Modular six-degree-of-freedom parallel platform

Abstract

The utility model discloses a modularized six-degree-of-freedom parallel platform, which belongs to the technical field of precision micro-control and comprises a bottom plate and a top plate. Six electric cylinders are arranged between the bottom plate and the top plate in a circumferential array at equal intervals; universal hinge seats are arranged at the lower end of a shell of the electric cylinder and the output end of the electric cylinder; a locking screw rod is fixedly mounted on the universal hinge seat, and is in threaded connection with a screw hole in the bottom plate or the top plate; the bottom plate is further provided with a clamping groove connected with the lower hinge seat in a clamped mode. Each lower hinge seat is connected with the bottom plate in a locking mode through an auxiliary locking assembly. The lower end of the bottom plate is further provided with a rotating module which is detachably connected. By means of the mode, all the universal hinge seats are detachable, the universal hinge seats and the electric cylinders are matched to form modular design, the connecting effect is good, the stability of the six-degree-of-freedom parallel platform is high, overhauling operation of the electric cylinders is facilitated, and convenience is provided for debugging of the six-degree-of-freedom parallel platform.

Description

Technical Field

[0001] The utility model relates to the technical field of precision micro-control, in particular to a modular six-degree-of-freedom parallel platform. Background Art

[0002] The six-degree-of-freedom platform is usually cooperated by multiple groups of servo push cylinders to realize the movement in six directions, and is widely used in industrial production and other fields.

[0003] Chinese Patent CN220604186U discloses a six-degree-of-freedom motion platform dedicated to wave simulation, including a base and a support platform. Multiple groups of electric push rods are installed between the base and the support platform, and a rotatable turntable is installed on the support platform. However, during the use of the six-degree-of-freedom platform, the hinge seat on the lower side of the push rod will have a large load, and at the same time, the accuracy of the push rod may decrease during long-term use, and it needs to be disassembled and manually debugged. The universal hinge joint of the push rod of this six-degree-of-freedom platform is fixedly connected to the base and the support platform, which is not easy to disassemble and is not convenient for maintenance operations.

[0004] Based on this, the utility model designs a modular six-degree-of-freedom parallel platform to solve the above problems. Summary of the Utility Model

[0005] In view of the above-mentioned shortcomings of the prior art, the utility model provides a modular six-degree-of-freedom parallel platform.

[0006] To achieve the above object, the utility model is realized through the following technical solutions:

[0007] A modular six-degree-of-freedom parallel platform includes a bottom plate and a top plate;

[0008] Six electric cylinders are arranged at equal intervals in a circumferential array between the bottom plate and the top plate; universal hinge seats are arranged at the lower end of the shell of the electric cylinder and the output end of the electric cylinder;

[0009] A locking screw is fixedly installed on the universal hinge seat, and the locking screw is in threaded connection with a screw hole on the bottom plate or the top plate; a card slot for clamping the lower hinge seat is also opened on the bottom plate; each lower hinge seat is locked and connected to the bottom plate through an auxiliary locking component;

[0010] A rotatable module is also arranged at the lower end of the bottom plate in a detachable connection manner.

[0011] Furthermore, the auxiliary locking component includes a movable groove, a clamping block, a ring groove and a rotating shaft. A plurality of movable grooves are opened on the outer edge of the card slot, a rotating shaft is fixedly installed in the movable groove, and the clamping block is rotatably connected to the rotating shaft; a ring groove for clamping the clamping block is opened on the universal hinge seat.

[0012] Furthermore, the movable grooves are arranged at equal intervals in a circumferential array.

[0013] Further, the clamping block is arranged in a V shape, the corner part of the clamping block is rotatably connected to the rotating shaft, the lower end of the clamping block abuts against the lower end of the lower hinge seat, and the upper end of the clamping block is clamped with the annular groove.

[0014] Further, a torsion spring is sleeved on the rotating shaft, and both ends of the torsion spring are fixedly connected to the clamping block and the inner wall of the movable groove respectively. In the natural state, the lower end of the clamping block warps up and is higher than the inner bottom of the clamping groove.

[0015] Further, the rotating module includes a driving component, a connecting component and a substrate. The driving component is installed on the substrate, and the upper end of the driving component is connected to the bottom plate through the connecting component.

[0016] Further, the driving component includes a driving gear, a driven gear, a servo motor and a bracket. The driving gear and the driven gear are rotatably connected to the substrate through bearings, and the driving gear and the driven gear are meshed; the servo motor is fixedly connected to the substrate through the bracket, and the output end of the servo motor is fixedly connected to the driving gear.

[0017] Further, the connecting component includes a slot and a plug. The plug is fixedly installed on the driven gear, and a slot for inserting the plug is formed on the bottom plate.

[0018] The beneficial effects of the present utility model compared with the prior art are as follows:

[0019] In the present utility model, all the universal hinge seats are detachable. The cooperation between the universal hinge seats and the electric cylinders constitutes a modular design, which not only has a good connection effect and strong stability of the six-degree-of-freedom parallel platform, but also facilitates the maintenance operation of the electric cylinders, provides convenience for the debugging of the six-degree-of-freedom parallel platform, and at the same time, the performance of the six-degree-of-freedom parallel platform can be extended through the rotating module to realize the fine-tuning rotation function of the six-degree-of-freedom parallel platform. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a three-dimensional view of the overall modular six-degree-of-freedom parallel platform of the present utility model;

[0022] Figure 2 It is a front view of the overall modular six-degree-of-freedom parallel platform of the present utility model;

[0023] Figure 3 Stereogram of the rotation module of a modular six-degree-of-freedom parallel platform of the present utility model;

[0024] Figure 4 Partial stereogram of the auxiliary locking assembly of the present utility model;

[0025] Figure 5 Stereogram of the electric cylinder of the present utility model.

[0026] The reference numerals in the figure respectively represent:

[0027] 10, bottom plate; 20, top plate; 30, electric cylinder; 40, universal hinge seat; 41, locking screw; 42, card slot; 50, auxiliary locking assembly; 51, movable slot; 52, clamping block; 53, annular groove; 54, rotating shaft; 55, torsion spring; 60, rotation module; 61, slot; 62, inserted block; 63, driving gear; 64, driven gear; 65, servo motor; 66, bracket; 67, base plate. Specific embodiments

[0028] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the scope of protection of the present utility model.

[0029] The "left", "right", "front", "rear", "upper" and "lower" mentioned in the following description are oriented in the perspective direction of the front view.

[0030] Embodiment 1

[0031] In some embodiments, please refer to the attached drawings of the specification Figures 1-5 , a modular six-degree-of-freedom parallel platform includes a bottom plate 10 and a top plate 20,

[0032] Six electric cylinders 30 are equidistantly arranged in a circumferential array between the bottom plate 10 and the top plate 20; universal hinge seats 40 are provided at both the lower end of the housing of the electric cylinder 30 and the output end of the electric cylinder 30. Hereinafter, the upper universal hinge seat 40 is uniformly referred to as the upper hinge seat, and the lower universal hinge seat 40 is uniformly referred to as the lower hinge seat;

[0033] A locking screw 41 is fixedly installed on the universal hinge seat 40, and the locking screw 41 is in threaded connection with the screw hole on the bottom plate 10 or the top plate 20; a card slot 42 for clamping the lower hinge seat is further opened on the bottom plate 10; each lower hinge seat is locked and connected to the bottom plate 10 through an auxiliary locking assembly 50;

[0034] A rotatable module 60 which is detachably connected is further provided at the lower end of the bottom plate 10.

[0035] In the present utility model, all the universal hinge seats 40 are detachable. The cooperation between the universal hinge seats 40 and the electric cylinders 30 constitutes a modular design, which not only has a good connection effect and strong stability of the six-degree-of-freedom parallel platform, but also facilitates the maintenance operation of the electric cylinders 30, provides convenience for the debugging of the six-degree-of-freedom parallel platform, and at the same time, the performance of the six-degree-of-freedom parallel platform can be extended through the rotatable module 60 to realize the fine rotation function of the six-degree-of-freedom parallel platform.

[0036] The auxiliary locking assembly 50 includes an activity groove 51, a clamping block 52, an annular groove 53 and a rotating shaft 54. A plurality of activity grooves 51 are equidistantly arranged in a circumferential array along the outer edge of the clamping groove 42. A rotating shaft 54 is fixedly installed in the activity groove 51, and the clamping block 52 is rotatably connected to the rotating shaft 54; an annular groove 53 for clamping the clamping block 52 is formed on the universal hinge seat 40.

[0037] The clamping block 52 is arranged in a V shape. The corner part of the clamping block 52 is rotatably connected to the rotating shaft 54. The lower end of the clamping block 52 abuts against the lower end of the lower hinge seat, and the upper end of the clamping block 52 is clamped in the annular groove 53 of the universal hinge seat 40.

[0038] A torsion spring 55 is sleeved on the rotating shaft 54. The two ends of the torsion spring 55 are respectively fixedly connected to the clamping block 52 and the inner wall of the activity groove 51. In the natural state, the lower end of the clamping block 52 warps up and is higher than the inner bottom of the clamping groove 42.

[0039] In the present utility model, the lower hinge seat is aligned with the clamping groove 42 and inserted. Then, the universal hinge seat 40 is rotated to screw the locking screw 41 into the screw hole on the bottom plate 10. During the process of inserting the lower hinge seat into the clamping groove 42, the lower hinge seat presses the warped lower end of the clamping block 52 to make the clamping block 52 rotate around the rotating shaft 54. When the lower hinge seat is completely inserted into the clamping groove 42, the upper end of the clamping block 52 is clamped into the annular groove 53 of the universal hinge seat 40 to hold and fix the universal hinge seat 40, effectively increasing the fixing effect of the universal hinge seat 40. The cooperation between the universal hinge seat 40 and the electric cylinders 30 constitutes a modular design, which not only has a good connection effect and strong stability of the six-degree-of-freedom parallel platform, but also facilitates the maintenance operation of the electric cylinders 30, provides convenience for the debugging of the six-degree-of-freedom parallel platform.

[0040] The rotation module 60 includes a slot 61, a plug 62, a driving gear 63, a driven gear 64, a servo motor 65, a bracket 66 and a substrate 67. The driving gear 63 and the driven gear 64 are rotatably connected to the substrate 67 through bearings, and the driving gear 63 and the driven gear 64 are meshed and connected; the servo motor 65 is fixedly connected to the substrate 67 through the bracket 66, and the output end of the servo motor 65 is fixedly connected to the driving gear 63; a plug 62 is fixedly installed on the driven gear 64, and a slot 61 for inserting the plug 62 is formed on the bottom plate 10;

[0041] In the present utility model, the servo motor 65 drives the driven gear 64 to rotate through the driving gear 63, and then drives the bottom plate 10 to rotate through the cooperation of the slot 61 and the plug 62, so as to realize the micro-rotation of the six-degree-of-freedom parallel platform. Moreover, the modular design of the rotation module 60 can expand the rotation function of the six-degree-of-freedom parallel platform at any time, enhance its performance, and remove the rotation module 60 when the rotation function is not required, making the structure of the six-degree-of-freedom parallel platform simpler.

[0042] The above embodiments are only used to illustrate the technical solutions of the present utility model, rather than to limit it; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements will not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A modular six-degree-of-freedom parallel platform, comprising a bottom plate (10) and a top plate (20), characterized in that: Six electric cylinders (30) are arranged in a circular array at equal intervals between the bottom plate (10) and the top plate (20); a universal hinge seat (40) is provided at the lower end of the housing of the electric cylinder (30) and the output end of the electric cylinder (30); A locking screw (41) is fixedly mounted on the universal hinge seat (40), and the locking screw (41) is threadedly connected to a screw hole on the bottom plate (10) or the top plate (20); a clamping groove (42) is also provided on the bottom plate (10), and the clamping groove (42) is clamped to the universal hinge seat (40) at the lower end of the housing of the electric cylinder (30); each lower hinge seat is locked and connected to the bottom plate (10) via an auxiliary locking assembly (50); The lower end of the base plate (10) is also provided with a detachably connected rotating module (60).

2. The modular six-degree-of-freedom parallel platform according to claim 1, characterized in that: The auxiliary locking assembly (50) comprises a movable groove (51), a clamping block (52), an annular groove (53) and a rotating shaft (54); a plurality of movable grooves (51) are provided on the outer edge of the clamping groove (42); a rotating shaft (54) is fixedly installed in the movable groove (51); the clamping block (52) is rotatably connected to the rotating shaft (54); and an annular groove (53) is provided on the universal hinge seat (40) and is clamped with the clamping block (52).

3. The modular six-degree-of-freedom parallel platform according to claim 2, characterized in that: The movable grooves (51) are distributed in a circular array at equal intervals.

4. The modular six-degree-of-freedom parallel platform according to claim 3, characterized in that: The clamping block (52) is arranged in a V shape, the corner portion of the clamping block (52) is rotatably connected to the rotating shaft (54), the lower end of the clamping block (52) abuts against the lower end of the universal hinge seat (40) at the lower end of the housing of the electric cylinder (30), and the upper end of the clamping block (52) is clamped with the annular groove (53).

5. The modular six-degree-of-freedom parallel platform according to claim 4, characterized in that: The rotating shaft (54) is sleeved with a torsion spring (55), and the two ends of the torsion spring (55) are respectively fixedly connected to the clamping block (52) and the inner wall of the movable groove (51). In a natural state, the lower end of the clamping block (52) is tilted and higher than the inner bottom of the clamping groove (42).

6. The modular six-degree-of-freedom parallel platform according to claim 5, characterized in that: The rotating module (60) comprises a driving component, a connecting component and a base plate (67); the driving component is mounted on the base plate (67); and the upper end of the driving component is connected to the bottom plate (10) via the connecting component.

7. The modular six-degree-of-freedom parallel platform according to claim 6, characterized in that: The driving assembly comprises a driving gear (63), a driven gear (64), a servo motor (65) and a bracket (66); the driving gear (63) and the driven gear (64) are rotatably connected to a base plate (67) via bearings, and the driving gear (63) and the driven gear (64) are meshingly connected; the servo motor (65) is fixedly connected to the base plate (67) via the bracket (66), and the output end of the servo motor (65) is fixedly connected to the driving gear (63).

8. The modular six-DOF parallel platform according to claim 7, characterized in that: The connecting assembly comprises a slot (61) and an insert block (62); the insert block (62) is fixedly mounted on the driven gear (64); and the bottom plate (10) is provided with a slot (61) for inserting the insert block (62).

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