Six-degree-of-freedom platform

Abstract

The utility model discloses a six-degree-of-freedom platform which comprises an upper platform, upper hooke joints, an electric cylinder, an integrated servo motor, lower hooke joints, a servo composite cable, a control cabinet fixing plate, a control cabinet and a lower platform, the six upper hooke joints are connected with the upper platform through screws, and the six lower hooke joints are connected with the lower platform through screws. The six electric cylinders are connected between the upper platform and the lower platform through upper hooke joints and lower hooke joints, the integrated servo motors are installed on the electric cylinders, the control cabinet fixing plate is installed on the lower platform, the control cabinet is fixed to the control cabinet fixing plate, and the six servo composite cables are connected to a motor aviation socket of the control cabinet. The wiring process is simplified and the cable cost is saved.

Description

Technical Field

[0001] The utility model relates to a six-degree-of-freedom platform. Background Art

[0002] The six-degree-of-freedom platform is a parallel motion platform consisting of an upper platform (dynamic platform), a lower platform (static platform), six retractable rods and twelve motion hinges connecting the rods and the upper and lower platforms.

[0003] Six-degree-of-freedom platforms can be divided into three types according to the driving method: pneumatic platform, hydraulic platform and electric platform.

[0004] According to the number of degrees of freedom, it can be divided into two types: three-degree-of-freedom platform and six-degree-of-freedom platform.

[0005] The key components of the six-degree-of-freedom electric platform are electric cylinders, reducers, servo motors, servo drivers, motion control cards, etc. Its power is second only to that of the hydraulic platform. It has the advantages of fast response, high sensitivity, precise control, simple structure, high reliability, low noise, cleanliness, and easy maintenance. The only disadvantage is that the control circuit is complex and the cost is high.

[0006] The six-DOF electric platforms currently on the market still use conventional synchronous servo motors as the main electric cylinder drive components, and conventional servo drives to drive servo motors. The combination of conventional servo drives and servo motors will cause the problem of excessive size and space, so the servo drive and controller need to be accommodated in a separate large-sized control cabinet. At the same time, there are twelve power cables and feedback cables between the six servo motors and the servo drive, and the cable cost is also high, resulting in large size and high cost of the existing six-DOF electric platform control cabinet. Utility Model Content

[0007] The utility model discloses a six-degree-of-freedom platform, which reduces the size of a control cabinet, simplifies wiring technology, and saves cable costs.

[0008] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0009] The utility model discloses a six-degree-of-freedom platform, comprising an upper platform, an upper Hooke's hinge, an electric cylinder, an integrated servo motor, a lower Hooke's hinge, a servo composite cable, a control cabinet fixing plate, a control cabinet and a lower platform, six upper Hooke's hinges are connected to the upper platform through screws, six lower Hooke's hinges are connected to the lower platform through screws, six electric cylinders are connected between the upper platform and the lower platform through the upper Hooke's hinge and the lower Hooke's hinge, the integrated servo motor is mounted on the electric cylinder, the control cabinet fixing plate is mounted on the lower platform, the control cabinet is fixed on the control cabinet fixing plate, and six servo composite cables are connected to the motor aviation socket of the control cabinet.

[0010] Furthermore, the control cabinet includes a top plate, a bottom plate, three side panels one and three side panels two, the three side panels one and the three side panels two are spaced apart, the top plate is located at the top of the three side panels one and the three side panels two, and the bottom plate is located at the bottom of the three side panels one and the three side panels two, and the control cabinet is installed with a motor bus power supply, a controller, a brake chopper, a controller terminal block and a 24V control electric switch power supply.

[0011] Furthermore, an interlayer aluminum plate is provided in the control cabinet. The material of the control cabinet is aluminum alloy. The control cabinet is divided into two layers, the controller, brake chopper and controller terminal block are arranged on the upper layer, and the controller, brake chopper and controller terminal block are installed on the interlayer aluminum plate by screws. The motor bus power supply and 24V control electric switch power supply are installed on the lower layer.

[0012] Further, the motor bus power supply is used to provide high voltage electricity to the integrated servo motor;

[0013] The controller is used to control the movement of the integrated servo motor;

[0014] The brake chopper is used to suppress the peak voltage under the motor generating condition;

[0015] The 24V control power switching power supply is used to provide 24V control power to each component of the six-degree-of-freedom platform.

[0016] Furthermore, the length of side panel one is greater than that of side panel two, and two motor aviation sockets are provided at each side panel two, and the servo composite cable is connected to the motor aviation sockets.

[0017] Furthermore, an air switch, a power indicator light and a fault indicator light are installed on one of the side panels, and an AC input power plug, a tilt sensor plug, a communication plug and a limit switch plug are installed on the other side panel.

[0018] The beneficial effects of the utility model are:

[0019] The utility model installs the integrated servo motor on the electric cylinder, and the space occupied by the integrated servo motor and the electric cylinder is reduced, and space is reserved for the installation of the control cabinet, so that the control cabinet can be set between the 6 electric cylinders, which is more convenient for wiring. At the same time, the traditional rectangular control cabinet is changed to a three-dimensional one with a hexagonal cross section, which greatly reduces the volume of the control cabinet and reduces the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0021] Figure 1 It is a schematic diagram of an embodiment of the utility model.

[0022] Figure 2It is a schematic diagram of an explosion of an embodiment of the utility model.

[0023] Figure 3 This is a schematic diagram of electrical connections of an embodiment of the utility model.

[0024] Figure 4 This is a schematic diagram of a control cabinet according to an embodiment of the utility model.

[0025] Figure 5 This is another schematic diagram of a control cabinet according to an embodiment of the utility model.

[0026] Figure 6 It is a partial schematic diagram of a control cabinet according to an embodiment of the utility model. DETAILED DESCRIPTION

[0027] The technical scheme in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, rather than all the embodiments. The components of the embodiment of the utility model generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiment of the utility model provided in the drawings is not intended to limit the scope of the utility model claimed for protection, but merely represents the selected embodiment of the utility model. Based on the embodiment of the utility model, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the utility model.

[0028] As shown in the figure, the utility model discloses a six-degree-of-freedom platform, including an upper platform 1, an upper Hook hinge 2, an electric cylinder 3, an integrated servo motor 4, a lower Hook hinge 5, a servo composite cable 6, a control cabinet fixing plate 7, a control cabinet 8 and a lower platform 9. Six upper Hook hinges 2 are connected to the upper platform 1 by screws, and six lower Hook hinges 5 are connected to the lower platform 9 by screws. Six electric cylinders 3 are connected between the upper platform 1 and the lower platform 9 through the upper Hook hinges 2 and the lower Hook hinges 5. The integrated servo motor 4 is installed on the electric cylinder 3, the control cabinet fixing plate 7 is installed on the lower platform 9, the control cabinet 8 is fixed on the control cabinet fixing plate 7, and six servo composite cables 6 are connected to the motor navigation socket 803 of the control cabinet 8. The servo composite cable 6 includes the busbar power supply, 24V auxiliary power supply, I / O, and communication functions required for the servo motor and the servo drive. The utility model replaces two cables of the traditional six-degree-of-freedom platform, namely the power cable and the communication cable, with one cable 6, thereby saving cables. The control cabinet 8 of the utility model is smaller in size, and the integrated servo motor 4 is installed on the electric cylinder 3. The space occupied by the integrated servo motor 4 and the electric cylinder 3 is reduced, and space is reserved for the installation of the control cabinet, so that the control cabinet can be set between the six electric cylinders 3, which is more convenient for wiring. At the same time, the traditional rectangular control cabinet is changed to a solid with a hexagonal cross section, which greatly reduces the volume of the control cabinet and reduces the cost.

[0029] In an embodiment of the utility model, the control cabinet 8 includes a top plate, a bottom plate, three side plates 801 and three side plates 2. The top plate and the bottom plate play a sealing role and are not described in detail here. The three side plates 1 are marked as 802, 804 and 805 respectively due to the different installation parts. The three side plates 1 and the three side plates 2 are distributed at intervals. The top plate is located at the top of the three side plates 1 and the three side plates 2, and the bottom plate is located at the bottom of the three side plates 1 and the three side plates 2. The motor bus power supply 806, the controller 807, the brake chopper 808, the controller terminal block 809 and the 24V control switch power supply 811 are installed in the control cabinet 8. The utility model improves the structure of the control cabinet, the cross section is hexagonal, and the volume is reduced by nearly half. This is because the integrated servo motor 4 is installed at the upper end, saving space. Compared with the traditional six-degree-of-freedom platform in which the control cabinet is located on the outside, the utility model integrates the control cabinet for convenient wiring.

[0030] In one embodiment of the utility model, an interlayer aluminum plate 810 is provided in the control cabinet 8. The material of the control cabinet is aluminum alloy. The control cabinet is divided into two layers, the controller 807, the brake chopper 808 and the controller terminal block 809 are arranged on the upper layer, the controller 807, the brake chopper 808 and the controller terminal block 809 are installed on the interlayer aluminum plate 810 by screws, and the motor bus power supply 806 and the 24V control electric switch power supply 811 are installed on the lower layer.

[0031] The motor bus power supply is used to provide high voltage electricity to the integrated servo motor;

[0032] The controller is used to control the movement of the integrated servo motor;

[0033] The brake chopper is used to suppress the peak voltage under the motor generating condition;

[0034] The 24V control power switching power supply is used to provide 24V control power to each component of the six-degree-of-freedom platform.

[0035] In one embodiment of the utility model, the length of side panel one is greater than that of side panel two. The specific length is determined according to the size of the upper platform 1 and the lower platform 9 of the six-free platform. Two motor aviation sockets 803 are provided at each side panel two 801, and the servo composite cable 6 is connected to the motor aviation socket 803.

[0036] In one embodiment of the utility model, an air switch 8041, a power indicator light 8042 and a fault indicator light 8043 are installed on one side panel 804, and an AC input power plug 8051, a tilt sensor plug 8052, a communication plug 8053 and a limit switch plug 8054 are installed on another side panel 805.

[0037] Air switch 8041 is used to control the switch of input AC power;

[0038] The power indicator light 8042 is used to display the power supply status;

[0039] The fault indicator light 8043 is used to display the fault warning status.

[0040] The above description is only the preferred implementation of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A six-degree-of-freedom platform, characterized in that: It includes an upper platform, an upper Hook hinge, an electric cylinder, an integrated servo motor, a lower Hook hinge, a servo composite cable, a control cabinet fixing plate, a control cabinet and a lower platform. The 6 upper Hook hinges are connected to the upper platform by screws, the 6 lower Hook hinges are connected to the lower platform by screws, the 6 electric cylinders are connected between the upper platform and the lower platform by upper Hook hinges and lower Hook hinges, the integrated servo motor is installed on the electric cylinder, the control cabinet fixing plate is installed on the lower platform, the control cabinet is fixed on the control cabinet fixing plate, and the 6 servo composite cables are connected to the motor aviation socket of the control cabinet.

2. A six-degree-of-freedom platform according to claim 1, characterized in that: The control cabinet includes a top plate, a bottom plate, 3 side panels one and 3 side panels two. The 3 side panels one and 3 side panels two are spaced apart. The top plate is located on the top of the 3 side panels one and 3 side panels two, and the bottom plate is located on the bottom of the 3 side panels one and 3 side panels two. The motor bus power supply, controller, brake chopper, controller terminal block and 24V control electric switch power supply are installed in the control cabinet.

3. A six-degree-of-freedom platform according to claim 2, characterized in that: There is an interlayer aluminum plate in the control cabinet. The material of the control cabinet is aluminum alloy. The control cabinet is divided into two layers, the controller, brake chopper and controller terminal block are arranged on the upper layer, and the controller, brake chopper and controller terminal block are installed on the interlayer aluminum plate by screws. The motor bus power supply and 24V control electric switch power supply are installed on the lower layer.

4. A six-degree-of-freedom platform according to claim 3, characterized in that: The motor bus power supply is used to provide high voltage electricity to the integrated servo motor; The controller is used to control the movement of the integrated servo motor; The brake chopper is used to suppress the peak voltage under the motor generating condition; The 24V control power switching power supply is used to provide 24V control power to each component of the six-degree-of-freedom platform.

5. A six-degree-of-freedom platform according to claim 2, characterized in that: The length of the side panel one is greater than that of the side panel two. Two motor aviation sockets are arranged at each side panel two, and the servo composite cable is connected to the motor aviation sockets.

6. A six-degree-of-freedom platform according to claim 5, characterized in that: An air switch, a power indicator light and a fault indicator light are installed on one of the side panels, and an AC input power plug, a tilt sensor plug, a communication plug and a limit switch plug are installed on the other side panel.

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