Novel angle-adjustable two-degree-of-freedom crank connecting rod motion platform

Abstract

The invention relates to the technical field of two-degree-of-freedom motion simulation platforms, in particular to a novel angle-adjustable two-degree-of-freedom crank connecting rod motion platform which comprises a lower platform, a rotating platform and an upper platform, the top end of the lower platform is provided with the rotating platform capable of rotating in a plane, and the upper platform is arranged above the rotating platform. A pitching motion assembly used for controlling pitching of the upper platform is arranged at the top end of the rotating platform, the pitching center distance of the pitching motion assembly can be continuously changed in the motion process, and the two-degree-of-freedom crank connecting rod motion platform can achieve pitching center distance change.

Description

Technical Field

[0001] The invention relates to the technical field of two-degree-of-freedom motion simulation platforms, and in particular to a novel angle-adjustable two-degree-of-freedom crank-connecting rod motion platform. Background Art

[0002] Motion simulation platforms are usually used in scientific research, entertainment, and other fields. The common crank-connecting rod motion platform has a single degree of freedom and can only achieve pitch but not rotation. At the same time, because the pitch center distance is fixed, the range of the pitch angle is also fixed, resulting in a single motion posture. Summary of the invention

[0003] The purpose of the present invention is to provide a novel angle-adjustable two-degree-of-freedom crank-connecting rod motion platform to solve the technical problems existing in the above-mentioned background technology.

[0004] To achieve the above object, the technical solution of the present invention is as follows:

[0005] A novel angle-adjustable two-degree-of-freedom crank-connecting rod motion platform comprises: a lower platform, a rotating platform and an upper platform. The top of the lower platform is provided with a rotating platform capable of plane rotation, the upper platform is provided above the rotating platform, the top of the rotating platform is provided with a pitch motion component for controlling the pitch of the upper platform, and the pitch center distance of the pitch motion component can be continuously changed during the motion process.

[0006] Furthermore, the top of the lower platform is fixedly connected to the bottom end of the slewing bearing, the top of the slewing bearing is fixedly connected to the bottom end of the rotating platform, and the inner wall of the slewing bearing is connected to a rotating mechanism that drives the axial rotation thereof.

[0007] Furthermore, the rotating mechanism includes: a rotating pinion, a worm gear reducer and a servo motor 1, the rotating pinion meshes with the inner wall of the rotating bearing, the pinion is fixedly connected to the output end of the worm gear reducer, the input end of the worm gear reducer is connected to the output end of the servo motor 1, and the worm gear reducer and the servo motor 1 are both fixedly mounted on the top of the rotating platform.

[0008] Furthermore, the pitch motion assembly includes: two sets of crank-connecting rod mechanisms, two sets of fisheye bearing assemblies, two connecting seats, a gate-type bracket, two linear guide rails 1, two universal connecting frames and two linear guide rails 2. The two sets of crank-connecting rod mechanisms are respectively installed on the left and right sides of the top of the rotating platform, and the output ends of the two sets of crank-connecting rod mechanisms are respectively hinged to two connecting seats through two sets of fisheye bearing assemblies, wherein the connecting seat on the left is fixedly installed on the left side of the bottom end of the upper platform, and the connecting seat on the right is fixedly installed in the middle of the gate-type bracket. Two sets of linear guide rails 1 are symmetrically arranged on the front and rear sides of the bottom end of the gate-type bracket, and the front and rear sides of the top end of the gate-type bracket are respectively hinged to two linear guide rails 2 through two universal connecting frames, and the two linear guide rails 2 are respectively fixedly installed at the front and rear positions of the right side of the bottom end of the upper platform.

[0009] Furthermore, the crank-connecting rod mechanism includes: a bearing seat, a planetary reducer, a second servo motor, an output shaft, a first bearing, a crank, a crank pin, a second bearing and a connecting rod. The bearing seat is fixedly installed on the top of the rotating platform, the output end of the second servo motor is connected to the input end of the planetary reducer, the output end of the planetary reducer is fixedly connected to the output shaft, the output shaft is rotatably connected to the bearing seat through a first bearing, the outer end of the output shaft is fixedly connected to one end of the crank, the other end of the crank is fixedly connected to one end of the crank pin, and the other end of the crank pin is rotatably connected to one end of the connecting rod through a second bearing.

[0010] Furthermore, the fisheye bearing assembly includes: a fisheye bearing locking nut gasket assembly, a fisheye bearing and a fisheye bearing pin, one end of the fisheye bearing is detachably locked and fixed to the other end of the connecting rod through the fisheye bearing locking nut gasket assembly, and the other end of the fisheye bearing is hingedly connected to the seat through the fisheye bearing pin.

[0011] Furthermore, the door-type bracket includes: a connecting transverse tube and a fixed bracket, wherein a plurality of the connecting transverse tubes are provided, and two fixed brackets are symmetrically provided front and rear, and the two fixed brackets are fixedly connected via the plurality of connecting transverse tubes.

[0012] Furthermore, the linear guide rail 1 includes: a lower sliding seat and a linear guide rail 1, and the lower sliding seat is laterally slidably connected to the linear guide rail 1.

[0013] Furthermore, the universal connecting frame includes: an articulated shaft and an articulated bracket, and two of the articulated shafts and two of the articulated brackets are provided, and the two articulated brackets are respectively hinged to the top ends of the two fixed brackets through the two articulated shafts.

[0014] Furthermore, the linear guide rail 2 includes: an upper slide and a linear guide rail 2, the bottom end of the upper slide is fixedly connected to the top end of the corresponding hinged bracket, the top end of the upper slide is slidably connected to the linear guide rail 2, and the top end of the linear guide rail 2 is fixedly connected to the right side of the bottom end of the upper platform.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. A new two-degree-of-freedom crank-connecting rod motion platform was designed, and a crank-connecting rod mechanism with adjustable pitch center distance was designed, so that the motion platform can realize the change of pitch center distance during the motion process, making the motion platform have rich postures.

[0017] 2. The design adds a rotating structure to solve the problem that the single-degree-of-freedom crank-connecting rod motion platform cannot rotate, and at the same time allows the entire platform to have more motion postures.

[0018] 3. The displacement crank-connecting rod structure is designed to combine movement with the crank-connecting rod structure responsible for pitch, so that the motion platform has more motion postures when performing compound postures. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the present invention after the upper platform is removed;

[0020] Figure 2 is a cross-sectional view of the present invention at the rotating pinion;

[0021] Figure 3 is a transverse longitudinal sectional view of the present invention;

[0022] Figure 4 It is a schematic diagram of the structure of the present invention;

[0023] Figure 5 It is the front view of the present invention (showing the pitch center distance).

[0024] The numbers in the accompanying drawings are: 1-lower platform, 2-slewing bearing, 3-rotating platform, 4-slewing pinion, 5-worm gear reducer, 6-servo motor one, 7-bearing seat, 8-planetary reducer, 9-servo motor two, 10-output shaft, 11-bearing one, 12-crank, 13-crank pin, 14-bearing two, 15-connecting rod, 16-fisheye bearing locking nut gasket assembly, 17-fisheye bearing, 18-fisheye bearing pin, 19-connecting seat, 20-connecting cross tube, 21-fixed bracket, 22-lower sliding seat, 23-linear slide rail one, 24-hinge shaft, 25-hinge bracket, 26-upper slide seat, 27-linear slide rail two, 28-upper platform. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0026] See also Figures 1 to 5As shown, a novel angle-adjustable two-degree-of-freedom crank-connecting rod motion platform is characterized in that it includes: a lower platform 1, a rotating platform 3 and an upper platform 28, the top of the lower platform 1 is provided with a rotating platform 3 capable of plane rotation, the upper platform 28 is provided above the rotating platform 3, and the top of the rotating platform 3 is provided with a pitch motion component for controlling the pitch of the upper platform 28, and the pitch center distance of the pitch motion component can be continuously changed during the movement.

[0027] In this embodiment, the top of the lower platform 1 is fixedly connected to the bottom end of the slewing bearing 2, the top of the slewing bearing 2 is fixedly connected to the bottom end of the rotating platform 3, and the inner wall of the slewing bearing 2 is connected to a rotating mechanism that drives its axial rotation; the rotating mechanism includes: a slewing pinion 4, a worm gear reducer 5 and a servo motor 6, the slewing pinion 4 meshes with the inner wall of the slewing bearing 2, the pinion 4 is fixedly connected to the output end of the worm gear reducer 5, the input end of the worm gear reducer 5 is connected to the output end of the servo motor 6, and the worm gear reducer 5 and the servo motor 6 are both fixedly installed on the top of the rotating platform 3; the servo motor 6 drives the slewing pinion 4 to rotate through the worm gear reducer 5, and since the slewing pinion 4 meshes with the inner ring of the slewing bearing 2 fixedly connected to the lower platform 1, the rotating platform 3 can rotate in a plane at this time.

[0028] In this embodiment, the pitch motion assembly includes: two groups of crank-connecting rod mechanisms, two groups of fisheye bearing assemblies, two connecting seats 19, a gate-type bracket, two linear guide rails 1, two universal connecting frames and two linear guide rails 2. The two groups of crank-connecting rod mechanisms are respectively installed on the left and right sides of the top of the rotating platform 3, and the output ends of the two groups of crank-connecting rod mechanisms are respectively hinged to the two connecting seats 19 through the two groups of fisheye bearing assemblies, wherein the left connecting seat 19 is fixedly installed on the left side of the bottom end of the upper platform 28, and the right connecting seat 19 is fixedly installed in the middle of the gate-type bracket. Two groups of linear guide rails 1 are symmetrically arranged on the front and rear sides of the bottom end of the gate-type bracket. The front and rear sides of the top end of the gate-type bracket are respectively hinged to two linear guide rails 2 through two universal connecting frames, and the two linear guide rails 2 are respectively fixedly installed at the front and rear positions of the right side of the bottom end of the upper platform 28.

[0029] In this embodiment, the crank-connecting rod mechanism includes: a bearing seat 7, a planetary reducer 8, a servo motor 29, an output shaft 10, a bearing 11, a crank 12, a crank pin 13, a bearing 2 14 and a connecting rod 15. The bearing seat 7 is fixedly installed on the top of the rotating platform 3. The output end of the servo motor 29 is connected to the input end of the planetary reducer 8. The output end of the planetary reducer 8 is fixedly connected to the output shaft 10. The output shaft 10 is rotatably connected to the bearing seat 7 through the bearing 11. The outer end of the output shaft 10 is fixedly connected to one end of the crank 12, and the other end of the crank 12 is fixedly connected to one end of the crank pin 13. The other end of the crank pin 13 is rotatably connected to one end of the connecting rod 15 through the bearing 2 14.

[0030] In this embodiment, the fisheye bearing assembly includes: a fisheye bearing locking nut gasket assembly 16, a fisheye bearing 17 and a fisheye bearing pin 18. One end of the fisheye bearing 17 is detachably locked and fixed to the other end of the connecting rod 15 through the fisheye bearing locking nut gasket assembly 16, and the other end of the fisheye bearing 17 is hingedly connected to the seat 19 through the fisheye bearing pin 18.

[0031] In this embodiment, the door-type bracket includes: a connecting transverse tube 20 and a fixed bracket 21, a plurality of connecting transverse tubes 20 are provided, and two fixed brackets 21 are symmetrically provided front and back, and the two fixed brackets 21 are fixedly connected through a plurality of connecting transverse tubes 20; the linear guide rail 1 includes: a lower sliding seat 22 and a linear slide rail 1 23, and the lower sliding seat 22 is laterally slidably connected to the linear slide rail 1 23; the universal connecting frame includes: an articulated shaft 24 and an articulated bracket 25, and two articulated shafts 24 and articulated brackets 25 are each provided, and the two articulated brackets 25 are respectively hinged to the top ends of the two fixed brackets 21 through two articulated shafts 24; the linear guide rail 2 includes: an upper slide 26 and a linear slide rail 2 27, the bottom end of the upper slide 26 is fixedly connected to the top end of the corresponding articulated bracket 25, the top end of the upper slide 26 is slidably connected to the linear slide rail 2 27, and the top end of the linear slide rail 27 is fixedly connected to the right side of the bottom end of the upper platform 28.

[0032] In the entire motion platform, the crank-connecting rod mechanism, the fisheye bearing assembly and the connecting seat 19 on the left side constitute a pitch drive assembly that allows the upper platform 28 to pitch; the crank-connecting rod mechanism, the fisheye bearing assembly, the connecting seat 19, the door-type bracket, two linear guide rails 1, two universal connecting frames and two linear guide rails 2 on the right side constitute a pitch center distance adjustment assembly that allows the upper platform 28 to slide; the combined movement of the two allows the motion platform to have more motion postures when performing compound postures.

[0033] Working principle: when the upper platform 28 needs to be rotated, it is only necessary to control the servo motor 1 6 to drive the slewing pinion 4 to rotate through the worm gear reducer 5. Since the slewing pinion 4 meshes with the inner ring of the slewing bearing 2 fixedly connected to the lower platform 1, the rotating platform 3 can rotate in a plane, thereby driving the upper platform 28 on it to rotate; when the upper platform 28 needs to be pitched, it is only necessary to drive the connecting seat 19 to move up and down through the crank connecting rod mechanism on the left to achieve the pitch of the upper platform 28; when the pitch center distance of the upper platform 28 needs to be adjusted, it is only necessary to drive the connecting seat 19 to move left and right through the crank connection mechanism on the right when the upper platform 28 pitches, and the connecting seat 19 drives the gate-type bracket to slide left and right along the two linear guide rails 1. At the same time, since the two linear guide rails 2 are fixedly connected to the front and back of the right side of the bottom end of the upper platform 28, the bottom ends of the two linear guide rails 2 are connected to the left and right sides of the top of the gate-type bracket through two universal connections. At this time, while the upper platform 28 is pitching, its pitch center distance is also constantly changing, making the motion platform rich in posture.

[0034] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "inside", "outside", "top / bottom" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0035] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any technician familiar with the profession, without departing from the scope of the technical solution of the present invention, according to the technical essence of the present invention, any simple modification, equivalent replacement and improvement made to the above embodiment still falls within the protection scope of the technical solution of the present invention.

Claims

1. A new type of angle-adjustable two-degree-of-freedom crank-connecting rod motion platform, characterized in that: include: A lower platform (1), a rotating platform (3) and an upper platform (28), wherein the top of the lower platform (1) is provided with a rotating platform (3) capable of plane rotation, an upper platform (28) is provided above the rotating platform (3), and a pitch motion component for controlling the pitch of the upper platform (28) is provided at the top of the rotating platform (3), wherein the pitch center distance of the pitch motion component can be continuously changed during the movement.

2. According to claim 1, a novel angle-adjustable two-degree-of-freedom crank-connecting rod motion platform is characterized in that: The top of the lower platform (1) is fixedly connected to the bottom of the slewing bearing (2), the top of the slewing bearing (2) is fixedly connected to the bottom of the rotating platform (3), and the inner wall of the slewing bearing (2) is connected to a rotating mechanism for driving its axial rotation.

3. A novel angle-adjustable two-degree-of-freedom crank-connecting rod motion platform according to claim 2, characterized in that: The rotating mechanism comprises: a rotating pinion (4), a worm gear reducer (5) and a servo motor (6); the rotating pinion (4) meshes with the inner wall of the rotating bearing (2); the pinion (4) is fixedly connected to the output end of the worm gear reducer (5); the input end of the worm gear reducer (5) is connected to the output end of the servo motor (6); and the worm gear reducer (5) and the servo motor (6) are both fixedly mounted on the top of the rotating platform (3).

4. According to claim 1, a novel angle-adjustable two-degree-of-freedom crank-connecting rod motion platform is characterized in that: The pitch motion assembly comprises: two groups of crank-connecting rod mechanisms, two groups of fisheye bearing assemblies, two connecting seats (19), a gate-type bracket, two linear guide rails 1, two universal connecting frames and two linear guide rails 2. The two groups of crank-connecting rod mechanisms are respectively mounted on the left and right sides of the top of the rotating platform (3). The output ends of the two groups of crank-connecting rod mechanisms are respectively hinged to the two connecting seats (19) through the two groups of fisheye bearing assemblies, wherein the left connecting seat (19) is fixedly mounted on the left side of the bottom end of the upper platform (28), and the right connecting seat (19) is fixedly mounted on the middle part of the gate-type bracket. Two groups of linear guide rails 1 are symmetrically arranged on the front and rear sides of the bottom end of the gate-type bracket. The front and rear sides of the top end of the gate-type bracket are respectively hinged to the two linear guide rails 2 through the two universal connecting frames. The two linear guide rails 2 are respectively fixedly mounted at the front and rear positions of the right side of the bottom end of the upper platform (28).

5. According to claim 4, a novel angle-adjustable two-degree-of-freedom crank-connecting rod motion platform is characterized in that: The crank-connecting rod mechanism comprises: a bearing seat (7), a planetary reducer (8), a servo motor 2 (9), an output shaft (10), a bearing 1 (11), a crank (12), a crank pin (13), a bearing 2 (14) and a connecting rod (15); the bearing seat (7) is fixedly mounted on the top of the rotating platform (3); the output end of the servo motor 2 (9) is connected to the input end of the planetary reducer (8); the output end of the planetary reducer (8) is fixedly connected to the output shaft (10); the output shaft (10) is rotatably connected to the bearing seat (7) via the bearing 1 (11); the outer end of the output shaft (10) is fixedly connected to one end of the crank (12); the other end of the crank (12) is fixedly connected to one end of the crank pin (13); the other end of the crank pin (13) is rotatably connected to one end of the connecting rod (15) via the bearing 2 (14).

6. The novel angle-adjustable two-degree-of-freedom crank-connecting rod motion platform according to claim 5 is characterized in that: The fisheye bearing assembly comprises: a fisheye bearing locking nut washer assembly (16), a fisheye bearing (17) and a fisheye bearing pin (18); one end of the fisheye bearing (17) is detachably locked and fixed to the other end of the connecting rod (15) through the fisheye bearing locking nut washer assembly (16); and the other end of the fisheye bearing (17) is hingedly connected to a seat (19) through the fisheye bearing pin (18).

7. The novel angle-adjustable two-degree-of-freedom crank-connecting rod motion platform according to claim 6 is characterized in that: The door-shaped bracket comprises: a connecting transverse tube (20) and a fixed bracket (21), wherein a plurality of the connecting transverse tubes (20) are provided, and two fixed brackets (21) are symmetrically provided front and rear, and the two fixed brackets (21) are fixedly connected via the plurality of connecting transverse tubes (20).

8. The novel angle-adjustable two-degree-of-freedom crank-connecting rod motion platform according to claim 7 is characterized in that: The linear guide rail 1 comprises: a lower sliding seat (22) and a linear guide rail 1 (23), wherein the lower sliding seat (22) is laterally slidably connected to the linear guide rail 1 (23).

9. The novel angle-adjustable two-degree-of-freedom crank-connecting rod motion platform according to claim 7 is characterized in that: The universal connecting frame comprises: an articulated shaft (24) and an articulated bracket (25), wherein two articulated shafts (24) and two articulated brackets (25) are provided, and the two articulated brackets (25) are respectively articulated to the top ends of the two fixed brackets (21) through the two articulated shafts (24).

10. The novel angle-adjustable two-degree-of-freedom crank-connecting rod motion platform according to claim 9 is characterized in that: The linear guide rail 2 comprises: an upper slide seat (26) and a linear guide rail 2 (27); the bottom end of the upper slide seat (26) is fixedly connected to the top end of a corresponding hinged bracket (25); the top end of the upper slide seat (26) is slidably connected to the linear guide rail 2 (27); the top end of the linear guide rail 2 (27) is fixedly connected to the right side of the bottom end of the upper platform (28).

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