Three-degree-of-freedom spherical motion platform and power supply method

Abstract

The invention provides a three-degree-of-freedom spherical motion platform and a power supply method. The three-degree-of-freedom spherical motion platform comprises a base, a spherical platform and a power supply circuit, supporting driving wheel sets are evenly distributed on the circumference of the upper surface of the base. An electrical cabinet is arranged in the spherical platform, the spherical platform is movably arranged above the base and is supported in a rolling mode through the supporting driving wheel set, the supporting driving wheel set comprises a driving wheel, and the driving motor is connected with the driving wheel and drives the driving wheel to rotate so as to drive the spherical platform to move; the power supply circuit comprises electrodes and an electric brush, the electrodes are evenly distributed on the outer surface of the spherical platform and connected with the electrical cabinet, the electric brush comprises an electric brush carrier arranged on the upper surface of the spring barrel, an electric brush terminal is arranged at the end of the electric brush carrier and connected with an external power source, and the distance between the electric brush terminal and the electrodes is matched. Kinematic singular points of a traditional three-frame type spherical motion platform can be eliminated, motion is stable, control is easy, and the failure rate is reduced.

Description

Technical Field

[0001] This invention relates to the field of motion simulation platform technology, and in particular provides a three-degree-of-freedom spherical motion platform and a power supply method therein. Background Art

[0002] Traditional motion simulation platforms typically consist of six push cylinders and two platforms, upper and lower. Each push cylinder is connected to both the upper and lower platforms by a universal hinge. The extension and retraction of the six push cylinders allows the upper platform to move in six degrees of freedom (X, Y, Z, α, β, γ) in space, thus simulating various spatial motion postures. If an aircraft simulator is installed on the spherical motion simulation platform, it can be used to simulate aircraft motion for flight training or entertainment. Due to the limited stroke of the push cylinders, this type of motion simulation platform cannot achieve 360° rotation. Because the six push cylinders and the platform form a parallel mechanism topology, its rotational motion has significant motion coupling, requiring decoupling control to perform complex attitude movements.

[0003] Patent CN104803013A proposes a three-degree-of-freedom spherical motion platform capable of 360° rotation, with a traditional "three-frame" topology. The transmission sequence from the outer frame to the inner frame is: yaw axis, pitch axis, and roll axis. This topology, during motion, encounters a "kinematic singularity" phenomenon when two axes coincide or nearly coincide, resulting in the loss of one degree of freedom. In this state, small displacements in Cartesian space can cause large rotation angles in the axis space, or even sudden changes in axis velocity, leading to jitter or locking of the mechanism. Due to the characteristics of the "three-frame" structure, for general motion trajectories, continuous operation will inevitably encounter a path passing through a kinematic singularity, which is difficult to avoid using other methods. Summary of the Invention

[0004] This invention provides a three-degree-of-freedom spherical motion platform and a power supply method to eliminate the kinematic singularities of traditional three-frame spherical motion platforms, resulting in smooth motion, easy control, and reduced failure rate.

[0005] In a first aspect, the present invention provides a three-degree-of-freedom spherical platform, comprising a base, a spherical platform, and a power supply circuit; the upper surface of the base is evenly distributed with a set of supporting drive wheels; an electrical cabinet is provided inside the spherical platform, the spherical platform is movably disposed above the base and is supported by the supporting drive wheels, the supporting drive wheels include a drive wheel, a drive motor is connected to the drive wheel, and drives the drive wheel to rotate, thereby moving the spherical platform; a seat is provided inside the spherical platform, and at least one entrance / exit is provided on the surface of the spherical platform, the entrance / exit being covered by a spherical hatch.

[0006] Furthermore, the drive wheels are three in number and evenly distributed around the outer periphery of the base platform.

[0007] Furthermore, driven wheels are provided between adjacent driving wheels. The driven wheels are at the same height as the driving wheels, rotate freely, and are evenly distributed around the outer periphery of the base platform, serving to support the spherical platform.

[0008] Furthermore, the drive motor is a servo motor.

[0009] Secondly, the present invention provides a power supply method for implementing the aforementioned three-degree-of-freedom spherical platform, comprising: A spherical platform is movably mounted above a base and supported by a drive wheel on its outer periphery. The brushes include brush holders mounted on the upper surface of the base, with brush terminals located at the ends of the brush holders and connected to an external power source. The brush terminals are supported by brush holders mounted on spring cylinders; the bottom end of the spring cylinders is fixed to the base. The power supply circuit includes electrodes and brushes. The electrodes are evenly distributed on the outer surface of the spherical platform and connected to an electrical cabinet. The electrodes are also evenly distributed on the surface of the spherical platform and connected to the rectifier circuit of the electrical cabinet inside the spherical platform. The spacing of the brush terminals is adapted to the spacing of the electrodes, ensuring that the spacing between any two brush terminals is greater than the maximum circumscribed circle diameter of a single electrode shape, preventing multiple brush terminals from simultaneously contacting the same electrode and causing a short circuit. During the movement of the spherical platform driven by the drive wheel, multiple brush terminals contact different electrodes and are pressed together by the elastic force of the spring cylinders, achieving current conduction. When at least two pairs of brush terminals are in contact with the electrodes and conduction occurs, the power source inside the base and the internal circuit of the spherical platform form a loop, thus supplying power to the spherical platform.

[0010] Furthermore, the brush terminals include two terminals arranged at both ends of the linear brush holder. The spacing between the brush terminals matches the spacing between two adjacent electrodes on the surface of the spherical platform. The two brush terminals simultaneously contact the two adjacent electrodes on the surface of the spherical platform, forming a loop with the internal circuitry of the spherical platform to supply power. An AC power supply is connected to the two brush terminals via a single-phase transformer, and an overcurrent protector is installed at the input of the single-phase transformer.

[0011] Furthermore, the brush terminals include three components arranged at the apex of an equilateral triangular brush holder. These three brush terminals simultaneously contact the three electrodes on the surface of the spherical platform. In this simultaneous contact state, the three brush terminals form a circuit with the internal circuitry of the spherical platform, thereby supplying power to the platform. The AC power supply is connected to the three brush terminals via a three-phase transformer, and an overcurrent protector is installed at the input of the three-phase transformer.

[0012] Furthermore, a storage battery is installed inside the spherical platform, the electrodes are connected to a rectifier circuit, the rectifier circuit is connected to the storage battery, and the electrical cabinet and other electrical equipment are connected to the storage battery.

[0013] This invention provides a three-degree-of-freedom spherical platform capable of 360° rotation without kinematic singularities. This eliminates the kinematic singularities of traditional spherical platforms, resulting in smoother motion, easier control, and a lower failure rate. Furthermore, a method for supplying power to the spherical platform is also disclosed, offering the same technical advantages. Attached Figure Description

[0014] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is an overall appearance view of a three-degree-of-freedom spherical motion platform provided by the present invention; Figure 2 This is a cross-sectional view of a three-degree-of-freedom spherical motion platform; Figure 3 This is a structural diagram of the base; Figure 4 This is a schematic diagram showing the arrangement of seats and electrical cabinets within the spherical platform; Figure 5 This is a schematic diagram showing the arrangement of electrodes on the surface of a spherical platform; Figure 6 It is a circuit diagram of a spherical platform; Figure 7 This is a schematic diagram of a brush holder structure with two brush terminals; Figure 8 This is a circuit diagram connecting two brush terminals; Figure 9 This is a schematic diagram of a brush holder structure with three brush terminals; Figure 10 This is a circuit diagram connecting the three brush terminals.

[0015] Explanation of reference numerals in the attached diagram: 1-Base; 2-Spherical platform, 21-Electrode, 3-Drive wheel; 4-Driven gear; 5-Brush holder, 51-Brush terminal, 52-Spring sleeve; 6- Seats; 7-Electrical cabinet; 8-Storage battery. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0017] like Figures 1 to 10 As shown, the present invention provides a three-degree-of-freedom spherical platform, including a base 1, a spherical platform 2, and a power supply circuit; the base 1 has a set of supporting drive wheels evenly distributed around its upper surface; the spherical platform 2 has an electrical cabinet 7 inside, and the spherical platform 2 is movably disposed above the base 1 and supported by the supporting drive wheels, the supporting drive wheels including a drive wheel 3, a drive motor connected to the drive wheel 3, driving the drive wheel 3 to rotate and thus moving the spherical platform 2; the power supply circuit includes electrodes 21 and brushes, the electrodes 21 are evenly distributed on the outer surface of the spherical platform 2 and connected to the electrical cabinet, a spring cylinder 52 is fixed on the base 1, and the brushes include a brush holder 5 disposed on the upper surface of the spring cylinder 52. The brush terminals 51 are located at the ends of the brush holder 5 and connected to an external power source. The spacing between adjacent electrodes 21 is adapted to the spacing between the brush terminals 51, ensuring that the spacing between any two brush terminals 51 is greater than the maximum outer diameter of the shape of a single electrode 21, so as to prevent multiple brush terminals 51 from contacting the same electrode 21 simultaneously. The brush includes two brush terminals 51, which are arranged at both ends of the linear brush holder 5. The spherical platform 2 has a seat 6 inside, and at least one entrance / exit is provided on its surface. The brush terminals 51 include two and are arranged at both ends of the linear brush holder 5. The two brush terminals 51 simultaneously contact two adjacent electrodes 21 on the surface of the spherical platform 2 for charging.

[0018] During implementation, the 220V AC power supply is connected to the two brush terminals 51 through a single-phase transformer, and an overcurrent protector is installed at the input of the single-phase transformer.

[0019] The driving wheels 3 are three in number and evenly distributed around the outer periphery of the platform of the base 1. Preferably, a driven wheel 4 is provided between adjacent driving wheels 3, and the driven wheel 4 is at the same height as the driving wheel 3.

[0020] like Figure 6 As shown, a storage battery 8 is installed inside the spherical platform 2. The electrode 21 is connected to the input terminal of the rectifier circuit, and the output terminal of the rectifier circuit is connected to the storage battery 8. The electrical cabinet 7 and other electrical equipment are connected to the storage battery 8. When no circuit is formed between the brush terminal 51 and the electrode 21, the brush terminal 51 does not supply power to the electrode 21, and the electrical facilities inside the sphere rely on the storage battery 8 for power.

[0021] In other embodiments, the brush includes three brush terminals 51, which are arranged at the three apex positions of the equilateral triangular brush holder 5. The spacing between the brush terminals 51 is adapted to the spacing between two adjacent electrodes 21 on the surface of the spherical platform 2. A 380V AC power supply is connected to the three brush terminals 51 through a three-phase transformer, and an overcurrent protector is provided at the input end of the three-phase transformer.

[0022] Meanwhile, the present invention provides a power supply method for realizing a three-degree-of-freedom spherical platform. The spherical platform 2 is movably arranged above the base 1 and supported by the driving wheel 3 on the outer periphery; the brush terminal 51 is supported by the brush holder 5 arranged on the base 1; the electrodes 21 are evenly distributed on the surface of the spherical platform 2 and connected to the electrical cabinet 7 inside the spherical platform 2; the spacing of the brush terminal 51 is adapted to the spacing of the adjacent electrodes 21.

[0023] In some embodiments, the brush terminals 51 include two terminals arranged at both ends of the linear brush holder 5. The two brush terminals 51 simultaneously contact two adjacent electrodes 21 on the surface of the spherical platform 2. In this simultaneous contact state, an external power supply provides power to the two adjacent electrodes 21 through the two brush terminals 51. Specifically, during the movement of the spherical platform 2 driven by the drive wheel 3, adjacent brush terminals 51 maintain contact with adjacent electrodes 21 simultaneously. In this simultaneous contact state, an external power supply provides power to the contacting electrodes 21 through the brush terminals 51.

[0024] In other embodiments, the brush terminals 51 include three and are arranged at the apex of the equilateral triangular brush holder 5. The three brush terminals 51 are in contact with the three electrodes 21 arranged in a triangular adjacent manner on the surface of the spherical platform 2. In the simultaneous contact state, the external power supply supplies power to the three adjacent electrodes 21 through the three brush terminals 51.

[0025] This three-degree-of-freedom spherical platform can achieve 360° rotation without kinematic singularities, eliminating the coupling issues of traditional spherical platforms, resulting in smooth motion and reduced control difficulty and failure rate. Furthermore, a method for powering the spherical platform is also disclosed, offering the same technological advantages.

[0026] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0027] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and are not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure.

Claims

1. A three-degree-of-freedom spherical platform, characterized in that... : Includes a base (1), a spherical platform (2), and a power supply circuit; The base (1) has a set of supporting drive wheels evenly distributed around its upper surface; The spherical platform (2) is equipped with an electrical cabinet (7). The spherical platform (2) is movably positioned above the base (1) and is supported by the support drive wheel set. The support drive wheel set includes a drive wheel (3). A drive motor is connected to the drive wheel (3) and drives the drive wheel (3) to rotate, thereby moving the spherical platform (2). The power supply circuit includes electrodes (21) and brushes. The electrodes (21) are evenly distributed on the outer surface of the spherical platform (2) and connected to the electrical cabinet. The brushes include a brush holder (5) set on the upper surface of the bottom (52) of the spring cylinder. The brush terminals (51) are set at the ends of the brush holder (5) and connected to an external power source. The spacing between adjacent electrodes (21) is adapted to the spacing between the brush terminals (51) so as to keep the brush terminals (51) in contact with the adjacent electrodes (21) during the movement of the spherical platform (2). The brushes include two brush terminals (51) arranged at both ends of the linear brush holder (5). The spacing between the brush terminals (51) is adapted to the spacing between two adjacent electrodes (21) on the surface of the spherical platform (2). The interior of the spherical platform (2) is provided with a seat (6), and the surface of the spherical platform (2) is provided with at least one entrance / exit.

2. The three-degree-of-freedom spherical platform according to claim 1, characterized in that: The drive wheels (3) are three in number and are evenly distributed around the outer periphery of the base (1) platform.

3. A three-degree-of-freedom spherical platform according to claim 2, characterized in that: A driven wheel (4) is provided between adjacent driving wheels (3), and the driven wheel (4) is at the same height as the driving wheel (3).

4. A three-degree-of-freedom spherical platform according to claim 1, characterized in that: The spherical platform (2) is equipped with a storage battery (8), the electrode (21) is connected to the rectifier circuit, the rectifier circuit is connected to the storage battery (8), and the electrical cabinet (7) and other electrical equipment are connected to the storage battery (8).

5. A three-degree-of-freedom spherical platform according to any one of claims 1 to 4, characterized in that: The 220V AC power supply is connected to two brush terminals (51) through a single-phase transformer. An overcurrent protector is installed at the input end of the single-phase transformer.

6. A three-degree-of-freedom spherical platform according to any one of claims 1 to 4, characterized in that: The brush includes three brush terminals (51), which are arranged at the three vertices of the equilateral triangular brush holder (5). The spacing of the brush terminals (51) is adapted to the spacing of two adjacent electrodes (21) on the surface of the spherical platform (2). A 380V AC power supply is connected to the three brush terminals (51) through a three-phase transformer. An overcurrent protector is provided at the input end of the three-phase transformer.

7. A power supply method for implementing a three-degree-of-freedom spherical platform as described in any one of claims 1-6, characterized in that: The spherical platform (2) is movably mounted above the base (1) and supported by the driving wheel (3) on the outer periphery; the brush terminals (51) are supported by the brush holder (5) mounted on the base (1); the electrodes (21) are evenly distributed on the surface of the spherical platform (2) and connected to the electrical cabinet (7) inside the spherical platform (2); the spacing of the brush terminals (51) is adapted to the spacing of the adjacent electrodes (21); During the motion of the spherical platform (2) driven by the drive wheel (3), the adjacent brush terminals (51) and the adjacent electrodes (21) are in contact at the same time. In the state of simultaneous contact, the external power supply supplies power to the contacting electrodes (21) through the brush terminals (51).

8. The power supply method for a three-degree-of-freedom spherical platform according to claim 7, characterized in that: In the simultaneous contact state, the external power supply supplies power to the two adjacent electrodes (21) through the two brush terminals (51).

9. The power supply method for a three-degree-of-freedom spherical platform according to claim 7, characterized in that: The brush terminals (51) include three and are arranged at the apex of the equilateral triangular brush holder (5). The three brush terminals (51) are in contact with the three electrodes (21) arranged in a triangular arrangement on the surface of the spherical platform (2) at the same time. In the state of simultaneous contact, the external power supply supplies power to the three adjacent electrodes (21) through the three brush terminals (51).

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