Six-degree-of-freedom simulation motion platform and working method

Abstract

The invention discloses a six-degree-of-freedom simulation motion platform and a working method, and belongs to the technical field of motion simulation. The platform is powered by a motor and is mainly composed of an electric push rod lifting mechanism, a lead screw module mechanism and a three-degree-of-freedom steering engine holder mechanism. The linear motion of the X axis and the linear motion of the Y axis are achieved through stacking of lead screw modules composed of three sets of ball screws and sliding tables. And in the Z-axis direction, the vertical movement adjustment is completed by an independent lifting mechanism, and the Z-axis direction is fixed on the lead screw module. And the steering engine assembly for controlling three rotational degrees of freedom of pitching, yawing and rolling is mounted on the lifting mechanism connecting platform. The platform adopts a modular design, each functional component is independent and controllable, and the platform has the technical characteristics of wide movement range, high precision, good system stability and the like, can be widely applied to the fields of flight simulators, automobile driving simulators and the like, and has remarkable advantages in the aspects of improving user experience and simulation precision.

Description

Technical Field

[0001] The present invention relates to a six-degree-of-freedom simulation motion platform and a working method, belonging to the technical field of motion simulation. Background Art

[0002] A six-degree-of-freedom simulation motion platform is a mechatronic device that can achieve three translational degrees of freedom (movement in the X, Y, and Z axis directions) and three rotational degrees of freedom (pitch, roll, and yaw) in three-dimensional space, and is widely used in fields such as flight simulation training, automobile driving tests, ship navigation simulations, virtual reality interactions, military equipment tests, and entertainment equipment (such as motion cinemas). Its core technology lies in accurately reproducing complex motion trajectories through multi-axis collaborative control to provide users with an immersive dynamic experience. Traditional six-degree-of-freedom platforms are mostly implemented based on Stewart parallel mechanisms or serial robotic arm structures. Among them, the Stewart platform has become the mainstream solution due to its advantages such as high stiffness and large load capacity, but it has problems such as limited motion space, insufficient dynamic response speed, and complex multi-axis coupling control. For example, existing hydraulic-driven parallel platforms can carry large loads, but the system is large in volume, high in energy consumption, and complex in maintenance; while the solution using electric cylinders improves the control accuracy, but is limited by the motor power and mechanical structure design, and it is difficult to balance the requirements of high-frequency response and small volume. In addition, the control algorithms of existing platforms are mostly based on PID or feedforward compensation, and are prone to tracking errors under non-linear disturbances (such as sudden load changes and multi-degree-of-freedom coupling inertia), resulting in a reduction in the realism of motion simulation. With the development of emerging fields such as virtual reality and unmanned system tests, the market has put forward higher requirements for six-degree-of-freedom platforms: it is necessary to achieve high dynamic response, high positioning accuracy, and low-power operation in a compact space, and at the same time have a modular design to adapt to diverse application scenarios. However, existing technologies are difficult to meet the above requirements due to problems such as high structural redundancy, poor cooperation of drive units, and insufficient adaptability of control strategies. Summary of the Invention

[0003] Aiming at the deficiencies of the existing technology, the present invention proposes a six-degree-of-freedom simulation motion platform. The platform includes three screw rod modules for controlling linear motion, an electric push rod mechanism for controlling lifting, and a servo motor assembly for controlling three degrees of freedom of pitch, yaw, and roll. By stacking the screw rod modules, the motor drives the screw rod to complete the linear motion in the X and Y axis directions; the electric push rod is installed on the sliding table, and the motor drives the push rod to complete the lifting action. In addition, the three-degree-of-freedom servo motor platform is connected to the electric push rod shaft head through a base, and the servo motors respectively drive the actions of three degrees of freedom of yaw, pitch, and roll. The present invention realizes the six-degree-of-freedom posture adjustment function of the platform, and has a wider motion range and higher accuracy.

[0004] The object of the present invention can be achieved by the following technical solutions: A six-degree-of-freedom simulation motion platform, which comprises a lead screw module mechanism, a lifting mechanism, and a three-degree-of-freedom servo gimbal mechanism; the lifting mechanism is located between the lead screw module mechanism and the three-degree-of-freedom servo gimbal mechanism;

[0005] In the lead screw module mechanism, the lead screw module is provided with a front support seat and a rear support seat on a base, a ball screw pair and a rolling linear guide are arranged between the front support seat and the rear support seat, and a slide is arranged on the ball screw pair and the rolling linear guide; a servo motor drives the ball screw pair to rotate;

[0006] The lead screw module mechanism comprises two transverse lead screw modules and one longitudinal lead screw module, and the base of the longitudinal lead screw module is stacked and connected with the slides of the two transverse modules;

[0007] In the lifting mechanism, a guide sleeve and a DC motor are arranged on a lifting base, a push rod is arranged in the guide sleeve, a nut is embedded at the bottom of the push rod, the DC motor drives a screw rod to rotate, the screw rod acts on the nut, and the nut drives the push rod to move up and down along the guide sleeve;

[0008] The three-degree-of-freedom servo gimbal mechanism comprises a yaw structure, a roll structure, and a pitch structure. In the yaw structure, a yaw servo is arranged on a gimbal base, one end of the yaw servo is connected with one end of a gimbal disc, the other end of the gimbal disc is connected with a top turntable through a turntable stud, the turntable is fixedly connected with a tapered roller bearing, and the tapered roller bearing is arranged in a bearing bracket fixedly connected with the gimbal base;

[0009] In the roll structure, a roll servo is fixed on the turntable, the roll servo is connected with a roll U-shaped bracket through a roll shaft, and the roll servo drives the roll shaft to realize the rotation of the roll U-shaped bracket around the axis by ±90°;

[0010] In the pitch structure, a pitch servo is fixed at the top end of the roll U-shaped bracket, the pitch servo is connected with a pitch U-shaped bracket through a pitch shaft, and the pitch servo drives the pitch shaft to realize the rotation of the pitch U-shaped bracket around the axis by ±90°.

[0011] The longitudinal lead screw module is vertically arranged above the two transverse lead screw modules.

[0012] The slide is arranged on the rolling linear guide through a nut seat and on the ball screw pair through a lead screw nut seat.

[0013] The servo motor is connected with the ball screw pair through a coupling.

[0014] A load platform is arranged at the top end of the pitch U-shaped bracket.

[0015] The gimbal base is arranged on a gimbal stud, the bottom end of the gimbal stud is fixedly connected with a gimbal base, and the top end of the gimbal stud is fixedly connected with the bearing bracket.

[0016] A working method for a six-degree-of-freedom simulation motion platform, including the following six-degree-of-freedom motion modes:

[0017] Lateral motion mode:

[0018] In two lateral lead screw modules, the servo motor drives the ball screw pair to rotate, drives the slide table to move through the lead screw nut seat, and at the same time, the nut seats on both sides of the bottom of the slide table act on the rolling linear guide rail, so that the slide table moves laterally along the rolling linear guide rail;

[0019] Longitudinal motion mode:

[0020] In the longitudinal lead screw module, the servo motor drives the ball screw pair to rotate, drives the slide table to move through the lead screw nut seat, and at the same time, the nut seats on both sides of the bottom of the slide table act on the rolling linear guide rail, so that the slide table moves longitudinally along the rolling linear guide rail;

[0021] Vertical motion mode:

[0022] In the lifting mechanism, the DC motor drives the screw to rotate, and the rotation of the screw causes the nut to drive the push rod to perform vertical lifting and lowering motion along the guide sleeve;

[0023] Yaw mode:

[0024] In the yaw structure, the yaw servo motor drives the steering wheel to rotate, and the steering wheel drives the turntable to rotate, realizing the yaw of the three-degree-of-freedom servo gimbal mechanism;

[0025] Roll mode:

[0026] In the roll structure, the roll servo motor drives the roll shaft to rotate the roll U-shaped bracket by ±90° around the axis, realizing the roll of the three-degree-of-freedom servo gimbal mechanism;

[0027] Pitch mode:

[0028] In the pitch structure, the pitch servo motor drives the pitch axis to rotate the pitch U-shaped bracket by ±90° around the axis, realizing the pitch of the three-degree-of-freedom servo gimbal mechanism.

[0029] The lead screw module servo motor is connected to the lead screw through a coupling, converting the rotational motion of the motor into the linear motion of the lead screw. This conversion mechanism enables the entire system to perform linear propulsion or retraction operations with high precision and high speed.

[0030] The electric push rod lifting mechanism uses a DC motor. The motor drives to generate rotational motion through electrical energy, converting the rotational kinetic energy of the motor into the mechanical energy for pushing the push rod to move up and down. This process can provide a relatively stable output torque.

[0031] In the yaw movement of the three-degree-of-freedom servo turntable, the tapered roller bearing is installed between the base and the turntable, which can effectively reduce the frictional resistance that may be encountered during rotation and greatly improve the load-bearing capacity of the entire turntable structure.

[0032] Advantages of the present invention:

[0033] The platform is powered by a motor and mainly consists of three parts: an electric push rod lifting mechanism, a lead screw module mechanism, and a three-degree-of-freedom servo turntable mechanism. Among them, the linear motion in the X-axis and Y-axis directions is realized by stacking lead screw modules composed of three groups of ball screws and sliders; in the Z-axis direction, the vertical motion adjustment is completed by an independent electric push rod mechanism and fixed on the lead screw module. The servo components that control the three rotational degrees of freedom of pitch, yaw, and roll are installed on the lifting mechanism connection platform.

[0034] The platform realizes linear motion through the stacking of lead screw modules composed of ball screws and sliders in the X and Y axes, and the vertical adjustment ability provided by the electric push rod mechanism in the Z-axis direction, enabling the platform to have a wide range of motion. This design can meet the complex motion requirements in different application scenarios and can flexibly handle both horizontal movement and vertical lifting. The combination of motor drive and precise mechanical structure ensures the motion accuracy of the platform in all directions. The modular design not only improves the maintainability and expandability of the system but also enhances the overall stability. Due to its flexibility and wide application potential, this platform can be easily integrated into different systems and supports various scenarios from industrial automation production lines to scientific research experimental devices. Description of the Drawings

[0035] Figure 1 is a schematic structural diagram of a six-degree-of-freedom simulation motion platform of the present invention.

[0036] Figure 2 is a schematic structural diagram of the lead screw module of a six-degree-of-freedom simulation motion platform of the present invention.

[0037] Figure 3 is a schematic structural diagram of the electric push rod lifting structure and the internal screw of a six-degree-of-freedom simulation motion platform of the present invention.

[0038] Figure 4 is a schematic structural diagram of the three-degree-of-freedom servo platform of a six-degree-of-freedom simulation motion platform of the present invention.

[0039] Figure 5 is a schematic internal structure diagram of the yaw part of the three-degree-of-freedom servo of a six-degree-of-freedom simulation motion platform of the present invention.

[0040] In the figure: 1. Lead screw module slide rail kit, 2. Lead screw module slider, 3. Electric push rod, 4. Three-degree-of-freedom servo platform, 5. Load platform;

[0041] 1-1, front support base, 1-2, ball screw pair, 1-3, rolling linear guide, 1-4, base, 1-5, motor fixing base, 1-6, servo motor, 1-7, rear support base, 1-8, coupling;

[0042] 2-1, nut seat, 2-2, slide table, 2-3, screw nut seat;

[0043] 3-1, push rod, 3-2, screw rod, 3-3, guide sleeve, 3-4, nut, 3-5, DC motor, 3-6, lifting base;

[0044] 4-1, pan-tilt base, 4-2, yaw servo, 4-3, servo platform, 4-4, bearing bracket, 4-5, turntable, 4-6, roll axis, 4-7, roll servo, 4-8, roll U-shaped bracket, 4-9, pitch servo, 4-10, pitch U-shaped bracket, 4-11, servo disc, 4-12, tapered roller bearing, 4-13, pitch axis, 4-14, pan-tilt stud, 4-15, turntable stud. Detailed implementation manner

[0045] The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0046] Figures 1 to 5 A six-degree-of-freedom simulation motion platform is shown, which includes a screw module mechanism, a lifting mechanism, and a three-degree-of-freedom servo pan-tilt mechanism; the lifting mechanism is located between the screw module mechanism and the three-degree-of-freedom servo pan-tilt mechanism;

[0047] In the screw module mechanism, the screw module is provided with a front support base 1-1 and a rear support base 1-7 on the base 1-4. A ball screw pair 1-2 and a rolling linear guide 1-3 are arranged between the front support base 1-1 and the rear support base 1-7. A slide table 2-2 is arranged on the ball screw pair 1-2 and the rolling linear guide 1-3; the servo motor 1-6 drives the ball screw pair 1-2 to rotate;

[0048] The screw module mechanism includes two transverse screw modules and one longitudinal screw module. The base 1-4 of the longitudinal screw module is stacked and connected with the slide tables 2-2 of the two transverse modules;

[0049] In the lifting mechanism, a guide sleeve 3-3 and a DC motor 3-5 are arranged on the lifting base 3-6. A push rod 3-1 is arranged in the guide sleeve 3-3. A nut 3-4 is embedded at the bottom of the push rod 3-1. The DC motor 3-5 drives the screw rod 3-2 to rotate. The screw rod 3-2 acts on the nut 3-5, and the nut 3-5 drives the push rod 3-1 to move up and down along the guide sleeve 3-3;

[0050] The three-degree-of-freedom servo pan-tilt mechanism includes a yaw structure, a roll structure, and a pitch structure. In the yaw structure, the yaw servo 4-2 is arranged on the servo platform 4-3. The yaw servo 4-2 is connected to one end of the steering wheel 4-11. The other end of the steering wheel 4-11 is connected to the turntable 4-5 at the top by 4 turntable studs 4-15. The tapered roller bearing 4-12 is arranged on the bearing bracket 4-4 fixedly connected to the servo platform 4-3.

[0051] In the roll structure, the roll servo 4-7 is fixed on the turntable 4-5. The roll servo 4-7 is connected to the roll U-shaped bracket 4-8 through the roll shaft 4-6. The roll servo 4-7 drives the roll shaft 4-6 to realize the rotation of the roll U-shaped bracket 4-8 around the axis by ±90°.

[0052] In the pitch structure, the pitch servo 4-9 is fixed at the top end of the roll U-shaped bracket 4-8. The pitch servo 4-9 is connected to the pitch U-shaped bracket 4-10 through the pitch shaft 4-13. The pitch servo 4-9 drives the pitch shaft 4-13 to realize the rotation of the pitch U-shaped bracket 4-10 around the axis by ±90°.

[0053] The longitudinal lead screw module is vertically arranged above the two transverse lead screw modules.

[0054] The slide table 2-2 is arranged on the rolling linear guide 1-3 through the nut seat 2-1 and on the ball screw pair 1-2 through the lead screw nut seat 2-3.

[0055] The servo motor 1-6 is connected to the ball screw pair 1-2 through the coupling 1-8.

[0056] The top end of the pitch U-shaped bracket 4-10 is provided with the load platform 5.

[0057] The servo platform 4-3 is arranged on the pan-tilt stud 4-14. The bottom end of the pan-tilt stud 4-14 is fixedly connected to the pan-tilt base 4-1, and the top end of the pan-tilt stud 4-14 is fixedly connected to the bearing bracket 4-4.

[0058] A working method of a six-degree-of-freedom simulation motion platform includes the following six-degree-of-freedom motion modes:

[0059] Transverse motion mode:

[0060] In the two transverse lead screw modules, the servo motor 1-6 drives the ball screw pair 1-2 to rotate, drives the slide table 2-2 to move through the lead screw nut seat 2-3. At the same time, the nut seats 2-1 on both sides of the bottom of the slide table 2-2 act on the rolling linear guide 1-3, so that the slide table 2-2 moves transversely along the rolling linear guide 1-3.

[0061] Longitudinal motion mode:

[0062] In the longitudinal lead screw module, the servo motor 1-6 drives the ball screw pair 1-2 to rotate, drives the slide table 2-2 to move through the lead screw nut seat 2-3. At the same time, the nut seats 2-1 on both sides of the bottom of the slide table 2-2 act on the rolling linear guide 1-3, so that the slide table 2-2 performs longitudinal movement along the rolling linear guide 1-3;

[0063] Vertical motion mode:

[0064] In the lifting mechanism, the DC motor 3-5 drives the screw 3-2 to rotate. The rotation of the screw 3-2 makes the nut 3-4 drive the push rod 3-1 to perform spiral vertical lifting movement along the guide sleeve 3-3;

[0065] Yaw mode:

[0066] In the yaw structure, the yaw servo 4-2 drives the steering wheel 4-11 to rotate, and the steering wheel 4-11 drives the turntable 4-5 to rotate, realizing the yaw of the three-degree-of-freedom servo pan-tilt mechanism;

[0067] Roll mode:

[0068] In the roll structure, the roll servo 4-7 drives the roll shaft 4-6 to rotate the roll U-shaped bracket 4-8 around the axis by ±90°, realizing the roll of the three-degree-of-freedom servo pan-tilt mechanism;

[0069] Pitch mode:

[0070] In the pitch structure, the pitch servo 4-9 drives the pitch shaft 4-13 to rotate the pitch U-shaped bracket 4-10 around the axis by ±90°, realizing the pitch of the three-degree-of-freedom servo pan-tilt mechanism.

[0071] Specifically:

[0072] Figure 1 A six-degree-of-freedom simulation motion platform includes a lead screw module mechanism, a lifting mechanism, and a three-degree-of-freedom servo pan-tilt mechanism; the three-degree-of-freedom servo pan-tilt mechanism is installed above the lifting mechanism and can move up and down with the lifting mechanism. The lead screw module mechanism is located below the lifting mechanism and is fixed by bolts. The whole module is stacked up and down by three groups of lead screw modules.

[0073] Figure 2 It is a schematic diagram of the lead screw module structure in a six-degree-of-freedom simulation motion platform of the present invention. As Figure 2 shown, the lead screw module includes a front support seat 1-1, a ball screw pair 1-2, a rolling linear guide 1-3, a base 1-4, a motor fixing seat 1-5, a servo motor 1-6, a rear support seat 1-7, a coupling 1-8, a nut seat 2-1, a slide table 2-2, and a lead screw nut seat 2-3.

[0074] The ball screw pair 1-2 is fixed between the front support base 1-1 and the rear support base 1-7 through bearings. There are two rolling linear guides 1-3, which are fixed on the base 1-4 by screws. The rear support base 1-7 is connected to the motor fixing base 1-5 on which the servo motor 1-6 is fixed. The ball screw pair 1-2 and the servo motor 1-6 are connected by a coupling 1-8. Four nut seats 2-1 are nested on the rolling linear guide 1-3, and the lead screw nut seat 2-3 is nested on the ball screw pair 1-2. The four nut seats 2-1 and the lead screw nut seat 2-3 are fixed to the slide table 2-2. The servo motor 1-6 drives the ball screw pair 1-2 to rotate through the coupling 1-8. According to the rotation direction of the lead screw, the lead screw nut seat 2-3 will move along the axial direction of the lead screw. One end of the ball screw pair 1-2 is equipped with a coupling 1-8 for connecting the servo motor 1-6; the other end is fixed to another support point to increase the stability of the system. The rolling linear guide 1-3 is directly fixed on the base 1-4 by screws and is ensured to be parallel to the ball screw pair 1-2. The slide table 2 contains a ball mechanism, enabling it to move smoothly along the ball screw pair 1-2 and the rolling linear guide 1-3. Among the three lead screw modules, the two lower horizontal lead screw modules are placed in parallel, while the upper vertical lead screw module is vertically stacked and fixed to the lower horizontal lead screw modules. The two groups of horizontal lead screw modules mainly control the linear motion of the six-degree-of-freedom simulation motion platform along the X-axis direction, and one group of vertical lead screw modules mainly controls the linear motion of the six-degree-of-freedom simulation motion platform along the Y-axis direction.

[0075] Figure 3 Schematic diagram of the electric push rod lifting structure in a six-degree-of-freedom simulation motion platform of the present invention, as Figure 3 shown, the electric push rod lifting mechanism includes a push rod 3-1, a screw rod 3-2, a guide sleeve 3-3, a nut 3-4, a DC motor 3-5, and a base 3-6. The push rod 3-1 is embedded in the guide sleeve 3-3, and the guide sleeve 3-3 is connected to the DC motor 3-6. The entire structure is fixed on the lifting base 3-7. The bottom of the push rod 3-1 is internally embedded with a nut, and this nut matches the screw rod. The motor rotates at a high speed, and through a gear reducer, the power is converted into a low-speed and high-torque output, thereby reducing the rotational speed and increasing the torque, enabling the motor to effectively drive the load. The decelerated rotational motion is transmitted to the screw rod 3-2, driving the nut 3-4 to move along the screw rod 3-2, and then pushing the push rod to perform a linear motion. The push rod is embedded in a guide sleeve with parallel guide rails to provide additional support and ensure its smooth sliding, enabling it to move freely on the track without deviating from the direction. The electric push rod mainly controls the linear motion of the simulation platform along the Z-axis direction.

[0076] Figure 4 Schematic diagram of a three-degree-of-freedom servo gimbal in a six-degree-of-freedom simulation motion platform of the present invention, as Figure 3As shown in the figure, the three-degree-of-freedom servo pan-tilt mechanism includes a pan base 4-1, a yaw servo 4-2, a servo platform 4-3, a bearing bracket 4-4, a turntable 4-5, a roll shaft 4-6, a roll servo 4-7, a roll U-shaped bracket 4-8, a pitch servo 4-9, a pitch U-shaped bracket 4-10, a steering wheel 4-11, a tapered roller bearing 4-12, a pitch shaft 4-13, a pan stud 4-14, and a turntable stud 4-15. As Figure 5 In the yaw structure of Figure 5 , the yaw servo 4-2 is nested with the servo platform 4-3, and the bearing bracket 4-4 is connected to the servo platform 4-3 by four pan studs 4-14.

[0077] One end of the output shaft of the yaw servo 4-2 is connected to the steering wheel 4-11, and the other end is connected to the turntable 4-5 provided at the top through four turntable studs 4-15 passing through the tapered roller bearing 4-12; the tapered roller bearing 4-12 is arranged on the bearing bracket 4-4 fixedly connected to the servo platform 4-3; the yaw servo 4-3 drives the steering wheel 4-11 to rotate, thereby driving the rotation of the turntable 4-5.

[0078] In the roll structure, the roll U-shaped bracket 4-8 is connected to the roll servo 4-7 through the roll shaft 4-6. In the pitch structure, the pitch U-shaped bracket 4-10 is connected to the pitch servo 4-9 through the pitch shaft 4-13, and the yaw, roll, and pitch parts are connected by screws. The entire mechanism is connected to the pan base 4-1 by four pan studs 4-14.

[0079] The yaw servo 4-3 is installed on the servo platform 4-3 of the basic frame through bolts. The yaw servo 4-3 drives the rotation of the rudder disc 4-11, thereby driving the rotation of the turntable 4-5, and is responsible for controlling the rotation in the yaw direction. A roll servo 4-7 is arranged on the turntable 4-5. The output shaft of the roll servo 4-7, i.e., the roll shaft 4-6, is installed with a roll U-shaped bracket 4-8. The roll servo 4-7 drives the roll shaft 4-6 to rotate the roll U-shaped bracket 4-8 around the axis by ±90°, realizing the roll of the three-degree-of-freedom servo pan-tilt mechanism. A pitch servo 4-9 is arranged at the top of the roll U-shaped bracket 4-8. In the pitch structure, the pitch servo 4-9 drives the pitch shaft 4-13 to rotate the pitch U-shaped bracket 4-10 around the axis by ±90°, realizing the pitch of the three-degree-of-freedom servo pan-tilt mechanism. A load platform 5 is arranged at the top of the pitch U-shaped bracket 4-10 for carrying various devices. The servo receives instructions from the control system and then adjusts the angles of one or more servos according to these instructions to change the direction of the load on the pan-tilt. The three-degree-of-freedom servo pan-tilt mainly controls the rotational movements in the yaw, roll, and pitch directions of the six-degree-of-freedom simulation motion platform. There are three servos, which respectively control the movements in the yaw, pitch, and roll degrees of freedom. Among them, the yaw movement is realized by the servo controlling the bearing turntable to rotate by ±180°; the pitch and roll movements are realized by the servo controlling the long U-shaped bracket to rotate by ±90°. The whole mechanism is located in the upper part of the simulation platform, and its pan-tilt base is connected to the electric push rod shaft head by welding.

[0080] The lead screw module servo motor is connected to the lead screw through a coupling, converting the rotational motion of the motor into the linear motion of the lead screw. This conversion mechanism enables the whole system to perform linear propulsion or pulling-back operations with high precision and high speed. The electric push rod lifting mechanism uses a DC motor. The motor drives the rotation through electrical energy, converting the rotational kinetic energy of the motor into the mechanical energy for pushing the push rod to move up and down. This process can provide a relatively stable output torque. In the yaw movement of the three-degree-of-freedom servo pan-tilt, tapered roller bearings are installed between the base and the turntable, which can effectively reduce the frictional resistance that may be encountered during the rotation process and greatly improve the load-bearing capacity of the whole pan-tilt structure.

[0081] The above shows and describes the basic principles, main features, and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A six-degree-of-freedom simulation motion platform, characterized in that: It includes a screw module mechanism, a lifting mechanism, and a three-degree-of-freedom steering gear platform mechanism; the lifting mechanism is located between the screw module mechanism and the three-degree-of-freedom steering gear platform mechanism; In the screw module mechanism, the screw module adopts a base (1-4) on which a front support seat (1-1) and a rear support seat (1-7) are arranged, a ball screw pair (1-2) and a rolling linear guide rail (1-3) are arranged between the front support seat (1-1) and the rear support seat (1-7), and a slide table (2-2) is arranged on the ball screw pair (1-2) and the rolling linear guide rail (1-3); a servo motor (1-6) drives the ball screw pair (1-2) to rotate; The screw module mechanism comprises two transverse screw modules and one longitudinal screw module, wherein a base (1-4) of the longitudinal screw module is stacked and connected with slides (2-2) of the two transverse modules; In the lifting mechanism, a guide sleeve (3-3) and a DC motor (3-5) are arranged on a lifting base (3-6); a push rod (3-1) is arranged in the guide sleeve (3-3); a nut (3-4) is embedded in the bottom of the push rod (3-1); the DC motor (3-5) drives the screw rod (3-2) to rotate, the screw rod (3-2) acts on the nut (3-5), and the nut (3-5) drives the push rod (3-1) to move up and down along the guide sleeve (3-3); The three-degree-of-freedom steering gear pan-tilt mechanism comprises a yaw structure, a roll structure and a pitch structure. In the yaw structure, the yaw steering gear (4-2) is arranged on the steering gear platform (4-3), the yaw steering gear (4-2) is connected to one end of the steering disc (4-11), the other end of the steering disc (4-11) is connected to the top turntable (4-5) via a turntable stud (4-15), the turntable (4-5) is fixedly connected to the tapered roller bearing (4-12); the tapered roller bearing (4-12) is arranged in a bearing frame (4-4) fixedly connected to the steering gear platform (4-3); In the roll structure, the roll steering gear (4-7) is fixed on the turntable (4-5), the roll steering gear (4-7) is connected to the roll U-shaped bracket (4-8) via the roll shaft (4-6), and the roll steering gear (4-7) drives the roll shaft (4-6) to realize the roll U-shaped bracket (4-8) to rotate around the axis by ±90°; In the pitch structure, the pitch servo (4-9) is fixed on the top end of the roll U-shaped bracket (4-8), the pitch servo (4-9) is connected to the pitch U-shaped bracket (4-10) via a pitch axis (4-13), and the pitch servo (4-9) drives the pitch axis (4-13) to realize the rotation of the pitch U-shaped bracket (4-10) around the axis by ±90°.

2. A six-degree-of-freedom simulation motion platform according to claim 1, characterized in that: The longitudinal lead screw module is vertically arranged above the two transverse lead screw modules.

3. A six-degree-of-freedom simulation motion platform according to claim 2, characterized in that: The slide table (2-2) is arranged on the rolling linear guide rail (1-3) via a nut seat (2-1), and is arranged on the ball screw pair (1-2) via a screw nut seat (2-3).

4. A six-degree-of-freedom simulation motion platform according to claim 3, characterized in that: The servo motor (1-6) is connected to the ball screw pair (1-2) via a coupling (1-8).

5. A six-degree-of-freedom simulation motion platform according to claim 4, characterized in that: A load platform (5) is arranged at the top end of the pitch U-shaped bracket (4-10).

6. A six-degree-of-freedom simulation motion platform according to claim 5, characterized in that: The steering gear platform (4-3) is arranged on the pan head stud (4-14), the bottom end of the pan head stud (4-14) is fixedly connected to the pan head base (4-1), and the top end of the pan head stud (4-14) is fixedly connected to the bearing frame (4-4).

7. The working method of a six-degree-of-freedom simulation motion platform according to claim 6, characterized in that: Includes the following six-degree-of-freedom motion modes: Lateral Movement Mode: In the two transverse screw modules, the servo motor (1-6) drives the ball screw pair (1-2) to rotate, and drives the slide (2-2) to move through the screw nut seat (2-3), and at the same time, the nut seats (2-1) on both sides of the bottom of the slide (2-2) act on the rolling linear guide rail (1-3), so that the slide (2-2) moves horizontally along the rolling linear guide rail (1-3); Longitudinal motion mode: In the longitudinal screw module, the servo motor (1-6) drives the ball screw pair (1-2) to rotate, and drives the slide (2-2) to move through the screw nut seat (2-3), and at the same time, the nut seats (2-1) on both sides of the bottom of the slide (2-2) act on the rolling linear guide rail (1-3), so that the slide (2-2) moves longitudinally along the rolling linear guide rail (1-3); Vertical motion mode: In the lifting mechanism, a DC motor (3-5) drives the screw rod (3-2) to rotate, and the rotation of the screw rod (3-2) causes the nut (3-4) to drive the push rod (3-1) to perform a spiral vertical lifting motion along the guide sleeve (3-3); Yaw mode: In the yaw structure, the yaw servo (4-2) drives the steering plate (4-11) to rotate, driving the turntable (4-5) to rotate, thereby realizing the yaw of the three-degree-of-freedom servo gimbal mechanism; Roll Mode: In the roll structure, the roll servo (4-7) drives the roll axis (4-6) to rotate the roll U-shaped bracket (4-8) around the axis by ±90°, thereby realizing the roll of the three-degree-of-freedom servo gimbal mechanism; Pitch mode: In the pitch structure, the pitch servo (4-9) drives the pitch axis (4-13) to rotate the pitch U-shaped bracket (4-10) around the axis by ±90°, thereby realizing the pitch of the three-degree-of-freedom servo gimbal mechanism.

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