Self-adaptive damping device for six-degree-of-freedom platform

Abstract

The utility model discloses a six-degree-of-freedom platform self-adaptive damping device which comprises a base, two dampers are fixedly connected to the top of the base, a table top is arranged above the base, the bottom of the table top is fixedly connected with the two dampers respectively, first springs are arranged on the two dampers in a sleeved mode, and second springs are arranged on the two dampers in a sleeved mode. The two ends of the two first springs are fixedly connected with the table top and the base correspondingly, an annularly-distributed adjusting cylinder is inserted into the top of the base in a penetrating mode, and the outer side of the adjusting cylinder is slidably connected with the base. According to the damping device, the damping effect on the platform can be adjusted according to the vibration amplitude of the platform, then shaking of equipment can be reduced, the service life of the equipment can be prolonged, and the springs used for damping can be conveniently maintained and replaced.

Description

Technical Field

[0001] The utility model relates to the technical field of shock absorbing devices, and more specifically to a six-degree-of-freedom platform adaptive shock absorbing device. Background Art

[0002] The six-degree-of-freedom platform adaptive shock absorption device is a platform applied to a six-degree-of-freedom platform, which can translate along three coordinate axes and rotate around three coordinate axes.

[0003] A common six-degree-of-freedom platform usually uses six electric linear actuators to connect the platform and the base. Joint connection components such as hinge joints are set at both ends of the six electric linear actuators. These joint connection components connect the platform table, electric linear actuators and the base. Their function is to ensure that the platform can achieve six degrees of freedom while effectively transmitting force and motion. The six-degree-of-freedom platform is mainly used in some high-end entertainment facilities, such as dynamic theaters and virtual reality (VR) experience equipment. The six-degree-of-freedom platform can provide the audience with a more immersive experience. For example, in a dynamic theater, the platform adjusts its movement posture in real time according to the development of the film plot, making the audience feel as if they are in the movie scene. In the process of moving the adjustment object, the platform will vibrate. At this time, the platform needs to be buffered and shock-absorbing. Common shock-absorbing mechanisms usually use a damper combined with a spring. However, the vibration received by the platform is different due to different adjustment amplitudes of the adjustment object. The combination of dampers and springs cannot achieve the effect of adjusting the vibration amplitude and shock absorption, which results in poor shock absorption effect of the equipment, accelerates the wear of the equipment due to vibration, and affects the service life of the equipment. Utility Model Content

[0004] In view of the problems existing in the prior art, the purpose of the present invention is to provide a six-degree-of-freedom platform adaptive shock absorption device to solve the background technical problems.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] The cam is connected to the upper and lower surfaces of the cam, and the upper and lower surfaces of the cam are connected to the upper and lower surfaces of the cam.

[0007] As a further description of the above technical solution:

[0008] The adjusting mechanism includes a screw rod, both ends of the screw rod are rotatably connected to the inner wall of the base, the top of the base is fixedly connected to a motor, the output end of the controller is connected to the motor signal, the output shaft of the motor is fixedly connected to the screw rod, and a lifting plate is sleeved on the screw rod and threadedly connected to it. The top of the lifting plate contacts the adjusting cylinder, and two limit rods are inserted on the lifting plate and slidably connected to it, and both ends of the two limit rods are fixedly connected to the inner wall of the base.

[0009] As a further description of the above technical solution:

[0010] The top of the table is interspersed with annular support blocks, which are fixed to the table by three screws. The bottom of the support block is in contact with spring 2, and the bottom of the support block is fixedly connected to a support rod. The bottom end of the support rod is interspersed with the adjusting cylinder and is slidably connected to it. The spring 2 is sleeved on the support rod and is slidably connected to it.

[0011] As a further description of the above technical solution:

[0012] The bottom of the table is fixedly connected with a protection barrel, and the protection barrel is sleeved on the base.

[0013] As a further description of the above technical solution:

[0014] Two groups of annularly distributed balls are embedded on the outer side of the base, and the outer sides of the two groups of balls are in contact with the protective barrel.

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

[0016] This solution can adjust the shock absorption effect of the platform according to the vibration amplitude of the platform, thereby reducing the shaking of the equipment and increasing the service life of the equipment. It can also facilitate the maintenance and replacement of the springs used for shock absorption, thereby improving the practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is one of the three-dimensional diagrams of the present utility model;

[0018] Figure 2 This is the second perspective view of the present utility model;

[0019] Figure 3 It is a cross-sectional view of the present utility model.

[0020] Description of the numbers in the figure:

[0021] 1. Base; 2. Damper; 3. Table; 4. Spring 1; 5. Adjustment cylinder; 6. Adjustment mechanism; 601. Screw; 602. Motor; 603. Lifting plate; 604. Limit rod; 7. Slot; 8. Spring 2; 9. Electric push rod; 10. Platform; 11. Displacement sensor; 12. Signal processing and analysis module; 13. Controller; 14. Support rod; 15. Protective barrel; 16. Ball bearing; 17. Support block. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0023] See also Figures 1 to 3, In the utility model: A six-degree-of-freedom platform adaptive shock absorption device, including a base 1, the top of the base 1 is fixedly connected to two dampers 2, a table 3 is provided above the base 1, and the bottom of the table 3 is fixedly connected to the two dampers 2 respectively, and a spring 1 4 is sleeved on the two dampers 2, and the two ends of the two springs 1 4 are fixedly connected to the table 3 and the base 1 respectively. An annularly distributed adjusting cylinder 5 is inserted through the top of the base 1, and the outer side of the adjusting cylinder 5 is slidably connected to the base 1. An adjusting mechanism 6 for controlling the lifting of the adjusting cylinder 5 is provided on the base 1, and a slot 7 is provided on the top of the adjusting cylinder 5. The inner wall of the slot 7 is slidably connected to a spring 2 8, and the top of the spring 2 8 is connected to the table 3. The top of the table 3 is connected to six electric push rods 9 through a universal joint, and a platform 10 is provided on the top of the table 3. The bottom of the platform 10 is respectively connected to the six electric push rods 9 ball joint connection, a displacement sensor 11, a signal processing and analysis module 12 and a controller 13 are installed on the front of the platform 10, the output end of the displacement sensor 11 is signal-connected to the signal processing and analysis module 12, and the output end of the signal processing and analysis module 12 is signal-connected to the controller 13; the adjustment mechanism 6 includes a screw rod 601, both ends of the screw rod 601 are rotatably connected to the inner wall of the base 1, the top of the base 1 is fixedly connected to a motor 602, the output end of the controller 13 is signal-connected to the motor 602, the output shaft of the motor 602 is fixedly connected to the screw rod 601, and a lifting plate 603 threadedly connected to the screw rod 601 is sleeved, and the top of the lifting plate 603 is in contact with the adjustment cylinder 5, and two limit rods 604 slidingly connected to the lifting plate 603 are inserted on the lifting plate 603, and both ends of the two limit rods 604 are fixedly connected to the inner wall of the base 1.

[0024] In the present invention, the platform 10 is used to connect and fix with the object to be adjusted. When in use, the platform 10 can be driven to achieve various complex motion postures by controlling the telescopic movement of the six electric push rods 9, thereby achieving the effect of adjusting the object to be adjusted in six degrees of freedom.

[0025] During the adjustment process of the object being adjusted, the platform 10 will vibrate and the table top 3 will move downward. At this time, the table top 3 will compress the spring 1 4, the damper 2 and the spring 2 8. The elastic force of the spring 1 4 and the spring 2 8 and the damper 2 are opposite to the vibration direction, thereby achieving the effect of shock absorption and buffering on the table top 3 and the platform 10. The adjustment cylinder 5 is in a fixed state. At this time, the elastic force of the spring 2 8 is fixed, and the shock absorption and buffering effect on the platform 10 remains stable.

[0026] During the process, the displacement sensor 11 can measure the displacement of the platform 10 relative to the initial position. When the platform 10 vibrates, the displacement sensor 11 can accurately obtain the displacement data of the platform 10 in each degree of freedom. The collected data will be sent to the signal processing and analysis module 12. The signal processing and analysis module 12 will collect and digitize these signals, convert the analog signals into digital signals for subsequent calculations and analysis, and extract vibration-related features from the collected data, such as the frequency, amplitude and phase of the vibration. For example, if the vibration frequency of the platform 10 is high and the amplitude is large, this indicates that the platform 10 may be affected by a high-frequency, high-intensity interference source. Based on the extracted features, the vibration state of the platform 10 is evaluated.

[0027] The controller 13 drives the lifting plate 603 to move up and down along the limit rod 604 by turning on the motor 602 to drive the screw rod 601 to rotate. At this time, the position of the adjusting cylinder 5 will change, and the length of the spring 28 will be changed by the movement of the adjusting cylinder 5. The change in the length of the spring 28 will change the spring coefficient of the spring 28. The length of the spring 28 can be shortened by moving the adjusting cylinder 5 upward. At this time, the spring coefficient of the spring 28 will increase. The spring 28 with increased spring coefficient is more suitable for resisting a larger impact force. By controlling the adjusting cylinder 5 to descend, the length of the spring 28 is increased, and the spring coefficient of the spring 28 is reduced, which is more conducive to filtering small vibrations. The evaluation of the platform 10 can understand the vibration amplitude. According to the vibration amplitude of the platform 10, the controller 13 can control the shock-absorbing and buffering effect of the platform 10 by turning on the motor 602 in reverse, thereby achieving the purpose of adaptive shock absorption of the platform 10.

[0028] See also Figure 3 , wherein: the top of the table 3 is interspersed with an annularly distributed support block 17, the support block 17 is fixed to the table 3 by three screws, the bottom of the support block 17 is in contact with the spring 2 8, the bottom of the support block 17 is fixedly connected to the support rod 14, the bottom end of the support rod 14 is inserted into the adjusting cylinder 5 and is slidably connected to it, and the spring 2 8 is sleeved on the support rod 14 and is slidably connected to it.

[0029] In the present invention, the support block 17 is used to support the contact between the spring 2 8 and the table 3, and the support rod 14 is used to improve the stability of the deformation of the spring 2 8. The user can remove the support block 17 from the table 3 by removing the screw on the support block 17. At this time, the spring 2 8 can be pulled out, which is convenient for maintenance or replacement of the spring 2 8.

[0030] See also Figures 1 to 3 , wherein: a protective barrel 15 is fixedly connected to the bottom of the table top 3, and the protective barrel 15 is sleeved on the base 1; two groups of annularly distributed balls 16 are embedded on the outer side of the base 1, and the outer sides of the two groups of balls 16 are in contact with the protective barrel 15.

[0031] In the present invention, the provision of the protective barrel 15 can prevent objects from entering between the table 3 and the base 1 and causing damage to the device, and the ball bearings 16 can reduce friction and improve the practicality of the device.

[0032] The above are only preferred embodiments of the present invention; however, the scope of protection of the present invention is not limited thereto. Any person skilled in the art who, within the technical scope disclosed in the present invention, makes equivalent substitutions or modifications based on the technical solutions and improved concepts of the present invention shall be covered by the scope of protection of the present invention.

Claims

1. A six-degree-of-freedom platform adaptive shock absorption device, comprising a base (1), characterized in that: The top of the base (1) is fixedly connected to two dampers (2), a table (3) is provided above the base (1), the bottom of the table (3) is fixedly connected to the two dampers (2), and the two dampers (2) are both provided with a spring (4), and the two ends of the spring (4) are fixedly connected to the table (3) and the base (1), respectively. The top of the base (1) is interspersed with an annularly distributed adjustment cylinder (5), the outer side of the adjustment cylinder (5) is slidably connected to the base (1), and the base (1) is provided with an adjustment mechanism (6) for controlling the lifting of the adjustment cylinder (5), and the top of the adjustment cylinder (5) is provided with a slot (7). The inner wall of (7) is slidably connected to a spring 2 (8), the top of the spring 2 (8) is connected to the table (3), the top of the table (3) is connected to six electric push rods (9) through a universal joint, the top of the table (3) is provided with a platform (10), the bottom of the platform (10) is respectively connected to the six electric push rods (9) by ball joints, the front of the platform (10) is installed with a displacement sensor (11), a signal processing and analysis module (12) and a controller (13), the output end of the displacement sensor (11) is connected to the signal processing and analysis module (12), and the output end of the signal processing and analysis module (12) is connected to the controller (13).

2. The six-degree-of-freedom platform adaptive shock absorption device according to claim 1, characterized in that: The adjusting mechanism (6) comprises a screw rod (601), both ends of the screw rod (601) are rotatably connected to the inner wall of the base (1), a motor (602) is fixedly connected to the top of the base (1), an output end of the controller (13) is signal-connected to the motor (602), an output shaft of the motor (602) is fixedly connected to the screw rod (601), a lifting plate (603) threadedly connected to the screw rod (601) is sleeved on the screw rod (601), the top of the lifting plate (603) contacts the adjusting cylinder (5), two limiting rods (604) are inserted on the lifting plate (603) and slidably connected to the lifting plate (603), and both ends of the two limiting rods (604) are fixedly connected to the inner wall of the base (1).

3. The six-degree-of-freedom platform adaptive shock absorption device according to claim 1, characterized in that: The top of the table (3) is interspersed with an annularly distributed support block (17), and the support block (17) is fixed to the table (3) by three screws. The bottom of the support block (17) is in contact with the spring 2 (8), and the bottom of the support block (17) is fixedly connected to the support rod (14), and the bottom end of the support rod (14) is inserted into the adjustment cylinder (5) and is slidably connected thereto, and the spring 2 (8) is sleeved on the support rod (14) and is slidably connected thereto.

4. The six-degree-of-freedom platform adaptive shock absorption device according to claim 1, characterized in that: A protective barrel (15) is fixedly connected to the bottom of the tabletop (3), and the protective barrel (15) is sleeved on the base (1).

5. The six-degree-of-freedom platform adaptive shock absorption device according to claim 4, characterized in that: Two groups of annularly distributed balls (16) are embedded on the outer side of the base (1), and the outer sides of the two groups of balls (16) are in contact with the protective barrel (15).

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