Six-degree-of-freedom motion platform with auxiliary linear drivers

Abstract

The utility model relates to the technical field of six-degree-of-freedom motion platforms, in particular to a six-degree-of-freedom motion platform with auxiliary linear drivers, which comprises a static platform, a movable platform, a plurality of lower mounting seats, a plurality of upper mounting seats, a plurality of linear drivers and a plurality of auxiliary linear drivers. The movable platform is arranged above the static platform, and the top surface of the movable platform is used for bearing the environment simulation manned cabin; the plurality of lower mounting seats are uniformly fixed on the top surface of the static platform along the circumferential direction of the static platform; the plurality of upper mounting seats are uniformly fixed on the bottom surface of the movable platform along the circumferential direction of the movable platform; the axes of the main linear drivers are arranged in an inclined mode. The non-output ends of every two main linear drivers are hinged to the same lower mounting base, and the output ends of every two main linear drivers and the two upper mounting bases are hinged to the upper mounting bases in a one-to-one correspondence mode. The axes of the auxiliary linear drivers are arranged in an inclined mode. The non-output end of each auxiliary linear driver is hinged to one lower installation base, and the output end of each auxiliary linear driver is hinged to one upper installation base.

Description

Technical Field

[0001] The utility model relates to the technical field of six-degree-of-freedom motion platforms, in particular to a six-degree-of-freedom motion platform with a secondary linear drive. Background Art

[0002] The 6-DOF motion platform can achieve six degrees of freedom (DOF) of motion: roll, pitch, yaw, lateral translation, longitudinal translation, and lift. These six DOF motions can be combined in any desired manner, making it a crucial simulation test device for dynamic reliability studies of aircraft, ships, aerospace, and automotive equipment. However, specialized testing demands that require the 6-DOF motion platform to withstand extremely high loads place even greater demands on its service life.

[0003] For a six-degree-of-freedom motion platform capable of carrying a larger load, how to extend its service life has become a technical problem that needs to be urgently solved by those skilled in the art. Utility Model Content

[0004] The utility model provides a six-degree-of-freedom motion platform with a secondary linear driver, which is used to solve the problem of how to prolong the service life of the large-load six-degree-of-freedom motion platform.

[0005] The utility model provides a six-degree-of-freedom motion platform with a secondary linear drive, comprising:

[0006] static platform;

[0007] The dynamic platform is set above the static platform, and its top surface is used to carry the environment simulation manned cabin;

[0008] There are multiple lower mounting seats, which are evenly fixed to the top surface of the static platform along the circumference of the static platform;

[0009] There are multiple upper mounting seats, which are evenly fixed to the bottom surface of the moving platform along the circumference of the moving platform; each upper mounting seat is staggered with each lower mounting seat;

[0010] There are multiple main linear actuators, and the axes are arranged tilted respectively; the non-output ends of each two main linear actuators are hinged to the same lower mounting seat, and the output ends are hinged to the two upper mounting seats in a one-to-one correspondence;

[0011] There are multiple auxiliary linear drivers, and the axes are respectively tilted. The non-output end of each auxiliary linear driver is hinged to a lower mounting seat, and the output end is hinged to an upper mounting seat.

[0012] In some embodiments, each secondary linear actuator comprises:

[0013] The cylinder barrel has an inclined axis and a bottom end hinged to a lower mounting seat;

[0014] The elastic member is inserted into the cylinder, with one end contacting the inner bottom surface of the cylinder and capable of deformation;

[0015] One end of the transmission rod is inserted into the cylinder and abuts against the other end of the elastic member, and the other end is hinged to an upper mounting seat.

[0016] In some embodiments, a slide rail is provided on the inner wall of the cylinder along the axial direction of the cylinder;

[0017] A sliding block is provided at one end of the transmission rod close to the elastic member; a sliding groove matched with the sliding rail is provided on the side wall of the sliding block.

[0018] In some embodiments, the elastic member comprises:

[0019] The main spring is inserted into the cylinder, with one end contacting the inner bottom surface of the cylinder and the other end contacting the transmission rod;

[0020] The auxiliary spring is inserted into the main spring, has an axial length smaller than that of the main spring, one end of the auxiliary spring can abut against the inner bottom surface of the cylinder, and the other end can abut against the transmission rod.

[0021] In some embodiments, the non-output end of each main linear drive and the non-output end of each secondary linear drive are respectively hinged to the lower mounting seat through a Hooke's hinge; the output end of each main linear drive and the output end of each secondary linear drive are respectively hinged to the upper mounting seat through a Hooke's hinge.

[0022] In some embodiments, each master linear actuator is a servo electric cylinder.

[0023] In some embodiments, there are three lower mounting seats, three upper mounting seats, six main linear actuators, and three auxiliary linear actuators.

[0024] The beneficial effects of the present invention are as follows: the six-degree-of-freedom motion platform with a secondary linear drive of the present invention is capable of driving the moving platform to rotate around the X-axis, the Y-axis, the Z-axis, move along the X-axis, move along the Y-axis or move along the Z-axis by setting a main linear drive, thereby driving the environmental simulation manned cabin to rotate around the X-axis, the Y-axis, the Z-axis, move along the X-axis, move along the Y-axis or move along the Z-axis, and has the function of remaining stationary at any position and in any posture within the working range. During the stationary and moving process of the moving platform, the secondary linear drive and the main linear drive cooperate with each other to share the load, effectively extending the service life of the main linear drive, thereby extending the service life of the six-degree-of-freedom motion platform with the secondary linear drive. Even if the secondary linear drive fails, the six-degree-of-freedom motion platform with the secondary linear drive can still work normally, which is beneficial to reducing the maintenance cost and maintenance frequency of the six-degree-of-freedom motion platform with the secondary linear drive, and improving its structural stability and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of some specific embodiments of a six-degree-of-freedom motion platform with a secondary linear drive of the utility model;

[0026] Figure 2 yes Figure 1 The figure shows a schematic diagram of the internal structure of each secondary linear drive in a six-degree-of-freedom motion platform with secondary linear drives.

[0027] In the accompanying drawings, 110 is a static platform; 120 is a dynamic platform; 130 is a lower mounting seat; 140 is an upper mounting seat; 150 is a main linear drive; 160 is a secondary linear drive; 161 is a cylinder; 162 is an elastic member; and 163 is a transmission rod. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] As described in the background art, for a six-degree-of-freedom motion platform capable of carrying a larger load, how to extend its service life has become a technical problem that needs to be urgently solved by those skilled in the art.

[0030] Furthermore, it's important to note that with traditional 6DOF motion platforms, the main linear actuator is always under load, regardless of whether the 6DOF platform is operating. This results in a high maintenance frequency for the main linear actuator. In actual operation, maintenance on a traditional 6DOF motion platform requires the removal of the environmental simulation cabin and the platform, resulting in high maintenance costs.

[0031] To solve the above problems, refer to Figure 1 and Figure 2 The utility model provides a six-degree-of-freedom motion platform with a secondary linear drive, including a static platform 110, a dynamic platform 120, three lower mounting seats 130, three upper mounting seats 140, six main linear drives 150 and three secondary linear drives 160. The static platform 110 is fixed to the base by bolts. The dynamic platform 120 is arranged above the static platform 110, and the top surface is used to bear an environmental simulation manned cabin with a weight of approximately 25 tons. The three lower mounting seats 130 are evenly fixed to the top surface of the static platform 110 along the circumference of the static platform 110. The three upper mounting seats 140 are evenly fixed to the bottom surface of the dynamic platform 120 along the circumference of the dynamic platform 120. Each upper mounting seat 140 is staggered with each lower mounting seat 130. The axes of the six main linear drives 150 are respectively tilted. The non-output ends of each of the two main linear actuators 150 are hinged to the same lower mounting seat 130, and the output ends are hinged to the upper mounting seats 140 in a one-to-one correspondence with the two upper mounting seats 140. With the help of the six main linear actuators 150, the movable platform 120 can be driven to rotate around the X-axis, rotate around the Y-axis, rotate around the Z-axis, move along the X-axis, move along the Y-axis, or move along the Z-axis, thereby driving the environmental simulation manned cabin to rotate around the X-axis, rotate around the Y-axis, rotate around the Z-axis, move along the X-axis, move along the Y-axis, or move along the Z-axis, and has the function of remaining stationary at any position and any posture within the working range. The axes of the three secondary linear actuators 160 are respectively tilted. The non-output end of each secondary linear actuator 160 is hinged to a lower mounting seat 130, and the output end is hinged to an upper mounting seat 140. When the dynamic platform 120 is stationary or in motion, the secondary linear actuator 160 and the primary linear actuator 150 work together to share the load, effectively extending the service life of the primary linear actuator 150 and, by extension, the service life of the 6-DOF motion platform with the secondary linear actuator. Even if the secondary linear actuator 160 fails, the 6-DOF motion platform with the secondary linear actuator can still operate normally, reducing the maintenance cost and frequency of the 6-DOF motion platform with the secondary linear actuator, while improving its structural stability and reliability.

[0032] Specifically, in the example, Figure 1 and Figure 2As shown, each secondary linear actuator 160 comprises a cylinder 161, an elastic member 162, and a transmission rod 163. The axis of the cylinder 161 is tilted, with its bottom end hinged to a lower mounting base 130. The elastic member 162 extends through the cylinder 161, with one end abutting the inner bottom surface of the cylinder 161 and capable of deformation. One end of the transmission rod 163 is inserted into the cylinder 161 and abuts the other end of the elastic member 162. The other end is hinged to an upper mounting base 140. When the moving platform 120 is in motion or maintaining a certain posture, the elastic member 162 deforms, providing auxiliary push-pull forces to the moving platform 120 and the environmental simulation manned cabin fixedly mounted thereon, thereby reducing the load on the main linear actuator 150. When the moving platform 120 is at its lowest position, in a storage state, the elastic member 162 is squeezed, converting the gravitational potential energy of the moving platform 120 and the environmental simulation manned cabin into elastic potential energy of the elastic member 162 for storage, achieving reversible energy conversion and providing auxiliary support force for the moving platform 120 and the environmental simulation manned cabin, thereby reducing the load on the main linear actuator 150. This allows the six-degree-of-freedom motion platform with a secondary linear actuator to have a stronger load capacity at the same output power during operation, and reduces the energy consumption of the main linear actuator 150. Compared to the use of a hydraulic buffer, this method has a simpler structure, lower manufacturing and maintenance costs, and essentially no energy loss. It does not require hydraulic oil during operation, and there is no risk of hydraulic oil leakage contaminating the working environment, nor is there any risk of hydraulic oil leakage causing failure.

[0033] Preferably, a slide rail is provided on the inner wall of cylinder 161 along the axial direction of cylinder 161. A slider is provided at the end of transmission rod 163 near the spring. A slot is provided on the side wall of the slider to mate with the slide rail. The slot and the slide rail cooperate to improve the smoothness of the movement of transmission rod 163.

[0034] In one embodiment, each elastic member 162 is a spring, so that the secondary linear driver 160 has a simple structure and low manufacturing and maintenance costs.

[0035] In other embodiments, each elastic member 162 includes a main spring and an auxiliary spring. The main spring is inserted into the cylinder 161, with one end abutting the inner bottom surface of the cylinder 161 and the other end abutting the transmission rod 163. The auxiliary spring is inserted into the main spring, and its axial length is shorter than the axial length of the main spring. When the main spring is compressed to an axial length equal to the natural length of the auxiliary spring, one end of the auxiliary spring abuts the inner bottom surface of the cylinder 161, and the other end abuts the transmission rod 163. The auxiliary spring shares the load when the main spring is subjected to a large load, thereby helping to extend the service life of the main spring, and thus helping to extend the service life of each secondary linear actuator 160.

[0036] Specifically, the non-output end of each main linear actuator 150 and the non-output end of each auxiliary linear actuator 160 are each hinged to the lower mounting base 130 via a Hooke's hinge. The output end of each main linear actuator 150 and the output end of each auxiliary linear actuator 160 are each hinged to the upper mounting base 140 via a Hooke's hinge. There are nine Hooke's hinges in total. Each main linear actuator 150 is a servo electric cylinder, providing high control precision.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present invention.

[0038] 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 the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0039] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0040] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0041] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A six-degree-of-freedom motion platform with a secondary linear drive, characterized in that: include: static platform; The dynamic platform is arranged above the static platform, and the top surface is used to carry the environment simulation manned cabin; A plurality of lower mounting seats are evenly fixed to the top surface of the static platform along the circumference of the static platform; There are multiple upper mounting seats, which are evenly fixed to the bottom surface of the moving platform along the circumference of the moving platform; each upper mounting seat is staggered with each lower mounting seat; There are multiple main linear actuators, and the axes are arranged tilted respectively; the non-output ends of each two main linear actuators are hinged to the same lower mounting seat, and the output ends are hinged to the two upper mounting seats in a one-to-one correspondence; There are multiple auxiliary linear actuators, and the axes are respectively tilted; the non-output end of each auxiliary linear actuator is hinged to one of the lower mounting seats, and the output end is hinged to one of the upper mounting seats.

2. The six-degree-of-freedom motion platform with a secondary linear drive according to claim 1, characterized in that: Each of the secondary linear drives comprises: The cylinder has an axis inclined and a bottom end hinged to one of the lower mounting seats; an elastic member, which is inserted into the cylinder and has one end in contact with the inner bottom surface of the cylinder and is capable of deformation; One end of the transmission rod is inserted into the cylinder and abuts against the other end of the elastic member, and the other end is hinged to one of the upper mounting seats.

3. The six-degree-of-freedom motion platform with a secondary linear drive according to claim 2, characterized in that: A slide rail is provided on the inner wall of the cylinder along the axial direction of the cylinder; A sliding block is provided at one end of the transmission rod close to the elastic member; and a sliding groove adapted to the sliding rail is provided on the side wall of the sliding block.

4. The six-degree-of-freedom motion platform with a secondary linear drive according to claim 2, characterized in that: The elastic member comprises: A main spring is inserted into the cylinder, with one end abutting against the inner bottom surface of the cylinder and the other end abutting against the transmission rod; The auxiliary spring is inserted into the main spring, has an axial length smaller than that of the main spring, one end of the auxiliary spring can abut against the inner bottom surface of the cylinder, and the other end can abut against the transmission rod.

5. The six-degree-of-freedom motion platform with a secondary linear drive according to claim 1, characterized in that: The non-output end of each main linear drive and the non-output end of each secondary linear drive are respectively hinged to the lower mounting seat through a Hooke's hinge; the output end of each main linear drive and the output end of each secondary linear drive are respectively hinged to the upper mounting seat through the Hooke's hinge.

6. The six-degree-of-freedom motion platform with a secondary linear drive according to claim 1, characterized in that: Each of the main linear actuators is a servo electric cylinder.

7. The six-degree-of-freedom motion platform with a secondary linear drive according to claim 1, characterized in that: There are three lower mounting seats, three upper mounting seats, six main linear drivers, and three auxiliary linear drivers.

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