Seven-axis motion simulation platform

Abstract

The invention relates to the technical field of motion simulation platforms, in particular to a seven-axis motion simulation platform which comprises an upper platform, a lower platform, a supporting leg assembly and a one-dimensional rotary table assembly, a plurality of first hinge assemblies are arranged on the upper platform at intervals, and a plurality of second hinge assemblies are arranged on the lower platform at intervals; the top of the supporting leg assembly is rotatably connected to the first hinge assembly, and the bottom of the supporting leg assembly is rotatably connected to the second hinge assembly. The one-dimensional rotary table assembly is arranged above the upper platform; the first hinge assembly and the second hinge assembly have the azimuth rotation freedom degree with the axis in the horizontal direction and the pitching rotation freedom degree with the axis in the vertical direction correspondingly, and the supporting leg assembly can stretch out and draw back in the axis direction of the supporting leg assembly. Therefore, by combining the multi-axis parallel motion simulation platform and the single-axis one-dimensional turntable assembly, multi-degree-of-freedom, high-precision and high-stability small-range rapid motion trajectory tracking around any space rotation center and 360-degree large-range azimuth working condition switching of different measured target points are realized at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of motion simulation platforms, and specifically provides a seven-axis motion simulation platform. Background Art

[0002] In order to meet the mission requirements of deep space detection, efficient space attack and defense, and future precision automation and high-precision confrontation, higher requirements are placed on the fast and high-precision dynamic alignment imaging characteristics of visible light and infrared spectral optical systems. In order to evaluate the tracking and aiming performance of the optical system for dynamic targets, a motion simulation platform is required to simulate the multi-dimensional motion characteristics of the observed dynamic target. In addition, in order to evaluate the multi-mode working characteristics of the optical system, the observed dynamic target also needs to have a wide range of azimuth switching capabilities.

[0003] The existing motion simulation platform mainly adopts a design of stacking and serially combining multiple single-axis modules for realizing translational rotation. This kind of motion simulation platform can realize a large range of motion and has the advantage of flexible matching, but it will also accumulate and amplify the errors of each single-axis module, and has the disadvantages of weak bearing capacity, low stiffness, low stability and large structural size envelope. It is impossible to achieve dynamic tracking control with high precision and wide bandwidth dynamic stability and compact integrated design.

[0004] Another existing motion simulation platform adopts a parallel design, which has the characteristics of six-degree-of-freedom motion control, high precision, no cumulative error, high rigidity, high load capacity and compact integrated design. In a limited envelope space, it can realize the six-degree-of-freedom attitude dynamic high-precision motion control of the equipment on the motion platform and simulate complex motion trajectories. However, the parallel motion simulation platform has a limited motion range and cannot complete the large-range orientation and posture switching conditions of the observed target. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a seven-axis motion simulation platform, which can realize multi-degree-of-freedom, high-precision, high-stability small-range rapid motion trajectory tracking around an arbitrary rotation center in space, as well as 360° large-range azimuth working condition switching of different measured target points, by integrating a multi-degree-of-freedom parallel motion simulation platform and a single-axis one-dimensional turntable assembly.

[0006] A seven-axis motion simulation platform provided by the present invention specifically includes an upper platform, a lower platform, a leg assembly and a one-dimensional turntable assembly, wherein a plurality of first mounting parts are circumferentially spaced apart on the upper edge of the upper platform, and a plurality of first hinge assemblies are arranged on the first mounting parts; the lower platform is located below the upper platform, and a plurality of second mounting parts are circumferentially spaced apart on the upper edge of the lower platform, and a plurality of second hinge assemblies are arranged on the second mounting parts; the top of the leg assembly is rotatably connected to the first hinge assembly, and the bottom of the leg assembly is rotatably connected to the second hinge assembly; the one-dimensional turntable assembly is arranged above the upper platform; wherein the first hinge assembly has an azimuth rotation degree of freedom along the horizontal direction of the axis and a pitch rotation degree of freedom along the vertical direction of the axis, the second hinge assembly has an azimuth rotation degree of freedom along the vertical direction of the axis and a pitch rotation degree of freedom along the horizontal direction of the axis, and the leg assembly can extend and retract along its own axis direction.

[0007] Preferably, the tops of two adjacent leg assemblies are connected to the first hinge assembly located at the same first mounting portion, and the bottoms are connected to the second hinge assembly located at two adjacent second mounting portions; or the tops of two adjacent leg assemblies are connected to the first hinge assembly located at two adjacent first mounting portions, and the bottoms are connected to the second hinge assembly located at the same second mounting portion.

[0008] Preferably, any two leg assemblies whose tops are connected to the first hinge assembly located at the same first mounting portion have their bottoms respectively connected to the second hinge assemblies located at two adjacent second mounting portions.

[0009] Preferably, the upper platform also includes a first platform body, the first platform body is disc-shaped, the first mounting portion is arranged at the bottom of the first platform body, and a plurality of first mounting holes are opened on the first mounting portion; wherein, the axial direction of the first mounting hole is perpendicular to the axial direction of the first platform body, and the first hinge assembly is connected to the first mounting hole.

[0010] Preferably, the lower platform also includes a second platform body, the second platform body is disc-shaped, the second mounting portion is arranged on the second platform body, and a plurality of second mounting holes are opened on the second mounting portion; wherein the axial direction of the second mounting hole is parallel to the axial direction of the second platform body, and the second hinge assembly is connected to the second mounting hole.

[0011] Preferably, the first hinge assembly and / or the second hinge assembly includes an azimuth bearing seat, an azimuth axis, a pitch bearing seat and a pitch axis, the azimuth bearing seat is connected to the first mounting hole and / or the second mounting hole, an azimuth bearing is arranged inside the azimuth bearing seat, and a first pressure cover is arranged at the bottom of the azimuth bearing seat; the azimuth axis passes through the azimuth bearing, and a first locking nut is screwed on the bottom of the azimuth shaft; the pitch bearing seat is connected to the top of the azimuth axis, a pitch bearing is arranged inside the pitch bearing seat, and a second pressure cover and a third pressure cover are respectively arranged on both sides of the pitch bearing seat; the pitch axis passes through the pitch bearing, and a second locking nut is screwed on the pitch axis.

[0012] Preferably, the leg assembly includes a first support tube, a second support tube and a drive transmission assembly, a first mounting seat is provided on the top of the first support tube, and the first mounting seat is used to connect with the pitch axis of the first hinge assembly; the second support tube is sleeved on the outside of the first support tube, and a second mounting seat is provided on the bottom of the second support tube, and the second mounting seat is used to connect with the pitch axis of the second hinge assembly; the drive transmission assembly is provided inside the second support tube, and the drive transmission assembly is connected to the first support tube and the second support tube, so that the first support tube can be telescopic relative to the second support tube along the axial direction.

[0013] Preferably, the leg assembly also includes a third mounting seat, a third support tube and a support tube transition piece, the third mounting seat is arranged at the bottom of the second support tube, and the third mounting seat is used to install the drive transmission assembly; the third support tube is connected to the third mounting seat, so that the drive transmission assembly passes through the third mounting seat and extends to the interior of the third support tube; the support tube transition piece is connected to the third support tube, and the second mounting seat is arranged at the bottom of the support tube transition piece.

[0014] Preferably, the drive transmission assembly includes a drive motor, a screw nut, a screw bearing seat, a screw and a synchronous pulley assembly, the drive motor is connected to the third mounting seat, and a brake is provided on the drive motor; the screw nut is connected to the first support cylinder; the screw bearing seat is connected to the third mounting seat, a screw bearing is provided inside the screw bearing seat, and a fourth pressure cover is provided at the bottom of the screw bearing seat; the screw is screwed on the screw nut, the bottom of the screw is passed through the screw bearing and extends to the third support cylinder and the support cylinder transition piece; the synchronous pulley assembly includes a first pulley, a second pulley and a synchronous toothed belt, the first pulley is sleeved on the screw, the second pulley is sleeved on the drive motor, and the synchronous toothed belt is wound around the first pulley and the second pulley.

[0015] Preferably, the leg assembly also includes an absolute encoder, a circular grating encoder and an encoder reading head, the absolute encoder is connected to the brake; a fourth mounting seat is provided at the bottom of the screw, and the circular grating encoder is connected to the fourth mounting seat; the encoder reading head is connected to the second mounting seat so that the encoder reading head is tangent to the edge of the circular grating encoder.

[0016] Preferably, the one-dimensional turntable assembly includes a turntable bearing, a load mounting platform, a harmonic reducer and a servo motor, a bearing mounting seat is arranged above the first platform body, and the turntable bearing is arranged inside the bearing mounting seat; the load mounting platform is connected to the turntable bearing; the harmonic reducer is arranged on the first platform body, and the harmonic reducer is connected to the turntable bearing; the servo motor is arranged below the first platform body, and the servo motor is connected to the harmonic reducer and the turntable bearing.

[0017] Compared with the prior art, the present invention can achieve the following beneficial effects: (1) The present invention provides a seven-axis motion simulation platform, which combines the parallel mechanism with the series mechanism by integrating a multi-degree-of-freedom parallel motion simulation platform and a single-axis one-dimensional turntable assembly in a high-rigidity and high-compact manner, thereby achieving multi-degree-of-freedom high-precision and high-stability small-range rapid motion trajectory tracking around an arbitrary rotation center in space, as well as 360° wide-range azimuth switching of different measured target points.

[0018] (2) The present invention provides a seven-axis motion simulation platform, in which the first hinge assembly and the upper platform, and the second hinge assembly and the lower platform are connected by shaft-hole matching, which can improve the assembly accuracy between the upper platform, the leg assembly, and the lower platform, and save the space occupied by the multi-degree-of-freedom motion simulation platform.

[0019] (3) The present invention provides a seven-axis motion simulation platform, wherein the drive transmission assembly transmits the rotation of the drive motor to the lead screw through the synchronous pulley assembly, so that when the lead screw rotates, the lead screw nut can drive the second support tube to extend and retract relative to the first support tube; at the same time, the use of the synchronous pulley assembly for transmission can also shorten the design distance of the leg assembly.

[0020] (4) The present invention provides a seven-axis motion simulation platform, wherein the leg assembly also includes an absolute encoder, a circular grating encoder and an encoder reading head, which can ensure the driving accuracy of the leg assembly to the upper platform by controlling the speed and rotation angle of the drive motor in a closed loop. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings: Figure 1 It is a structural schematic diagram of a seven-axis motion simulation platform provided by an embodiment of the present invention; Figure 2 is a schematic diagram of the structure of an upper platform provided in an embodiment of the present invention; Figure 3 is a schematic diagram of the structure of the lower platform provided by an embodiment of the present invention; Figure 4 is a schematic structural diagram of a first hinge assembly and / or a second hinge assembly provided by an embodiment of the present invention; Figure 5 is a structural schematic diagram of a leg assembly provided by an embodiment of the present invention; Figure 6 is a schematic structural diagram of a drive transmission assembly provided by an embodiment of the present invention; Figure 7 It is a schematic structural diagram of a one-dimensional turntable assembly provided in an embodiment of the present invention.

[0022] Reference numerals include: 1 upper platform, 11 first mounting portion, 111 first mounting hole, 12 first hinge assembly, 13 first platform body, 2 lower platform, 21 second mounting portion, 211 second mounting hole, 22 second hinge assembly, 23 second platform body, 3 leg assembly, 31 first support tube, 311 first mounting seat, 32 second support tube, 321 second mounting seat, 33 third mounting seat, 34 third support tube, 35 support tube transition piece, 36 absolute encoder, 37 circular grating encoder, 38 encoder reading head, 39 support tube outer cover, 4 one-dimensional turntable assembly, 41 turntable bearing, 42 load installation Platform, 43 harmonic reducer, 44 servo motor, 45 turntable cover, 51 azimuth bearing seat, 511 azimuth bearing, 512 first pressure cover, 52 azimuth axis, 521 first locking nut, 53 pitch bearing seat, 531 pitch bearing, 532 second pressure cover, 533 third pressure cover, 54 pitch axis, 541 second locking nut, 61 drive motor, 62 brake, 63 screw nut, 64 screw bearing seat, 65 screw bearing, 66 fourth pressure cover, 67 screw, 671 fourth mounting seat, 681 first pulley, 682 second pulley, 683 synchronous toothed belt, 69 motor cover. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention. Wherein similar elements in different embodiments use associated similar element numbers. In the following embodiments, many detailed descriptions are to enable the present invention to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present invention are not shown or described in the specification, this is to avoid the core part of the present invention being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0024] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to form various implementation methods. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a necessary sequence, unless otherwise specified that a certain sequence must be followed.

[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the 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 orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0027] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0028] like Figure 1 As shown, an embodiment of the present invention provides a seven-axis motion simulation platform, specifically including an upper platform 1, a lower platform 2, a leg assembly 3 and a one-dimensional turntable assembly 4. A plurality of first mounting portions 11 are arranged at intervals along the circumferential direction on the upper platform 1, and a plurality of first hinge assemblies 12 are arranged on the first mounting portion 11. The lower platform 2 is located below the upper platform 1, and is used as a base of the seven-axis motion simulation platform. A plurality of second mounting portions 21 are arranged at intervals along the circumferential direction on the lower platform 2, and a plurality of second hinge assemblies 22 are arranged on the second mounting portion 21. The top of the leg assembly 3 is rotatably connected to the first hinge assembly 12, and the bottom of the leg assembly 3 is rotatably connected to the second hinge assembly 22, so that by adjusting the leg assembly 3, a small-range motion trajectory tracking of the target point to be measured around an arbitrary rotation center in space can be achieved. The one-dimensional turntable assembly 4 is connected to the top of the upper platform 1, so that the seven-axis motion simulation platform can not only realize the small-range motion trajectory tracking of the measured target point around an arbitrary rotation center in space, but also realize the 360° large-range azimuth working condition switching of the measured target point through the one-dimensional turntable assembly 4.

[0029] The specific number of the first mounting parts 11, the first hinge assembly 12, the second mounting parts 21 and the second hinge assembly 22 is not limited here, and it is only necessary that the number of the first hinge assembly 12 and the second hinge assembly 22 corresponds to each other, and they are used to respectively connect the top and the bottom of the leg assembly 3. In some possible embodiments, three first mounting parts 11 are provided on the upper platform 1, and two first hinge assemblies 12 are provided on each first mounting part 11; three second mounting parts 21 are provided on the lower platform 2, and two second hinge assemblies 22 are provided on each second mounting part 21.

[0030] The first hinge assembly 12 has the azimuth rotation freedom along the horizontal direction of the axis and the pitch rotation freedom along the vertical direction of the axis, the second hinge assembly 22 has the azimuth rotation freedom along the vertical direction of the axis and the pitch rotation freedom along the horizontal direction of the axis, and the leg assembly 3 can be extended and retracted along its own axis. Thus, it is possible to simultaneously achieve multi-degree-of-freedom high-precision, high-stability small-range rapid motion trajectory tracking around any rotation center in space, as well as 360° wide-range azimuth working condition switching of different measured target points.

[0031] like Figure 1 As shown, any two adjacent leg assemblies 3 are connected to the first hinge assembly 12 and the second hinge assembly 22 in the following two ways. The first connection method is: the tops of the two adjacent leg assemblies 3 are connected to the first hinge assembly 12 located at the same first mounting portion 11, and the bottoms are connected to the second hinge assembly 22 located at two adjacent second mounting portions 21. The second connection method is: the tops of the two adjacent leg assemblies 3 are connected to the first hinge assembly 12 located at two adjacent first mounting portions 11, and the bottoms are connected to the second hinge assembly 22 located at the same second mounting portion 21. This layout makes it possible to track the small-range motion trajectory of the measured target point around any rotation center in space by adjusting the leg assembly 3, the first hinge assembly 12 and the second hinge assembly 22.

[0032] like Figure 1 and Figure 2 As shown, the upper platform 1 also includes a first platform body 13, which is disc-shaped, and the first mounting parts 11 are arranged at equal intervals along the circumferential direction at the bottom of the first platform body 13, and the first mounting parts 11 are provided with a plurality of first mounting holes 111. The axial direction of the first mounting hole 111 is perpendicular to the axial direction of the first platform body 13, and the first hinge assembly 12 is connected to the first mounting hole 111 by screws.

[0033] like Figure 1 and Figure 3 As shown, the lower platform 2 also includes a second platform body 23, which is disc-shaped, and the second mounting parts 21 are circumferentially equidistantly arranged on the second platform body 23, and the second mounting parts 21 are provided with a plurality of second mounting holes 211; wherein, the axial direction of the second mounting hole 211 is parallel to the axial direction of the second platform body 23, and the second hinge assembly 22 is connected to the second mounting hole 211 by screws.

[0034] That is, the installation direction of the first hinge assembly 12 is perpendicular to the installation direction of the second hinge assembly 22, so it is possible to achieve small-range motion trajectory tracking of the measured target point around any rotation center in space. In some possible embodiments, each first mounting portion 11 is provided with two first mounting holes 111, and each second mounting portion 21 is provided with two second mounting holes 211.

[0035] like Figures 1 to 4 As shown, the first hinge assembly 12 and the second hinge assembly 22 have the same structure, including an azimuth bearing seat 51, an azimuth axis 52, a pitch bearing seat 53 and a pitch axis 54. The outer ring of the azimuth bearing seat 51 is provided with a flange. After the azimuth bearing seat 51 of the first hinge assembly 12 is connected to the first mounting hole 111 on the first platform body 13, the flange is fastened to the edge of the first mounting hole 111 using screws; after the azimuth bearing seat 51 of the second hinge assembly 22 is connected to the second mounting hole 211 on the second platform body 23, the flange is fastened to the edge of the second mounting hole 211 using screws. An azimuth bearing 511 is provided inside the azimuth bearing seat 51, and a first pressure cover 512 is provided at the bottom of the azimuth bearing seat 51. The first pressure cover 512 is used to press the outer ring of the azimuth bearing 511 against the inner ring of the azimuth bearing seat 51, thereby positioning the azimuth bearing 511 in the axial direction. The azimuth shaft 52 is inserted into the azimuth bearing 511 , and a first locking nut 521 is screwed onto the bottom of the azimuth shaft 52 for pressing the outer ring of the azimuth shaft 52 onto the inner ring of the azimuth bearing 511 , thereby positioning the azimuth shaft 52 in the axial direction.

[0036] Among them, the connection through the shaft-hole matching method can improve the assembly accuracy between the first hinge component 12 and the upper platform 1, and between the second hinge component 22 and the lower platform 2, and save the space occupied by the seven-axis motion simulation platform.

[0037] like Figure 4 As shown, the pitch bearing seat 53 is fixedly arranged above the azimuth axis 52. The pitch bearing seat 53 and the azimuth axis 52 can be designed in an integrated manner or can be separately arranged and then fixedly connected. A pitch bearing 531 is arranged inside the pitch bearing seat 53. A second pressure cap 532 and a third pressure cap 533 are respectively arranged on both sides of the pitch bearing seat 53, which are used to press the outer ring of the pitch bearing 531 against the inner ring of the pitch bearing seat 53, so as to position the pitch bearing 531 in the axial direction. Preferably, the pitch bearing 531 adopts a pair of bearings. The pitch axis 54 is penetrated by the pitch bearing 531. A second locking nut 541 is screwed on the pitch axis 54, which is used to press the outer ring of the pitch axis 54 against the inner ring of the pitch bearing 531, so as to position the pitch axis 54 in the axial direction. Preferably, symmetrical pressing ends are also arranged on both sides of the pitch axis 54, which are used to be connected with other structures in a pressing manner.

[0038] Thereby, the pitch and azimuth two-degree-of-freedom rotation adjustment function of the first hinge assembly 12 and the second hinge assembly 22 can be realized.

[0039] like Figure 5 As shown, the leg assembly 3 includes a first support tube 31, a second support tube 32 and a drive transmission assembly. A first mounting seat 311 is provided on the top of the first support tube 31, and the first mounting seat 311 is used to be pressed and connected with the pitch axis 54 of the first hinge assembly 12. The second support tube 32 is sleeved on the outside of the first support tube 31, and a second mounting seat 321 is provided on the bottom of the second support tube 32, and the second mounting seat 321 is used to be pressed and connected with the pitch axis 54 of the second hinge assembly 22. The drive transmission assembly is arranged inside the second support tube 32, and the drive transmission assembly is connected to the first support tube 31 and the second support tube 32, so that the first support tube 31 can be retracted relative to the second support tube 32 along its own axis direction, so that the small-range motion trajectory tracking of the measured target point around any rotation center in space can be achieved by adjusting the leg assembly 3.

[0040] Among them, the first mounting seat 311 includes two symmetrically arranged first mounting parts, and the two first mounting parts are respectively pressed and connected with the two sides of the pitch axis 54 of the first hinge assembly 12; the second mounting seat 321 includes two symmetrically arranged second mounting parts, and the two second mounting parts are respectively pressed and connected with the two sides of the pitch axis 54 of the second hinge assembly 22.

[0041] Specifically, Figure 4 As shown, the two sides of the pitch axis 54 are provided with clamping ends, such as Figure 5 As shown, arc grooves are provided on the first mounting member and the second mounting member, and the arc grooves are matched with the clamping ends, and the clamping ends of the pitch axis 54 are clamped to the arc grooves through the connecting members, thereby realizing the connection between the top of the leg assembly 3 and the first hinge assembly 12, and the bottom of the leg assembly 3 and the second hinge assembly 22.

[0042] like Figure 5 As shown, the leg assembly 3 also includes a third mounting seat 33, a third support tube 34 and a support tube transition piece 35. The third mounting seat 33 is arranged at the bottom of the second support tube 32, and the third mounting seat 33 is used to install the drive transmission assembly. The third support tube 34 is connected to the third mounting seat 33, so that the third support tube 34 is located at one end of the bottom of the second support tube 32; the drive transmission assembly is passed through the third mounting seat 33 and extends to the inside of the third support tube 34, so that the drive transmission assembly can be used to drive the first support tube 31 to extend and retract relative to the second support tube 32. The support tube transition piece 35 is connected to the third support tube 34, and the second mounting seat 321 is arranged at the bottom of the support tube transition piece 35, which is used to be pressed and connected with the pressing ends on both sides of the pitch axis 54 of the second hinge assembly 22.

[0043] In some possible embodiments, a support tube outer cover 39 is further provided on the outside of the third support tube 34 , and the support tube outer cover 39 is connected to the third support tube 34 and the support tube transition piece 35 for protecting the transmission assembly.

[0044] like Figure 5 and Figure 6 As shown, the drive transmission assembly includes a drive motor 61, a lead screw nut 63, a lead screw bearing seat 64, a lead screw 67 and a synchronous pulley assembly. The drive motor 61 is connected to the third mounting seat 33 through a flange to provide power for the drive transmission assembly. A brake 62 is connected to the end of the drive motor 61 to slow down or stop the drive motor 61. The lead screw nut 63 is fixedly connected to the first support cylinder 31, the lead screw bearing seat 64 is fixedly connected to the third mounting seat 33, a lead screw bearing 65 is arranged inside the lead screw bearing seat 64, and a fourth gland 66 is arranged at the bottom of the lead screw bearing seat 64 to press the outer ring of the lead screw bearing 65 against the inner ring of the lead screw bearing seat 64, thereby positioning the lead screw bearing 65 in the axial direction. The lead screw 67 is screwed on the lead screw nut 63, and the bottom of the lead screw 67 is penetrated by the lead screw bearing 65 and extends to the inside of the third support cylinder 34 and the support cylinder transition piece 35. The synchronous pulley assembly includes a first pulley 681, a second pulley 682 and a synchronous toothed belt 683. The first pulley 681 is fixedly sleeved on the screw 67, the second pulley 682 is fixedly sleeved on the output shaft of the drive motor 61, and the synchronous toothed belt 683 is wound around the first pulley 681 and the second pulley 682, so that when the output shaft of the drive motor 61 rotates, the screw 67 can be driven to rotate through the synchronous pulley assembly.

[0045] Specifically, the portion of the lead screw 67 extending to the inside of the third support tube 34 is used to connect with the synchronous pulley assembly, and the bottom of the lead screw 67 extends to the inside of the support tube transition piece 35, and is rotatably connected to the support tube transition piece 35, so that the support tube transition piece 35 can limit the lead screw, so that the lead screw 67 can rotate along its own axis direction, but cannot be raised or lowered. In other words, when the drive motor 61 drives the lead screw 67 to rotate, the lead screw nut 63 can move up and down along the axis direction of the lead screw 67, thereby driving the first support tube 31 to extend and retract relative to the second support tube 32 along its own axis direction. At the same time, the use of the synchronous pulley assembly transmission can also shorten the design distance of the leg assembly 3.

[0046] In some possible embodiments, the screw bearing 65 adopts an angular contact bearing.

[0047] like Figure 6As shown, the leg assembly 3 also includes an absolute encoder 36, a circular grating encoder 37 and an encoder reading head 38. The absolute encoder 36 is arranged at the end of the brake 62. A fourth mounting seat 671 is arranged at the bottom of the lead screw 67, the circular grating encoder 37 is connected to the fourth mounting seat 671, and the encoder reading head 38 is fixedly connected to the second mounting seat 321 so that the encoder reading head 38 is tangent to the edge of the circular grating encoder 37.

[0048] By providing the absolute encoder 36 and the circular grating encoder 37, feedback on the rotation speed and rotation angle of the driving motor 61 is realized, so as to ensure the driving accuracy of the leg assembly 3 to the upper platform 1. Preferably, both the absolute encoder 36 and the circular grating encoder 37 are high-precision encoders.

[0049] In some possible embodiments, the drive transmission assembly also includes a motor cover 69, which is disposed on the outside of the drive motor 61, the brake 62 and the absolute encoder 36, and is connected to one side of the second support cylinder 32 by screws. The motor cover 69 is used to protect the drive motor 61, the brake 62 and the absolute encoder 36.

[0050] like Figure 1 and Figure 7 As shown, the one-dimensional turntable assembly 4 includes a turntable bearing 41, a load mounting platform 42, a harmonic reducer 43 and a servo motor 44. A bearing mounting seat is arranged above the first platform body 13, the outer ring of the turntable bearing 41 is connected to the inside of the bearing mounting seat, and the load mounting platform 42 is connected to the upper part of the inner ring of the turntable bearing 41. The rigid gear of the harmonic reducer 43 is connected to the first platform body 13, the output end of the harmonic reducer 43 is connected to the bottom of the inner ring of the turntable bearing 41, the flange of the servo motor 44 is connected to the lower part of the first platform body 13, and the rotating shaft of the servo motor 44 is connected to the wave generator of the harmonic reducer 43, so that the servo motor 44 can drive the harmonic reducer 43 to rotate, and then drive the load mounting platform 42 to rotate, that is, to achieve 360° wide range azimuth working condition switching of different measured target points.

[0051] In some possible embodiments, the one-dimensional turntable assembly 4 further includes a turntable cover 45 , which is connected to the first platform body 13 and sleeved on the outside of the servo motor 44 .

[0052] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0053] The above specific implementations of the present invention do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A seven-axis motion simulation platform, characterized in that: include: An upper platform (1), wherein a plurality of first mounting portions (11) are arranged at intervals along a circumferential direction on the upper platform (1), and a plurality of first hinge assemblies (12) are arranged on the first mounting portions (11); A lower platform (2), the lower platform (2) being located below the upper platform (1), a plurality of second mounting portions (21) being arranged at intervals along the circumferential direction on the lower platform (2), and a plurality of second hinge assemblies (22) being arranged on the second mounting portions (21); A leg assembly (3), wherein the top of the leg assembly (3) is rotatably connected to the first hinge assembly (12), and the bottom of the leg assembly (3) is rotatably connected to the second hinge assembly (22); A one-dimensional turntable assembly (4), wherein the one-dimensional turntable assembly (4) is arranged above the upper platform (1); The first hinge assembly (12) has the azimuth rotation freedom along the horizontal direction of the axis and the pitch rotation freedom along the vertical direction of the axis, the second hinge assembly (22) has the azimuth rotation freedom along the vertical direction of the axis and the pitch rotation freedom along the horizontal direction of the axis, and the leg assembly (3) can be extended and retracted along its own axis.

2. The seven-axis motion simulation platform according to claim 1, characterized in that: The tops of two adjacent leg assemblies (3) are connected to the first hinge assembly (12) located at the same first mounting portion (11), and the bottoms are connected to the second hinge assemblies (22) located at two adjacent second mounting portions (21); Or the tops of two adjacent leg assemblies (3) are connected to the first hinge assemblies (12) located at two adjacent first mounting portions (11), and the bottoms are connected to the second hinge assemblies (22) located at the same second mounting portion (21).

3. The seven-axis motion simulation platform according to claim 1, characterized in that: The upper platform (1) further comprises: A first platform body (13), the first platform body (13) is disc-shaped, the first mounting portion (11) is arranged at the bottom of the first platform body (13), and a plurality of first mounting holes (111) are provided on the first mounting portion (11); The axial direction of the first mounting hole (111) is perpendicular to the axial direction of the first platform body (13), and the first hinge assembly (12) is connected to the first mounting hole (111).

4. The seven-axis motion simulation platform according to claim 3, characterized in that: The lower platform (2) further comprises: A second platform body (23), the second platform body (23) is disc-shaped, the second mounting portion (21) is arranged on the second platform body (23), and a plurality of second mounting holes (211) are provided on the second mounting portion (21); Wherein, the axial direction of the second mounting hole (211) is parallel to the axial direction of the second platform body (23), and the second hinge assembly (22) is connected to the second mounting hole (211).

5. The seven-axis motion simulation platform according to claim 4, characterized in that: The first hinge assembly (12) and / or the second hinge assembly (22) comprises: an azimuth bearing seat (51), the azimuth bearing seat (51) being connected to the first mounting hole (111) and / or the second mounting hole (211), an azimuth bearing (511) being arranged inside the azimuth bearing seat (51), and a first gland (512) being arranged at the bottom of the azimuth bearing seat (51); An azimuth shaft (52), the azimuth shaft (52) being inserted into the azimuth bearing (511), and a first locking nut (521) being screwed onto the bottom of the azimuth shaft (52); A pitch bearing seat (53), the pitch bearing seat (53) being connected to the upper side of the azimuth axis (52), a pitch bearing (531) being arranged inside the pitch bearing seat (53), and a second pressure cover (532) and a third pressure cover (533) being arranged on both sides of the pitch bearing seat (53); A pitch shaft (54), wherein the pitch shaft (54) is passed through the pitch bearing (531), and a second locking nut (541) is screwed onto the pitch shaft (54).

6. The seven-axis motion simulation platform according to claim 5, characterized in that: The leg assembly (3) comprises: A first support tube (31), wherein a first mounting seat (311) is disposed on the top of the first support tube (31), and the first mounting seat (311) is used to be connected to the pitch axis (54) of the first hinge assembly (12); A second support tube (32), the second support tube (32) being sleeved on the outside of the first support tube (31), a second mounting seat (321) being provided at the bottom of the second support tube (32), the second mounting seat (321) being used to connect with the pitch axis (54) of the second hinge assembly (22); A drive transmission assembly is arranged inside the second support tube (32), and the drive transmission assembly is connected to the first support tube (31) and the second support tube (32) so that the first support tube (31) can be telescopic relative to the second support tube (32) along the axial direction.

7. The seven-axis motion simulation platform according to claim 6, characterized in that: The leg assembly (3) further comprises: A third mounting seat (33), the third mounting seat (33) being arranged at the bottom of the second supporting cylinder (32), and the third mounting seat (33) being used for mounting the driving transmission assembly; A third support tube (34), the third support tube (34) being connected to the third mounting seat (33) so that the drive transmission assembly passes through the third mounting seat (33) and extends to the interior of the third support tube (34); A support tube transition piece (35), wherein the support tube transition piece (35) is connected to the third support tube (34), and the second mounting seat (321) is arranged at the bottom of the support tube transition piece (35).

8. The seven-axis motion simulation platform according to claim 7, characterized in that: The drive transmission assembly comprises: A drive motor (61), the drive motor (61) being connected to the third mounting seat (33), and the drive motor (61) being provided with a brake (62); A lead screw nut (63), the lead screw nut (63) being connected to the first support tube (31); A screw bearing seat (64), the screw bearing seat (64) is connected to the third mounting seat (33), a screw bearing (65) is arranged inside the screw bearing seat (64), and a fourth gland (66) is arranged at the bottom of the screw bearing seat (64); A lead screw (67), wherein the lead screw (67) is screwed onto the lead screw nut (63), the bottom of the lead screw (67) is passed through the lead screw bearing (65) and extends to the third support cylinder (34) and the support cylinder transition piece (35); A synchronous pulley assembly, the synchronous pulley assembly comprising a first pulley (681), a second pulley (682) and a synchronous toothed belt (683), the first pulley (681) being sleeved on the lead screw (67), the second pulley (682) being sleeved on the drive motor (61), and the synchronous toothed belt (683) being wound around the first pulley (681) and the second pulley (682).

9. The seven-axis motion simulation platform according to claim 8, characterized in that: The leg assembly (3) further comprises: an absolute encoder (36), the absolute encoder (36) being connected to the brake (62); A circular grating encoder (37), wherein a fourth mounting seat (671) is provided at the bottom of the lead screw (67), and the circular grating encoder (37) is connected to the fourth mounting seat (671); An encoder reading head (38), wherein the encoder reading head (38) is connected to the second mounting seat (321) so that the encoder reading head (38) is tangent to the edge of the circular grating encoder (37).

10. The seven-axis motion simulation platform according to claim 4, characterized in that: The one-dimensional turntable assembly (4) comprises: A turntable bearing (41), wherein a bearing mounting seat is disposed above the first platform body (13), and the turntable bearing (41) is disposed inside the bearing mounting seat; A load mounting platform (42), the load mounting platform (42) being connected to the turntable bearing (41); A harmonic reducer (43), the harmonic reducer (43) being arranged on the first platform body (13), and the harmonic reducer (43) being connected to the turntable bearing (41); A servo motor (44), wherein the servo motor (44) is disposed below the first platform body (13), and the servo motor (44) is connected to the harmonic reducer (43) and the turntable bearing (41).

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