Six-degree-of-freedom platform based on six-dimensional force sensor

Abstract

The utility model relates to the technical field of automation control, and discloses a six-degree-of-freedom platform based on a six-dimensional force sensor, which comprises a lower platform, a supporting seat is fixed on one side above the lower platform, a target flange is fixed above the supporting seat, and four groups of connecting blocks are movably connected above the lower platform at the front end of the supporting seat. By installing the six-dimensional force sensor, the six-degree-of-freedom platform can be controlled in a unified mode, the whole platform does not need to be controlled through a plurality of sensors, convenience is brought to workers, the maintenance difficulty and cost of the system are reduced, and the working efficiency is improved. And meanwhile, through mutual clamping among the connecting seat, the first positioning block, the second positioning block and the second positioning groove, a positioning effect can be achieved on the installation of the six-dimensional force sensor, so that a measuring shaft of the sensor is ensured to be aligned with a moving shaft of the platform, and subsequent work can be smoothly and efficiently carried out.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic control, in particular to a six-degree-of-freedom platform based on a six-dimensional force sensor. Background Art

[0002] A six-degree-of-freedom platform is a device that can simulate the six-degree-of-freedom motion of an object in three-dimensional space. It is widely used in flight simulators, motion testing equipment, and virtual reality systems. The six-dimensional force sensor can simultaneously measure the force and torque of an object in three-dimensional space, and has high-precision and multi-dimensional testing characteristics.

[0003] Chinese Patent Authorization Publication No. CN206811949U discloses a six-degree-of-freedom platform structure, comprising an upper platform and a lower platform, with an electric cylinder drive group disposed between the upper and lower platforms. The electric cylinder drive group drives the upper platform to a predetermined position according to external control instructions, and the electric cylinder drive group includes at least three groups of electric cylinder drive members uniformly distributed along the circumference; wherein the electric cylinder drive members include two electric cylinders disposed in an intersecting state, the top ends of the push rods of the two electric cylinders being hinged to the upper platform in an intersecting state, and the bottom ends of the two electric cylinders being hinged to the lower platform in a separated state. In the six-degree-of-freedom platform structure described in the present invention, the upper platform has a more stable support structure, thereby meeting greater load requirements; at the same time, because the motion interference factor between the electric cylinder drive members and the upper platform is eliminated, the upper platform can be positioned completely perpendicular to the plane of the lower platform, greatly broadening the applicability of the platform structure described in the present invention.

[0004] The above-mentioned prior art solutions have the following deficiencies:

[0005] First, existing six-degree-of-freedom platforms utilize multiple single-axis sensors in an integrated manner. This can lead to cumulative test errors over time, further reducing overall measurement accuracy and the precision of measurement results.

[0006] Second, existing six-degree-of-freedom platforms are controlled by multiple sensors. The installation and calibration of these sensors is not only complex, but also increases the difficulty and cost of system maintenance and inconvenience for staff. Furthermore, the data processing of multi-sensor systems is complex, resulting in slow response speeds.

[0007] Therefore, we need to design a six-degree-of-freedom platform based on six-dimensional force sensors to solve the above problems. Utility Model Content

[0008] The purpose of the utility model is to provide a six-degree-of-freedom platform based on a six-dimensional force sensor to solve the problems of low measurement accuracy, complex system and slow response speed of the six-degree-of-freedom platform proposed in the above background technology.

[0009] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a six-degree-of-freedom platform based on a six-dimensional force sensor, comprising a lower platform, a support seat fixed on one side above the lower platform, and a target flange fixed above the support seat, a connecting block movably connected to the top of the lower platform at the front end of the support seat, and four groups of connecting blocks are provided, an electric cylinder is fixed above the connecting block, and a connecting block is also fixed correspondingly above the electric cylinder, an upper platform is movably connected above the connecting block, a connecting seat is fixed at the top of the upper platform, and a six-dimensional force sensor is fixed above the connecting seat, and a docking flange is fixed above the six-dimensional force sensor.

[0010] Preferably, the upper and lower ends of the electric cylinder are movably connected to the Hooke's hinge connecting block through ball joints respectively, the Hooke's hinge is hinged to the connecting block through bolts, and the ball joint is intersected with the connecting block through bolts.

[0011] Preferably, a first positioning block is fixed at one end of the six-dimensional force sensor close to the connecting seat, and a second positioning groove is provided inside the first positioning block. A first positioning groove is provided at one end of the connecting seat close to the six-dimensional force sensor, and a second positioning block is fixed inside the first positioning groove. The first positioning groove, the second positioning block, and the second positioning groove and the first positioning block are connected by magnets.

[0012] Preferably, built-in grooves are provided at the front and rear ends of the lower platform and the upper platform, and an oil storage sponge is fixed inside the built-in grooves. Movable blocks are fixed at both ends of the connecting block, and the movable blocks are squeezed and touched by the oil storage sponge. A spring is wound on the outside of the movable block, and slow flow channels are provided on both sides of the built-in grooves.

[0013] Preferably, the shape of the slow-flow channel is bent, which can achieve a slow-flow effect.

[0014] Preferably, a support connecting rod is fixed on the inner side of the support seat, and a triangular rib is fixed on the inner side of the support connecting rod.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] (1) By installing a six-dimensional force sensor, the six-degree-of-freedom platform can be uniformly controlled without the need for multiple sensors to control the entire platform. This not only brings convenience to the staff, but also reduces the maintenance difficulty and cost of the system. At the same time, through the mutual engagement between the connecting seat, the first positioning block, the second positioning block and the second positioning groove, the installation of the six-dimensional force sensor can be positioned to ensure that the measuring axis of the sensor is aligned with the motion axis of the platform, so that subsequent work can be carried out smoothly and efficiently;

[0017] (2) By setting up an oil supply structure, when the upper platform and the lower platform are running with the electric cylinder, the movable blocks on both sides of the electric cylinder will squeeze the oil storage sponge, squeeze out the lubricating oil in the oil storage sponge, and then lubricate the connection, making the subsequent operation more flexible and smooth. At the same time, by setting up a slow flow channel, the lubricating oil can be slowed down to prevent a large amount of lubricating oil from being squeezed out directly, which is not conducive to the operation of the connection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the overall three-dimensional structure of the electric cylinder of the present utility model;

[0021] Figure 3 This is a schematic diagram of the front cross-sectional three-dimensional structure of the connecting base of the utility model when it is extended;

[0022] Figure 4 This is a schematic diagram of the overall side planar structure of the utility model;

[0023] Figure 5 This is a schematic diagram of the overall three-dimensional structure of the connecting seat of the utility model;

[0024] Figure 6 This is a schematic diagram of the front cross-sectional structure of the connection between the connecting base and the six-dimensional force sensor of the present invention;

[0025] Figure 7 It is a schematic diagram of the top cross-sectional structure of the connection between the lower platform and the cylinder, and between the cylinder and the upper platform of the present invention.

[0026] Explanation of the reference numerals in the figure: 1. Target flange; 2. Docking flange; 3. Six-dimensional force sensor; 4. Upper platform; 5. Electric cylinder; 6. Lower platform; 7. Ball joint; 8. Hooke's joint; 9. Support seat; 10. Support connecting rod; 11. Triangular rib; 12. Connecting seat; 13. First positioning groove; 14. Second positioning block; 15. Second positioning groove; 16. First positioning block; 17. Slow flow channel; 18. Oil storage sponge; 19. Movable block; 20. Built-in groove; 21. Connecting block; 22. Spring. DETAILED DESCRIPTION

[0027] 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 embodiments described are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the utility model.

[0028] Example 1

[0029] In order to solve the problem that the existing promotional materials display stand is difficult to attract different age groups, the following solution is disclosed. Figure 1 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 As shown:

[0030] A six-degree-of-freedom platform based on a six-dimensional force sensor includes a lower platform 6, a support base 9 is fixed on one side above the lower platform 6, and a target flange 1 is fixed above the support base 9, and a connecting block 21 is movably connected above the lower platform 6 at the front end of the support base 9, and four groups are provided. An electric cylinder 5 is fixed above the connecting block 21, and a connecting block 21 is also fixed above the electric cylinder 5. An upper platform 4 is movably connected above the connecting block 21, a connecting base 12 is fixed at the top of the upper platform 4, and a six-dimensional force sensor 3 is fixed above the connecting base 12, and a docking flange 2 is fixed above the six-dimensional force sensor 3;

[0031] The upper and lower ends of the electric cylinder 5 are movably connected to the Hooke's hinge 8 and the connecting block 21 through the ball joint 7 respectively. The Hooke's hinge 8 is hinged to the connecting block 21 through bolts, and the ball joint 7 is intersected with the connecting block 21 through bolts.

[0032] A first positioning block 16 is fixed to one end of the six-dimensional force sensor 3 close to the connecting base 12, and a second positioning groove 15 is provided inside the first positioning block 16. A first positioning groove 13 is provided on one end of the connecting base 12 close to the six-dimensional force sensor 3, and a second positioning block 14 is fixed inside the first positioning groove 13. The first positioning groove 13, the second positioning block 14, and the second positioning groove 15 and the first positioning block 16 are connected by magnets.

[0033] A supporting connecting rod 10 is fixed on the inner side of the supporting seat 9 , and a triangular rib 11 is fixed on the inner side of the supporting connecting rod 10 .

[0034] In this embodiment, when in use, the first positioning groove 13, the first positioning block 16, the second positioning block 14 and the second positioning groove 15 are adsorbed and engaged with each other, and fixed by bolts to ensure that the six-dimensional force sensor 3 is installed in the central position of the upper platform 4, and ensure that the measuring axis of the six-dimensional force sensor 3 is aligned with the motion axis of the upper platform 4. Then the six-dimensional force sensor 3 collects the force and torque data of the platform in the movement process in real time at a frequency of 100 Hz, and then uses the acquisition system to perform mean filtering on the collected data. The processed data is then input into the control system of the six-degree-of-freedom platform, and the motion state of the platform is adjusted by the PID algorithm to achieve precise control. Finally, the data output by the measurement and control system is displayed in real time through a graphical interface to facilitate operator monitoring and adjustment.

[0035] Example 2

[0036] This embodiment is different from the first embodiment. The oil storage structure can make the connection run more smoothly and flexibly. Figure 2 and Figure 7 As shown:

[0037] Built-in grooves 20 are provided at the front and rear ends of the lower platform 6 and the upper platform 4, and an oil storage sponge 18 is fixed inside the built-in groove 20. Movable blocks 19 are fixed at both ends of the connecting block 21. The movable blocks 19 are pressed and touched with the oil storage sponge 18. A spring 22 is wound around the outer side of the movable block 19. Slow flow channels 17 are provided on both sides of the built-in groove 20.

[0038] The slow-flow channel 17 is configured in a bent shape, which can achieve a slow-flow effect.

[0039] In this embodiment, when in use, the movable blocks 19 on both sides of the electric cylinder 5 will squeeze the oil storage sponge 18, squeeze out the lubricating oil in the oil storage sponge 18, and then lubricate the connection, making subsequent operation more flexible and smooth.

[0040] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A six-degree-of-freedom platform based on a six-dimensional force sensor, comprising a lower platform (6), characterized in that: A support seat (9) is fixed on one side above the lower platform (6), and a target flange (1) is fixed above the support seat (9). A connecting block (21) is movably connected above the lower platform (6) at the front end of the support seat (9), and four groups of connecting blocks (21) are provided. An electric cylinder (5) is fixed above the connecting block (21), and a connecting block (21) is also correspondingly fixed above the electric cylinder (5). An upper platform (4) is movably connected above the connecting block (21). A connecting seat (12) is fixed at the top end of the upper platform (4), and a six-dimensional force sensor (3) is fixed above the connecting seat (12). A docking flange (2) is fixed above the six-dimensional force sensor (3).

2. A six-degree-of-freedom platform based on a six-dimensional force sensor according to claim 1, characterized in that: The upper and lower ends of the electric cylinder (5) are movably connected to the Hooke's hinge (8) connecting block (21) through a ball hinge (7), the Hooke's hinge (8) is hinged to the connecting block (21) through a bolt, and the ball hinge (7) is intersected with the connecting block (21) through a bolt.

3. The six-degree-of-freedom platform based on a six-dimensional force sensor according to claim 1, characterized in that: A first positioning block (16) is fixed to one end of the six-dimensional force sensor (3) close to the connecting seat (12), and a second positioning groove (15) is provided inside the first positioning block (16); a first positioning groove (13) is provided to one end of the connecting seat (12) close to the six-dimensional force sensor (3), and a second positioning block (14) is fixed inside the first positioning groove (13); the first positioning groove (13), the second positioning block (14), and the second positioning groove (15) and the first positioning block (16) are connected by magnets.

4. The six-degree-of-freedom platform based on a six-dimensional force sensor according to claim 1, characterized in that: Built-in grooves (20) are provided at the front and rear ends of the lower platform (6) and the upper platform (4), and an oil storage sponge (18) is fixed inside the built-in groove (20). Movable blocks (19) are fixed at both ends of the connecting block (21), and the movable block (19) is pressed and contacted with the oil storage sponge (18). A spring (22) is wound around the outer side of the movable block (19). Slow flow channels (17) are provided on both sides of the built-in groove (20).

5. The six-degree-of-freedom platform based on a six-dimensional force sensor according to claim 4, characterized in that: The shape of the slow-flow channel (17) is set to be bent, which can achieve a slow-flow effect.

6. The six-degree-of-freedom platform based on a six-dimensional force sensor according to claim 1, characterized in that: A supporting connecting rod (10) is fixed on the inner side of the supporting seat (9), and a triangular rib (11) is fixed on the inner side of the supporting connecting rod (10).

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