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

Abstract

The application provides a motor-driven six-degree-of-freedom swing device and a working method. The motor-driven six-degree-of-freedom swing device comprises a moving platform and three support platforms vertically arranged below the moving platform. The three support platforms are distributed in an equilateral triangle shape. Each support platform is connected with the moving platform through two support chains. The two support chains on each support platform are distributed in an axial symmetry along a vertical direction. One sliding block is arranged on each support chain. The sliding block is slidingly connected with a vertical guide rail vertically arranged on the support platform. The bottom of each sliding block is connected with a scissor mechanism. Each scissor mechanism is driven by at least one motor-driven unit. The motor-driven unit is fixedly arranged on the base of the support platform. A controller for controlling the motor-driven unit is further arranged on the support platform. The motor-driven six-degree-of-freedom swing device has good dynamic response characteristics, is stable and reliable, and is helpful to meet the design requirements of miniaturization of the swing device.

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] Multi-degree-of-freedom swing devices can realize multi-degree-of-freedom spatial motion simulation and are widely used in the field of motion simulation. Traditional multi-degree-of-freedom swing devices generally adopt a parallel structure, and the drive mechanism is generally a hydraulic cylinder. The drive of hydraulic cylinders has problems such as poor dynamic response, poor accuracy, space occupation, high maintenance cost, insensitive response and hydraulic oil leakage.

[0003] Currently, most swing devices have increasingly higher requirements for miniaturization and precision, and traditional driving methods cannot meet these requirements.

[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 shortcomings of the traditional drive mechanism of the existing swing device in meeting the requirements of miniaturization and precision, 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 swing device, characterized in that it includes: a motion platform and three support platforms vertically arranged 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 axially symmetrical along the vertical direction. Each branch corresponds to a slider, which is slidably connected to a vertical guide rail arranged vertically 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 provided with a controller for controlling the motor drive units.

[0007] According to one embodiment of the present invention, it further includes six sets of chain drive mechanisms, each set of chain drive mechanisms being connected to one of the sliders; The chain drive mechanism includes a drive member, a chain assembly connected to the drive member, and at least one guide pulley. One end of the chain assembly is connected to the drive member, and the other end is straddled by the guide pulley and connected to the slider. The drive member is used to drive the chain assembly to move the slider along the vertical guide rail.

[0008] According to one embodiment of the present invention, the number of guide pulleys is at least two, and they are disposed above the support platform; The two guide pulleys are arranged side by side. The chain assembly is divided into a first connecting part and a second connecting part on both sides of the guide pulleys. One end of the first connecting part is connected to the slider, and the end of the second connecting part opposite to the first connecting part is connected to the driving component. The length extension direction of the first connecting part is consistent with the length extension direction of the vertical guide rail.

[0009] According to one embodiment of the present invention, the chain assembly is an elastic rope, and the elastic rope is in an elastically stretched state when the slider moves along the vertical guide rail.

[0010] According to one embodiment of the present invention, the chain assembly further includes a third connecting portion and a fixing portion; The fixing part is disposed on the support platform, the third connecting part is connected to the fixing part, and the third connecting part and the second connecting part are arranged in parallel. The driving component includes a driving unit and a mating wheel connected to the driving unit. The mating wheel is sleeved between the second connecting part and the third connecting part. The output end of the driving unit is connected to the mating wheel and is used to drive the mating wheel vertically.

[0011] According to one embodiment of the present invention, the chain assembly is a steel wire rope, and the steel wire rope is provided with an adjusting elastic element.

[0012] According to one embodiment of the present invention, the first connecting portion, the second connecting portion and the third connecting portion are respectively arranged in parallel.

[0013] According to one embodiment of the present invention, at least one protrusion is provided on the support platform, and the vertical guide rails are provided on opposite sides of the protrusion; The slider is embedded on the opposite sides of the vertical guide rail and moves up and down under the drive of the chain drive mechanism.

[0014] According to one embodiment of the present invention, the two opposite ends of the connecting rod are respectively engaged with the slider and the motion platform in a multi-degree-of-freedom rotational configuration.

[0015] This invention also provides a method for a motor-driven six-degree-of-freedom swing mechanism, characterized in that it is implemented using a motor-driven six-degree-of-freedom swing device as described above, and further characterized by including: Obtain the movement trajectory of the sports platform; Generate a set of drive instructions for the chain drive mechanism based on the motion trajectory; The drive command group is distributed to the corresponding chain drive mechanism to drive the motion platform.

[0016] The positive and progressive effects of this invention are as follows: The electric motor driven six-degree-of-freedom swing device of the present invention has good dynamic response characteristics and is stable and reliable. Compared with the traditional hydraulic cylinder drive method, the present application adopts a chain drive mechanism, which has a small mass and thus good dynamic response characteristics. It is also beneficial to improve the motion accuracy of the motion platform and helps to meet the design requirements of miniaturization of the swing device. Attached Figure Description

[0017] 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 perspective view of the motor-driven six-degree-of-freedom swing device of the present invention. Figure 2 This is a schematic diagram of one embodiment of the chain drive mechanism of the present invention; Figure 3 This is a schematic diagram of another embodiment of the chain drive mechanism of the present invention; Figure 4 This is a partial structural schematic diagram of one embodiment of the chain drive mechanism of the present invention; Figure 5 This is a flowchart of the motor-driven six-degree-of-freedom swing working method of the present invention.

[0018] 10. Sports platform; 20. Supporting platform; 210. Protrusion; 30. Branch chain; 310. Connecting rod; 320. Slider; 330. Vertical guide rail; 340. Scissor lift mechanism; 350. Pneumatic balancing system; 40. Motor drive unit; 50. Controller; 60. Chain drive mechanism; 610. Drive component; 611. Drive unit; 612. Matching wheel; 620. Chain assembly; 621. First connecting part; 622. Second connecting part; 623. Third connecting part; 624. Fixing part; 625. Adjusting elastic element; 630. Guide pulley. Detailed Implementation

[0019] 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.

[0020] 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.

[0021] Please refer to Figures 1 to 4 The present invention provides a motor-driven six-degree-of-freedom swing device, comprising: a motion platform 10, three support platforms 20, six branches 30, and six sets of motor drive units 40 and their controllers 50; each branch 30 includes a connecting rod 310, a slider 320, a vertical guide rail 330, and a scissor mechanism 340 sequentially connected between the motion platform 10 and each set of motor drive units 40; each branch 30 also includes an additional pneumatic balancing system 350.

[0022] Because this invention is used for a six-degree-of-freedom swing test, six branches 30 and six sets of motor drive units 40 are provided, and three support platforms 20 are used to house the motor drive units 40 and branches 30. As for the motion platform 10, it moves above the support platforms 20 under the drive of the connecting rod 310 and the slider 320.

[0023] Please refer to Figure 2 and Figure 3 In one embodiment, the swing device further includes six sets of chain drive mechanisms 60, each set of chain drive mechanisms 60 being connected to a slider 320; the chain drive mechanism 60 includes a drive member 610, a chain group 620 connected to the drive member 610, and at least one guide pulley 630, one end of the chain group 620 being connected to the drive member 610, and the other end being straddled across the guide pulley 630 and connected to the slider 320, the drive member 610 being used to drive the chain group 620 to drive the slider 320 to slide along the vertical guide rail 330.

[0024] That is, the present invention designs two sets of driving structures, one of which is driven by a motor drive unit 40, and the other is driven by a chain drive mechanism 60. When driving a large load, the motor drive unit 40 is used alone, while when driving a small load, the chain drive mechanism 60 can be used alone.

[0025] This application designs three support platforms 20, which are arranged in a cross pattern and enclose each other to form a accommodating space. The branch chain 30 and the chain drive mechanism 60 are installed in the accommodating space, which can maximize the use of the width of the support platform 20 and thus improve the utilization rate of the accommodating space.

[0026] This application uses a chain drive mechanism 60 as the drive mechanism for the slider 320. Compared to the hydraulic cylinder drive method, the chain drive mechanism 60 of this application is arranged close to the inner side of the support platform 20 and is very small in size, thus leaving space in the middle of the accommodating space for placing the branch chain 30 and the motor drive unit 40. Moreover, both the chain drive mechanism 60 and the branch chain 30 can be used as drive mechanisms independently or in combination. When the chain drive mechanism 60 is used as the drive mechanism alone, the size of the accommodating space can be even smaller, thus meeting the design requirements for miniaturization of the swing device. Furthermore, once each chain drive mechanism 60 needs maintenance, only that chain drive mechanism 60 needs maintenance, without the need to replace other parts, thus making maintenance convenient.

[0027] Each slider 320 corresponds to a set of chain drive mechanisms 60, so the movement of each slider 320 is controlled by the corresponding chain drive mechanism 60. One end of the connecting rod 310 is in multi-degree-of-freedom rotational engagement with the slider 320, and the other end of the connecting rod 310 is in multi-degree-of-freedom rotational engagement with the motion platform 10. For example, one end of the connecting rod 310 is in two-degree-of-freedom rotational engagement with the slider 320, while the other end of the connecting rod 310 is in three-degree-of-freedom rotational engagement with the motion platform 10, thus satisfying the six-degree-of-freedom motion requirements of the motion platform 10.

[0028] As the slider 320 moves along the vertical guide rail 330, the motion platform 10 can move at different angles and heights. That is, under the control of multiple chain drive mechanisms 60, multiple sliders 320 cooperate with each other, thereby enabling the motion platform 10 to reach a designated position and maintain a designated angle.

[0029] Specifically, there are at least two guide pulleys 630, which are located above the support platform 20. The two guide pulleys 630 are arranged side by side, and the chain assembly 620 is divided into a first connecting part 621 and a second connecting part 622 on both sides of the guide pulleys 630. One end of the first connecting part 621 is connected to the slider 320, and the end of the second connecting part 622 opposite to the first connecting part 621 is connected to the drive member 610. The length extension direction of the first connecting part 621 is consistent with the length extension direction of the vertical guide rail 330.

[0030] Having two or more guide pulleys 630 can meet the guiding requirements while avoiding the chain assembly 620 from being damaged by concentrated force, thus improving the service life of the chain assembly 620 and also helping to meet the requirements of heavy loads.

[0031] Two guide pulleys 630 extend vertically on opposite sides, corresponding to the first connecting part 621 and the second connecting part 622 respectively. When the driving member 610 pulls the second connecting part 622, the force is transmitted to the first connecting part 621 through the second connecting part 622 and the guide pulleys 630. Then the first connecting part 621 pulls the slider 320. Under the pull of the slider 320, the position of the connecting rod 310 also changes. Multiple chain drive mechanisms 60 cooperate with each other to complete the adjustment of different positions of the motion platform 10.

[0032] In one embodiment, the chain assembly 620 is an elastic rope, and the elastic rope is in an elastically stretched state when the slider 320 moves along the vertical guide rail 330.

[0033] The chain assembly 620 is set as an elastic rope. The elastic rope can play an elastic buffering role at the end position of the movement of the slider 320, thereby avoiding stress impact and stress wear at the connection between the chain assembly 620 and the slider 320 when the slider 320 stops moving, thus ensuring the service life of the chain assembly 620 and the slider 320.

[0034] Setting the elastic rope to a stretched state is to prevent the slider 320 from also becoming unstressed and rapidly rising or falling when the elastic rope loses its tension. Rapid rises or falls in this state pose a safety hazard to the motion platform 10 itself. This application ensures that the slider 320 maintains a stable motion, thereby preventing the motion platform 10 from losing its tension and causing safety hazards.

[0035] Please refer to 2 and Figure 3 In one embodiment, the chain assembly 620 further includes a third connecting portion 623 and a fixing portion 624; the fixing portion 624 is disposed on the support platform 20, the third connecting portion 623 is connected to the fixing portion 624, and the third connecting portion 623 and the second connecting portion 622 are arranged in parallel; the driving member 610 includes a driving unit 611 and a mating wheel 612 connected to the driving unit 611, the mating wheel 612 is sleeved between the second connecting portion 622 and the third connecting portion 623, the output end of the driving unit 611 is connected to the mating wheel 612 and is used to drive the mating wheel 612 vertically.

[0036] The drive unit 611 is not directly connected to the chain assembly 620, but uses the mating wheel 612 as the drive connector. One end of the chain assembly 620 is fixed, and the other end is connected to the slider 320 and is in a non-fixed state. Therefore, under the action of the drive unit 611 pulling the mating wheel 612 up and down, the slider 320 is forced to move up and down, thereby driving the connecting rod 310 to move.

[0037] Therefore, when the drive unit 611 and the chain assembly 620 need maintenance, they can be maintained independently without affecting other structures.

[0038] In another embodiment, the chain assembly 620 is a steel wire rope, and the steel wire rope is provided with an adjusting elastic element 625.

[0039] The steel wire rope itself has higher strength, meeting the support requirements of heavy loads. At the same time, the adjustable elastic element 625 is set on the steel wire rope, which can play an elastic buffering role, avoiding rigid impact between the slider 320 and the steel wire rope after reaching the target position, thus ensuring the service life of the slider 320 and the steel wire rope.

[0040] In one embodiment, the first connecting portion 621, the second connecting portion 622, and the third connecting portion 623 are arranged in parallel.

[0041] Setting the first connecting part 621, the second connecting part 622, and the third connecting part 623 to a parallel state can save space and improve the running accuracy of the slider 320.

[0042] Specifically, the drive component 610 can be a motor, cylinder, etc., and is not limited here.

[0043] Please refer to Figure 2 and Figure 4 In one embodiment, the support platform 20 is provided with at least one protrusion 210, and vertical guide rails 330 are provided on opposite sides of the protrusion 210; the opposite sides of the slider 320 are embedded in the vertical guide rails 330 and move up and down under the drive of the chain drive mechanism 60.

[0044] The vertical guide rail 330 can have a T-shaped cross-section, which makes it easier to engage the slider 320 and prevent the slider 320 from detaching from the support platform 20 when it moves along the vertical guide rail 330.

[0045] In some other embodiments, to improve the utilization rate of the accommodating space, a groove can be opened on the support platform 20 so that the slider 320 cooperates with the groove. This can further expand the volume of the accommodating space, leaving more space for installation and maintenance, which is convenient for subsequent installation of other structures and maintenance processes.

[0046] In summary, the motor-driven six-degree-of-freedom swing device provided by the present invention has good dynamic response characteristics and is stable and reliable. Compared with the traditional hydraulic cylinder driving method, the chain drive mechanism 60 used in this application has a small mass, thus having good dynamic response characteristics. It is also beneficial to improve the motion accuracy of the motion platform 10 and helps to meet the design requirements of miniaturization of the swing device.

[0047] Please refer to Figure 5 The present invention also provides a method for a motor-driven six-degree-of-freedom swinging motion, comprising: S110, Obtain the motion trajectory of the motion platform.

[0048] S120. Generate a set of drive instructions for the chain drive mechanism based on the motion trajectory.

[0049] S130: Distribute the drive command group to the corresponding chain drive mechanism to cooperate in driving the motion platform.

[0050] When the motion platform performs motion simulation, it has a certain predetermined trajectory. At different positions on the predetermined trajectory, the chain drive mechanism needs to adjust the position of the slider. In this way, the motion state of each chain drive mechanism along the trajectory can be obtained according to the predetermined trajectory, thereby accurately driving the slider to the designated target position and completing the simulation test.

[0051] This invention uses a chain drive mechanism as the driving mechanism for the slider, which provides better dynamic response characteristics for the motion platform and is stable and reliable. Compared with the traditional hydraulic cylinder drive method, the chain drive mechanism used in this invention also has the advantages of small size and light weight, thus meeting the design requirements of miniaturization of the swing device.

[0052] 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.

[0053] 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 six sets of chain drive mechanisms, each of which is connected to one of the sliders; The chain drive mechanism includes a drive member, a chain assembly connected to the drive member, and at least one guide pulley. One end of the chain assembly is connected to the drive member, and the other end is straddled by the guide pulley and connected to the slider. The drive member is used to drive the chain assembly to move the slider along the vertical guide rail. The number of guide pulleys is at least two, and they are located above the support platform; The two guide pulleys are arranged side by side. The chain assembly is divided into a first connecting part and a second connecting part on both sides of the guide pulleys. One end of the first connecting part is connected to the slider, and the end of the second connecting part opposite to the first connecting part is connected to the driving component. The length extension direction of the first connecting part is consistent with the length extension direction of the vertical guide rail; The chain assembly also includes a third connecting part and a fixing part; The fixing part is disposed on the support platform, the third connecting part is connected to the fixing part, and the third connecting part and the second connecting part are arranged in parallel. The driving component includes a driving unit and a mating wheel connected to the driving unit. The mating wheel is sleeved between the second connecting part and the third connecting part. The output end of the driving unit is connected to the mating wheel and is used to drive the mating wheel vertically.

2. The motor-driven six-degree-of-freedom swing device according to claim 1, characterized in that, The chain assembly is an elastic rope, and the elastic rope is in an elastically stretched state when the slider moves along the vertical guide rail.

3. The motor-driven six-degree-of-freedom swing device according to claim 1, characterized in that, The chain assembly is a steel wire rope, and the steel wire rope is equipped with an adjusting elastic element.

4. The motor-driven six-degree-of-freedom swing device according to claim 1, characterized in that, The first connecting part, the second connecting part, and the third connecting part are arranged in parallel.

5. The motor-driven six-degree-of-freedom swing device according to claim 1, characterized in that, The support platform is provided with at least one protrusion, and the vertical guide rails are provided on opposite sides of the protrusion; The slider is embedded on the opposite sides of the vertical guide rail and moves up and down under the drive of the chain drive mechanism.

6. The motor-driven six-degree-of-freedom swing device according to claim 1, characterized in that, It also includes a connecting rod, the two ends of which are respectively engaged with the slider and the motion platform in a multi-degree-of-freedom rotational manner.

7. A method for operating a motor-driven six-degree-of-freedom swinging device, implemented using a motor-driven six-degree-of-freedom swinging device as described in any one of claims 1-6, characterized in that, include: Obtain the movement trajectory of the sports platform; Generate a set of drive instructions for the chain drive mechanism based on the motion trajectory; The drive command group is distributed to the corresponding chain drive mechanism to drive the motion platform.

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