Six-degree-of-freedom platform based on load force sensing technology

Abstract

The invention relates to the technical field of six-degree-of-freedom motion simulation platforms, and discloses a six-degree-of-freedom platform based on a load force sensing technology, which comprises a six-degree-of-freedom platform body consisting of a lower platform and an upper platform. Through the shaft pin force sensor connected with the horizontal Hooke joint on the upper platform, the weight loaded by the upper platform can be detected, and the direction and magnitude of external force can be sensed; a shaft pin force sensor connected with a horizontal Hooke joint on the lower platform can detect the force and the torque on the turn-back type electric cylinder driver. After the control system receives a signal of the shaft pin force sensor, the working state of each turn-back type electric cylinder driver is automatically adjusted through a built-in algorithm, so that the platform can quickly recover to a balance state when being subjected to external disturbance or load change, the design not only improves the motion precision and the response speed of the platform, but also enhances the anti-jamming capability of the platform, and the service life of the platform is prolonged. Therefore, the method is suitable for various complex environments and application scenes with high requirements on force control.

Description

Technical Field

[0001] The present invention relates to the technical field of six-degree-of-freedom load force control platform, and in particular to a six-degree-of-freedom platform based on load force sensing technology. Background Art

[0002] The six-degree-of-freedom platform is a mechanical system that can achieve multi-degree-of-freedom motion in space, including three linear displacement degrees of freedom (front and back, left and right, up and down) and three angular rotation degrees of freedom (pitch, yaw, roll). They are widely used in scenarios such as robot control, simulation, force feedback and high-precision operation.

[0003] The existing technical solutions have the following deficiencies:

[0004] First, the traditional six-degree-of-freedom platform is mainly based on the structural design of the parallel mechanism, and realizes the control of spatial motion through the coordination between six adjustable drives. However, the existing six-degree-of-freedom platform generally only has the position control function, and lacks the real-time perception ability of external loads and force changes. When the platform is disturbed by external forces or load changes during operation, the response speed and stability of the system are limited, which affects the working accuracy. In addition, since the platform may be affected by external forces in different directions when performing complex movements, it is impossible to detect and feedback these forces in real time, resulting in poor stability and safety during use;

[0005] Second, the existing six-degree-of-freedom platform is relatively lacking in the protective structure of the operating area, which makes it difficult to ensure the safety of the operator, reduces the operator's comfort during use and reduces the flexibility during operation. Further improvement and optimization of the protective structure is needed;

[0006] Therefore, we need to design a six-degree-of-freedom platform based on load force sensing technology to solve the above problems. Summary of the invention

[0007] The purpose of the present invention is to provide a six-degree-of-freedom platform based on load force sensing technology to solve the problem that the existing six-degree-of-freedom platform mentioned in the above background technology lacks real-time sensing capability.

[0008] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a six-degree-of-freedom platform based on load force sensing technology, comprising a six-degree-of-freedom platform body, which is composed of a lower platform and an upper platform, the lower platform is connected with horizontal Hooke's hinges by bolts in three directions, two are arranged in each group, and the three groups of horizontal Hooke's hinges point to the center point of the lower platform, and axle pin force sensors are fixed in the six horizontal Hooke's hinges above the lower platform respectively, and inclined blocks are connected in parallel with the three directions staggered with the lower platform below the upper platform, two are arranged in each group, and the inclined blocks are used to adjust the angles of the horizontal Hooke's hinges connected thereto, and the inclined blocks are fixed to the horizontal Hooke's hinges by bolts, and the three groups of horizontal Hooke's hinges point to the center point of the upper platform, and the axle pin force sensors are inserted into the six horizontal Hooke's hinges below the upper platform.

[0009] Preferably, a reciprocating electric cylinder driver is fixed at the output end of the axle pin force sensor, and the lower platform is connected to the upper platform through the reciprocating electric cylinder driver. One end of the reciprocating electric cylinder driver with a motor is fixed in the axle pin force sensor on the lower platform, and the other end is staggered and fixed to the axle pin force sensor on the upper platform.

[0010] Preferably, a protective plate is connected to the top of the upper platform, and two groups are provided with it. A lower hinge seat is fixed on the top of the upper platform, and two groups are provided with each group. Fixed seats are fixed on both sides of the lower hinge seat, and a movable plate is movably connected inside the fixed seat, and a protective plate is fixed above the upper plate, and an upper hinge seat is fixed below the protective plate, and a supporting seat is fixed on both sides of the lower hinge seat, and the inner side of the supporting seat is rotatably connected with a positive and negative thread screw, and a connecting seat is sleeved on the outer side of the positive and negative thread screw, and the upper and lower ends of the connecting seat are movably connected with a first movable connecting rod and a second movable connecting rod respectively, and a handle is fixed on the outer side above the support seat, and its output end is connected with the positive and negative thread screws, a fixed seat is fixed above the upper platform outside the support seat, and a movable plate is movably connected inside the fixed seat, and the top of the movable plate is fixedly connected to the bottom of the protective plate.

[0011] Preferably, guide blocks are fixed on both sides of the movable plate, guide grooves are provided on the inner side of the fixed seat, and the movable plates are slidably connected to the guide grooves, and the two guide and limit the movable plates.

[0012] Preferably, a protective pad is fixed to the inner side of the protective plate, and a protective mechanism is provided inside the protective plate.

[0013] Preferably, the protective mechanism includes a receiving groove, which is opened inside the protective plate and is provided with two groups. Mounting rods are fixed at both ends of the receiving groove, and a movable sleeve is provided on the outer side of the mounting rod. A spring is wound at one end of the movable sleeve on the outer side of the mounting rod. A connecting rod body is movably connected inside the receiving groove, and the connecting rod body and the mounting rod are connected through a movable sleeve.

[0014] Preferably, the outer side of the protective pad is in an arc shape and is made of rubber.

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

[0016] (1) The pin force sensor connected to the horizontal Hook's hinge on the upper platform can not only detect the weight loaded on the upper platform, but also sense the direction and magnitude of the external force; the pin force sensor connected to the horizontal Hook's hinge on the lower platform can detect the force and torque on the reciprocating electric cylinder driver. After the control system receives the pin force sensor signal, it automatically adjusts the working state of each reciprocating electric cylinder driver through the built-in algorithm, so that the platform can quickly return to a balanced state when it is disturbed by the outside world or the load changes. This design not only improves the motion accuracy and response speed of the platform, but also enhances its anti-interference ability, making it suitable for various complex environments and application scenarios with high requirements for force control;

[0017] (2) By designing a protective structure, the height of the protective structure can be adjusted according to the height of the object being operated, thereby enhancing its flexibility and comfort during use. At the same time, by setting up a protective mechanism, further safety protection can be provided for the object being operated, preventing the operator from colliding with corners during operation, thereby improving its safety performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the six-degree-of-freedom platform body of the present invention;

[0020] Figure 2 It is a schematic diagram of the connection structure between a single reciprocating electric cylinder driver and upper and lower platforms of the present invention;

[0021] Figure 3 It is a structural schematic diagram of the lower platform and the position distribution of six horizontal Hooke's joints of the present invention;

[0022] Figure 4 It is a structural schematic diagram of the upper platform and the position distribution of six horizontal Hooke's joints of the present invention;

[0023] Figure 5 It is an overall three-dimensional schematic diagram of the present invention;

[0024] Figure 6 It is a front plan view schematic diagram of the protective structure of the present invention;

[0025] Figure 7 It is a front cross-sectional schematic diagram of the protection mechanism of the present invention.

[0026] Explanation of the reference numerals in the figure: 1. six-degree-of-freedom platform body; 101. lower platform; 102. upper platform; 103. horizontal Hook hinge; 104. reciprocating electric cylinder driver; 105. axle pin force sensor; 106. inclined block; 2. protective plate; 3. upper hinge seat; 4. first movable connecting rod; 5. positive and negative thread screw; 6. handle; 7. connecting seat; 8. second movable connecting rod; 9. lower hinge seat; 10. fixed seat; 11. movable plate; 12. guide groove; 13. guide block; 14. protective pad; 15. protective mechanism; 1501. accommodating groove; 1502. connecting block; 1503. connecting rod body; 1504. movable sleeve; 1505. mounting rod; 1506. spring; 16. supporting seat. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the invention to clearly and completely describe the technical solutions in the embodiments of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of the embodiments. Based on the embodiments of the invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the invention.

[0028] Embodiment 1

[0029] In order to solve the problem that the existing six-degree-of-freedom platform lacks real-time perception capability, the following solution is disclosed. Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown:

[0030] A six-degree-of-freedom platform based on load force sensing technology includes a six-degree-of-freedom platform body 1, which is composed of a lower platform 101 and an upper platform 102. The lower platform 101 is connected with horizontal Hooke's hinges 103 by bolts in three directions, and each group is provided with two. The three groups of horizontal Hooke's hinges 103 point to the center point of the lower platform 101. Axle pin force sensors 105 are fixed in the six horizontal Hooke's hinges 103 above the lower platform 101, respectively. Inclined blocks 106 are parallelly connected to the three directions staggered with the lower platform 101 below the upper platform 102, and each group is provided with two. The inclined blocks 106 are used to adjust the angle of the horizontal Hooke's hinge 103 connected thereto. The inclined blocks 106 are fixed to the horizontal Hooke's hinge 103 by bolts. The three groups of horizontal Hooke's hinges 103 point to the center point of the upper platform 102, and the axle pin force sensors 105 are inserted into the six horizontal Hooke's hinges 103 below the upper platform 102.

[0031] A reciprocating electric cylinder driver 104 is fixed at the output end of the axle pin force sensor 105, and the lower platform 101 is connected to the upper platform 102 through the reciprocating electric cylinder driver 104. One end of the reciprocating electric cylinder driver 104 with a motor is fixed in the axle pin force sensor 105 on the lower platform 101, and the other end is staggered and fixed in the axle pin force sensor 105 on the upper platform 102.

[0032] Furthermore, the pin force sensor 105 connected to the horizontal Hooke's joint 103 on the lower platform 101 is used to measure the force and torque on the reciprocating electric cylinder driver 104 in real time. The pin force sensor 105 connected to the horizontal Hooke's joint 103 on the upper platform 102 is used to measure the force and torque on the upper platform 102 in real time. The pin force sensor 105 transmits the detected data to the control system, analyzes and processes it, and adjusts the motion parameters of the reciprocating electric cylinder driver 104 according to the real-time feedback information to ensure the stability and response speed of the six-degree-of-freedom platform body 1.

[0033] Furthermore, after receiving the signal from the pin force sensor 105, the control system calculates the driving force required to be provided by each reciprocating electric cylinder driver 104 through a built-in algorithm, and automatically adjusts the working state of each reciprocating electric cylinder driver 104, so that the six-degree-of-freedom platform body 1 can quickly return to a balanced state when subjected to external disturbances or load changes. The idea of ​​the algorithm is as follows:

[0034] First, consider the external forces acting on each reciprocating electric cylinder drive 104. Assume that there is no other external force acting on the reciprocating electric cylinder drive 104 except the driving force. Therefore, it can be assumed that the direction of the static force is the axial direction of the reciprocating electric cylinder drive 104. The reciprocating electric cylinder drive 104 has only tension / contraction force f iConsider the free body diagram of the forces and moments acting on the six-degree-of-freedom platform. According to static equilibrium, the sum of the forces acting on the six-degree-of-freedom platform is zero, so:

[0035]

[0036] Among them, is the external force of the environment acting on the six-degree-of-freedom platform. Further, the sum of the torques generated by the force acting on the center point of the upper platform 102 is as follows:

[0037]

[0038] Among them, is the external torque of the environment acting on the six-degree-of-freedom platform, is the position vector from the center point of the upper platform 102 to the connection point between the six-degree-of-freedom platform and the horizontal Hooke's joint 103, and the above two formulas are combined and written into a matrix form as follows:

[0039]

[0040] Among them, [f1,f2,f3,f4,f5,f6] T Provides the required driving force vector.

[0041] Embodiment 2

[0042] This embodiment is different from the first embodiment. By setting a protective structure, the operating object above the platform can be protected. Figure 5 , Figure 6 and Figure 7 As shown:

[0043] A protective plate 2 is connected to the upper part of the upper platform 102, and two groups of the protective plate 2 are provided. A lower hinge seat 9 is fixed on the upper part of the upper platform 102, and two groups of the protective plate 2 are provided in each group. Fixed seats 10 are fixed on both sides of the lower hinge seat 9, and a movable plate 11 is movably connected inside the fixed seat 10, a protective plate 2 is fixed above the movable plate 11, and an upper hinge seat 3 is fixed below the protective plate 2. Support seats 16 are fixed on both sides of the lower hinge seat 9, and a positive and negative threaded screw 5 is rotatably connected to the inner side of the support seat 16, and a connecting seat 7 is sleeved on the outer side of the positive and negative threaded screw 5, and the upper and lower ends of the connecting seat 7 are movably connected to the first movable connecting rod 4 and the second movable connecting rod 8 respectively, and a handle 6 is fixed on the outer side above the support seat 16, and its output end is connected to the positive and negative threaded screw 5, and a fixed seat 10 is fixed above the upper platform 102 outside the support seat 16, and a movable plate 11 is movably connected inside the fixed seat 10, and the upper part of the movable plate 11 is fixedly connected to the lower part of the protective plate 2;

[0044] Guide blocks 13 are fixed on both sides of the movable plate 11, and a guide groove 12 is provided on the inner side of the fixed seat 10, and the movable plate 11 is slidably connected to the guide groove 12, and the two guide and limit the movable plate 11;

[0045] A protective pad 14 is fixed to the inner side of the protective plate 2, and a protective mechanism 15 is provided inside the protective plate 2;

[0046] The protection mechanism 15 includes a receiving groove 1501, which is opened inside the protection plate 2 and is provided with two groups. The two ends of the receiving groove 1501 are fixed with mounting rods 1505, and the outer side of the mounting rod 1505 is sleeved with a movable sleeve 1504, and a spring 1506 is wound at one end of the movable sleeve 1504 outside the mounting rod 1505. The interior of the receiving groove 1501 is movably connected with a connecting rod body 1503, and the connecting rod body 1503 and the mounting rod 1505 are connected through the movable sleeve 1504.

[0047] The outer side of the protective pad 14 is in an arc shape and is made of rubber.

[0048] In this embodiment, when in use, the handle 6 is rotated according to the height of the operator, and under the action of the threaded connection, the connecting seat 7 is driven to move back and forth on the outside of the forward and reverse threaded screws 5, and the first movable connecting rod 4 and the second movable connecting rod 8 are hingedly connected, so that the protective plate 2 can be driven to move up and down so as to be suitable for operating objects of different heights. At the same time, by setting up a protective mechanism 15, when the operating object collides with the protective pad 14, the protective pad 14 drives the connecting block 1502 to move inward, so that the movable sleeve 1504 moves on the outside of the mounting rod 1505, and under the elastic action of the spring 1506, the collision force can be buffered to achieve a protective effect.

[0049] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A six-degree-of-freedom platform based on load force sensing technology, comprising a six-degree-of-freedom platform body (1), which is composed of a lower platform (101) and an upper platform (102), characterized in that: The lower platform (101) is connected with horizontal Hooke's hinges (103) in three directions by bolts, and each group is provided with two horizontal Hooke's hinges. The three groups of horizontal Hooke's hinges (103) point to the center point of the lower platform (101). Axle pin force sensors (105) are respectively fixed in the six horizontal Hooke's hinges (103) above the lower platform (101). Inclined blocks (106) are connected in parallel with the lower platform (101) in three directions below the upper platform (102). Each group is provided with two inclined blocks (106). The inclined blocks (106) are used to adjust the angle of the horizontal Hooke's hinges (103) connected thereto. The inclined blocks (106) are fixed to the horizontal Hooke's hinges (103) by bolts. The three groups of horizontal Hooke's hinges (103) point to the center point of the upper platform (102). The axle pin force sensors (105) are inserted into the six horizontal Hooke's hinges (103) below the upper platform (102).

2. A six-degree-of-freedom platform based on load force sensing technology according to claim 1, characterized in that: A reciprocating electric cylinder driver (104) is fixed at the output end of the axle pin force sensor (105), and the lower platform (101) is connected to the upper platform (102) via the reciprocating electric cylinder driver (104). One end of the reciprocating electric cylinder driver (104) with a motor is fixed in the axle pin force sensor (105) on the lower platform (101), and the other end is staggeredly fixed in the axle pin force sensor (105) on the upper platform (102).

3. The six-degree-of-freedom platform based on load force sensing technology according to claim 1, characterized in that: A protective plate (2) is connected to the upper part of the upper platform (102), and two groups of the protective plate (2) are provided. A lower hinge seat (9) is fixed to the upper part of the upper platform (102), and two groups of the protective plate (2) are provided. Each group of the lower hinge seat (9) has two protective plates. A fixed seat (10) is fixed to both sides of the lower hinge seat (9), and a movable plate (11) is movably connected to the inside of the fixed seat (10). A protective plate (2) is fixed to the upper part of the movable plate (11), and an upper hinge seat (3) is fixed to the lower part of the protective plate (2). Support seats (16) are fixed to both sides of the lower hinge seat (9), and the inner side of the support seat (16) is rotatably connected to a positive plate (11). A counter-threaded screw (5), the outer side of the forward and reverse-threaded screw (5) is sleeved with a connecting seat (7), the upper and lower ends of the connecting seat (7) are movably connected to a first movable connecting rod (4) and a second movable connecting rod (8), respectively; a handle (6) is fixed to the outer side above the support seat (16), and its output end is connected to the forward and reverse-threaded screw (5); a fixed seat (10) is fixed above the upper platform (102) outside the support seat (16), and the fixed seat (10) is movably connected to a movable plate (11) inside, and the upper part of the movable plate (11) is fixedly connected to the lower part of the protective plate (2).

4. The six-degree-of-freedom platform based on load force sensing technology according to claim 3, characterized in that: Guide blocks (13) are fixed on both sides of the movable plate (11), a guide groove (12) is provided on the inner side of the fixed seat (10), and the movable plate (11) is slidably connected to the guide groove (12), and the two guide and limit the movable plate (11).

5. The six-degree-of-freedom platform based on load force sensing technology according to claim 3, characterized in that: A protective pad (14) is fixed on the inner side of the protective plate (2), and a protective mechanism (15) is provided inside the protective plate (2).

6. The six-degree-of-freedom platform based on load force sensing technology according to claim 5, characterized in that: The protection mechanism (15) comprises a receiving groove (1501) which is opened inside the protection plate (2) and is provided with two groups. Mounting rods (1505) are fixed at both ends inside the receiving groove (1501), and a movable sleeve (1504) is sleeved on the outer side of the mounting rod (1505). A spring (1506) is wound at one end of the movable sleeve (1504) on the outer side of the mounting rod (1505). A connecting rod body (1503) is movably connected inside the receiving groove (1501), and the connecting rod body (1503) and the mounting rod (1505) are connected via the movable sleeve (1504).

7. The six-degree-of-freedom platform based on load force sensing technology according to claim 6, characterized in that: The outer side of the protective pad (14) is in an arc shape and is made of rubber.

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