Linkage drive with power balance, method and six degree of freedom swing device

Abstract

The application provides a connecting rod driving device, a method and a six-degree-of-freedom swing device with power balance, the connecting rod driving device comprising a vertical platform, a driving mechanism and a power balance mechanism, one side of the vertical platform is provided with a slide, the slide is provided with a sliding block, and one side of the sliding block is rotationally connected with a connecting rod; the output end of the driving mechanism is connected with the sliding block and is used for driving the sliding block to move along the slide; one end of the power balance mechanism is connected with the sliding block; the sliding block has an initial position and a terminal position, and the driving mechanism is used for driving the sliding block to reciprocate between the initial position and the terminal position. The power balance mechanism is used for balancing the output of the driving mechanism when the sliding block moves between the initial position and the terminal position, and ensures that the force output to the sliding block is constant. The driving mechanism is used for driving the sliding block to slide along the slide, and the power balance mechanism is used for balancing the output of the driving mechanism in different driving stages, so that the driving of the driving mechanism on the sliding block is more stable, and the motion stability of the motion platform is improved.

Description

Technical Field

[0001] This invention relates to the field of motion simulation technology, specifically to a linkage drive device and method with dynamic balance, and a six-degree-of-freedom swing device. Background Technology

[0002] In the field of motion simulation, parallel motion mechanisms are mostly used as the carrier mechanism of the motion platform. Driven by the motion mechanism, the motion platform moves in a preset manner.

[0003] Currently, most motion mechanisms employ hydraulic rod drives. On one hand, to meet the demands of high loads and driving force requirements, the hydraulic rods are very large, thus occupying a significant amount of space. On the other hand, as part of the motion mechanism, the hydraulic rods themselves are heavy, resulting in poor dynamic response of the motion platform. Furthermore, with a single hydraulic rod drive method, if one or more hydraulic rods fail, the motion platform risks falling, affecting the experimental process and creating substantial safety risks.

[0004] Based on this, the inventors of this application propose a driving device, method, and six-degree-of-freedom swing device with a dynamically balanced linkage to solve the above-mentioned technical problems. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of low motion safety of single drive mechanism in the prior art, and to provide a drive device, method and six-degree-of-freedom swing device with a dynamically balanced linkage.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution:

[0007] This invention provides a linkage drive device with dynamic balance, characterized in that it includes:

[0008] A vertical platform with a slide rail on one side, a slider on the slide rail, and a connecting rod rotatably connected to one side of the slider;

[0009] The drive mechanism has its output end connected to the slider and is used to drive the slider to move along the slide rail;

[0010] A dynamic balancing mechanism, one end of which is connected to the slider; wherein,

[0011] The slider has an initial position and an end position, and the driving mechanism is used to drive the slider to reciprocate between the initial position and the end position;

[0012] The dynamic balancing mechanism is used to balance the output force of the drive mechanism when the slider moves between the initial position and the final position, ensuring that the force output to the slider is constant.

[0013] According to one embodiment of the present invention, the forces applied to the slider by the driving mechanism and the dynamic balancing mechanism are in the same direction.

[0014] According to one embodiment of the present invention, the dynamic balancing mechanism includes a chain, a pulley block, a hydraulic cylinder, and a pneumatic spring;

[0015] The pulley block is located above the vertical platform. One end of the chain spans the pulley block and is connected to the slider. The other end of the chain is connected to the piston rod of the hydraulic cylinder. The pneumatic spring is connected to the rod chamber of the hydraulic cylinder. The hydraulic oil is located in the rod chamber of the hydraulic cylinder.

[0016] The slider moving up and down along the slide rail will cause the pneumatic spring to compress or expand, so as to adapt to the output of the drive mechanism.

[0017] According to one embodiment of the present invention, the pneumatic spring includes a housing and an air bladder disposed within the housing, one end of the air bladder abutting against the inner wall of the housing, and a first pressure sensor is disposed between the air bladder and the inner wall of the housing;

[0018] The first pressure sensor is used to detect the pressure value of the airbag, and then determine the supporting force applied by the pneumatic spring to the slider.

[0019] According to one embodiment of the present invention, the end of the connecting rod opposite to the slider is connected to the motion platform;

[0020] The connecting rod is equipped with a second pressure sensor, which is used to receive the pressure value applied to the connecting rod by the motion platform.

[0021] According to one embodiment of the present invention, an air pump is further provided on the outer side of the housing, the air pump being connected to the airbag, and the air pump being used to inflate the airbag when the pressure value inside the airbag is lower than a preset value.

[0022] According to one embodiment of the present invention, at least one elastic buffer is provided on the chain, and the elastic buffer is disposed on the side close to the slider.

[0023] According to one embodiment of the present invention, the end of the connecting rod away from the slider extends at least above the vertical platform, such that the movable space of the motion platform is located above the vertical platform.

[0024] The present invention also provides a six-degree-of-freedom swing device, characterized in that it includes:

[0025] Sports platform;

[0026] Multiple sets of dynamically balanced linkage drive devices as described above, one end of which is connected to the motion platform.

[0027] The present invention also provides a linkage drive control method with dynamic balance, implemented using the linkage drive device with dynamic balance as described above, comprising:

[0028] Determine the weight of the load;

[0029] The number and model of the matching drive mechanism are selected according to the weight of the load;

[0030] The system receives the detection values ​​from the first and second pressure sensors in real time to monitor the movement state of the slider.

[0031] The positive and progressive effects of this invention are as follows:

[0032] The present invention provides a linkage drive device with dynamic balance, which simultaneously includes a drive mechanism and a dynamic balance mechanism. The drive mechanism is used to drive the slider to slide along the slide rail, and the dynamic balance mechanism is used to balance the output force of the drive mechanism at different driving stages, so that the drive mechanism drives the slider more smoothly and improves the motion stability of the linkage and motion platform. Attached Figure Description

[0033] The above and other features, properties and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings and embodiments, wherein:

[0034] Figure 1 This is a schematic diagram of the linkage drive device with dynamic balance according to the present invention;

[0035] Figure 2 This is a flowchart illustrating the linkage drive amplification with dynamic balance according to the present invention.

[0036] 10. Vertical platform; 110. Slide rail; 120. Slider; 130. Connecting rod; 131. Second pressure sensor;

[0037] 20. Drive mechanism;

[0038] 30. Dynamic balancing mechanism; 310. Chain; 311. Elastic buffer; 320. Pulley block; 330. Hydraulic cylinder; 340. Pneumatic spring; 341. Housing; 342. Airbag; 343. First pressure sensor; 344. Air pump;

[0039] 40. Sports platform. Detailed Implementation

[0040] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0041] Embodiments of the invention will now be described in detail with reference to the accompanying drawings. Preferred embodiments of the invention will now be described in detail, examples of which are illustrated in the drawings. Wherever possible, the same reference numerals will be used in all the drawings to denote the same or similar parts. Furthermore, although the terminology used herein is selected from commonly known and used terminology, some terms mentioned in this specification may have been chosen by the applicant at his or her discretion, and their detailed meanings are explained in the relevant sections of the description herein. Moreover, the invention should be understood not only by the actual terms used, but also by the meaning implied by each term.

[0042] Reference Figure 1 This invention proposes a linkage drive device with dynamic balance, including a vertical platform 10, a drive mechanism 20, and a dynamic balancing mechanism 30. A slide rail 110 is provided on one side of the vertical platform 10, and a slider 120 is mounted on the slide rail 110. A connecting rod 130 is rotatably connected to one side of the slider 120. The output end of the drive mechanism 20 is connected to the slider 120 and is used to drive the slider 120 to move along the slide rail 110. One end of the dynamic balancing mechanism 30 is connected to the slider 120. The slider 120 has an initial position and a final position. The drive mechanism 20 drives the slider 120 to reciprocate between the initial position and the final position. The dynamic balancing mechanism 30 balances the output force of the drive mechanism 20 when the slider 120 moves between the initial position and the final position, ensuring that the force output to the slider 120 is constant.

[0043] In one embodiment, the drive mechanism 20 includes a motor and a scissor lift mechanism (not shown). The scissor lift mechanism has two retractable ends on opposite sides of its bottom, and each retractable end is equipped with a motor. The motors on both sides provide a retracting force to the scissor lift mechanism. A slider 120 is connected to the top of the scissor lift mechanism, so the retraction of the scissor lift mechanism corresponds to the lifting and lowering of the slider 120. The drive mechanism 20 can also use other drive methods. This description uses a motor and a scissor lift mechanism as an example, but it is not limited to these methods.

[0044] It should be noted that the slider 120 slides along the slide rail 110 under the drive of the drive mechanism 20. When the slider 120 moves downward, the scissor lift mechanism compresses, and when the slider 120 moves upward, the scissor lift mechanism extends. It can be seen that when the slider 120 is at its lowest point, the drive mechanism 20 requires the greatest output force, corresponding to the movement from 0 to a threshold value. Only after reaching the threshold value can the slider 120 move. When the slider 120 rises, the output force of the drive mechanism 20 gradually decreases, and the movement of the slider 120 corresponds to a process from slow to fast, resulting in a slower response speed.

[0045] Based on this, this application provides a dynamic balancing mechanism 30 to balance the output force of the drive mechanism 20 during the movement of the slider 120, thereby improving the stability of the slider 120's movement.

[0046] When slider 120 moves downward, in addition to the drive mechanism 20 supporting slider 120, the dynamic balancing mechanism 30 expands under pressure, gradually increasing the supporting force on slider 120. Therefore, the output force of drive mechanism 20 does not need to be changed. When slider 120 moves upward from the bottom, supported by the dynamic balancing mechanism 30, drive mechanism 20 no longer needs to support motion platform 40 in a static state, thus increasing its service life. Furthermore, the power mechanism can quickly increase its output force to a value corresponding to the supporting force of dynamic balancing mechanism 30, and then increase it from that value towards a threshold until slider 120 can move.

[0047] As a result, the movement of slider 120 is very smooth from the initial to the final state, and the output of drive mechanism 20 is also very even, avoiding damage to the structure of drive mechanism 20 itself due to uneven output.

[0048] In one embodiment, the forces applied to the slider 120 by the drive mechanism 20 and the dynamic balancing mechanism 30 are in the same direction.

[0049] With this configuration, the drive mechanism 20 and the power balancing mechanism 30 can form a redundant structure, which can be used individually or in combination. This provides more flexibility in choosing the appropriate method to deal with different loads. Moreover, if one of them is damaged and needs to be replaced, the other can still be used normally without affecting the test.

[0050] In one embodiment, the dynamic balancing mechanism 30 includes a chain 310, a pulley block 320, a hydraulic cylinder 330, and a pneumatic spring 340. The pulley block 320 is located above the vertical platform 10. One end of the chain 310 spans the pulley block 320 and is connected to the slider 120. The other end of the chain 310 is connected to the piston rod of the hydraulic cylinder 330. The pneumatic spring 340 is connected to the rod chamber of the hydraulic cylinder 330, and hydraulic oil is located in the rod chamber of the hydraulic cylinder 330. When the slider 120 moves up and down along the slide rail 110, it causes the pneumatic spring 340 to compress or expand, so as to adapt to the output force of the drive mechanism 20.

[0051] The pulley block 320 can increase the stroke of the chain 310, making the end response of the dynamic balancing mechanism 30 more rapid and effectively balancing the driving load of the drive mechanism 20.

[0052] The chain 310 can be made of iron or steel, and multiple chains 310 can be configured to meet the support and drive requirements of heavy loads.

[0053] Specifically, the pneumatic spring 340 includes a housing 341 and an air bladder 342 disposed within the housing 341. One end of the air bladder 342 abuts against the inner wall of the housing 341, and a first pressure sensor 343 is disposed between the air bladder 342 and the inner wall of the housing 341. The first pressure sensor 343 is used to detect the pressure value of the air bladder 342, thereby determining the supporting force applied by the pneumatic spring 340 to the slider 120.

[0054] In order to monitor the air pressure of the airbag 342 in real time, a first pressure sensor 343 is designed. The value of the pressure sensor indirectly reflects the supporting force of the airbag 342 on the slider 120. Thus, the magnitude of the supporting force of the dynamic balancing mechanism 30 on the slider 120 can be adjusted by adjusting the air pressure of the airbag 342.

[0055] Furthermore, the end of the connecting rod 130 away from the slider 120 is connected to the motion platform 40; a second pressure sensor 131 is provided on the connecting rod 130, which is used to receive the pressure value applied to the connecting rod 130 by the motion platform 40.

[0056] The second pressure sensor 131 is used to detect the pressure value applied by the motion platform 40 to the connecting rod 130. When the pressure value exceeds the bearing capacity of the connecting rod 130, the dynamic balancing mechanism 30 can quickly increase its supporting force on the slider 120 to prevent the connecting rod 130 from being damaged. At the same time, the driving force of other drive mechanisms 20 is adjusted so that the motion platform 40 moves to a safe position angle.

[0057] In one embodiment, an air pump 344 is also provided on the outer side of the housing 341. The air pump 344 is connected to the airbag 342 and is used to inflate the airbag 342 when the pressure value inside the airbag 342 is lower than a preset value.

[0058] The air pump 344 can inflate the airbag 342 in its initial state to meet the required air pressure for support. It can also replenish the airbag 342 after a period of use, thereby preventing insufficient support from the airbag 342.

[0059] In one embodiment, the chain 310 is provided with at least one elastic buffer 311, which is disposed near the slider 120.

[0060] The slider 120 forms a short-distance buffer at the end position and the initial position. This buffer is prone to generating rigid impact between the connecting rod 130 and the output end of the drive mechanism 20. Therefore, the elastic buffer 311 is set so that the slider 120 is elastically stationary at the stop position, rather than stationary momentarily, thereby improving the safety of system operation.

[0061] In one embodiment, the end of the link 130 away from the slider 120 extends at least above the vertical platform 10, such that the movement space of the motion platform 40 is located above the vertical platform 10.

[0062] The motor in the drive mechanism 20, the hydraulic cylinder 330 in the dynamic balancing mechanism 30, and the pneumatic spring 340 are all relatively static structures and do not participate in spatial movement. As a result, the mass of the moving parts is greatly reduced, the inertia of the motion platform 40 during operation is reduced, and the dynamic response characteristics of the motion platform 40 are improved.

[0063] Moreover, the motion platform 40 moves above the vertical platform 10, and the movement of the motion platform 40 is not limited by the space of the vertical platform 10. Thus, the motion platform 40 meets the requirements for large-angle operation and is conducive to the miniaturization design of the swing device.

[0064] In summary, the linkage drive device of the present invention with dynamic balance is provided with both a drive mechanism 20 and a dynamic balance mechanism 30. The drive mechanism 20 is used to drive the slider 120 to slide along the slide rail 110, and the dynamic balance mechanism 30 is used to balance the output force of the drive mechanism 20 at different driving stages, so that the drive mechanism 20 drives the slider 120 more smoothly and improves the motion stability of the linkage 130 and the motion platform 40.

[0065] The present invention also proposes a six-degree-of-freedom swing device, including a motion platform 40 and the above-mentioned dynamically balanced linkage drive device, one end of which is connected to the motion platform 40.

[0066] For the connecting rod 130, one end of the connecting rod 130 is in two-degree-of-freedom rotational engagement with the slider 120, and the other end of the connecting rod 130 is in three-degree-of-freedom rotational engagement with the motion platform 40. Thus, the motion platform 40 meets the motion adjustment requirements of six degrees of freedom.

[0067] Reference Figure 2 The present invention also proposes a linkage drive control method with dynamic balance, which is implemented using the linkage drive device with dynamic balance described above. The method includes:

[0068] S110. Determine the weight of the load.

[0069] S120. Select the number and model of the matching drive mechanism according to the weight of the load.

[0070] S130: Receives the detection values ​​from the first pressure sensor and the second pressure sensor in real time to monitor the motion state of the slider in real time.

[0071] The six-degree-of-freedom rocking device of this invention includes six sets of dynamically balanced linkage drive mechanisms. The effect on the linkages varies depending on the angle at which the motion platform operates; when some angles are too large, the force on the corresponding linkage will also be very large. Therefore, the number and model of the drive mechanism need to be selected according to the weight of the load. Generally, the selected model can support the motion simulation of the motion platform at a specified angle. Once the motion platform reaches an unsafe angle, the corresponding linkage will suffer very serious damage.

[0072] Therefore, by simultaneously using the first and second pressure sensors to detect the pressure values ​​of the connecting rod and the airbag, when the pressure on some connecting rods exceeds the threshold, the pressure value of the airbag can be adjusted to supplement the supporting force on the connecting rod. At the same time, the driving state of other drive mechanisms can be adjusted so that the motion platform moves to a safe position and angle under the drive of multiple drive mechanisms, thereby improving the safety of the motion platform operation.

[0073] This application uses specific terms to describe embodiments of the application. Terms such as "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the application. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0074] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any variations and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the invention, fall within the protection scope defined by the claims of the present invention.

Claims

1. A linkage drive device with dynamic balance, characterized in that, include: A vertical platform with a slide rail on one side, a slider on the slide rail, and a connecting rod rotatably connected to one side of the slider; The drive mechanism has its output end connected to the slider and is used to drive the slider to move along the slide rail; A dynamic balancing mechanism, one end of which is connected to the slider; wherein, The slider has an initial position and an end position, and the driving mechanism is used to drive the slider to reciprocate between the initial position and the end position; The dynamic balancing mechanism is used to balance the output force of the drive mechanism when the slider moves between the initial position and the final position, ensuring that the force output to the slider is constant; The dynamic balancing mechanism includes a chain, a pulley block, a hydraulic rod, and a pneumatic spring; The pulley block is located above the vertical platform. One end of the chain spans the pulley block and is connected to the slider. The other end of the chain is connected to the piston rod of the hydraulic rod. The pneumatic spring is connected to the rod chamber of the hydraulic rod. Hydraulic oil is located in the rod chamber of the hydraulic rod. The slider moving up and down along the slide rail will cause the pneumatic spring to compress or expand, so as to adapt to the output of the drive mechanism.

2. The linkage drive device with dynamic balance according to claim 1, characterized in that, The driving mechanism and the dynamic balancing mechanism exert forces on the slider in the same direction.

3. The linkage drive device with dynamic balance according to claim 1, characterized in that, The pneumatic spring includes a housing and an air bladder disposed inside the housing. One end of the air bladder abuts against the inner wall of the housing, and a first pressure sensor is disposed between the air bladder and the inner wall of the housing. The first pressure sensor is used to detect the pressure value of the airbag, and then determine the supporting force applied by the pneumatic spring to the slider.

4. The linkage drive device with dynamic balance according to claim 3, characterized in that, The end of the connecting rod that faces away from the slider is connected to the motion platform; The connecting rod is equipped with a second pressure sensor, which is used to receive the pressure value applied to the connecting rod by the motion platform.

5. The linkage drive device with dynamic balance according to claim 3, characterized in that, An air pump is also provided on one side of the outer shell. The air pump is connected to the airbag and is used to inflate the airbag when the pressure value inside the airbag is lower than a preset value.

6. The linkage drive device with dynamic balance according to claim 1, characterized in that, The chain is provided with at least one elastic buffer, which is located near the slider.

7. The linkage drive device with dynamic balance according to any one of claims 1-6, characterized in that, The end of the connecting rod away from the slider extends at least above the vertical platform, so that the movement space of the motion platform is located above the vertical platform.

8. A six-degree-of-freedom swinging device, characterized in that, include: Sports platform; Multiple sets of dynamically balanced linkage drive devices as described in any one of claims 1-7, wherein one end of the dynamically balanced linkage drive device is connected to the motion platform.

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