Five-degree-of-freedom docking platform

Abstract

The utility model discloses a five-degree-of-freedom docking platform, which relates to the field of multi-degree-of-freedom motion simulation platforms, and comprises a three-degree-of-freedom platform for controlling the platform to move in three degrees of freedom, and an eccentric rotating mechanism which is arranged on the three-degree-of-freedom platform and is used for controlling the platform to rotate, and the horizontal moving mechanism is mounted on the eccentric rotating mechanism and is used for controlling the linear motion of the platform. The three-freedom-degree platform comprises a three-freedom-degree lower platform, a three-freedom-degree upper platform and a three-freedom-degree control assembly. The three-degree-of-freedom platform is arranged and matched with the eccentric rotating mechanism and the horizontal moving mechanism, so that the moving postures of the three-degree-of-freedom moving platform can be increased, a load can have various different adjusting postures on the platform, and then butt joint installation of related products and other objects is facilitated; meanwhile, a load can be placed on the edge of the platform through the eccentric rotating structure, and installation and adjustment can be further facilitated.

Description

Technical Field

[0001] This utility model relates to the field of multi-degree-of-freedom motion simulation platforms, specifically to a five-degree-of-freedom docking platform. Background Technology

[0002] A five-degree-of-freedom docking platform is a platform that can move and manipulate in five degrees of freedom.

[0003] Currently, five-degree-of-freedom docking platforms are commonly used in the field of adjustment and docking. They are mostly used for the docking and installation of larger objects. However, most of the adjustment and docking platforms on the market have limited adjustment options and cannot meet the various requirements for adjustment and docking, thus having certain shortcomings. Utility Model Content

[0004] Purpose of the utility model: This utility model aims to address the above-mentioned shortcomings by providing a five-degree-of-freedom docking platform to solve the problems existing in the prior art.

[0005] Technical solution: A five-degree-of-freedom docking platform, comprising a three-degree-of-freedom platform for controlling three degrees of freedom motion of the platform, an eccentric rotation mechanism mounted on the three-degree-of-freedom platform for controlling the rotational motion of the platform, and a horizontal moving mechanism mounted on the eccentric rotation mechanism for controlling the linear motion of the platform.

[0006] The three-degree-of-freedom platform includes a three-degree-of-freedom lower platform, a three-degree-of-freedom upper platform, and a three-degree-of-freedom control component.

[0007] The three-degree-of-freedom upper platform is disposed above the three-degree-of-freedom lower platform and connected to the eccentric rotation mechanism. The three-degree-of-freedom control component is installed on the three-degree-of-freedom lower platform and the three-degree-of-freedom upper platform and is used to control the platform to achieve three-degree-of-freedom motion.

[0008] The eccentric rotation mechanism includes a speed reducer, a first servo motor, and an auxiliary rotation motion component.

[0009] The speed reducer is installed on one side of the three-degree-of-freedom upper platform and connected to the horizontal moving mechanism. The first servo motor drive end is connected to the speed reducer and is used to drive the speed reducer to work. The auxiliary rotation component is installed between the eccentric rotation mechanism and the horizontal moving mechanism and is used to assist rotation.

[0010] The horizontal movement mechanism includes a rotary platform, a second servo motor, a linear module, a horizontal movement platform, and an auxiliary linear motion component.

[0011] The rotating platform is mounted on the reducer, the horizontal moving platform is located above the rotating platform, the linear module is mounted between the rotating platform and the horizontal moving platform, the second servo motor drive end is connected to the linear module and is used to drive the linear module to move the horizontal moving platform, and the auxiliary linear motion component is mounted between the rotating platform and the horizontal moving platform to assist linear motion.

[0012] In a further embodiment, the three-degree-of-freedom control assembly is provided in three sets, and the three sets of the three-degree-of-freedom control assembly are respectively installed at predetermined positions on the lower three-degree-of-freedom platform and the upper three-degree-of-freedom platform. Each set of the three-degree-of-freedom control assembly includes a bearing housing, a servo electric cylinder and a horizontal Hooke hinge.

[0013] The bearing housing is mounted on the lower three-degree-of-freedom platform, and the horizontal Hooke hinge is mounted in the opposite direction on the upper three-degree-of-freedom platform to reduce the overall height of the platform. The servo electric cylinder is mounted between the bearing housing and the horizontal Hooke hinge to control the movement of the platform.

[0014] In a further embodiment, the three-degree-of-freedom platform further includes a first gyroscope.

[0015] The first gyroscope is mounted on the three-degree-of-freedom platform and is used to provide real-time feedback on changes in the platform's angle.

[0016] In a further embodiment, the auxiliary rotary motion component includes an arc-shaped guide rail and an arc-shaped rail pad.

[0017] The arc-shaped rail pad is installed on the three-degree-of-freedom platform, and the arc-shaped guide rail is set on the arc-shaped rail pad. An arc-shaped slider is provided on the arc-shaped guide rail to improve the stability of the platform support. The center of the reducer is offset from the center of the platform and close to the edge of the platform so that the load can be placed on the edge of the platform for easy installation and adjustment. The arc-shaped guide rail is concentric with the reducer to cooperate with the reducer to rotate synchronously and stably.

[0018] In a further embodiment, the auxiliary rotation motion assembly further includes an auxiliary omnidirectional ball and an omnidirectional ball rolling plate.

[0019] The auxiliary omnidirectional ball is mounted on the side of the rotating platform close to the three-degree-of-freedom upper platform. The omnidirectional ball rolling plate is mounted on the three-degree-of-freedom upper platform and is correspondingly arranged with the auxiliary omnidirectional ball. A predetermined gap is reserved between the auxiliary omnidirectional ball and the omnidirectional ball rolling plate. When the platform is unloaded, the auxiliary omnidirectional ball and the omnidirectional ball rolling plate do not contact each other. When a load is installed on the platform, the platform deforms, and the auxiliary omnidirectional ball contacts the omnidirectional ball rolling plate to assist movement and improve the stability of the platform rotation.

[0020] In a further embodiment, the auxiliary rotation motion component further includes a omnidirectional ball limiting block.

[0021] The omnidirectional ball limiting block is installed at the end of the omnidirectional ball rolling plate to limit the rotation range of the auxiliary omnidirectional ball and the platform.

[0022] In a further embodiment, the auxiliary linear motion component includes a linear guide rail and a linear guide rail pad.

[0023] The linear guide plate is installed on the rotating platform, the linear guide is set on the linear guide, and the linear guide is equipped with a linear slider connected to the horizontal moving platform to improve the support stability of the platform.

[0024] In a further embodiment, the auxiliary linear motion component further includes a second gyroscope.

[0025] The second gyroscope is mounted on the side of the horizontal moving platform close to the rotating platform, and is used to provide real-time feedback on changes in the platform's motion angle.

[0026] Beneficial effects: This utility model discloses a five-degree-of-freedom docking platform. By setting a three-degree-of-freedom platform, combined with an eccentric rotation mechanism and a horizontal movement mechanism, it can increase the motion posture of the three-degree-of-freedom motion platform and allow the load to have various adjustable postures on the platform, thereby facilitating docking and installation of related products and other objects. At the same time, the eccentric rotation structure allows the load to be placed on the edge of the platform, further facilitating installation and adjustment. In addition, the auxiliary rotation motion component allows the platform to rotate normally under eccentric conditions, and the auxiliary linear motion component allows the platform to move horizontally normally under heavy loads. The gyroscope provides feedback on the platform's motion posture, making the platform's movement more precise. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0028] Figure 2This is a schematic diagram of the eccentric rotation mechanism of this utility model.

[0029] Figure 3 This is a schematic diagram of the horizontal moving mechanism of this utility model.

[0030] Figure 4 This is the front view of the entire utility model.

[0031] The figures are labeled as follows: 1. Three-degree-of-freedom platform; 101. Lower three-degree-of-freedom platform; 102. Upper three-degree-of-freedom platform; 103. Bearing housing; 104. Servo electric cylinder; 105. Horizontal Hooke hinge; 106. First gyroscope; 2. Eccentric rotation mechanism; 201. Reducer; 202. Arc-shaped guide rail; 203. Arc-shaped rail pad; 204. Auxiliary omnidirectional ball; 205. Omnidirectional ball rolling plate; 206. Omnidirectional ball limit block; 207. First servo motor; 3. Horizontal movement mechanism; 301. Rotating platform; 302. Second servo motor; 303. Linear module; 304. Linear guide rail; 305. Linear rail pad; 306. Second gyroscope; 307. Horizontal movement platform. Detailed Implementation

[0032] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with the present invention.

[0033] The applicant argues that most existing five-degree-of-freedom docking platforms have limited attitude adjustment capabilities, making it difficult to meet the diverse requirements for attitude adjustment during docking.

[0034] To this end, the applicant proposes a five-degree-of-freedom docking platform, such as... Figures 1-4 As shown, it includes a three-degree-of-freedom platform 1, an eccentric rotation mechanism 2, and a horizontal movement mechanism 3.

[0035] Among them, the three-degree-of-freedom platform 1 is used to control the three-degree-of-freedom motion of the platform, the eccentric rotation mechanism 2 is installed on the three-degree-of-freedom platform 1 and is used to control the platform to rotate. The setting of the eccentric rotation mechanism 2 allows the load to be placed on the edge of the platform instead of the center of the platform, which facilitates installation and adjustment. The horizontal movement mechanism 3 is installed on the eccentric rotation mechanism 2 and is used to control the linear motion of the platform. The setting of the horizontal movement mechanism 3 allows the load to move horizontally, increasing the motion posture of the platform.

[0036] Traditional five-degree-of-freedom docking platforms are mostly used for docking and installing larger objects. Generally, these platforms have problems such as incomplete attitude adjustment and high investment costs. There are almost no platforms on the market that can meet all the attitudes required for docking. The corresponding components in this application can enable the load to have five different attitudes on the platform, thereby meeting almost all the attitudes required during the docking process, facilitating docking with related products and other objects, and achieving the purpose of convenient docking and installation.

[0037] like Figures 1-4 As shown, the three-degree-of-freedom platform 1 includes a three-degree-of-freedom lower platform 101, a three-degree-of-freedom upper platform 102, a first gyroscope 106, and a three-degree-of-freedom control component.

[0038] The three-degree-of-freedom upper platform 102 is located on the upper side of the three-degree-of-freedom lower platform 101 and is connected to the eccentric rotation mechanism 2. The three-degree-of-freedom control component is installed on the three-degree-of-freedom lower platform 101 and the three-degree-of-freedom upper platform 102 to control the platform to achieve three-degree-of-freedom motion. The first gyroscope 106 is installed on the three-degree-of-freedom lower platform 101 to provide real-time feedback on changes in the platform angle.

[0039] In addition, such as Figure 4 As shown, the three-degree-of-freedom control components in this application are provided in three sets. The three sets of three-degree-of-freedom control components are respectively installed at predetermined positions on the three-degree-of-freedom lower platform 101 and the three-degree-of-freedom upper platform 102. Each set of three-degree-of-freedom control components includes a bearing seat 103, a servo electric cylinder 104 and a horizontal Hooke hinge 105.

[0040] The bearing housing 103 is mounted on the three-degree-of-freedom lower platform 101, and the horizontal Hooke hinge 105 is mounted on the upper surface of the three-degree-of-freedom upper platform 102. This reduces the overall height of the platform and facilitates the installation of loads. The high-precision servo electric cylinder 104 is installed between the bearing housing 103 and the horizontal Hooke hinge 105 to provide power to the three-degree-of-freedom platform 1 and control the platform's movement. The servo electric cylinder 104 has the advantages of simple structure, low price, robustness and durability, and high operating efficiency.

[0041] like Figures 1-2 As shown, the eccentric rotation mechanism 2 includes a reducer 201, a first servo motor 207, and an auxiliary rotation motion component.

[0042] The reducer 201 is installed on one side of the three-degree-of-freedom upper platform 102 and connected to the horizontal moving mechanism 3. The drive end of the first servo motor 207 is connected to the reducer 201 and is used to drive the reducer 201 to work. The auxiliary rotation component is installed between the eccentric rotation mechanism 2 and the horizontal moving mechanism 3 and is used to assist rotation.

[0043] In this application, the rotation center of the TRV reducer 201 does not coincide with the center of the platform. The rotation center of the TRV reducer 201 is close to the edge of the platform. If the load needs to be aligned with the center, it can be placed at the edge of the platform, which facilitates installation and adjustment.

[0044] In addition, such as Figure 2 As shown, the auxiliary rotary motion component in this application includes an arc-shaped guide rail 202, an arc-shaped rail pad 203, an auxiliary omnidirectional ball 204, an omnidirectional ball rolling plate 205, and an omnidirectional ball limiting block 206.

[0045] The curved rail pad 203 is installed on the three-degree-of-freedom upper platform 102, and the curved guide rail 202 is set on the curved rail pad 203. The curved guide rail 202 is equipped with a curved slider to improve the stability of the platform support. The center of the reducer 201 is offset from the center of the platform and close to the edge of the platform so that the load can be placed on the edge of the platform for easy installation and adjustment. The curved guide rail 202 and the reducer 201 are concentrically set to cooperate with the reducer 201 to rotate synchronously and stably. The auxiliary universal ball 204 is installed on the side of the rotating platform 301 close to the three-degree-of-freedom upper platform 102. The universal ball rolling plate 205 is installed on the three-degree-of-freedom upper platform 102 and is set corresponding to the auxiliary universal ball 204. The universal ball limiting block 206 is installed at the end of the universal ball rolling plate 205 to limit the rotation range of the auxiliary universal ball 204 and the platform.

[0046] In this application, the radius of the arc-shaped guide rail 202 is the same as the rotation center of the TRV reducer 201. This way, when the TRV reducer 201 rotates, the arc-shaped guide rail 202 can rotate synchronously without jamming due to different rotation radii. At the same time, three arc-shaped sliders are installed on the arc-shaped guide rail 202 to better support the platform. The auxiliary universal ball 204 is a bullseye ball bearing, with three of them installed. The universal ball rolling plate 205 is set below the auxiliary universal ball 204. The structure of the arc-shaped guide rail 202 and the auxiliary universal ball 204 allows the platform to rotate normally under eccentric conditions.

[0047] Meanwhile, a small gap is left between the auxiliary universal ball 204 and the universal ball rolling plate 205, so that the auxiliary universal ball 204 and the universal ball rolling plate 205 do not contact each other when unloaded. After the load is installed on the platform, the platform will deform slightly. At this time, the auxiliary universal ball 204 and the universal ball rolling plate 205 will contact each other, which will also play a certain role in assisting the movement and improving the rotational stability of the platform. In addition, the universal ball limit block 206 can provide reliable limit limiting when the software limit fails and the platform rotates to the limit position, thus improving the stability of the platform.

[0048] like Figures 3-4As shown, the horizontal moving mechanism 3 includes a rotary platform 301, a second servo motor 302, a linear module 303, a horizontal moving platform 307, and an auxiliary linear motion component.

[0049] The rotary platform 301 is mounted on the reducer 201, the horizontal moving platform 307 is located on the upper side of the rotary platform 301, the linear module 303 is mounted between the rotary platform 301 and the horizontal moving platform 307, the drive end of the second servo motor 302 is connected to the linear module 303, and is used to drive the linear module 303 to move the horizontal moving platform 307. The auxiliary linear motion component is mounted between the rotary platform 301 and the horizontal moving platform 307 to assist linear motion.

[0050] In this application, the linear module 303 moves horizontally in cooperation with a ball screw and a second servo motor 302, achieving high motion accuracy. At the same time, the speed of the second servo motor 302 can be changed within a certain range, thereby controlling the speed of the linear module 303. The second gyroscope 306 can provide real-time feedback on changes in the platform's motion angle and correct the motion angle, making the platform's motion more precise.

[0051] In addition, such as Figure 3 As shown, the auxiliary linear motion component in this application includes a linear guide rail 304, a linear guide plate 305, and a second gyroscope 306.

[0052] The linear guide plate 305 is installed on the rotating platform 301, the linear guide 304 is set on the linear guide 304, and the linear guide 304 is equipped with a linear slider connected to the horizontal moving platform 307 to improve the support stability of the platform. The second gyroscope 306 is installed on the side of the horizontal moving platform 307 close to the rotating platform 301 to provide real-time feedback on the changes in the motion angle of the platform.

[0053] In this application, a linear guide rail 304 is distributed on each side of the linear module 303. Each linear guide rail 304 is equipped with three linear sliders, which can not only better support the platform and make the platform run more stably, but also allow the platform to move horizontally normally under heavy load. At the same time, the setting of the second gyroscope 306 can provide feedback on the platform's motion posture, making the platform's motion more precise.

[0054] This application's five-degree-of-freedom docking platform is powered by three servo electric cylinders 104. These cylinders drive the three-degree-of-freedom upper platform 102, which is equipped with a horizontal Hooke hinge 105, to move or perform forward, backward, and side tilt movements. The TRV reducer 201, in conjunction with the first servo motor 207, enables the platform's rotational movement. Simultaneously, the linear module 303, in conjunction with the second servo motor 302, enables the platform's horizontal movement. These movements can be performed synchronously, allowing for a wider range of platform postures. This five-degree-of-freedom docking platform can be used for docking and debugging experiments, and can meet almost all the posture requirements of a docking platform to a certain extent. This makes the installation and debugging of related products more convenient and serves as an auxiliary docking tool.

[0055] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and detail may be made to the present invention without departing from the spirit and scope of the appended claims.

Claims

1. A five-degree-of-freedom docking platform, characterized in that, The system includes a three-degree-of-freedom platform for controlling the three-degree-of-freedom motion of the platform, an eccentric rotary mechanism mounted on the three-degree-of-freedom platform for controlling the rotational motion of the platform, and a horizontal moving mechanism mounted on the eccentric rotary mechanism for controlling the linear motion of the platform. The three-degree-of-freedom platform includes a three-degree-of-freedom lower platform, a three-degree-of-freedom upper platform, and a three-degree-of-freedom control component; The three-degree-of-freedom upper platform is disposed above the three-degree-of-freedom lower platform and connected to the eccentric rotation mechanism; the three-degree-of-freedom control component is installed on the three-degree-of-freedom lower platform and the three-degree-of-freedom upper platform. The eccentric rotation mechanism includes a speed reducer, a first servo motor, and an auxiliary rotation motion component; The speed reducer is installed on one side of the three-degree-of-freedom upper platform and connected to the horizontal moving mechanism. The first servo motor drive end is connected to the speed reducer. The auxiliary rotary motion component is installed between the eccentric rotary mechanism and the horizontal moving mechanism. The horizontal movement mechanism includes a rotary platform, a second servo motor, a linear module, a horizontal movement platform, and an auxiliary linear motion component; The rotating platform is mounted on the reducer, the horizontal moving platform is located above the rotating platform, the linear module is mounted between the rotating platform and the horizontal moving platform, the second servo motor drive end is connected to the linear module, and the auxiliary linear motion component is mounted between the rotating platform and the horizontal moving platform.

2. The five-degree-of-freedom docking platform according to claim 1, characterized in that: The three-degree-of-freedom control assembly is provided in three sets. The three sets of three-degree-of-freedom control assemblies are respectively installed at predetermined positions on the lower three-degree-of-freedom platform and the upper three-degree-of-freedom platform. Each set of three-degree-of-freedom control assemblies includes a bearing seat, a servo electric cylinder and a horizontal Hooke hinge. The bearing housing is mounted on the three-degree-of-freedom platform; The horizontal Hooke hinge is mounted in reverse on the three-degree-of-freedom platform to reduce the overall height of the platform; The servo electric cylinder is installed between the bearing housing and the horizontal Hooke hinge, and is used to control the movement of the platform.

3. The five-degree-of-freedom docking platform according to claim 1, characterized in that: The three-degree-of-freedom platform also includes a first gyroscope; The first gyroscope is mounted on the three-degree-of-freedom platform and is used to provide real-time feedback on changes in the platform's angle.

4. A five-degree-of-freedom docking platform according to claim 1, characterized in that: The auxiliary rotary motion component includes an arc-shaped guide rail and an arc-shaped rail pad; The arc-shaped rail pad is installed on the three-degree-of-freedom platform; The arc-shaped guide rail is mounted on the arc-shaped rail pad, and an arc-shaped slider is provided on the arc-shaped guide rail to improve the stability of the platform support; The center of the reducer is offset from the center of the platform and close to the edge of the platform, so that the load can be placed on the edge of the platform for easy installation and adjustment. The arc-shaped guide rail is concentrically set with the reducer.

5. A five-degree-of-freedom docking platform according to claim 1, characterized in that: The auxiliary rotary motion assembly also includes an auxiliary omnidirectional ball and an omnidirectional ball rolling plate; The auxiliary omnidirectional ball is mounted on one side of the rotating platform near the three-degree-of-freedom upper platform; The omnidirectional ball rolling plate is installed on the three-degree-of-freedom upper platform and is set in correspondence with the auxiliary omnidirectional ball; A predetermined gap is reserved between the auxiliary universal ball and the universal ball rolling plate. When the platform is unloaded, the auxiliary universal ball and the universal ball rolling plate do not contact each other. When a load is installed on the platform, the platform deforms and the auxiliary universal ball comes into contact with the universal ball rolling plate.

6. A five-degree-of-freedom docking platform according to claim 5, characterized in that: The auxiliary rotation motion component also includes a universal ball limiting block; The omnidirectional ball limiting block is installed at the end of the omnidirectional ball rolling plate to limit the rotation range of the auxiliary omnidirectional ball and the platform.

7. A five-degree-of-freedom docking platform according to claim 1, characterized in that: The auxiliary linear motion component includes a linear guide rail and a linear guide rail pad; The linear rail pad is installed on the rotating platform; The linear guide rail is mounted on the linear guide rail, and a linear slider connected to the horizontal moving platform is mounted on the linear guide rail to improve the support stability of the platform.

8. A five-degree-of-freedom docking platform according to claim 1, characterized in that: The auxiliary linear motion component also includes a second gyroscope; The second gyroscope is mounted on the side of the horizontal moving platform close to the rotating platform, and is used to provide real-time feedback on changes in the platform's motion angle.

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