A seven-axis motion simulation platform

Abstract

The present invention relates to the technical field of motion simulation platforms, and particularly relates to a seven-axis motion simulation platform, which includes an upper platform, a lower platform, a leg assembly, and a one-dimensional turntable 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 leg assembly is rotatably connected to the first hinge assembly, and the bottom is rotatably connected to the second hinge assembly; the one-dimensional turntable assembly is arranged above the upper platform; the first hinge assembly and the second hinge assembly respectively have an azimuth rotation degree of freedom with an axis along the horizontal direction and a pitch rotation degree of freedom with an axis along the vertical direction, and the leg assembly can expand and contract along its own axis direction. Thus, by combining a multi-axis parallel motion simulation platform and a single-axis one-dimensional turntable assembly, it can simultaneously achieve high-precision and high-stability small-range rapid motion trajectory tracking around an arbitrary rotation center in space with multiple degrees of freedom, as well as 360° large-range azimuth condition switching for different measured target points.

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] Facing the task requirements of space depth exploration, space efficient offense and defense, and future fine automation high-precision confrontation, higher requirements are put forward for the fast and high-precision dynamic alignment imaging characteristics of optical systems in the visible and infrared spectral bands. In order to evaluate the tracking and aiming performance of an optical system for dynamic targets, a motion simulation platform is needed to simulate the multi-dimensional motion characteristics of the observed dynamic targets. In addition, in order to evaluate the multi-mode working characteristics of the optical system, the observed dynamic target also needs to have a large-range azimuth switching function.

[0003] Existing motion simulation platforms mainly adopt a design of combining and stacking multiple single-axis modules that realize translation and rotation. Such a motion simulation platform can achieve large-range motion and has the advantage of flexible configuration. However, it will also amplify the cumulative errors of each single-axis module, and has disadvantages such as weak bearing capacity, low stiffness, low stability, and large structural size envelope, and cannot achieve dynamic tracking control with high precision and wide bandwidth dynamic stability and a structurally compact integrated design.

[0004] Another existing motion simulation platform adopts a parallel design and has characteristics such as six-degree-of-freedom motion control, high precision, no cumulative error, high stiffness, high load-bearing capacity, and a structurally compact integrated design. In a limited envelope space, it can achieve six-degree-of-freedom attitude dynamic high-precision motion control of the equipment on the motion platform and simulate complex motion trajectories. However, the motion stroke of the parallel motion simulation platform is limited and it cannot complete the large-range azimuth pose switching working 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. By integrally arranging a multi-degree-of-freedom parallel motion simulation platform and a single-axis one-dimensional turntable assembly, it can simultaneously achieve high-precision and high-stability small-range fast motion trajectory tracking around an arbitrary rotation center in space, and 360° large-range azimuth working condition switching of different measured target points.

[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. A plurality of first mounting parts are circumferentially and spacedly arranged on 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 and spacedly arranged on 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 with an axis along the horizontal direction and a pitch rotation degree of freedom with an axis along the vertical direction, the second hinge assembly has an azimuth rotation degree of freedom with an axis along the vertical direction and a pitch rotation degree of freedom with an axis along the horizontal direction, and the leg assembly can expand and contract along its own axis direction.

[0007] Preferably, the tops of two adjacent leg assemblies are connected to the first hinge assemblies located on the same first mounting part, and the bottoms are connected to the second hinge assemblies located on two adjacent second mounting parts; or the tops of two adjacent leg assemblies are connected to the first hinge assemblies located on two adjacent first mounting parts, and the bottoms are connected to the second hinge assemblies located on the same second mounting part.

[0008] Preferably, for any two leg assemblies whose tops are connected to the first hinge assemblies located on the same first mounting part, the bottoms are respectively connected to the second hinge assemblies located on two adjacent second mounting parts.

[0009] Preferably, the upper platform further includes a first platform body, the first platform body is disc-shaped, the first mounting parts are arranged on the bottom of the first platform body, and a plurality of first mounting holes are provided in the first mounting parts; wherein, the axial direction of the first mounting holes is perpendicular to the axial direction of the first platform body, and the first hinge assemblies are connected to the first mounting holes.

[0010] Preferably, the lower platform further includes a second platform body, the second platform body is disc-shaped, the second mounting parts are arranged on the second platform body, and a plurality of second mounting holes are provided in the second mounting parts; wherein, the axial direction of the second mounting holes is parallel to the axial direction of the second platform body, and the second hinge assemblies are connected to the second mounting holes.

[0011] Preferably, the first hinge assembly and / or the second hinge assembly includes an azimuth bearing seat, an azimuth shaft, a pitch bearing seat, and a pitch shaft. The azimuth bearing seat is connected to the first mounting hole and / or the second mounting hole. An azimuth bearing is provided inside the azimuth bearing seat, and a first gland is provided at the bottom of the azimuth bearing seat. The azimuth shaft 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 above the azimuth shaft. A pitch bearing is provided inside the pitch bearing seat, and a second gland and a third gland are respectively provided on both sides of the pitch bearing seat. The pitch shaft passes through the pitch bearing, and a second locking nut is screwed on the pitch shaft.

[0012] Preferably, the outrigger assembly includes a first support cylinder, a second support cylinder, and a drive transmission assembly. A first mounting seat is provided at the top of the first support cylinder, and the first mounting seat is used to connect to the pitch shaft of the first hinge assembly. The second support cylinder is sleeved outside the first support cylinder. A second mounting seat is provided at the bottom of the second support cylinder, and the second mounting seat is used to connect to the pitch shaft of the second hinge assembly. The drive transmission assembly is provided inside the second support cylinder, and the drive transmission assembly is connected to the first support cylinder and the second support cylinder to enable the first support cylinder to be telescopic relative to the second support cylinder along the axial direction.

[0013] Preferably, the outrigger assembly further includes a third mounting seat, a third support cylinder, and a support cylinder transition piece. The third mounting seat is provided at the bottom of the second support cylinder, and the third mounting seat is used to mount the drive transmission assembly. The third support cylinder is connected to the third mounting seat to enable the drive transmission assembly to pass through the third mounting seat and extend into the interior of the third support cylinder. The support cylinder transition piece is connected to the third support cylinder, and the second mounting seat is provided at the bottom of the support cylinder transition piece.

[0014] Preferably, the drive transmission assembly includes a drive motor, a lead screw nut, a lead screw bearing seat, a lead 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 lead screw nut is connected to the first support cylinder. The lead screw bearing seat is connected to the third mounting seat. A lead screw bearing is provided inside the lead screw bearing seat, and a fourth gland is provided at the bottom of the lead screw bearing seat. The lead screw is screwed on the lead screw nut, and the bottom of the lead screw passes through the lead screw bearing and extends into 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 lead 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 outrigger assembly further 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 lead screw, and the circular grating encoder is connected to the fourth mounting seat. The encoder reading head is connected to the second mounting seat to enable the encoder reading head to be 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. There is a bearing mounting seat 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 is connected to the turntable bearing; the servo motor is arranged below the first platform body and 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:

[0018] (1) A seven-axis motion simulation platform provided by the present invention combines a multi-degree-of-freedom parallel motion simulation platform and a single-axis one-dimensional turntable assembly with high stiffness and high compact integration, combines a parallel mechanism with a series mechanism, so as to simultaneously achieve high-precision and high-stability small-range rapid motion trajectory tracking around an arbitrary rotation center in space and 360° large-range azimuth working condition switching of different measured target points.

[0019] (2) In a seven-axis motion simulation platform provided by the present invention, the first hinge assembly and the upper platform, and the second hinge assembly and the lower platform are connected by means of shaft-hole fit, which can improve the assembly accuracy among the upper platform, the leg assembly, and the lower platform, and save the occupied space of the multi-degree-of-freedom motion simulation platform.

[0020] (3) In a seven-axis motion simulation platform provided by the present invention, the driving transmission assembly transmits the rotation of the driving motor to the lead screw through a synchronous pulley assembly, so that when the lead screw rotates, the lead screw nut can drive the second support cylinder to expand and contract relative to the first support cylinder; at the same time, using a synchronous pulley assembly for transmission can also shorten the design distance of the leg assembly.

[0021] (4) In a seven-axis motion simulation platform provided by the present invention, the leg assembly further includes an absolute encoder, a circular grating encoder, and an encoder reading head. By closed-loop controlling the rotation speed and rotation angle of the driving motor, the driving accuracy of the leg assembly for the upper platform can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0023] Figure 1 is a schematic structural diagram of a seven-axis motion simulation platform provided by an embodiment of the present invention;

[0024] Figure 2 is a schematic structural diagram of the upper platform provided by an embodiment of the present invention;

[0025] Figure 3 It is a schematic structural diagram of the lower platform provided by an embodiment of the present invention;

[0026] Figure 4 It is a schematic structural diagram of the first hinge assembly and / or the second hinge assembly provided by an embodiment of the present invention;

[0027] Figure 5 It is a schematic structural diagram of the leg assembly provided by an embodiment of the present invention;

[0028] Figure 6 It is a schematic structural diagram of the drive transmission assembly provided by an embodiment of the present invention;

[0029] Figure 7 It is a schematic structural diagram of the one-dimensional turntable assembly provided by an embodiment of the present invention.

[0030] The reference numerals therein include:

[0031] 1 Upper platform, 11 First mounting portion, 111 First mounting hole, 12 First hinge assembly, 13 First platform main body, 2 Lower platform, 21 Second mounting portion, 211 Second mounting hole, 22 Second hinge assembly, 23 Second platform main body, 3 Leg assembly, 31 First support cylinder, 311 First mounting seat, 32 Second support cylinder, 321 Second mounting seat, 33 Third mounting seat, 34 Third support cylinder, 35 Support cylinder transition piece, 36 Absolute encoder, 37 Circular grating encoder, 38 Encoder reading head, 39 Support cylinder outer cover, 4 One-dimensional turntable assembly, 41 Turntable bearing, 42 Load mounting platform, 43 Harmonic reducer, 44 Servo motor, 45 Turntable outer cover, 51 Azimuth bearing seat, 511 Azimuth bearing, 512 First gland, 52 Azimuth shaft, 521 First locking nut, 53 Pitch bearing seat, 531 Pitch bearing, 532 Second gland, 533 Third gland, 54 Pitch shaft, 541 Second locking nut, 61 Drive motor, 62 Brake, 63 Lead screw nut, 64 Lead screw bearing seat, 65 Lead screw bearing, 66 Fourth gland, 67 Lead screw, 671 Fourth mounting seat, 681 First pulley, 682 Second pulley, 683 Synchronous toothed belt, 69 Motor outer cover. Detailed implementation manners

[0032] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Similar elements in different embodiments are labeled with related similar element numbers. In the following embodiments, many detailed descriptions are provided to enable a better understanding of the present invention. 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, or methods. In some cases, some operations related to the present invention are not shown or described in the specification, in order to avoid the core part of the present invention being overwhelmed by excessive descriptions. 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 based on the descriptions in the specification and the general technical knowledge in the art.

[0033] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other to form various embodiments. At the same time, the steps or actions in the method description can also be adjusted in the order that is obvious to those skilled in the art. Therefore, the various sequences in the specification and drawings are only for clearly describing a certain embodiment, and do not mean that they are the necessary sequences, unless it is stated that a certain sequence must be followed.

[0034] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation 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 orientation, be constructed and operated in a specific orientation, and therefore should not be construed 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 quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0035] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0036] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0037] As Figure 1 shown, an embodiment of the present invention provides a seven-axis motion simulation platform, which specifically includes 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 circumferentially and spacedly arranged on the upper platform 1, and a plurality of first hinge assemblies 12 are arranged on the first mounting portions 11. The lower platform 2 is located below the upper platform 1 and is used as the base of the seven-axis motion simulation platform. A plurality of second mounting portions 21 are circumferentially and spacedly arranged on the lower platform 2, and a plurality of second hinge assemblies 22 are arranged on the second mounting portions 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, small-range motion trajectory tracking of the measured target point around any rotation center in space can be achieved. The one-dimensional turntable assembly 4 is connected above the upper platform 1, so that on the basis of the seven-axis motion simulation platform achieving small-range motion trajectory tracking of the measured target point around any rotation center in space, 360° large-range azimuth working condition switching of the measured target point can also be achieved through the one-dimensional turntable assembly 4.

[0038] Among them, the specific numbers of the first mounting portion 11, the first hinge assembly 12, the second mounting portion 21, and the second hinge assembly 22 are not limited here. Only the numbers of the first hinge assembly 12 and the second hinge assembly 22 need to correspond one by one for respectively connecting the top and the bottom of the leg assembly 3. In some possible embodiments, three first mounting portions 11 are arranged on the upper platform 1, and two first hinge assemblies 12 are arranged on each first mounting portion 11; three second mounting portions 21 are arranged on the lower platform 2, and two second hinge assemblies 22 are arranged on each second mounting portion 21.

[0039] Among them, the first hinge assembly 12 has an azimuth rotation degree of freedom with an axis along the horizontal direction and a pitch rotation degree of freedom with an axis along the vertical direction. The second hinge assembly 22 has an azimuth rotation degree of freedom with an axis along the vertical direction and a pitch rotation degree of freedom with an axis along the horizontal direction. The leg assembly 3 can be telescoped along its own axis direction. Thus, it is possible to simultaneously achieve high-precision and 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 for different measured target points.

[0040] As Figure 1 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 two adjacent leg assemblies 3 are connected to the first hinge assembly 12 located in the same first mounting part 11, and the bottoms are connected to the second hinge assembly 22 located in two adjacent second mounting parts 21. The second connection method is: the tops of two adjacent leg assemblies 3 are connected to the first hinge assembly 12 located in two adjacent first mounting parts 11, and the bottoms are connected to the second hinge assembly 22 located in the same second mounting part 21. Such a layout enables small-range motion trajectory tracking of the measured target point around an arbitrary rotation center in space by adjusting the leg assembly 3, the first hinge assembly 12, and the second hinge assembly 22.

[0041] As Figure 1 and Figure 2 shown, the upper platform 1 further includes a first platform main body 13. The first platform main body 13 is disc-shaped. The first mounting parts 11 are arranged at equal intervals along the circumference at the bottom of the first platform main body 13. A plurality of first mounting holes 111 are formed in the first mounting parts 11. Among them, the axis direction of the first mounting holes 111 is perpendicular to the axis direction of the first platform main body 13. The first hinge assembly 12 is connected to the first mounting holes 111 by screws.

[0042] As Figure 1 and Figure 3 shown, the lower platform 2 further includes a second platform main body 23. The second platform main body 23 is disc-shaped. The second mounting parts 21 are arranged at equal intervals along the circumference on the second platform main body 23. A plurality of second mounting holes 211 are formed in the second mounting parts 21. Among them, the axis direction of the second mounting holes 211 is parallel to the axis direction of the second platform main body 23. The second hinge assembly 22 is connected to the second mounting holes 211 by screws.

[0043] That is to say, the installation direction of the first hinge assembly 12 is perpendicular to the installation direction of the second hinge assembly 22. Therefore, it can achieve the tracking of the small-range movement trajectory of the measured target point around any rotation center in space. In some possible embodiments, two first mounting holes 111 are provided on each first mounting portion 11, and two second mounting holes 211 are provided on each second mounting portion 21.

[0044] As Figures 1 to 4 shown, the structures of the first hinge assembly 12 and the second hinge assembly 22 are the same, including an azimuth bearing seat 51, an azimuth shaft 52, a pitch bearing seat 53, and a pitch shaft 54. A flange is provided on the outer ring of the azimuth bearing seat 51. After the azimuth bearing seat 51 of the first hinge assembly 12 is connected to the first mounting hole 111 on the first platform main body 13, screws are used to fasten the flange to the edge of the first mounting hole 111; after the azimuth bearing seat 51 of the second hinge assembly 22 is connected to the second mounting hole 211 on the second platform main body 23, screws are used to fasten the flange to the edge of the second mounting hole 211. An azimuth bearing 511 is provided inside the azimuth bearing seat 51, and a first gland 512 is provided at the bottom of the azimuth bearing seat 51. The first gland 512 is used to press the outer ring of the azimuth bearing 511 against the inner ring of the azimuth bearing seat 51, so as to axially position the azimuth bearing 511. The azimuth shaft 52 passes through the azimuth bearing 511, and a first locking nut 521 is screwed at the bottom of the azimuth shaft 52 to press the outer ring of the azimuth shaft 52 against the inner ring of the azimuth bearing 511, so as to axially position the azimuth shaft 52.

[0045] Among them, by connecting in the way of shaft-hole fit, the assembly accuracy between the first hinge assembly 12 and the upper platform 1, and between the second hinge assembly 22 and the lower platform 2 can be improved, and the occupied space of the seven-axis motion simulation platform can be saved.

[0046] As Figure 4 shown, the pitch bearing seat 53 is fixedly arranged above the azimuth shaft 52. The pitch bearing seat 53 and the azimuth shaft 52 can be integrally designed or separately arranged and then fixedly connected. A pitch bearing 531 is provided inside the pitch bearing seat 53, and a second gland 532 and a third gland 533 are respectively provided on both sides of the pitch bearing seat 53 to press the outer ring of the pitch bearing 531 against the inner ring of the pitch bearing seat 53, so as to axially position the pitch bearing 531. Preferably, the pitch bearing 531 adopts a pair of bearings. The pitch shaft 54 passes through the pitch bearing 531, and a second locking nut 541 is screwed on the pitch shaft 54 to press the outer ring of the pitch shaft 54 against the inner ring of the pitch bearing 531, so as to axially position the pitch shaft 54. Preferably, symmetric pressing ends are further provided on both sides of the pitch shaft 54 for connecting with other structures in a pressing manner.

[0047] Thus, the two-degree-of-freedom rotational adjustment function of pitching orientation of the first hinge assembly 12 and the second hinge assembly 22 can be realized.

[0048] As Figure 5 shown, the leg assembly 3 includes a first support cylinder 31, a second support cylinder 32, and a driving and transmission assembly. A first mounting seat 311 is provided at the top of the first support cylinder 31, and the first mounting seat 311 is used for tightly connecting with the pitching shaft 54 of the first hinge assembly 12. The second support cylinder 32 is sleeved outside the first support cylinder 31, and a second mounting seat 321 is provided at the bottom of the second support cylinder 32. The second mounting seat 321 is used for tightly connecting with the pitching shaft 54 of the second hinge assembly 22. The driving and transmission assembly is disposed inside the second support cylinder 32, and the driving and transmission assembly is connected to the first support cylinder 31 and the second support cylinder 32, so that the first support cylinder 31 can be telescopic relative to the second support cylinder 32 along its own axis direction, thereby enabling small-range movement trajectory tracking of the measured target point around an arbitrary rotation center in space by adjusting the leg assembly 3.

[0049] Wherein, the first mounting seat 311 includes two symmetrically arranged first mounting members, and the two first mounting members are respectively and tightly connected to both sides of the pitching shaft 54 of the first hinge assembly 12; the second mounting seat 321 includes two symmetrically arranged second mounting members, and the two second mounting members are respectively and tightly connected to both sides of the pitching shaft 54 of the second hinge assembly 22.

[0050] Specifically, as Figure 4 shown, pressing ends are provided on both sides of the pitching shaft 54. As Figure 5 shown, arc-shaped grooves are provided on the first mounting member and the second mounting member. The arc-shaped grooves are matched with the pressing ends, and the pressing ends of the pitching shaft 54 are pressed against the arc-shaped grooves through connecting members, thereby realizing the connection between the top of the leg assembly 3 and the first hinge assembly 12, and the connection between the bottom of the leg assembly 3 and the second hinge assembly 22.

[0051] As Figure 5 shown, the leg assembly 3 further includes a third mounting seat 33, a third support cylinder 34, and a support cylinder transition member 35. The third mounting seat 33 is provided at the bottom of the second support cylinder 32, and the third mounting seat 33 is used for mounting the driving and transmission assembly. The third support cylinder 34 is connected to the third mounting seat 33, so that the third support cylinder 34 is located at one end of the bottom of the second support cylinder 32; the driving and transmission assembly passes through the third mounting seat 33 and extends into the interior of the third support cylinder 34, so that the driving and transmission assembly can be used to drive the first support cylinder 31 to be telescopic relative to the second support cylinder 32. The support cylinder transition member 35 is connected to the third support cylinder 34, and the second mounting seat 321 is provided at the bottom of the support cylinder transition member 35, and is used for tightly connecting with the pressing ends on both sides of the pitching shaft 54 of the second hinge assembly 22.

[0052] In some possible embodiments, a support cylinder outer cover 39 is further provided outside the third support cylinder 34. The support cylinder outer cover 39 is connected to the third support cylinder 34 and the support cylinder transition member 35 for protecting the transmission assembly.

[0053] As Figure 5 and Figure 6 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 for providing power to the drive transmission assembly. A brake 62 is connected to the end of the drive motor 61 for decelerating or stopping the operation of 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 provided inside the lead screw bearing seat 64, and a fourth gland 66 is provided at the bottom of the lead screw bearing seat 64 for pressing the outer ring of the lead screw bearing 65 against the inner ring of the lead screw bearing seat 64, thereby axially positioning the lead screw bearing 65. The lead screw 67 is screwed into the lead screw nut 63. The bottom of the lead screw 67 passes through the lead screw bearing 65 and extends into the interiors of the third support cylinder 34 and the support cylinder transition member 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 lead 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 lead screw 67 can be driven to rotate through the synchronous pulley assembly.

[0054] Specifically, the part of the lead screw 67 extending into the third support cylinder 34 is used for connecting with the synchronous pulley assembly. The bottom of the lead screw 67 extends into the support cylinder transition member 35 and is rotatably connected to the support cylinder transition member 35, so that the support cylinder transition member 35 can limit the lead screw, making the lead screw 67 rotatable along its own axis direction but not liftable. That is to say, 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 cylinder 31 to expand and contract relative to the second support cylinder 32 along its own axis direction. At the same time, using the synchronous pulley assembly for transmission can also shorten the design distance of the leg assembly 3.

[0055] In some possible embodiments, the lead screw bearing 65 adopts an angular contact bearing.

[0056] As Figure 6As shown, the outrigger assembly 3 further includes an absolute encoder 36, a circular grating encoder 37, and an encoder reading head 38. The absolute encoder 36 is disposed at the end of the brake 62. A fourth mounting seat 671 is provided 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 such that the encoder reading head 38 is tangent to the edge of the circular grating encoder 37.

[0057] Among them, by providing the absolute encoder 36 and the circular grating encoder 37, the feedback of the rotational speed and rotation angle of the drive motor 61 is realized, and the driving accuracy of the outrigger assembly 3 for the upper platform 1 can be ensured. Preferably, both the absolute encoder 36 and the circular grating encoder 37 are high-precision encoders.

[0058] In some possible embodiments, the drive transmission assembly further includes a motor housing 69. The motor housing 69 is disposed outside 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 housing 69 is used to protect the drive motor 61, the brake 62, and the absolute encoder 36.

[0059] As Figure 1 and Figure 7 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. Above the first platform body 13, a bearing mounting seat is provided. 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 above the inner ring of the turntable bearing 41. The rigid gear of the harmonic reducer 43 is connected to the first platform body 13, and 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 below 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, such that the servo motor 44 can drive the harmonic reducer 43 to rotate, and further drive the load mounting platform 42 to rotate, that is, to realize the 360° large-range azimuth working condition switching of different measured target points.

[0060] In some possible embodiments, the one-dimensional turntable assembly 4 further includes a turntable housing 45. The turntable housing 45 is connected to the first platform body 13 and sleeved outside the servo motor 44.

[0061] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0062] The specific embodiments of the present invention described above do not limit the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A seven-axis motion simulation platform, characterized in that, Comprising: An upper platform (1), on which a plurality of first mounting parts (11) are circumferentially and spacedly arranged, and a plurality of first hinge assemblies (12) are arranged on the first mounting parts (11); A lower platform (2), which is located below the upper platform (1), on which a plurality of second mounting parts (21) are circumferentially and spacedly arranged, and a plurality of second hinge assemblies (22) are arranged on the second mounting parts (21); A leg assembly (3), the top of which is rotatably connected to the first hinge assembly (12), and the bottom of which is rotatably connected to the second hinge assembly (22); A one-dimensional turntable assembly (4), which is arranged above the upper platform (1); Wherein, the first hinge assembly (12) has an azimuth rotation degree of freedom with an axis along the horizontal direction and a pitch rotation degree of freedom with an axis along the vertical direction, the second hinge assembly (22) has an azimuth rotation degree of freedom with an axis along the vertical direction and a pitch rotation degree of freedom with an axis along the horizontal direction, and the leg assembly (3) can be telescoped along its own axis direction; The upper platform (1) further includes: a first platform body (13), the first platform body (13) is disc-shaped, the first mounting parts (11) are arranged at the bottom of the first platform body (13), and a plurality of first mounting holes (111) are formed in the first mounting parts (11); Wherein, 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); The lower platform (2) further includes: a second platform body (23), the second platform body (23) is disc-shaped, the second mounting parts (21) are arranged on the second platform body (23), and a plurality of second mounting holes (211) are formed in the second mounting parts (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); The installation direction of the first hinge assembly (12) is perpendicular to the installation direction of the second hinge assembly (22); The first hinge assembly (12) and / or the second hinge assembly (22) includes: An azimuth bearing seat (51), the azimuth bearing seat (51) is connected to the first mounting hole (111) and / or the second mounting hole (211), an azimuth bearing (511) is arranged inside the azimuth bearing seat (51), and a first gland (512) is arranged at the bottom of the azimuth bearing seat (51); An azimuth shaft (52), the azimuth shaft (52) passes through the azimuth bearing (511), and a first locking nut (521) is screwed at the bottom of the azimuth shaft (52); Pitch bearing housing (53), the pitch bearing housing (53) is connected above the azimuth axis (52), a pitch bearing (531) is arranged inside the pitch bearing housing (53), and a second gland (532) and a third gland (533) are respectively arranged on both sides of the pitch bearing housing (53); Pitch axis (54), the pitch axis (54) passes through the pitch bearing (531), and a second locking nut (541) is screwed on the pitch axis (54).

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 assembly (22) located at two adjacent second mounting portions (21); Or the tops of 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).

3. The seven-axis motion simulation platform according to claim 1, characterized in that, The leg assembly (3) includes: A first support cylinder (31), a first mounting seat (311) is arranged at the top of the first support cylinder (31), and the first mounting seat (311) is used for connecting with the pitch axis (54) of the first hinge assembly (12); A second support cylinder (32), the second support cylinder (32) is sleeved outside the first support cylinder (31), a second mounting seat (321) is arranged at the bottom of the second support cylinder (32), and the second mounting seat (321) is used for connecting with the pitch axis (54) of the second hinge assembly (22); A drive transmission assembly, the drive transmission assembly is arranged inside the second support cylinder (32), and the drive transmission assembly is connected to the first support cylinder (31) and the second support cylinder (32) to make the first support cylinder (31) axially telescopic relative to the second support cylinder (32).

4. The seven-axis motion simulation platform according to claim 3, characterized in that The leg assembly (3) further includes: A third mounting seat (33), the third mounting seat (33) is arranged at the bottom of the second support cylinder (32), and the third mounting seat (33) is used for mounting the drive transmission assembly; A third support cylinder (34), the third support cylinder (34) is connected to the third mounting seat (33) to make the drive transmission assembly pass through the third mounting seat (33) and extend into the interior of the third support cylinder (34); A support cylinder transition piece (35), the support cylinder transition piece (35) is connected to the third support cylinder (34), and the second mounting seat (321) is arranged at the bottom of the support cylinder transition piece (35).

5. The seven-axis motion simulation platform according to claim 4, wherein The drive transmission assembly includes: A drive motor (61), the drive motor (61) is connected to the third mounting seat (33), and a brake (62) is arranged on the drive motor (61); A lead screw nut (63), the lead screw nut (63) is connected to the first support cylinder (31); Lead screw bearing block (64), the lead screw bearing block (64) is connected to the third mounting seat (33), a lead screw bearing (65) is arranged inside the lead screw bearing block (64), and a fourth gland (66) is arranged at the bottom of the lead screw bearing block (64); Lead screw (67), the lead screw (67) is screwed into the lead screw nut (63), the bottom of the lead screw (67) passes through the lead screw bearing (65) and extends to the third support cylinder (34) and the support cylinder transition piece (35); Synchronous belt pulley assembly, the synchronous belt pulley assembly includes a first belt pulley (681), a second belt pulley (682) and a synchronous toothed belt (683), the first belt pulley (681) is sleeved on the lead screw (67), the second belt pulley (682) is sleeved on the drive motor (61), and the synchronous toothed belt (683) is wound around the first belt pulley (681) and the second belt pulley (682).

6. The seven-axis motion simulation platform according to claim 5, characterized in that, The leg assembly (3) further includes: Absolute encoder (36), the absolute encoder (36) is connected to the brake (62); Circular grating encoder (37), a fourth mounting seat (671) is arranged at the bottom of the lead screw (67), and the circular grating encoder (37) is connected to the fourth mounting seat (671); Encoder reading head (38), 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).

7. The seven-axis motion simulation platform according to claim 1, wherein, The one-dimensional turntable assembly (4) includes: Turntable bearing (41), a bearing mounting seat is arranged above the first platform main body (13), and the turntable bearing (41) is arranged inside the bearing mounting seat; Load mounting platform (42), the load mounting platform (42) is connected to the turntable bearing (41); Harmonic reducer (43), the harmonic reducer (43) is arranged on the first platform main body (13), and the harmonic reducer (43) is connected to the turntable bearing (41); Servo motor (44), the servo motor (44) is arranged below the first platform main body (13), and the servo motor (44) is connected to the harmonic reducer (43) and the turntable bearing (41).

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