A Stewart six-degree-of-freedom electric motion platform with protection device

Abstract

The present invention provides a Stewart six-degree-of-freedom electric motion platform with a protective device, including an independent controller, an attitude angle sensor, a motor electromagnetic locking device, and a Stewart six-degree-of-freedom electric motion platform; the independent controller processes the attitude angle data sensed by the attitude angle sensor, and compares the attitude angle data with the preset upper limit of the attitude angle of the moving platform; when the processed attitude angle data exceeds the preset upper limit of the attitude angle of the moving platform, the motor electromagnetic locking device is triggered to disconnect the power supply of the driving motor of each corresponding electric cylinder, and the Stewart six-degree-of-freedom electric motion platform stops working. According to the solution of the present invention, when the Stewart six-degree-of-freedom electric motion platform loses control, the electric vibration simulator is locked in time to ensure the safety of the Stewart six-degree-of-freedom electric motion platform.

Description

Technical Field

[0001] The invention relates to the technical field of a Stewart six-degree-of-freedom electric motion platform, and in particular to a Stewart six-degree-of-freedom electric motion platform with a protective device. Background Art

[0002] Stewart six-degree-of-freedom electric motion platform is a parallel mechanism with six degrees of freedom in the workspace. It has the characteristics of high rigidity, high posture accuracy, and strong load-bearing capacity. It is widely used in robot actuators, vehicle stabilization platforms, motion simulators and other occasions.

[0003] When the Stewart six-degree-of-freedom electric motion platform performs multi-degree-of-freedom motion, when the motion posture is complex, the motion intensity is high, and the motion state switches quickly, the Stewart six-degree-of-freedom electric motion platform is prone to lose control, causing the platform to roll over, endangering the safety of the Stewart six-degree-of-freedom electric motion platform. Therefore, how to ensure the safety of the Stewart six-degree-of-freedom electric motion platform has become a key issue in the application of the Stewart six-degree-of-freedom electric motion platform. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes a Stewart six-degree-of-freedom electric motion platform with a protective device. The Stewart six-degree-of-freedom electric motion platform is used to solve the problem that the Stewart six-degree-of-freedom electric motion platform in the prior art is prone to rollover during operation, which may cause damage to the platform and cause safety accidents.

[0005] According to a first aspect of the present invention, there is provided a Stewart six-degree-of-freedom electric motion platform with a protective device, the Stewart six-degree-of-freedom electric motion platform comprising:

[0006] Independent controller, attitude angle sensor, motor electromagnetic locking device, Stewart six-degree-of-freedom electric motion platform;

[0007] The attitude angle sensor is used to measure and sense the attitude angle data of the moving platform, and the attitude angle sensor is installed on the Stewart six-degree-of-freedom electric motion platform; the independent controller is independent of the Stewart six-degree-of-freedom electric motion platform, and is used to process the attitude angle data and compare the processed attitude angle data with the preset upper limit of the attitude angle of the moving platform; the Stewart six-degree-of-freedom electric motion platform has six electric cylinders, and each of the electric cylinders is equipped with the motor electromagnetic locking device. When the processed attitude angle data exceeds the preset upper limit of the attitude angle of the moving platform, the motor electromagnetic locking device is triggered to disconnect the power supply of the driving motor of the corresponding electric cylinder, and lock the motor, so that the Stewart six-degree-of-freedom electric motion platform stops working.

[0008] According to the above scheme of the present invention, the present invention proposes a Stewart six-degree-of-freedom electric motion platform with a protection device, which provides a protection function based on an attitude angle sensor and a motor electromagnetic locking device. The Stewart six-degree-of-freedom electric motion platform compares the attitude angle data collected by the attitude angle sensor installed on the Stewart six-degree-of-freedom electric motion platform moving platform with the set attitude angle upper limit data. When the set value is exceeded, the motor electromagnetic locking device is triggered to lock the motor driving the electric cylinder of the Stewart six-degree-of-freedom electric motion platform, so that the out-of-control Stewart six-degree-of-freedom electric motion platform stops working, thereby protecting the Stewart six-degree-of-freedom electric motion platform. The Stewart six-degree-of-freedom electric motion platform has an independent and reliable protection device system, which can lock the Stewart six-degree-of-freedom electric motion platform in time when the Stewart six-degree-of-freedom electric motion platform is out of control, thereby ensuring the safety of the Stewart six-degree-of-freedom electric motion platform.

[0009] The present invention provides a Stewart six-degree-of-freedom electric motion platform with a protective device, which has the following beneficial effects:

[0010] (1) The Stewart six-degree-of-freedom electric motion platform with a protection device can compare the attitude angle of the upper platform with a set upper limit angle through an attitude angle sensor arranged on the upper platform of the Stewart six-degree-of-freedom electric motion platform to determine whether the Stewart six-degree-of-freedom electric motion platform is out of control.

[0011] (2) The Stewart six-degree-of-freedom electric motion platform with a protection device can lock the drive motors of the six electric cylinders when the motion platform loses control, thereby protecting the safety of the Stewart six-degree-of-freedom electric motion platform, through the electromagnetic locking device arranged on each electric cylinder of the Stewart six-degree-of-freedom electric motion platform.

[0012] (3) The Stewart six-degree-of-freedom electric motion platform with a protection device makes the independent controller completely independent from the motion controller circuit of the Stewart type six-degree-of-freedom electric motion platform, and the motor electromagnetic locking device uses a high-reliability electromagnetic relay to improve the reliability of the protection.

[0013] (4) After the motor electromagnetic locking device determines that the Stewart-type six-degree-of-freedom electric motion platform is out of control, it cuts off the power supply of the motor on the one hand, and pops out the latch on the other hand to lock the motor, thereby quickly and efficiently stopping the operation of the Stewart-type six-degree-of-freedom electric motion platform.

[0014] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the present invention is described by providing the following accompanying drawings. In the accompanying drawings:

[0016] Figure 1 A framework diagram of a Stewart six-degree-of-freedom electric motion platform with a protective device according to an embodiment of the present invention;

[0017] Figure 2 A schematic diagram of the structure of a motor electromagnetic locking device of a Stewart six-degree-of-freedom electric motion platform with a protection device according to an embodiment of the present invention;

[0018] Figure 3 This is a schematic structural diagram of a Stewart six-degree-of-freedom electric motion platform with a protection device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] Figure numerals: 1, independent controller; 2, attitude angle sensor; 3, motor electromagnetic locking device; 4, Stewart six-degree-of-freedom electric motion platform; 5, reset button; 6, circuit interface; 7, latch device.

[0020] First combine Figure 1 The following describes a Stewart six-degree-of-freedom electric motion platform with a protective device according to an embodiment of the present invention. Figure 1 , 3 As shown, the Stewart six-degree-of-freedom electric motion platform includes:

[0021] Independent controller, attitude angle sensor, motor electromagnetic locking device, Stewart six-degree-of-freedom electric motion platform;

[0022] The attitude angle sensor is used to measure and sense the attitude angle data of the moving platform, and the attitude angle sensor is installed on the Stewart six-degree-of-freedom electric motion platform; the independent controller is independent of the Stewart six-degree-of-freedom electric motion platform, and is used to process the attitude angle data and compare the processed attitude angle data with the preset upper limit of the attitude angle of the moving platform; the Stewart six-degree-of-freedom electric motion platform has six electric cylinders, and each of the electric cylinders is equipped with the motor electromagnetic locking device. When the processed attitude angle data exceeds the preset upper limit of the attitude angle of the moving platform, the motor electromagnetic locking device is triggered to disconnect the power supply of the driving motor of the corresponding electric cylinder, and lock the motor, so that the Stewart six-degree-of-freedom electric motion platform stops working.

[0023] Furthermore, the attitude angle sensor is deployed on the surface of the Stewart six-degree-of-freedom electric motion platform. When the Stewart six-degree-of-freedom electric motion platform performs freedom movement, the attitude angle data of the moving platform is measured in real time, and the measured attitude angle data is transmitted to the independent controller.

[0024] Furthermore, the attitude angle sensor is deployed on the upper surface of the Stewart six-degree-of-freedom electric motion platform.

[0025] Furthermore, the circuit of the attitude angle sensor is connected to the independent controller, the independent controller is connected to the circuit interface of the motor electromagnetic locking device, six motor electromagnetic locking devices are configured, and the motor electromagnetic locking devices are respectively connected to the drive motors of the electric cylinders of the corresponding Stewart six-degree-of-freedom electric motion platform.

[0026] Furthermore, the independent controller is independent of the control circuit of the Stewart six-degree-of-freedom electric motion platform, and can protect the safety of the Stewart six-degree-of-freedom electric motion platform when the Stewart six-degree-of-freedom electric motion platform is out of control and the control circuit is abnormal. The independent controller processes the attitude angle data and transmits the processed attitude angle data to the motor electromagnetic locking device.

[0027] Furthermore, the independent controller is independent of the Stewart six-degree-of-freedom electric motion platform, and is used to process the attitude angle data by converting it into the attitude angle data.

[0028] like Figure 2As shown, the motor electromagnetic locking device includes a relay device and a latch, and is a relay device with a latch. When the processed attitude angle data of the moving platform exceeds the preset upper limit of the attitude angle of the moving platform, the Stewart six-degree-of-freedom electric motion platform is determined to be out of control, and the relay device with the latch cuts off the power supply of the driving motor of each corresponding electric cylinder, pops out the latch, locks the motor, and locks the six electric cylinders, thereby stopping the Stewart six-degree-of-freedom electric motion platform from working.

[0029] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0030] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A Stewart six-degree-of-freedom electric motion platform with a protective device, characterized in that: The Stewart six-degree-of-freedom electric motion platform with a protective device comprises: Independent controller, attitude angle sensor, motor electromagnetic locking device, Stewart six-degree-of-freedom electric motion platform; The attitude angle sensor is used to measure and sense the attitude angle data of the moving platform, and the attitude angle sensor is installed on the Stewart six-degree-of-freedom electric motion platform; the independent controller is independent of the Stewart six-degree-of-freedom electric motion platform, and is used to process the attitude angle data, and compare the processed attitude angle data with the preset upper limit of the attitude angle of the moving platform; the Stewart six-degree-of-freedom electric motion platform has six electric cylinders, and the motor electromagnetic locking device is deployed on each of the electric cylinders. When the processed attitude angle data exceeds the preset upper limit of the attitude angle of the moving platform, the motor electromagnetic locking device is triggered to disconnect the power supply of the driving motor of the corresponding electric cylinder, and lock the motor, so that the Stewart six-degree-of-freedom electric motion platform stops working; The attitude angle sensor is deployed on the surface of the Stewart six-degree-of-freedom electric motion platform, and measures the attitude angle data of the moving platform in real time when the Stewart six-degree-of-freedom electric motion platform performs a degree-of-freedom motion, and transmits the measured attitude angle data to the independent controller; The attitude angle sensor is deployed on the upper surface of the Stewart six-degree-of-freedom electric motion platform; The circuit of the attitude angle sensor is connected to the independent controller, and the independent controller is connected to the circuit interface of the motor electromagnetic locking device. Six motor electromagnetic locking devices are configured, and the motor electromagnetic locking devices are respectively connected to the driving motors of the electric cylinders of the Stewart six-degree-of-freedom electric motion platform corresponding to each other; The motor electromagnetic locking device includes a relay device with a latch; the relay device with a latch will cut off the power supply of the driving motor of each corresponding electric cylinder, and pop out the latch to lock the motor, so that the six electric cylinders are locked, thereby stopping the Stewart six-degree-of-freedom electric motion platform from working.

Images