CN107053144A - A kind of six degree of freedom platform structure - Google Patents
A kind of six degree of freedom platform structure Download PDFInfo
- Publication number
- CN107053144A CN107053144A CN201710434853.XA CN201710434853A CN107053144A CN 107053144 A CN107053144 A CN 107053144A CN 201710434853 A CN201710434853 A CN 201710434853A CN 107053144 A CN107053144 A CN 107053144A
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- Prior art keywords
- degree
- electric cylinder
- mounting plate
- hinge
- upper mounting
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 27
- 230000033001 locomotion Effects 0.000 abstract description 5
- 238000010276 construction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
- Actuator (AREA)
Abstract
The invention discloses a kind of six degree of freedom platform structure, including upper mounting plate and lower platform, electric cylinder driving group is provided between the upper mounting plate and lower platform, the electric cylinder driving group drives the upper mounting plate to be in precalculated position according to external control instruction, and the electric cylinder driving group includes at least three groups along the circumferential direction uniform electric cylinder actuators；Wherein, the electric cylinder actuator includes two electric cylinders set in intersection, and the push rod top of described two electric cylinders is articulated with upper mounting plate in intersection, and the separated state in bottom of described two electric cylinders is articulated with lower platform.In six degree of freedom platform structure of the present invention, the upper mounting plate obtains more stable supporting construction, therefore can meet bigger loading demand；Meanwhile, because eliminating the movement interference factor of electric cylinder actuator and upper mounting plate so that upper mounting plate is able to reach the position for being exactly perpendicularly to lower platform place plane, and the scope of application of platform structure of the present invention has been widened significantly.
Description
Technical field
The present invention relates to a kind of platform structure, more particularly to a kind of six degree of freedom platform structure.
Background technology
Platform structure of the prior art, is to include upper mounting plate and lower platform mostly, also, by upper mounting plate and lower platform
Between the bindiny mechanism that sets realize support of the lower platform to upper mounting plate.
For upper mounting plate possesses the platform structure of angle regulating function, it can also be set in bindiny mechanism multiple electronic
Cylinder, the purpose at regulation upper mounting plate angle of inclination is reached by the control to the push rod extension elongation in different electric cylinders.
But, due to each electric cylinder set in the prior art be independently be connected to upper mounting plate and lower platform it
Between, such a supporting construction can not meet the burden requirement of heavy load；Further, since own structural characteristics (the end of each electric cylinder
Interfere with upper mounting plate or lower platform), cause upper mounting plate can not realize be completely in the orthogonal state of lower platform, this is also
Limit the application scenario of the platform structure.
The content of the invention
There is provided a kind of six degree of freedom platform structure for the drawbacks of present invention is directed to prior art.
Six degree of freedom platform structure of the present invention, including upper mounting plate and lower platform, in the upper mounting plate and lower platform
Between be provided with electric cylinder driving group, it is predetermined that the electric cylinder driving group drives the upper mounting plate to be according to external control instruction
Position, the electric cylinder driving group includes at least three groups along the circumferential direction uniform electric cylinder actuators；
Wherein, the electric cylinder actuator includes two electric cylinders set in intersection, described two electric cylinders
Push rod top is articulated with upper mounting plate in intersection, and the separated state in bottom of described two electric cylinders is articulated with lower platform.
In six degree of freedom platform structure of the present invention, the lower surface of the upper mounting plate is evenly equipped with to be driven with the electric cylinder
Moving part quantity identical upper hinge seat；
The push rod top of described two electric cylinders is articulated with the upper hinge seat in intersection.
In six degree of freedom platform structure of the present invention, being evenly distributed in the upper surface for the lower platform is driven with the electric cylinder
Moving part quantity identical lower hinge seat, and lower hinge seat and upper hinge seat are in arranged in a crossed manner；
The bottom of described two electric cylinders is hingedly connected on two lower hinge seats, and two lower hinge seats are symmetrical arranged
The both sides for the upper hinge seat being hinged in the push rod top of two electric cylinders.
In six degree of freedom platform structure of the present invention, the lower hinge seat is fixedly installed on lower platform including three
Hinge stage body on upper surface, hinge axis is provided between two adjacent hinge stage bodies；
The bottom of adjacent two electric cylinder in two groups of adjacent electric cylinder actuators is hingedly connected to adjacent
On hinge axis between two hinge stage bodies.
In six degree of freedom platform structure of the present invention, in addition to bottom plate, the bottom plate is fixedly installed on described lower flat
The upper surface of platform；
Three hinge stage bodies are fixedly installed on the upper surface of the bottom plate.
In six degree of freedom platform structure of the present invention, the upper hinge seat includes being arranged at the bottom of upper mounting plate lower surface
Seat；
The two ends of the base and center protrude out to form pedestal separately down, left part pedestal and center pedestal it
Between be provided with left hinge axis, right part pedestal and center pedestal between be provided with right hinge axis；
The push rod top of two electric cylinders of the electric cylinder actuator is hingedly connected to the left hinge axis and right hinge
Axle.
In six degree of freedom platform structure of the present invention, the left hinge axis is handed over the right hinge axis in predetermined angular
Fork is set.Further, the predetermined angular of the left hinge axis and the right hinge axis is between 6 degree to 10 degree.It is preferred that, institute
The predetermined angular for stating left hinge axis and the right hinge axis is 8 degree.
In six degree of freedom platform structure of the present invention, the base be located at left part pedestal with center pedestal it
Between be provided with left groove；
The base is provided with right groove between being located at the pedestal in the pedestal of right part and center.
In six degree of freedom platform structure of the present invention, the upper mounting plate obtains more stable supporting construction, therefore
Bigger loading demand can be met；Meanwhile, because eliminating in electric cylinder actuator push rod top and the upper mounting plate of two electric cylinders
Movement interference factor so that upper mounting plate is able to reach be exactly perpendicularly to lower platform where plane position, this has been widened significantly
Invent the scope of application of the platform structure.
Brief description of the drawings
Fig. 1 is the schematic diagram of six degree of freedom platform structure of the present invention；
Fig. 2 is another schematic diagram of six degree of freedom platform structure of the present invention；
Fig. 3 be six degree of freedom platform structure of the present invention in lower hinge seat structural representation；
Fig. 4 be six degree of freedom platform structure of the present invention in upper hinge seat structural representation.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
As shown in Figure 1 and Figure 2, six degree of freedom platform structure of the present invention, including upper mounting plate 1 and lower platform 2, in institute
State and electric cylinder driving group 3 is provided between upper mounting plate 1 and lower platform 2, branch of the upper mounting plate 1 in the electric cylinder driving group 3
Support and the lower motion of driving, and the electric cylinder driving group 3 drives the upper mounting plate 1 to be in pre-determined bit according to external control instruction
Put.
In the present invention, the electric cylinder driving group 3 includes along the circumferential direction uniform at least three groups electric cylinder actuators (this
Illustrated in embodiment exemplified by three groups of electric cylinder actuators are set, i.e. electric cylinder actuator 31, electric cylinder actuator 32, electricity
Dynamic cylinder actuator 33).Specifically, (each electric cylinder actuator structure is identical, in the present embodiment for the electric cylinder actuator 31
Illustrated by taking electric cylinder actuator 31 as an example) include two electric cylinders 311,312 set in intersection, described two electricity
The push rod top 3111,3121 of dynamic cylinder 311,312 is articulated with upper mounting plate 1 in intersection, described two electric cylinders 311,312
Bottom 3112,3122 separated states are articulated with lower platform 2.
The present invention is by the way that the push rod top of two electric cylinders in every group of electric cylinder actuator is articulated with intersection
The same position of upper mounting plate, then the separated state in the bottom of the two electric cylinders is articulated with lower platform so that the two are electronic
Cylinder is rendered as gusseted state for upper mounting plate, therefore can greatly enhance the support degree to upper mounting plate, it is ensured that upper mounting plate
Resistance to overturning after load movement, and and then control accuracy can be improved.
In six degree of freedom platform structure of the present invention, the lower surface of the upper mounting plate 1 is evenly equipped with and the electric cylinder
Actuator quantity identical upper hinge seat (upper hinge seat 41,42,43 i.e. as shown in Figure 1)；In each electric cylinder actuator
The push rod tops of two electric cylinders be articulated with upper hinge seat, i.e., the push rod top 3111 shown in Fig. 1 in intersection
It is articulated with push rod top 3121 on same upper hinge seat 41, because the bottom of electric cylinder 31 and electric cylinder 32 is separated state
Distribution, therefore, the push rod top 3111 and push rod top 3121 are rendered as intersection.
As shown in Fig. 2 the lower platform 2 has been evenly distributed in the upper surface and the electric cylinder actuator quantity identical lower hinge
Seat (i.e. lower hinge seat 51,52,53), and each lower hinge seat and each upper hinge seat are in arranged in a crossed manner, that is to say, that if
After projection to the lower platform 2 of each upper hinge seat 41,42,43, each upper hinge seat 41,42,43 differs 120 each other in a circumferential direction
Degree, and each lower hinge seat for being distributed in the upper surface of lower platform 2 is also to differ 120 degree each other in a circumferential direction, then, for
For the projection of each lower hinge seat and each upper hinge seat on lower platform, each lower hinge seat and each upper hinge seat are in arranged in a crossed manner
, i.e., have the projection of a upper hinge seat between adjacent two lower hinges seat, moreover, the projection of upper hinge seat with positioned at
The position hit exactly between two corresponding lower hinge seats is optimal.
Still by taking two electric cylinders 311,312 set in intersection as an example, the bottom of described two electric cylinders 311,312
3112nd, 3122 it is hingedly connected on two lower hinge seats 51,53, and two lower hinge seats 51,53 are symmetricly set in this two
The both sides of upper hinge that the push rod top 3111,3121 of electric cylinder 311,312 is hinged seat 41, namely foregoing upper hinge seat 41
Projection is located at the position hit exactly between two corresponding lower hinge seats 311,312.
As shown in figure 3, in six degree of freedom platform structure of the present invention, 51 (following hinge seats 51 of the lower hinge seat
Exemplified by illustrate, structure and the lower hinge of lower hinge seat 52,53 51 is identical) be fixedly installed on lower platform 2 including three
Hinge stage body 511,512,513 on upper surface, hinge axis (i.e. adjacent two are provided between two adjacent hinge stage bodies
It is provided between individual hinge stage body 511,512 between hinge axis 514, adjacent hinge stage body 512,513 and is provided with hinge axis
515).Cut with scissors respectively the bottom 3112,3212 of adjacent two electric cylinder in adjacent two groups of electric cylinder actuators 31,32
It is connected on the hinge axis 515,514 between two adjacent hinge stage bodies.It can thus be seen that for same lower hinge seat
Speech, two electric cylinders being hinged thereon are belonged in two groups of adjacent electric cylinder actuators, so, could make one group it is electronic
Two electric cylinders in cylinder actuator improve the stability and just of upper mounting plate to the state of upper mounting plate formation gusseted whereby
Degree.
Further, bottom plate (not shown) is also provided with the present invention, the bottom plate is fixedly installed on the lower platform 2
Upper surface；Three hinge stage bodies 511,512,513 are fixedly installed on the upper surface of the bottom plate.I.e. three hinge stage bodies
511st, 512,513 upper surface for being fixedly installed on lower platform 2 by the bottom plate.
As shown in figure 4, in six degree of freedom platform structure of the present invention, 41 (above hinge seats 41 of the upper hinge seat
Exemplified by, upper hinge seat 42,43 is identical with upper hinge 41 structures of seat) include being arranged at the base of the lower surface of upper mounting plate 1；The base
Two ends and center protrude out to form pedestal 413,411,412 separately down, left part pedestal 411 with center pedestal 412
Between be provided with left hinge axis 415, right part pedestal 413 and center pedestal 412 between be provided with right hinge axis 414；
The push rod top 3121,3111 of two electric cylinders 312,311 of the electric cylinder actuator 31 is hingedly connected to the left hinge
Axle 415 and right hinge axis 416.
Further, especially can be with the place of lower platform 2 in order to ensure upper mounting plate 1 can stay in any angle
Plane is perpendicular, also that the left hinge axis 415 is arranged in a crossed manner in predetermined angular with the right hinge axis 416 in the present invention.Should
Predetermined angular can be specifically configured between 6 degree to 10 degree, the example in the present embodiment, the predetermined angular especially using at 8 degree as
Most preferably.Meanwhile, it is provided with left groove between the pedestal 411 of left part and the pedestal 412 in center also on the base
417；The base is provided with right groove 416 between being located at the pedestal 412 in the pedestal 413 of right part and center.Said structure is complete
It totally disappeared except the movement interference factor of the push rod top of two electric cylinders and upper mounting plate in electric cylinder actuator so that upper mounting plate is obtained
To reach the position for being exactly perpendicularly to lower platform place plane, the scope of application of platform structure of the present invention has been widened significantly.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is not limited
In specific details and shown here as the legend with description.
Claims (10)
1. a kind of six degree of freedom platform structure, including upper mounting plate and lower platform, are provided between the upper mounting plate and lower platform
Electric cylinder driving group, the electric cylinder driving group drives the upper mounting plate to be in precalculated position according to external control instruction, and it is special
Levy and be, the electric cylinder driving group includes at least three groups along the circumferential direction uniform electric cylinder actuators；
Wherein, the electric cylinder actuator includes two electric cylinders set in intersection, the push rod of described two electric cylinders
Top is articulated with upper mounting plate in intersection, and the separated state in bottom of described two electric cylinders is articulated with lower platform.
2. six degree of freedom platform structure as claimed in claim 1, it is characterised in that the lower surface of the upper mounting plate be evenly equipped with
The electric cylinder actuator quantity identical upper hinge seat；
The push rod top of described two electric cylinders is articulated with the upper hinge seat in intersection.
3. six degree of freedom platform structure as claimed in claim 2, it is characterised in that the lower platform be evenly distributed in the upper surface with
The electric cylinder actuator quantity identical lower hinge seat, and lower hinge seat and upper hinge seat are in arranged in a crossed manner；
The bottom of described two electric cylinders is hingedly connected on two lower hinge seats, and two lower hinge seats are symmetricly set in this
The both sides for the upper hinge seat that the push rod top of two electric cylinders is hinged.
4. six degree of freedom platform structure as claimed in claim 3, it is characterised in that the lower hinge seat is set including three fixations
The hinge stage body being placed on the upper surface of lower platform, hinge axis is provided between two adjacent hinge stage bodies；
The bottom of adjacent two electric cylinder in two groups of adjacent electric cylinder actuators is hingedly connected to adjacent two
On hinge axis between hinge stage body.
5. six degree of freedom platform structure as claimed in claim 4, it is characterised in that also including bottom plate, the bottom plate is fixed and set
It is placed in the upper surface of the lower platform；
Three hinge stage bodies are fixedly installed on the upper surface of the bottom plate.
6. six degree of freedom platform structure as claimed in claim 3, it is characterised in that the upper hinge seat, which includes being arranged at, puts down
The base of platform lower surface；
The two ends and center of the base protrude out to form pedestal separately down, are set between the pedestal of left part and the pedestal in center
Left hinge axis is equipped with, right hinge axis is provided between the pedestal of right part and the pedestal in center；
The push rod top of two electric cylinders of the electric cylinder actuator is hingedly connected to the left hinge axis and right hinge axis.
7. six degree of freedom platform structure as claimed in claim 6, it is characterised in that the left hinge axis and the right hinge axis
It is arranged in a crossed manner in predetermined angular.
8. six degree of freedom platform structure as claimed in claim 7, it is characterised in that the left hinge axis and the right hinge axis
Predetermined angular be 6 degree to 10 degree between.
9. six degree of freedom platform structure as claimed in claim 8, it is characterised in that the left hinge axis and the right hinge axis
Predetermined angular be 8 degree.
10. six degree of freedom platform structure as claimed in claim 6, it is characterised in that the base is located at the pedestal of left part
Left groove is provided between the pedestal in center；
The base is provided with right groove between being located at the pedestal in the pedestal of right part and center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710434853.XA CN107053144B (en) | 2017-06-10 | 2017-06-10 | Six-degree-of-freedom platform structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710434853.XA CN107053144B (en) | 2017-06-10 | 2017-06-10 | Six-degree-of-freedom platform structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107053144A true CN107053144A (en) | 2017-08-18 |
| CN107053144B CN107053144B (en) | 2023-12-29 |
Family
ID=59594555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710434853.XA Active CN107053144B (en) | 2017-06-10 | 2017-06-10 | Six-degree-of-freedom platform structure |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932482A (en) * | 2017-12-14 | 2018-04-20 | 天津理工大学 | A kind of five-freedom parallel structure of achievable Three dimensional rotation and bidimensional moving movement |
| CN108730249A (en) * | 2018-05-25 | 2018-11-02 | 太原理工大学 | A kind of multi-DOF platform of liquid electricity combination drive |
| CN110009965A (en) * | 2018-01-05 | 2019-07-12 | 北京航空航天大学 | A kind of six degree of freedom platform based on Numeric hydraulic cylinder |
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| CN110009965A (en) * | 2018-01-05 | 2019-07-12 | 北京航空航天大学 | A kind of six degree of freedom platform based on Numeric hydraulic cylinder |
| CN108730249A (en) * | 2018-05-25 | 2018-11-02 | 太原理工大学 | A kind of multi-DOF platform of liquid electricity combination drive |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107053144B (en) | 2023-12-29 |
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