Six-degree-of-freedom parallel platform based on high-bearing-capacity technology

Abstract

The invention relates to a six-degree-of-freedom parallel platform with high bearing capacity, the six-degree-of-freedom parallel platform mainly comprises a six-degree-of-freedom platform and an air cylinder system for providing additional force, the Stewart platform mainly comprises an upper platform, a lower platform, six electric cylinders and a hinge mechanism, and the six electric cylinders are hinged to the upper platform and the lower platform. One end of each electric cylinder is universally connected to the lower platform through a hinge mechanism, the other end of each electric cylinder is universally connected to the upper platform through a hinge mechanism, every two electric cylinders form a group, and each group of electric cylinders are arranged in a splayed shape, so that the movement of the six-degree-of-freedom platform is realized; the air cylinder system for providing extra force comprises three air cylinders and an air pump for providing air pressure, the three air cylinders are located on a main machine in the center of the platform, one end of each air cylinder is fixed to the lower platform, and the other end of each air cylinder is connected to the center of the upper platform. The problem that an existing six-degree-of-freedom platform is insufficient in high-load application is effectively solved.

Description

Technical Field

[0001] The invention relates to the technical field of automobile simulation driving, and in particular to a six-degree-of-freedom parallel platform based on high-load-bearing capacity technology. Background Art

[0002] With the rapid development of science and technology and autonomous driving technology, the motion platform of driving equipment is developing from single degree of freedom to multiple degrees of freedom. Among them, the parallel structure of the six-degree-of-freedom Stewart platform has gradually become a research hotspot in mechanical structure dynamics due to its advantages in stiffness, bearing capacity, control accuracy, etc., and has been applied in many fields such as aviation, aerospace, navigation, and road traffic. As an advanced simulation technology, the six-degree-of-freedom simulation driving platform has important application prospects in autonomous driving research and development, driver training, and traffic safety research. With the continuous development of virtual reality, artificial intelligence, and autonomous driving technology, the six-degree-of-freedom platform will continue to be updated and iterated to provide a more accurate and realistic driving simulation experience. In the future, the development trend of lightweight, intelligent, and low-cost will promote its application in more fields and achieve wider commercialization. The six-degree-of-freedom simulation driving platform has broad application prospects in the development and testing of autonomous driving algorithms. Autonomous driving vehicles need to undergo a large number of scene tests and data verification, and the simulation driving platform can simulate various complex road environments (such as cities, highways, intersections, bad weather, etc.), provide a virtual test environment for autonomous driving systems, and reduce the high cost and safety risks of real road testing.

[0003] However, with the development of autonomous driving technology and the rise of intelligent connected vehicles, the existing six-degree-of-freedom platforms can no longer withstand the dynamic simulation requirements of heavy loads. Most existing designs rely on electric cylinders or hydraulic cylinders to provide all the load-bearing and driving forces. These load-bearing devices need to significantly increase power and size when faced with large loads, which leads to bulky structures. In order to improve the load-bearing capacity, it is usually necessary to enhance the rigidity and thrust of the actuator, but this often leads to a decrease in the dynamic response of the system and affects the overall motion accuracy. The synchronous control of multiple read actuators will increase complexity, and once the system has defects or failures, it will affect the overall stability and performance of the platform.

[0004] To this end, the present invention provides a six-degree-of-freedom parallel platform with high load-bearing capacity. On the basis of the traditional six-degree-of-freedom platform, three additional cylinders are introduced. These cylinders are located at the center of the platform and are mainly used to provide additional vertical load-bearing capacity. These cylinders bear the main vertical load of the platform, reduce the load of the traditional load device, and improve the overall load capacity. And the present invention effectively simplifies the complexity of the control system. These cylinders are mainly used for bearing, do not involve complex posture adjustment, and reduce the synchronization control buttons. Summary of the invention

[0005] The purpose of the present invention is to provide a six-degree-of-freedom parallel platform based on high-load-bearing capacity technology to solve the problems of insufficient load-bearing capacity, complex structure, high cost, etc. of the six-degree-of-freedom platform in the technology proposed in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a six-degree-of-freedom parallel platform based on high-load-bearing capacity technology, including a Stewart platform, wherein the Stewart platform includes a six-degree-of-freedom platform and a pneumatic system, wherein the Stewart platform is mainly composed of an upper platform, a lower platform, an electric cylinder and a hinge mechanism, wherein the electric cylinder is specifically provided with one end of each electric cylinder being universally connected to the lower platform through a hinge mechanism, and the other end being universally connected to the upper platform through a hinge mechanism, wherein the electric cylinders are grouped in pairs, and each group of electric cylinders is arranged in an eight-shaped shape, so as to realize forward and backward movement, left and right movement, up and down movement, pitch movement, roll movement, and yaw movement on the basis of the upper platform of the six-degree-of-freedom platform.

[0007] Preferably, the electric cylinder is specifically provided with electric cylinders, which are a group, connected to the lower platform through a hinge mechanism and a universal joint; electric cylinders, which are a group, connected to the lower platform through a hinge mechanism and a universal joint; electric cylinders, which are a group, connected to the lower platform through a hinge mechanism and a universal joint; each group is connected to the lower platform in a 120° circular evenly distributed manner. The other end electric cylinders, which are a group, are connected to the upper platform through a Hooke's hinge mechanism and a universal joint; electric cylinders, which are a group, are connected to the upper platform through a Hooke's hinge mechanism and a universal joint; electric cylinders, which are a group, are connected to the upper platform through a Hooke's hinge mechanism and a universal joint, and each group is also connected to the upper platform in a 120° circular evenly distributed manner, and each group of electric cylinders is arranged in a figure eight shape.

[0008] Preferably, the pneumatic system includes three cylinders and an air pump for providing air pressure, and the three cylinders are located in the center of the platform. One end of the cylinder is fixed to the lower platform, and the other end is connected to the center of the upper platform, thereby increasing the additional bearing capacity of the six-degree-of-freedom platform.

[0009] Preferably, the electric cylinder is specifically provided with a plurality of electric cylinders, which are a group and are connected to the lower platform through a hinge mechanism and a universal joint; electric cylinders, are a group and are connected to the lower platform through a hinge mechanism and a universal joint; electric cylinders, are a group and are connected to the lower platform through a hinge mechanism and a universal joint; each group is respectively evenly connected to the lower platform in a ° ring distribution, and the other end electric cylinders, are a group and are connected to the upper platform through a Hooke's hinge mechanism and a universal joint; electric cylinders, are a group and are connected to the upper platform through a Hooke's hinge mechanism and a universal joint; electric cylinders, are a group and are connected to the upper platform through a Hooke's hinge mechanism and a universal joint, and each group is also evenly connected to the upper platform in a ° ring distribution, and each group of electric cylinders is arranged in a figure eight shape.

[0010] Preferably, a connecting seat is movably connected to the upper part of the upper platform, and a buffer mechanism is arranged inside the upper platform, and two groups of buffer mechanisms are arranged;

[0011] A built-in groove is provided inside the upper platform, and a movable rod is rotatably connected inside the built-in groove. A damping movable sleeve is provided on the outer side of the movable rod, and springs are wound on the outer sides of the movable rods on both sides of the damping movable sleeve. The damping movable sleeve is connected to the connecting seat through a connecting rod.

[0012] Preferably, the upper part of the movable rod is hinged to the lower part of the connecting seat, and the lower part of the movable rod is hinged to the upper part of the damping movable sleeve.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] By setting up a six-degree-of-freedom platform and a pneumatic system for providing additional force, the Stewart platform is mainly composed of an upper platform, a lower platform, an electric cylinder and a hinge mechanism. Specifically, there are 6 electric cylinders, one end of each electric cylinder is universally connected to the lower platform through a hinge mechanism, and the other end is universally connected to the upper platform through a hinge mechanism. The 6 electric cylinders are grouped in pairs, and each group of electric cylinders is arranged in an eight-shaped shape to achieve the six-degree-of-freedom platform. The upper platform is based on the six-degree-of-freedom platform to perform forward and backward movement, left and right movement, up and down movement, pitch movement, roll movement, and yaw movement. The pneumatic system for providing additional force includes 3 cylinders and an air pump for providing air pressure. The three cylinders are located in the center of the platform, one end of the cylinder is fixed to the lower platform, and the other end is connected to the center of the upper platform, which increases the additional bearing capacity of the six-degree-of-freedom platform, effectively solving the shortcomings of the existing six-degree-of-freedom platform in high-load applications, and has the advantages of simple structure, low cost, and high bearing capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the main stereoscopic structure of the present invention;

[0018] Figure 3 It is a schematic diagram of the structure of the cylinder system of the present invention;

[0019] Figure 4It is a schematic diagram of the three-dimensional structure of the buffer structure of the present invention;

[0020] Figure 5 It is a schematic diagram of the front cross-sectional structure of the buffer structure of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the invention to clearly and completely describe the technical solutions in the embodiments of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of the embodiments. Based on the embodiments of the invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the invention.

[0022] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0023] The present invention is a six-degree-of-freedom parallel platform with high load-bearing capacity. The invention relates to a six-degree-of-freedom parallel platform with high load-bearing capacity. The design focus is to combine the flexible control of the traditional six-degree-of-freedom parallel platform with the high load-bearing capacity of the cylinder system to achieve precise posture adjustment and motion control under high-load environment.

[0024] See also Figure 1 As shown, the motion platform mainly includes a six-degree-of-freedom platform 1 based on the upper platform and a cylinder system for providing additional force based on the air pump 2. The six-degree-of-freedom platform includes six retractable electric cylinders, which are respectively installed between the upper platform 101 and the lower platform 102 by hinge mechanisms. Through the coordinated extension and retraction of each drive cylinder, the six-degree-of-freedom control of the upper platform is realized, that is, translation along the X, Y, and Z directions, and rotation around the X, Y, and Z axes.

[0025] See also Figure 2As shown, in order to facilitate the installation of the electric cylinder, the lower platform 102 is designed as a hexagon, in which the specific side length of the separated side is determined according to the hinge mechanism connected to the electric cylinder, and the side length of the separated side is at least two hinge mechanism base lengths. There are specifically 6 electric cylinders, electric cylinders 110 and 111 form a group, which are universally connected to the lower platform 102 through hinge mechanisms 116 and 117; electric cylinders 112 and 113 form a group, which are universally connected to the lower platform 102 through hinge mechanisms 118 and 119; electric cylinders 114 and 109 form a group, which are universally connected to the lower platform 102 through hinge mechanisms 120 and 115; each group is evenly connected to the lower platform 102 in a 120° ring. The electric cylinders 109 and 110 at the other end are a group, which are universally connected to the upper platform 101 through the Hooke's hinge mechanism 103 and 104; the electric cylinders 111 and 112 are a group, which are universally connected to the upper platform 101 through the Hooke's hinge mechanism 105 and 106; the electric cylinders 113 and 114 are a group, which are universally connected to the upper platform 101 through the Hooke's hinge mechanism 107 and 108. Each group is also connected to the upper platform 101 in a 120° circular evenly distributed manner, and each group of electric cylinders is arranged in an eight-shaped shape. Through the control of the three groups of electric cylinders, the eight-degree-of-freedom driving simulation platform can be based on the upper platform to perform the six degrees of freedom movements such as forward and backward movement along the X axis, left and right movement along the Y axis, up and down movement along the Z axis, pitch movement around the X axis, roll movement around the Y axis, and yaw movement around the Z axis.

[0026] See also Figure 3 As shown, the cylinder system includes three cylinders and an air pump for providing air pressure. The three cylinders are located in the center of the platform, one end of the cylinder is fixed to the lower platform, and the other end is connected to the center of the upper platform. One end of the cylinder 124 in the cylinder system is universally connected to the upper platform 101 through a hinge 121, and the other end is universally connected to the lower platform 102 through a hinge 127; one end of the cylinder 125 is universally connected to the upper platform 101 through a hinge 122, and the other end is universally connected to the lower platform 102 through a hinge 128; one end of the cylinder 126 is universally connected to the upper platform 101 through a hinge 123, and the other end is universally connected to the lower platform 102 through a hinge 129. Hinge 121, hinge 122, hinge 123 are fixed in the center of the upper platform in a ring shape, and hinge 127, hinge 128, hinge 129 are respectively fixed at the midpoint of each group of electric cylinder hinges of the lower platform 102 to keep the cylinder load balanced. Through the above design and implementation, the six-degree-of-freedom parallel platform with high load-bearing capacity of the present invention has significantly improved load-bearing capacity under high-load environment. The cylinder system can effectively share the vertical load and reduce the burden of the six telescopic actuators, thereby achieving high-precision movement and stable control of the platform, which is suitable for various complex environments and application requirements.

[0027] See also Figure 4 and Figure 5As shown, a connecting seat 3 is installed between the upper platform 101 and the operation object, and a buffer structure is set inside the upper platform 101, which can play a protective buffering effect. When the extrusion force touches the connecting seat 3, it will drive the damping movable sleeve 6 to move on the outside of the movable rod 7, and under the elastic action of the spring 8, the extrusion force can be buffered, thereby reducing the impact force on the operation object, thereby playing a protective effect.

[0028] In summary, the present invention provides an innovative six-degree-of-freedom parallel platform design with high load-bearing capacity and high-precision motion control, and has broad application prospects and market potential.

[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A six-degree-of-freedom parallel platform based on high-load-carrying capacity technology, comprising a Stewart platform (1), characterized in that: The Stewart platform (1) comprises a six-degree-of-freedom platform and a pneumatic system. The Stewart platform (1) is mainly composed of an upper platform (101), a lower platform (102), an electric cylinder and a hinge mechanism. Specifically, six electric cylinders are provided. One end of each electric cylinder is universally connected to the lower platform (102) through a hinge mechanism, and the other end is universally connected to the upper platform (101) through a hinge mechanism. The six electric cylinders are grouped in pairs, and each group of electric cylinders is arranged in an eight-shaped shape, so as to realize the six-degree-of-freedom platform based on the upper platform to perform forward and backward movement, left and right movement, up and down movement, pitch movement, roll movement, and yaw movement in six degrees of freedom.

2. A six-degree-of-freedom parallel platform based on high-load capacity technology according to claim 1, characterized in that: Specifically, six electric cylinders are provided. Electric cylinders (110) and (111) form a group and are universally connected to the lower platform (102) via hinge mechanisms (116) and (117); electric cylinders (112) and (113) form a group and are universally connected to the lower platform (102) via hinge mechanisms (118) and (119); electric cylinders (114) and (109) form a group and are universally connected to the lower platform (102) via hinge mechanisms (120) and (115); each group is evenly connected to the lower platform (102) in a 120° circular distribution. The electric cylinders (109) and (110) at the other end form a group and are universally connected to the upper platform (101) through Hooke's hinge mechanisms (103) and (104); the electric cylinders (111) and (112) form a group and are universally connected to the upper platform (101) through Hooke's hinge mechanisms (105) and (106); the electric cylinders (113) and (114) form a group and are universally connected to the upper platform (101) through Hooke's hinge mechanisms (107) and (108). Each group is also connected to the upper platform (101) in a 120° circular evenly distributed manner, and each group of electric cylinders is arranged in an eight-shaped shape.

3. The six-degree-of-freedom parallel platform based on high-load capacity technology according to claim 1, characterized in that: The pneumatic system includes three cylinders and an air pump for providing air pressure. The three cylinders are located in the center of the platform. One end of the cylinder is fixed to the lower platform, and the other end is connected to the center of the upper platform, thereby increasing the additional bearing capacity of the six-degree-of-freedom platform.

4. The six-degree-of-freedom parallel platform based on high-load-carrying capacity technology according to claim 3, characterized in that: Specifically, six electric cylinders are provided. Electric cylinders (110) and (111) form a group and are universally connected to the lower platform (102) through hinge mechanisms (116) and (117); electric cylinders (112) and (113) form a group and are universally connected to the lower platform (102) through hinge mechanisms (118) and (119); electric cylinders (114) and (109) form a group and are universally connected to the lower platform (102) through hinge mechanisms (120) and (115); each group is evenly connected to the lower platform (102) in a 120° circular distribution, and the other end The electric cylinders (109) and (110) form a group and are universally connected to the upper platform (101) through Hooke's hinge mechanisms (103) and (104); the electric cylinders (111) and (112) form a group and are universally connected to the upper platform (101) through Hooke's hinge mechanisms (105) and (106); the electric cylinders (113) and (114) form a group and are universally connected to the upper platform (101) through Hooke's hinge mechanisms (107) and (108). Each group is also connected to the upper platform (101) in a 120° circular evenly distributed manner, and each group of electric cylinders is arranged in an eight-shaped shape.

5. The six-degree-of-freedom parallel platform based on high-load capacity technology according to claim 1, characterized in that: A connecting seat (3) is movably connected above the upper platform (101), and a buffer mechanism is arranged inside the upper platform (101), and two groups of buffer mechanisms are arranged; The upper platform (101) is provided with a built-in groove (4) inside, and a movable rod (7) is rotatably connected inside the built-in groove (4), a damping movable sleeve (6) is sleeved on the outer side of the movable rod (7), and springs (8) are wound on the outer sides of the movable rod (7) on both sides of the damping movable sleeve (6), and the damping movable sleeve (6) is connected to the connecting seat (3) via a connecting rod (5).

6. The six-degree-of-freedom parallel platform based on high-load capacity technology according to claim 5, characterized in that: The upper part of the movable rod (7) is hinged to the lower part of the connecting seat (3), and the lower part of the movable rod (7) is hinged to the upper part of the damping movable sleeve (6).

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