A motion platform with independent rotating output and a control method thereof

Abstract

This invention discloses a motion platform with an independent rotating output section, comprising: a fixed base and a rotating platform mechanism; the fixed base includes a first platform, a second platform, and multiple electric push rods; the first platform is provided with multiple upper hinge seats spaced apart circumferentially, and the first platform has through holes extending along the wall thickness direction; the second platform is provided with multiple lower hinge seats spaced apart circumferentially, and the multiple lower hinge seats are arranged one-to-one with the multiple upper hinge seats; the fixed end of each electric push rod is hinged to one of the lower hinge seats, and the moving end of each electric push rod is hinged to the corresponding upper hinge seat, thereby enabling the first platform to be supported above the second platform by the multiple electric push rods; the rotating platform mechanism includes a rotating output section and a rotating cylinder; the rotating output section abuts against the upper surface of the first platform and is located above the rotating cylinder, and the rotating output section is connected to the rotating cylinder through a connecting shaft to solve the problem of the platform rotation angle being too small.

Description

Technical Field

[0001] This invention relates to the field of motion simulation and control technology, and in particular to a motion platform with an independent rotation output unit and its control method. Background Technology

[0002] Six-degree-of-freedom (6DOF) motion platforms can achieve translation along the X, Y, and Z axes and rotation around the three coordinate axes in space, making them indispensable key equipment in strategic fields such as high-end equipment manufacturing, aerospace, and precision medicine. Existing technologies achieve high-precision pose synchronization and force feedback through isomorphic master-slave control, improving the intuitiveness and precision of operation. However, in practical engineering applications, especially in mission scenarios requiring large-angle attitude simulation or complex spatial trajectories, traditional 6DOF platforms still have the following technical limitations: their range of motion, especially the rotation angle, is severely limited by the stroke and spatial layout of the six electric actuators or hydraulic cylinders. Due to the physical limits of the extension and retraction of the drive legs and spatial interference issues, the rotation angle achievable by the upper platform is usually small. This inherent defect makes it difficult for the platform to meet the application requirements of large-range attitude changes, such as large-attitude flight simulation of aircraft, sea sway testing of shipborne equipment, or large-angle precision assembly of robot wrists. Simply increasing the actuator stroke or changing the structural dimensions not only significantly increases the system volume, cost, and inertia but also makes it difficult to achieve a breakthrough in angle improvement within a limited space. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a motion platform with an independent rotating output section and its control method, so as to solve the problem of the platform's rotation angle being too small.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A motion platform with an independent rotary output section includes:

[0006] A fixed base includes a first platform, a second platform, and a plurality of electric push rods. The first platform is provided with a plurality of upper hinge seats spaced apart circumferentially, and the first platform is provided with through holes extending along the wall thickness direction. The second platform is provided with a plurality of lower hinge seats spaced apart circumferentially, and the plurality of lower hinge seats are arranged one-to-one with the plurality of upper hinge seats. The fixed end of each electric push rod is hinged to one of the lower hinge seats, and the moving end of each electric push rod is hinged to the corresponding upper hinge seat, thereby enabling the first platform to be supported above the second platform by the plurality of electric push rods.

[0007] A rotating platform mechanism includes a rotating output section and a rotating cylinder. The rotating output section abuts against the upper surface of the first platform and is located above the rotating cylinder. The rotating output section is connected to the rotating cylinder via a connecting shaft. The connecting shaft is arranged radially along a through hole and its outer diameter is smaller than the inner diameter of the through hole, allowing the rotating output section to reciprocate about the axis relative to the rotating cylinder.

[0008] Furthermore, the rotating output section is provided with an annular limiting block, which extends downward along the axial direction of the through hole; the first platform is provided with an annular limiting groove, which is slidably sleeved with the annular limiting block to limit the rotating output section from deviating from the motion trajectory.

[0009] Furthermore, the rotary cylinder is provided with multiple air inlets, each of which is connected to an air inlet pipe. One end of the air inlet pipe is connected to the air inlet, and the other end is connected to the second platform. The air inlet pipe is used to supply gas to the rotary cylinder.

[0010] Furthermore, the rotary cylinder is provided with multiple support blocks, which are distributed circumferentially along the air inlet.

[0011] Furthermore, the outer wall of the air intake pipe is provided with multiple sleeves, which are distributed at intervals along the gas flow direction. One end of each sleeve is fixedly connected to the support block, and the other end is fixedly connected to the second platform. A rubber strip is provided between every two adjacent sleeves to prevent the multiple sleeves from accumulating.

[0012] Furthermore, both the upper and lower hinge seats are fitted with hinge bearings, and the end of the electric push rod is fixedly connected to the hinge bearings via a hinge shaft.

[0013] Furthermore, there are six electric actuators, and two adjacent electric actuators form a group, with each group of electric actuators evenly distributed along the circumference of the first platform and the second platform.

[0014] Furthermore, a motion platform with an independent rotary output also includes a control motor, which is electrically connected to the electric push rod.

[0015] Furthermore, a motion platform with an independent rotary output section also includes an angle sensor, which is electrically connected to the control motor and used to detect the reciprocating rotation angle of the rotary output section in real time.

[0016] Further, the process includes the following steps: leveling the entire equipment through the bottom of the second platform to complete the initial posture calibration of the equipment; placing the workpiece to be processed on the bearing platform of the rotary output section; synchronously controlling the extension and retraction of each electric push rod to drive the first platform to rise, fall, and tilt, adjusting the rotary output section to the preset working posture; starting the rotary cylinder to drive the connecting shaft to drive the rotary output section to reciprocate around the axis to complete the corresponding process operation of the workpiece; after the process is completed, the rotary cylinder and electric push rods are reset to their initial positions in sequence, and the processed workpiece is removed.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. The fixed base includes a first platform, a second platform, and multiple electric actuators. The first platform has multiple upper hinge seats spaced apart circumferentially, and a through hole extending along its wall thickness. The second platform has multiple lower hinge seats spaced apart circumferentially, with each lower hinge seat corresponding to one of the upper hinge seats. The fixed end of each electric actuator is hinged to one of the lower hinge seats, and the moving end of each electric actuator is hinged to the corresponding upper hinge seat, thus supporting the first platform above the second platform via the multiple electric actuators. The fixed base is composed of the first platform, the second platform, and the multiple electric actuators. The two ends of each electric actuator are hinged to corresponding upper and lower hinge seats, respectively, achieving power transmission through the hinge structure. Multiple sets of electric actuators can extend and retract synchronously or differentially, flexibly driving the first platform to complete lifting and tilting movements, giving the platform multi-position adjustment capabilities. The overall support structure has strong stability and good load-bearing capacity.

[0019] 2. The rotating platform mechanism includes a rotating output section and a rotating cylinder; the rotating output section abuts against the upper surface of the first platform and is located above the rotating cylinder, and the rotating output section is connected to the rotating cylinder through a connecting shaft; the rotating output section and the rotating cylinder are connected through a connecting shaft, and the rotating cylinder can drive the rotating output section to perform reciprocating rotational motion. The rotating output section forms a supporting foundation based on the first platform. Combined with the attitude adjustment function of the fixed base, the device simultaneously has dual motion functions of attitude adjustment and rotational operation, with high functional integration and adaptability to diverse operational needs.

[0020] 3. Based on the fact that the connecting shaft is arranged radially along the through hole and its outer diameter is smaller than the inner diameter of the through hole, the rotary output part can reciprocate around the axis relative to the rotary cylinder; the first platform has a through hole, the connecting shaft is arranged radially along the through hole and its outer diameter is smaller than the inner diameter of the through hole, providing the connecting shaft with room for movement, avoiding structural interference during the rotation, ensuring that the rotation can be carried out smoothly, and at the same time the through hole plays a preliminary role in limiting the position of the connecting shaft. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a motion platform with an independent rotating output section according to the present invention;

[0022] Figure 2 for Figure 1 A cross-sectional view of the structural schematic diagram shown;

[0023] Figure 3 for Figure 1 The side view of the structural schematic diagram shown.

[0024] In the diagram: 1. Fixed base; 101. First platform; 102. Second platform; 103. Electric push rod; 104. Upper hinge seat; 105. Through hole; 106. Lower hinge seat; 107. Annular limiting groove; 108. Annular limiting block; 2. Rotating platform mechanism; 201. Rotating output part; 202. Rotating cylinder; 203. Connecting shaft; 204. Air inlet; 205. Air inlet pipe; 3. Bearing block; 4. Tube sleeve; 5. Rubber belt; 6. Control motor; 7. Angle sensor. Detailed Implementation

[0025] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0026] It should be noted that when an element is described as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is described as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0028] See Figures 1-3 A preferred embodiment of the present invention provides a motion platform with an independent rotating output section, comprising: a fixed base 1 and a rotating platform mechanism 2;

[0029] The fixed base 1 includes a first platform 101, a second platform 102, and a plurality of electric push rods 103. The first platform 101 is provided with a plurality of upper hinge seats 104 spaced apart along the circumference, and the first platform 101 is provided with through holes 105 extending along the wall thickness direction. The second platform 102 is provided with a plurality of lower hinge seats 106 spaced apart along the circumference, and the plurality of lower hinge seats 106 are arranged one-to-one with the plurality of upper hinge seats 104. The fixed end of each electric push rod 103 is hinged to one of the lower hinge seats 106, and the moving end of each electric push rod 103 is hinged to the corresponding upper hinge seat 104, so that the first platform 101 is supported above the second platform 102 by the plurality of electric push rods 103.

[0030] The rotating platform mechanism 2 includes a rotating output section 201 and a rotating cylinder 202. The rotating output section 201 abuts against the upper surface of the first platform 101 and is located above the rotating cylinder 202. The rotating output section 201 is connected to the rotating cylinder 202 through a connecting shaft 203. The connecting shaft 203 is arranged radially along the through hole 105 and its outer diameter is smaller than the inner diameter of the through hole 105, which allows the rotating output section 201 to reciprocate around the axis relative to the rotating cylinder 202.

[0031] During operation, this motion platform relies on the fixed base 1 and the rotating platform mechanism 2 to complete the work. The second platform 102 serves as the bottom foundation support structure. The electric push rod 103 supports the first platform 101 in a hinged manner. When the electric push rod 103 is extended or retracted, it can drive the first platform 101 to rise, fall, and tilt, thereby completing the attitude adjustment of the rotating output part 201. The rotating cylinder 202 drives the upper rotating output part 201 to reciprocate around the axis through the connecting shaft 203 passing through the through hole 105 of the first platform 101. The through hole 105 avoids interference from the movement of the connecting shaft 203. The two movements cooperate with each other, allowing the workpiece placed on the rotating output part 201 to simultaneously complete the attitude adjustment and rotation operation, thereby realizing the overall operation of the equipment.

[0032] Obviously, the fixed base 1 includes a first platform 101, a second platform 102, and a plurality of electric push rods 103; the first platform 101 is provided with a plurality of upper hinge seats 104 spaced apart circumferentially, and the first platform 101 is provided with through holes 105 extending along the wall thickness direction; the second platform 102 is provided with a plurality of lower hinge seats 106 spaced apart circumferentially, and the plurality of lower hinge seats 106 are arranged in a one-to-one correspondence with the plurality of upper hinge seats 104; the fixed end of each electric push rod 103 is hinged thereto. A lower hinge seat 106 is provided, and the moving ends of each of the electric push rods 103 are hinged to the corresponding upper hinge seat 104, thereby supporting the first platform 101 above the second platform 102 through the multiple electric push rods 103. The fixed base 1 is composed of the first platform 101, the second platform 102, and multiple electric push rods 103. The two ends of the electric push rods 103 are respectively hinged to the corresponding upper hinge seat 104 and lower hinge seat 106, and power transmission is achieved through the hinge structure. The multiple sets of electric push rods 103 can extend and retract synchronously or differently, which can flexibly drive the first platform 101 to complete lifting and tilting actions, giving the platform multi-posture adjustment capability. The overall support structure has strong stability and good load-bearing performance.

[0033] The rotating platform mechanism 2 includes a rotating output section 201 and a rotating cylinder 202. The rotating output section 201 abuts against the upper surface of the first platform 101 and is located above the rotating cylinder 202. The rotating output section 201 is connected to the rotating cylinder 202 via a connecting shaft 203. The rotating output section 201 and the rotating cylinder 202 are connected via the connecting shaft 203. The rotating cylinder 202 can drive the rotating output section 201 to perform reciprocating rotational motion. The rotating output section 201 forms a supporting foundation based on the first platform 101. Combined with the attitude adjustment function of the fixed base 1, the device simultaneously has dual motion functions of attitude adjustment and rotational operation, with high functional integration and adaptability to diverse operational needs.

[0034] Based on the fact that the connecting shaft 203 is arranged radially along the through hole 105 and its outer diameter is smaller than the inner diameter of the through hole 105, the rotary output part 201 can reciprocate about the axis relative to the rotary cylinder 202. The first platform 101 has a through hole 105, and the connecting shaft 203 is arranged radially along the through hole 105 and its outer diameter is smaller than the inner diameter of the through hole 105, which provides space for the connecting shaft 203 to move, avoids structural interference during the rotation, and ensures that the rotation can be carried out smoothly. At the same time, the through hole 105 plays a preliminary role in limiting the position of the connecting shaft 203.

[0035] More preferably, the rotary output section 201 is provided with an annular limiting block 108, which extends downward along the axial direction of the through hole 105; the first platform 101 is provided with an annular limiting groove 107, which is slidably fitted with the annular limiting block 108 to limit the rotary output section 201 from deviating from its motion trajectory. The rotary output section 201 is provided with the downwardly extending annular limiting block 108, and the first platform 101 is provided with the annular limiting groove 107, which is slidably fitted with the annular limiting block 108, to limit the motion trajectory of the rotary output section 201, prevent it from deviating during rotation, and improve the accuracy of the rotary motion.

[0036] More preferably, the rotary cylinder 202 is provided with multiple air inlets 204, each of which is connected to an air inlet pipe 205. One end of the air inlet pipe 205 is connected to the air inlet 204, and the other end is connected to the second platform 102. The air inlet pipe 205 is used to supply gas to the rotary cylinder 202. The rotary cylinder 202 is provided with multiple air inlets 204, and the other end of the air inlet pipe 205 connected to the air inlet 204 is connected to the second platform 102. The air inlet pipe 205 can stably supply gas to the rotary cylinder 202, ensuring that the rotary cylinder 202 has a continuous power source and ensuring stable operation of the rotation.

[0037] More preferably, the rotary cylinder 202 is provided with multiple support blocks 3, which are distributed circumferentially around the air inlet 204. The multiple support blocks 3 arranged circumferentially around the air inlet 204 can support the surrounding structure, thereby improving the structural strength and overall stability of the rotary cylinder 202 area.

[0038] More preferably, the outer wall of the intake pipe 205 is provided with multiple sleeves 4, which are distributed at intervals along the gas flow direction. One end of each sleeve is fixedly connected to the support block 3, and the other end is fixedly connected to the second platform 102. A rubber strip 5 is provided between every two adjacent sleeves 4 to prevent the sleeves 4 from piling up. The multiple sleeves 4 are arranged at intervals along the airflow direction on the outer wall of the intake pipe 205. Both ends of each sleeve 4 are connected to the support block 3 and the second platform 102, respectively. The rubber strip 5 between adjacent sleeves 4 prevents the sleeves 4 from piling up, providing regular positioning and protection for the intake pipe 205, and extending its service life.

[0039] More preferably, both the upper hinge seat 104 and the lower hinge seat 106 are fitted with hinge bearings, and the end of the electric push rod 103 is fixedly connected to the hinge bearings via a hinge shaft. The hinge bearings reduce motion friction at the hinge position, making the extension and retraction of the electric push rod 103 smoother and reducing structural wear.

[0040] More preferably, there are six electric actuators 103, with two adjacent electric actuators 103 forming a group. Each group of electric actuators is evenly distributed along the circumference of the first platform 101 and the second platform 102. With six electric actuators 103 arranged in pairs, and each group evenly distributed along the circumference of the first platform 101 and the second platform 102, the force distribution is more balanced, further enhancing the support stability of the fixed base 1 and making the attitude adjustment process smoother.

[0041] More preferably, a motion platform with an independent rotary output unit also includes a control motor 6, which is electrically connected to the electric push rod 103. By adding the control motor 6, which is electrically connected to the electric push rod 103, the control motor 6 can uniformly control the start, stop, and extension / retraction range of the electric push rod 103, thereby realizing automated control of the electric push rod 103's movement.

[0042] More preferably, a motion platform with an independent rotary output section further includes an angle sensor 7, which is electrically connected to the control motor 6 and used to detect the reciprocating rotation angle of the rotary output section 201 in real time. By adding the angle sensor 7, which is electrically connected to the control motor 6, the angle sensor 7 can detect the reciprocating rotation angle of the rotary output section 201 in real time and feed the data back to the control motor 6, thereby realizing real-time monitoring and precise control of the rotation angle.

[0043] More preferably, the process includes the following steps: leveling the entire equipment through the bottom of the second platform 102 to complete the initial posture calibration of the equipment; placing the workpiece to be processed on the support platform of the rotary output section 201; synchronously controlling the extension and retraction of each electric push rod 103 to drive the first platform 101 to rise, fall, and tilt, adjusting the rotary output section 201 to the preset working posture; starting the rotary cylinder 202 to drive the connecting shaft 203 to drive the rotary output section 201 to reciprocate around the axis to complete the corresponding process operation of the workpiece; after the process is completed, the rotary cylinder 202 and the electric push rod 103 are reset to their initial positions in sequence, and the processed workpiece is removed.

[0044] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0046] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A motion platform having independently rotating outputs, characterized by, include: A fixed base (1) includes a first platform (101), a second platform (102), and a plurality of electric push rods (103); the first platform (101) is provided with a plurality of upper hinge seats (104) spaced apart along the circumference, and the first platform (101) is provided with a through hole (105) penetrating along the wall thickness direction; the second platform (102) is provided with a plurality of lower hinge seats (106) spaced apart along the circumference, and the plurality of lower hinge seats (106) are provided in a one-to-one correspondence with the plurality of upper hinge seats (104); the fixed end of each electric push rod (103) is hinged to one of the lower hinge seats (106), and the moving end of each electric push rod (103) is hinged to the corresponding upper hinge seat (104), so that the first platform (101) is supported above the second platform (102) by the plurality of electric push rods (103); A rotating platform mechanism (2) includes a rotating output part (201) and a rotating cylinder (202). The rotating output part (201) abuts against the upper surface of the first platform (101) and is located above the rotating cylinder (202). The rotating output part (201) is connected to the rotating cylinder (202) through a connecting shaft (203). The connecting shaft (203) is arranged radially along the through hole (105) and its outer diameter is smaller than the inner diameter of the through hole (105), so that the rotating output part (201) can reciprocate around the axis relative to the rotating cylinder (202).

2. The motion platform with independent rotating outputs according to claim 1, wherein, The rotating output section (201) is provided with an annular limiting block (108), which extends downward along the axial direction of the through hole (105); the first platform (101) is provided with an annular limiting groove (107), which is slidably sleeved with the annular limiting block (108) to limit the rotating output section (201) from deviating from the motion trajectory.

3. The motion platform with independent rotating outputs of claim 1, wherein, The rotary cylinder (202) is provided with multiple air inlets (204), and each air inlet (204) is connected to an air inlet pipe (205). One end of the air inlet pipe (205) is connected to the air inlet (204), and the other end is connected to the second platform (102). The air inlet pipe (205) is used to supply gas to the rotary cylinder (202).

4. The motion platform with independent rotating outputs of claim 1, wherein, The rotary cylinder (202) is provided with a plurality of support blocks (3), which are distributed circumferentially at intervals along the air inlet (204).

5. The motion platform with independent rotating outputs of claim 3, wherein, The outer wall of the air intake pipe (205) is provided with a plurality of sleeves (4), which are distributed at intervals along the gas flow direction. One end of the sleeves (4) is fixedly connected to the bearing block (3), and the other end is fixedly connected to the second platform (102). A rubber strip (5) is provided between every two adjacent sleeves (4) to prevent the plurality of sleeves (4) from accumulating.

6. The motion platform with independent rotating outputs of claim 1, wherein, Both the upper hinge seat (104) and the lower hinge seat (106) are fitted with hinge bearings, and the end of the electric push rod (103) is fixedly connected to the hinge bearings through the hinge shaft.

7. The motion platform with independent rotating outputs of claim 1, wherein, There are six electric push rods (103), and two adjacent electric push rods (103) form a group. Each group of electric push rods is evenly distributed around the first platform (101) and the second platform (102).

8. The motion platform with independent rotating outputs of claim 1, wherein, A motion platform with an independent rotating output also includes a control motor (6), which is electrically connected to the electric push rod (103).

9. A motion platform with an independent rotating output section according to claim 1, characterized in that, A motion platform with an independent rotation output unit also includes an angle sensor (7), which is electrically connected to the control motor (6) and is used to detect the reciprocating rotation angle of the rotation output unit (201) in real time.

10. A control method for a motion platform having an independent rotary output section, comprising the motion platform having an independent rotary output section as described in any one of claims 1-9, characterized in that, Includes the following steps: The overall equipment is leveled by adjusting the bottom of the second platform (102) to complete the initial posture calibration of the equipment; the workpiece to be processed is placed on the bearing platform of the rotary output section (201); the electric push rods (103) are simultaneously controlled to extend and retract, driving the first platform (101) to rise, tilt, and adjust the rotary output section (201) to the preset working posture; the rotary cylinder (202) is started, driving the connecting shaft (203) to drive the rotary output section (201) to reciprocate around the axis to complete the corresponding process operation of the workpiece; after the process is completed, the rotary cylinder (202) and the electric push rods (103) are reset to the initial position in sequence, and the processed workpiece is removed.

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