Motor-driven six-degree-of-freedom swing device and working method

Abstract

This invention provides a motor-driven six-degree-of-freedom swing device and its operating method. The swing device includes a motion platform and three support platforms vertically positioned below the motion platform. The three support platforms are arranged in an equilateral triangle. Each support platform is connected to the motion platform via two branches, which are axially symmetrical along the vertical direction. Each branch corresponds to a slider, which is slidably connected to a vertically positioned guide rail on the support platform. A scissor mechanism is connected to the bottom of each slider. Each scissor mechanism is driven by at least one set of motor drive units, which are fixedly mounted on the base of the support platform. The support platform also has a controller for controlling the motor drive units. This invention uses motor drive units as the main support for the motion platform, while a pneumatic balancing system is arranged around the support platforms as auxiliary support, thereby meeting the support requirements of different loads.

Description

Technical Field

[0001] This invention relates to the field of motion simulation technology, specifically to a motor-driven six-degree-of-freedom swing device and its operating method. Background Technology

[0002] Traditional multi-degree-of-freedom motion simulation tests generally adopt a parallel structure design, and the driving component is usually a hydraulic cylinder. Hydraulic cylinders can meet the force requirements of large loads, but they also have disadvantages such as high maintenance costs, large footprint, and low positioning accuracy.

[0003] Currently, there are solutions that use electric motors for drive. Electric motor drives have the advantages of high precision and small footprint, but when carrying heavy motion platforms, they have drawbacks such as insufficient load-bearing capacity and safety hazards.

[0004] Based on this, the inventors of this application propose a motor-driven six-degree-of-freedom swing device and its working method 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 defect that the existing technology of motor drive cannot meet the requirements of large load bearing capacity, and to provide a motor-driven six-degree-of-freedom swing device and its working method.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution: This invention provides a motor-driven six-degree-of-freedom swinging device, characterized in that it includes: The system includes a motion platform and three support platforms vertically positioned below it. The three support platforms are arranged in an equilateral triangle. Each support platform is connected to the motion platform via two branches, which are symmetrically distributed along the vertical direction. Each branch corresponds to a slider, which is slidably connected to a guide rail vertically positioned on the support platform. A scissor mechanism is connected to the bottom of each slider, and each scissor mechanism is driven by at least one set of motor drive units. The motor drive units are fixedly mounted on the base of the support platform, and the support platform is also equipped with a controller for controlling the motor drive units.

[0007] According to one embodiment of the present invention, it further includes a connecting rod and a pneumatic balancing system, one end of the connecting rod being rotated with the slider with two degrees of freedom, and the other end of the connecting rod being rotated with the motion platform with three degrees of freedom. Each of the sliders is connected to one of the pneumatic balancing systems.

[0008] According to one embodiment of the present invention, the pneumatic balancing system comprises a pulley assembly, a steel wire rope, and a pneumatic spring for energy recovery. The pneumatic spring is fixedly mounted on the base of the support platform, the pulley assembly is fixedly mounted on the top of the support platform, one end of the steel wire rope is connected to the pneumatic spring, and the other end passes around the pulley assembly and is connected to the slider.

[0009] According to one embodiment of the present invention, the pneumatic spring includes a hydraulic cylinder, an accumulator, an air pump, and a replenishing oil pump; The hydraulic cylinder includes a rod chamber and a rodless chamber, with hydraulic oil located in the rod chamber; The accumulator includes a housing and an air bladder. The housing is divided into an installation cavity and a compression cavity. The air bladder is installed in the installation cavity. The rod cavity is connected to the compression cavity. The accumulator is connected to the airbag, and the oil replenishment pump is connected to the compression chamber.

[0010] According to one embodiment of the present invention, the motor drive unit is connected to the scissor mechanism and is used to drive the end of the scissor mechanism to move up and down; one end of the scissor mechanism is connected to the slider, and the slider slides along the vertical guide rail under the drive of the motor drive unit; When the slider slides along the vertical guide rail, the airbag contracts or expands to supplement the supporting force on the slider.

[0011] According to one embodiment of the present invention, the housing is further provided with a first pressure sensor, which is used to detect the inflation pressure value of the airbag; A second pressure sensor is also provided on the side of the connecting rod near the motion platform. The second pressure sensor is used to detect the pressure value applied to the connecting rod by the motion platform. Both the first pressure sensor and the second pressure sensor are coupled to the controller.

[0012] According to one embodiment of the present invention, the three support platforms are arranged to form an accommodating space, the branch is located within the accommodating space, and the aerodynamic balancing system is located outside the accommodating space and arranged around the periphery of the support platforms.

[0013] This invention also provides a motor-driven, large-angle, heavy-load, high-speed six-degree-of-freedom swinging method, implemented using the motor-driven six-degree-of-freedom swinging device described above, characterized by including: Obtain the quality of the load; The supporting force of the motor drive unit and the pneumatic balance system is distributed according to the mass of the load; The system receives pressure values ​​from the first and second pressure sensors to dynamically monitor the forces applied by the motion platform to the connecting rod and the pneumatic balance system.

[0014] According to one embodiment of the present invention, the distribution of the support force between the motor drive unit and the pneumatic balancing system based on the mass of the load includes: Determine the location of the motion platform; The supporting force exerted on the slider by each motor drive unit and airbag is calculated; The supporting force is distributed and sent to the corresponding motor drive unit and the airbag.

[0015] This invention also provides a motor-driven, large-angle, heavy-load, high-speed six-degree-of-freedom swinging method, implemented using the motor-driven six-degree-of-freedom swinging device described above, characterized by including: Set the motion trajectory; The test piece was mounted on the motion platform and simulated to move according to the described motion trajectory; Select monitoring points on the motion trajectory and record the force applied by each motor drive unit and aerodynamic balance system at the monitoring points; The controller controls the motor drive unit and the pneumatic balancing system to drive the motion platform to run along the motion trajectory, and then performs correction.

[0016] The positive and progressive effects of this invention are as follows: This invention relates to a motor-driven six-degree-of-freedom swing device. A motor drive unit serves as the main support for the motion platform, while a pneumatic balancing system is arranged around the platform as an auxiliary support. Both the motor drive unit and the pneumatic balancing system can be used independently. When the load is too large, both the motor drive unit and the pneumatic balancing system can be used simultaneously; when the load is small, only one of the two systems can be selected for driving, thus meeting the support requirements for different weight loads.

[0017] The use of a motor-driven unit, compared to traditional hydraulic drives, meets the design requirements for miniaturization of the swing device, and the motion platform is located above the support platform, satisfying the needs of large-angle swing tests. Furthermore, a pneumatic balancing system can assist the motor-driven unit in meeting heavy-load testing requirements.

[0018] This invention employs a motor drive unit located at the bottom of the swing device, which does not participate in the movement. The moving parts are space-saving structures such as connecting rods and sliders, resulting in a lighter moving mechanism and thus better dynamic response characteristics. Furthermore, it eliminates the need to consider the bending fatigue issues of traditional hydraulic cylinder circuits and cables, leading to higher system operational safety. Attached Figure Description

[0019] 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: Figure 1 This is a partial structural schematic diagram of an exemplary motor-driven six-degree-of-freedom swing device of the present invention. Figure 2 for Figure 1 The left-side partial view shown; Figure 3 This is a simplified structural diagram of the aerodynamic balancing system of the present invention; Figure 4 This is a flowchart of one embodiment of the motor-driven large-angle, heavy-load, high-speed six-degree-of-freedom swing working method of the present invention; Figure 5 This is a flowchart of another embodiment of the motor-driven large-angle, heavy-load, high-speed six-degree-of-freedom swing working method of the present invention.

[0020] 10. Sports platform; 20. Support platform; 210. Storage space; 30. Branch chain; 310. Connecting rod; 311. Second pressure sensor; 320. Slider; 330. Vertical guide rail; 340. Scissor mechanism; 40. Controller; 50. Pneumatic balancing system; 510. Pneumatic spring; 511. Hydraulic cylinder; 512. Accumulator; 513. Air pump; 514. Oil replenishment pump; 515. Rod chamber; 516. Rodless chamber; 517. Housing; 518. Airbag; 519. Mounting chamber; 5191. Compression chamber; 5192. First pressure sensor; 520. Steel wire rope; 530. Pulley assembly; 60. Motor drive unit. Detailed Implementation

[0021] 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.

[0022] 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.

[0023] Please refer to Figures 1 to 3 The present invention provides a motor-driven six-degree-of-freedom swing device, including a motion platform 10, a support platform 20, six branches 30, and six sets of motor drive units 60 and their controllers 40; each branch 30 includes a connecting rod 310, a slider 320, a vertical guide rail 330, and a scissor mechanism 340 connected sequentially between the motion platform 10 and each set of motor drive units 60; each branch 30 also includes an additional pneumatic balancing system 50.

[0024] Specifically, the pneumatic balancing system 50 of the branch chain 30 includes a pneumatic spring 510, a steel wire rope 520, and a pulley assembly 530. One end of the steel wire rope 520 is connected to the slider 320 of the branch chain 30 and is connected to the pneumatic spring 510 through the pulley assembly 530.

[0025] It should be noted that the test piece is mounted on the motion platform 10, and the test piece and the motion platform 10 together constitute the load described below.

[0026] The motion of motion platform 10 is as follows: 1. The motor drive unit 60 is used to drive the scissor mechanism 340 to compress up and down, thereby driving the slider 320 to move along the vertical guide rail 330. Then the slider 320 drives the connecting rod 310 to move up and down. The two ends of the connecting rod 310 are respectively connected to the slider 320 and the motion platform 10 with six degrees of freedom, thereby completing the adjustment of the motion platform 10 at different angles and positions.

[0027] Second, the pneumatic balancing system 50 is used to pull the slider 320 up and down along the vertical guide rail 330, thereby driving the connecting rod 310 to move, thus driving the motion platform 10 to adjust at different angles and positions.

[0028] Third, the motor drive unit 60 and the pneumatic balance system 50 work together to drive the slider 320 to move along the vertical guide rail 330, thereby driving the motion platform 10 to adjust at different angles and positions.

[0029] Please refer to Figure 1 and Figure 2The scissor lift mechanism 340 includes multiple sets of scissor lift units, which are stacked and rotatably connected to each other. Each scissor lift unit includes multiple scissor arms, with every two scissor arms rotatably connected at their midpoints. The end of each scissor arm is connected to the end of the adjacent scissor arm. Thus, when the bottom scissor lift unit retracts, it drives the upper scissor lift unit to retract as well. The middle of the topmost scissor lift unit is connected to the slider 320, so when the bottom scissor lift unit retracts, it drives the slider 320 to slide up and down along the vertical guide rail 330. The up and down movement of the slider 320 drives the connecting rod 310 to move accordingly, thereby adjusting the height and angle of the motion platform 10.

[0030] It should be noted that the adjustment of different positions of the motion platform 10 requires the coordinated operation of multiple branches 30. The controller 40 controls the motor drive unit 60 of each branch 30 to bring the slider 320 to the designated position, thus completing the adjustment of the motion position of the motion platform 10. As for the pneumatic balancing system 50, it can be used as a redundant drive system or as an auxiliary support mechanism; no limitation is made here, and it can be adjusted according to the weight of different loads.

[0031] The present invention employs three support platforms 20, with the branch chain 30 installed inside the support platform 20. To ensure the miniaturization design requirements of the swing device and to leave sufficient maintenance and installation space inside the support platform 20, a clearance space is provided inside the support platform 20 to accommodate part of the motor drive unit 60 and the scissor mechanism 340.

[0032] The connecting rod 310 itself is a long straight rod and does not have a retraction function. The height of the connecting rod 310 away from the end of the slider 320 is at least greater than the height of the support platform 20. This allows the motion platform 10 to rotate at multiple angles above the support platform 20. In this way, the support platform 20 will not interfere with the movement of the motion platform 10, so as to meet the large-angle movement requirements of the motion platform 10.

[0033] Specifically, the linkage 310 and the slider 320 can achieve two degrees of freedom of rotation, while the linkage 310 and the motion platform 10 can achieve three degrees of freedom of rotation. Thus, driven by the linkage 310, the motion platform 10 can achieve six degrees of freedom of rotational adjustment.

[0034] Please refer to Figure 1 and Figure 3 For the pneumatic balancing system 50, the hydraulic cylinder 511 of the pneumatic balancing system 50 can be actively driven to satisfy its independence, or it can be connected to the slider 320 through the wire rope 520 and passively driven during the up-and-down movement of the slider 320 driven by the motor drive unit 60, in order to cooperate with the motor drive unit 60. Both driving methods are acceptable and are not limited here.

[0035] Specifically, when the pneumatic balancing system 50 moves independently, the pneumatic balancing system 50 and the motor drive unit 60 form a redundant design, both of which can drive the slider 320, the connecting rod 310, and the motion platform 10. When one of them is damaged and needs to be replaced or repaired, the other can be switched to drive the slider 320 to move, so as not to affect the motion test. This type of method is suitable for low-load test requirements.

[0036] When the pneumatic balancing system 50 is not moving independently, when the motor drive unit 60 drives the slider 320 to move up and down, the pneumatic spring 510 is in a power storage and support state, which assists in supporting the movement of the slider 320, makes up for the insufficient power output of the motor drive unit 60, meets the acceleration requirements of the slider 320, and ensures the dynamic response of the motion platform 10.

[0037] In one embodiment, the pneumatic spring 510 of the pneumatic balancing system 50 includes a hydraulic cylinder 511, an accumulator 512, an air pump 513, and an oil replenishment pump 514.

[0038] Specifically, the hydraulic cylinder 511 includes a rod chamber 515 and a rodless chamber 516, with hydraulic oil located in the rod chamber 515; the accumulator 512 includes a housing 517 and an air bladder 518, the housing 517 being divided into an installation chamber 519 and a compression chamber 5191, the air bladder 518 being installed in the installation chamber 519, and the rod chamber 515 being connected to the compression chamber 5191; the accumulator 512 is connected to the air bladder 518, and the oil replenishment pump 514 is connected to the compression chamber 5191.

[0039] For the pneumatic balancing system 50, a rod is provided inside the housing 517 of the hydraulic cylinder 511. The upward movement of the rod pushes the hydraulic oil towards the compression chamber 5191, thus occupying its space. The air bladder 518 is compressed by the added hydraulic oil, increasing its internal pressure and thus increasing the force provided to the rod. This increases the supporting force on the slider 320 from the air bladder 518. When the rod descends, the hydraulic oil in the compression chamber 5191 moves towards the rod chamber 515, causing the air bladder 518 to expand, increasing its volume and decreasing its internal pressure, thereby weakening its supporting force on the slider 320. Furthermore, by increasing the initial pressure of the air bladder 518, its output range can be adjusted to suit different loads and operating conditions.

[0040] That is, when the slider 320 is at the bottom, the pneumatic balancing system 50 provides the slider 320 with the maximum support force; while when the slider 320 is at the top, the pneumatic balancing system 50 provides the slider 320 with the minimum support force. When it is necessary to lift and adjust the angle of the motion platform 10, the pneumatic balancing system 50 shares the force applied by the motor drive unit 60, making it easier to lift the motion platform 10 smoothly.

[0041] When the airbag 518 is running normally, the hydraulic oil is in a relatively sealed environment. However, after a long period of use, when the hydraulic oil in the system leaks due to the long working time, it can be replenished by the oil replenishment pump 514. The accumulator 512 is equipped with an adjustable safety valve and a temperature sensor at the airbag 518 to prevent the system pressure and temperature from being too high and causing safety hazards.

[0042] In one embodiment, the motor drive unit 60 is connected to the scissor mechanism 340 and is used to drive the end of the scissor mechanism 340 to move up and down; one end of the scissor mechanism 340 is connected to the slider 320, and the slider 320 slides along the vertical guide rail 330 under the drive of the motor drive unit 60; when the slider 320 slides along the vertical guide rail 330, the airbag 518 contracts or expands to supplement the supporting force on the slider 320.

[0043] It should be noted that the three support platforms 20 enclose the accommodating space 210, the branch chain 30 is located inside the accommodating space 210, and the aerodynamic balance system 50 is located outside the accommodating space 210 and arranged around the support platforms 20.

[0044] There are six sets of branches 30, which corresponds to six sets of scissor lift mechanisms 340. Each scissor lift mechanism 340 corresponds to two motor drive units 60, so there are twelve motor drive units 60. The motor drive units 60, scissor lift mechanisms 340, sliders 320, and connecting rods 310 are partially located within the accommodating space 210. This portion is relatively small, thus reducing the size requirements of the support platform 20 and contributing to the miniaturization of the swing device design. The larger motion platform 10 moves above the support platform 20, allowing it to perform large-angle swing tests without interference from other structures.

[0045] As for the pneumatic balancing system 50, the steel wire rope 520, pulley assembly 530 and other structures are mostly located on the support platform 20, while the structure of the pneumatic spring 510 is located on the outside of the support platform 20. In this way, there will be no motion interference between the pneumatic balancing system 50 and the branch chain 30. At the same time, the pneumatic balancing system 50 can supplement the support force applied to the slider 320 by the motor drive unit 60, thereby meeting the high dynamic response speed of the system.

[0046] For the airbag 518, a first pressure sensor 5192 is also provided on the housing 517. The first pressure sensor 5192 is used to detect the inflation pressure value of the airbag 518. A second pressure sensor 311 is also provided on the side of the connecting rod 310 near the motion platform 10. The second pressure sensor 311 is used to detect the pressure value applied by the motion platform 10 to the connecting rod 310. Both the first pressure sensor 5192 and the second pressure sensor 311 are coupled to the controller 40.

[0047] The pressure value of the first pressure sensor 5192 can be used to determine the supporting force applied by the airbag 518 to the slider 320, while the pressure value of the second pressure sensor 311 can be used to determine the pressure applied by the motion platform 10 and the test piece to the connecting rod 310. The first pressure sensor 5192 provides an auxiliary reference for the support of different loads; while the second pressure sensor 311 can monitor the safety of the operation of the connecting rod 310, avoid damage to individual connecting rods 310 due to excessive load, and eliminate the safety risks that exist during the operation of the motion platform 10.

[0048] Please refer to Figure 4 The present invention also provides a method for operating a large-angle, heavy-load, high-speed six-degree-of-freedom swing driven by a motor, which is implemented using the aforementioned motor-driven six-degree-of-freedom swing device. The method includes: S110, Obtain the quality of the load.

[0049] S120. The supporting force of the motor drive unit and the pneumatic balancing system is distributed according to the mass of the load; wherein the motor drive unit and the pneumatic balancing system operate independently and work together on the slider.

[0050] S130: Receives pressure values ​​from the first and second pressure sensors, and dynamically monitors the forces applied by the motion platform to the connecting rod and the pneumatic balance system.

[0051] In one embodiment, a motor drive unit and a pneumatic balancing system are used together. The motor drive unit provides the thrust to the slider, while the pneumatic balancing system provides the pull force to the slider. Under the action of the motor drive unit and the pneumatic balancing system, the slider is driven together, thereby meeting the heavy-duty drive requirements.

[0052] In other words, to ensure the miniaturization of the swing device, when the load is too heavy and the motor drive unit alone cannot meet its driving needs, a pneumatic balancing system is used to compensate for the insufficient output of the motor drive unit, without taking up too much space.

[0053] When the motion platform is in motion, in order to ensure that both the motor drive unit and the pneumatic balancing system are in good motion condition, it is necessary to distribute the force that can be applied to the motor drive unit and the pneumatic balancing system according to the weight of the load. This prevents the weight of the load from being applied entirely to the motor drive unit or the pneumatic balancing system, thus ensuring the safety of the motion platform operation.

[0054] The pressure value from the first pressure sensor determines whether the pressure on the connecting rod exceeds its limit. If it does, the output of the corresponding motor drive unit or the tension of the pneumatic balancing system on the slider needs to be increased to prevent the connecting rod from being damaged due to excessive stress. The second pressure sensor obtains the tension value of the pneumatic balancing system on the slider, and the output of the motor drive unit is balanced by adjusting the tension applied to the slider by the pneumatic balancing system.

[0055] Specifically, the position of the motion platform is first determined, and then the supporting force applied to the slider by each motor drive unit and airbag is calculated based on the position, and the supporting force is distributed to the motor drive unit and airbag.

[0056] During operation, it is necessary to ensure that the supporting force is greater than the maximum supporting force of the motor drive unit or the pneumatic balance system alone, so as to ensure the safe operation of the system.

[0057] The motion platform is supported by multiple links. When the angle of the motion platform deflects too much, the pressure value borne by the links at different positions is different. When some links bear too much pressure due to excessive tilt angle, the angle of the motion platform can be quickly adjusted by adjusting the corresponding motor drive unit and pneumatic balancing system at that position, thereby avoiding damage to the link structure itself.

[0058] Please refer to Figure 5 In another embodiment, the present invention provides a motor-driven, large-angle, heavy-load, high-speed six-degree-of-freedom swing working method, which is implemented using the aforementioned motor-driven six-degree-of-freedom swing device. The method includes: S210, Set the motion trajectory.

[0059] S220. Install the test piece on the motion platform and simulate its motion according to the motion trajectory.

[0060] S230. Select monitoring points on the motion trajectory and record the force applied by each motor drive unit and aerodynamic balance system at the monitoring points.

[0061] S240: The controller controls the motor drive unit and the pneumatic balance system to drive the motion platform to run along the motion trajectory, and then performs correction.

[0062] During the motion test, a motion trajectory is set, and the test piece is installed on the motion platform. External force is used to make the motion platform move along the motion trajectory. During the motion, monitoring points are selected on the motion trajectory, and the force applied by each motor drive unit and the pneumatic balance system at the monitoring points is recorded. Then, the driving force of the motor drive unit and the supporting force applied by the pneumatic balance system at that position are deduced. The position of that point is then verified by inversion.

[0063] That is, the drive motor drive unit and pneumatic balancing system are moved to the position where the obtained support force is obtained. Then, the position and angle of the motion platform at that position are compared with the position of the target monitoring point. If they match, the verification ends. If they do not match, the motion platform is moved to the position of the target monitoring point, and then the data is recorded and verified again until the verification results match.

[0064] For example, the motion trajectory includes the motion platform moving upward, left, right, downward, left front, right front, left rear, and right rear, without being limited here.

[0065] Taking a position at the left front as an example, we use external force to move the motion platform to the target position, while recording the slider's position and the airbag pressure value. The verification process is as follows: use the motor drive unit to drive the slider to the recorded position, and adjust the airbag pressure to the aforementioned pressure value. Observe whether the position of the motion platform is consistent with the target position. If they are consistent, it indicates that under this driving position and airbag pressure value, the motion platform can move towards the left front and reach the target position. The verification for different angles of the motion platform is similar and will not be elaborated here.

[0066] 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.

[0067] 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 motor-driven six-degree-of-freedom swing device, characterized in that, include: The system includes a motion platform and three support platforms vertically positioned below the motion platform. The three support platforms are arranged in an equilateral triangle. Each support platform is connected to the motion platform via two branches. The two branches on each support platform are symmetrically distributed along the vertical direction. Each branch corresponds to a slider, which is slidably connected to a vertical guide rail on the support platform. A scissor mechanism is connected to the bottom of each slider. Each scissor mechanism is driven by at least one set of motor drive units. The motor drive units are fixedly mounted on the base of the support platform. The support platform is also equipped with a controller for controlling the motor drive units. It also includes a connecting rod and a pneumatic balancing system, one end of the connecting rod is in two-degree-of-freedom rotational engagement with the slider, and the other end of the connecting rod is in three-degree-of-freedom rotational engagement with the motion platform; Each of the sliders is connected to one of the pneumatic balancing systems; The pneumatic balancing system consists of a pulley assembly, a steel wire rope, and a pneumatic spring for energy recovery. The pneumatic spring is fixedly mounted on the base of the support platform, the pulley assembly is fixedly mounted on the top of the support platform, one end of the steel wire rope is connected to the pneumatic spring, and the other end passes around the pulley assembly and is connected to the slider. The pneumatic spring includes a hydraulic cylinder, an accumulator, an air pump, and a replenishing pump; The hydraulic cylinder includes a rod chamber and a rodless chamber, with hydraulic oil located in the rod chamber; The accumulator includes a housing and an air bladder. The housing is divided into an installation cavity and a compression cavity. The air bladder is installed in the installation cavity. The rod cavity is connected to the compression cavity. The accumulator is connected to the airbag, and the oil replenishment pump is connected to the compression chamber.

2. The motor-driven six-degree-of-freedom swing device according to claim 1, characterized in that, The motor drive unit is connected to the scissor mechanism and is used to drive the end of the scissor mechanism to move up and down; one end of the scissor mechanism is connected to the slider, and the slider slides along the vertical guide rail under the drive of the motor drive unit. When the slider slides along the vertical guide rail, the airbag contracts or expands to supplement the supporting force on the slider.

3. The motor-driven six-degree-of-freedom swing device according to claim 2, characterized in that, The housing is also provided with a first pressure sensor, which is used to detect the inflation pressure value of the airbag; A second pressure sensor is also provided on the side of the connecting rod near the motion platform. The second pressure sensor is used to detect the pressure value applied to the connecting rod by the motion platform. Both the first pressure sensor and the second pressure sensor are coupled to the controller.

4. The motor-driven six-degree-of-freedom swing device according to claim 1, characterized in that, The three support platforms enclose a accommodating space, the branch is located within the accommodating space, and the aerodynamic balancing system is located outside the accommodating space and arranged around the periphery of the support platforms.

5. A method for operating a motor-driven, large-angle, heavy-load, high-speed six-degree-of-freedom swing, implemented using a motor-driven six-degree-of-freedom swing device as described in any one of claims 1-4, characterized in that... include: Obtain the quality of the load; The supporting force of the motor drive unit and the pneumatic balancing system is distributed according to the mass of the load; wherein the motor drive unit and the pneumatic balancing system operate independently and work together on the slider. The system receives pressure values ​​from the first and second pressure sensors to dynamically monitor the forces applied by the motion platform to the connecting rod and the pneumatic balance system.

6. The motor-driven, large-angle, heavy-load, high-speed six-degree-of-freedom swing working method according to claim 5, characterized in that, The distribution of support force between the motor drive unit and the pneumatic balancing system based on the mass of the load includes: Determine the location of the motion platform; The supporting force exerted on the slider by each motor drive unit and airbag is calculated; The supporting force is distributed and sent to the corresponding motor drive unit and the airbag.

7. A method for operating a motor-driven, large-angle, heavy-load, high-speed six-degree-of-freedom swing, employing a motor-driven six-degree-of-freedom swing device as described in any one of claims 1-4, characterized in that... include: Set the motion trajectory; The test piece was mounted on the motion platform and simulated to move according to the described motion trajectory; Select monitoring points on the motion trajectory and record the force applied by each motor drive unit and aerodynamic balance system at the monitoring points; The controller controls the motor drive unit and the pneumatic balancing system to drive the motion platform to run along the motion trajectory, and then performs correction.

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