Composite six-degree-of-freedom parallel stable platform

Abstract

The utility model provides a composite type six-degree-of-freedom parallel stabilized platform which is used for solving the problems in the prior art. The platform comprises a first motion platform, a second motion platform, a third motion platform, three telescopic motion branch chains, six universal joints, a double-spherical-hinge connecting piece and a track driving device. The second platform is located between the first platform and the third platform, and a composite structure is formed. By means of the structure, the micro-micro control device has the advantages of being capable of achieving macro-micro control, high in space adaptability, weak in coupling, stable in static balance and the like. A 3-RPS type parallel platform is adopted between the first platform and the second platform, and a track driving type parallel platform is adopted between the second platform and the third platform, so that respective advantages are fully exerted. Compared with the prior art, the embodiment of the utility model has the advantages of better stability, bearing capacity and adaptability, compact structure, small size and the like.

Description

Technical Field

[0001] The utility model belongs to the technical field of compound motion platforms, and in particular relates to a compound parallel stable motion mechanism. Background Art

[0002] With the advancement of science and technology and global economic growth, vehicles such as aircraft, vehicles, and ships have been rapidly developed and applied. These vehicles have become an indispensable part in military and civilian environments. Vehicles will vibrate and deviate as the environment changes, but the navigation, reconnaissance, and stable aiming equipment on the vehicles need to remain stable. At present, most of them use a six-degree-of-freedom stewart parallel platform (in the form of six retractable struts) and a macro-micro motion mechanism of a series platform plus a parallel platform as the main component adjustment mechanism. Although these structures have high precision, they have high coupling and complex control and need to consider many factors.

[0003] For example, application number CN202211077989.7 discloses a multi-platform composite serial-parallel closed-loop motion mechanism, which includes 3 motion platforms, 9 retractable motion branches, 12 Hooke pairs and 6 ball pairs. The composite serial-parallel motion mechanism is a closed-loop series connection of 6-UPS and 3-UPU parallel mechanisms. Although this mechanism is more accurate than the traditional primary parallel mechanism, it is a fully branched type in structure, with strong coupling and high control difficulty. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the utility model provides a composite 6-DOF parallel stable platform. The motion platform realizes the adjustment task in the stable system through structural design and control mode, and has the characteristics of macro-micro control, strong spatial adaptability, no coupling, static balance stability, etc. The present invention combines the advantages of parallel mechanism and series mechanism, and provides new ideas and methods for composite series-parallel mechanism.

[0005] In order to achieve the above purpose, the present invention adopts the following technical scheme:

[0006] A composite 6-DOF parallel stable platform comprises a first motion platform, a second motion platform, a third motion platform, three retractable motion branches, six universal joints, a double ball joint connector and a track drive device. The second motion platform is between the first motion platform and the third motion platform. Three universal joints are fixed on the first motion platform, and the three universal joints are distributed in an equilateral triangle on the first motion platform. Then the three universal joints are respectively connected to the bottoms of the three retractable motion branches. Then the three retractable motion branches are respectively connected to the three universal joints fixed at the lower end of the second motion platform and also distributed in an equilateral triangle, so that the three retractable motion branches are parallel to each other. The upper end of the second motion platform is connected to the lower end of the third motion platform through a double ball joint structure. The third motion platform is in contact with the upper end of the second motion platform through a fixed track drive device so that it can provide the third motion platform with the ability to move.

[0007] The first motion platform and the second motion platform are connected by a 3-RPS parallel platform, and the second motion platform and the third motion platform are track-driven parallel platforms; their working states are:

[0008] The first motion platform is fixed: the second motion platform and the third motion platform are motion platforms, and a 3-RPS parallel platform is between the first motion platform and the second motion platform. When the second motion platform is stationary, the second motion platform and the first motion platform are regarded as one, and a track-driven parallel platform is between the third motion platform and the first motion platform.

[0009] Compared with the prior art, the utility model achieves the following technical results:

[0010] 1. The two-stage structure can better disperse the load and maintain balance, thereby enhancing the stability and carrying capacity of the entire platform. The first-stage 3-RPS parallel platform provides basic stability, while the second-stage crawler-driven parallel platform can further enhance the carrying capacity and adaptability;

[0011] 2. This two-level structure makes the platform more adaptable and can cope with different task requirements and working environments. For example, in some cases, only the first-level 3-RPS parallel platform is needed for precision operations, while when moving or transporting is required, the second-level crawler-driven parallel platform can be used to better adapt to different work requirements;

[0012] 3. The utility model abandons the conventional combination of full-branch chain configuration and adopts a branch chain configuration combined with a crawler drive, which reduces the coupling of the overall structure and the difficulty of implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1It is a three-dimensional diagram of the composite 6-DOF parallel stable platform of the utility model, wherein 1 is the first motion platform, 2 is the universal joint, 3 is the second motion platform, 4 is the retractable motion branch chain, 5 is the double ball joint structure, 6 is the third motion platform, and 7 is the crawler drive device;

[0014] Figure 2 This is a distribution diagram of the three retractable motion branches 4 of the utility model on the first motion platform 1;

[0015] Figure 3 It is a composite double ball joint structure 5 of the utility model;

[0016] Figure 4 The basic structure of the upper platform of the utility model is composed of an upper platform 6 and a crawler drive device 7 which are fixedly connected. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. Example

[0018] See also Figure 1 The composite parallel stable platform of the utility model includes three motion platforms, namely, a first motion platform 1, a second motion platform 3, and a third motion platform 6; three retractable motion branches 4, namely, a first retractable motion branch 4-1, a second retractable motion branch 4-2, and a third retractable motion branch 4-3; six universal joints 2, a double ball joint connector 5, and a crawler drive device 7;

[0019] The second motion platform 3 is between the first motion platform 1 and the third motion platform 6, the first motion platform 1 is connected and fixed to the first retractable motion branch chain 4-1 through the first universal joint 2-1, the first motion platform 1 is connected and fixed to the second retractable motion branch chain 4-2 through the second universal joint 2-2, the first motion platform 1 is connected and fixed to the third retractable motion branch chain 4-3 through the third universal joint 2-3, the first retractable motion branch chain 4-1 is connected and fixed to the second motion platform 3 through the fourth universal joint 2-4, the second retractable motion branch chain 4-2 is connected and fixed to the second motion platform 3 through the fifth universal joint 2-5, the third retractable motion branch chain 4-3 is connected and fixed to the second motion platform 3 through the sixth universal joint 2-6, the second motion platform 3 is connected and fixed to the third motion platform 6 through the double ball joint structure 5, and the third motion platform 6 is in contact with the second motion platform 3 through the crawler drive device 7 so that it can provide mobility to the third motion platform 6;

[0020] The first motion platform 1 and the second motion platform 3 are connected in parallel by 3-RPS type, and the second motion platform 3 and the third motion platform 6 are connected in parallel by crawler drive type; their working states are:

[0021] The first motion platform 1 is fixed: the second motion platform 3 and the third motion platform 6 are motion platforms, and a 3-RPS type parallel platform is between the first motion platform 1 and the second motion platform 3. When the second motion platform 3 is stationary, the second motion platform 3 and the first motion platform 1 are regarded as one, and a track-driven parallel platform is between the third motion platform 3 and the first motion platform 1.

Claims

1. A composite 6-DOF parallel stabilized platform, characterized by: The invention comprises a first motion platform (1), a second motion platform (3) and a third motion platform (6), three retractable motion branches (4), six universal joints (2), a double ball joint connection member (5) and a crawler drive device (7); the second motion platform (3) is between the first motion platform (1) and the third motion platform (6); three universal joints (2) are fixed on the first motion platform (1), namely, a first universal joint (2-1), a second universal joint (2-2) and a third universal joint (2-3); and the three universal joints (2) are distributed in the form of an equilateral triangle on the first motion platform (1); and the three universal joints (2) are respectively connected to the three first retractable motion branches (4-1), the third universal joint (2-2) and the third universal joint (2-3). The bottom of the second retractable motion branch chain (4-2) and the third retractable motion branch chain (4-3), and then the three retractable motion branch chains (4) are respectively connected to the three universal joints (2) fixed at the lower end of the second motion platform (3) and also distributed in an equilateral triangle, namely the fourth universal joint (2-4), the fifth universal joint (2-5), and the sixth universal joint (2-6), so that the three retractable motion branch chains (4) are parallel to each other, the upper end of the second motion platform (3) is connected to the lower end of the third motion platform (6) through a double ball joint connector (5), and the third motion platform (6) is in contact with the upper end of the second motion platform (3) through a fixed crawler drive device (7) so that it can provide the third motion platform (6) with the ability to move.

2. A composite 6-DOF parallel stabilized platform according to claim 1, characterized in that: The first motion platform (1) and the second motion platform (3) form a 3-RPS branch chain configuration with a retractable motion branch chain (4), and the second motion platform (3) and the third motion platform (6) form a track-driven parallel structure with a double ball joint connector (5) and a track drive device (7).

Images