axis and move in the Z direction;

the fixed platform (10) is provided with a transverse moving driving piece (40), and the transverse moving driving piece (40) is arranged to drive the first crank-link mechanism (32) to move in the X direction.

2. The four-degree-of-freedom crank link motion platform of claim 1 wherein the traversing drive (40) comprises:

A second driver (41) fixedly mounted on the fixed platform (10);

A second crank-link mechanism (42), a crank end of the second crank-link mechanism (42) being fixedly mounted on an output shaft of the second driver (41);

The anchor ear (43) is arranged and sleeved on the outer side of the first crank-link mechanism (32);

The connecting rod end of the second crank connecting rod mechanism (42) is hinged to the outer side of the anchor ear (43), so that the anchor ear (43) can be driven by the second crank connecting rod mechanism (42) to move in the X direction.

3. The four-degree-of-freedom crank-link motion platform according to claim 2, wherein screw holes are formed in the circumferential side of the anchor ear (43), bolts (431) are mounted through the screw holes, and the anchor ear (43) and the link end of the first crank-link mechanism (32) are screwed and fixed through the bolts (431) to adjust the distance between the anchor ear (43) and the rotation center of the second crank-link mechanism (42).

4. The four-degree-of-freedom crank link motion platform of claim 2 wherein the traversing drive (40) is disposed beside any one of the three-degree-of-freedom drives (30) and the plane in which the second crank link mechanism (42) moves is parallel to the plane in which the first crank link mechanism (32) moves.

5. The four-degree-of-freedom crank link motion platform according to claim 2, wherein the first driver (31) includes a first motor (311) and a first speed reducer (312) fixed at an output side of the first motor (311), the first crank link mechanism (32) includes a first crank (321) fixed at an output shaft of the first speed reducer (312) and a first link (322) hinged to the first crank (321), and the other end of the first link (322) is fixedly mounted with the fisheye bearing (50).

6. The four-degree-of-freedom crank link motion platform according to claim 5, wherein the second driver (41) includes a second motor (411) and a second speed reducer (412) fixed at an output side of the second motor (411), the second crank link mechanism (42) includes a second crank (421) fixed at an output shaft of the second speed reducer (412) and a second link (422) hinged to the second crank (421), and the other end of the first link (322) is hinged to the anchor ear (43).

7. The four-degree-of-freedom crank link motion platform of claim 6 wherein the line of articulation of the second link (422) with the anchor ear (43) is parallel to the line of articulation of the fisheye bearing (50) and to the perpendicular bisector of the second link (422).

8. The four degree of freedom crank link motion platform of any one of claims 2-6 wherein the plane in which the first crank link mechanism (32) moves and the plane in which the second crank link mechanism (42) moves are both parallel to the "X" direction.

9. The four-degree-of-freedom crank-link motion platform according to claim 1, characterized in that the three-degree-of-freedom driving members (30) are arranged in three groups and distributed between the fixed platform (10) and the movable platform (20) in an isosceles triangle along the plane of the fixed platform (10), and the "X" direction is parallel to the isosceles triangle symmetry axis.

10. Four-degree-of-freedom crank link motion platform according to claim 9, characterized in that the traversing drive (40) is arranged to drive the three-degree-of-freedom drive (30) at the apex of an isosceles triangle.