High-precision six-degree-of-freedom platform capable of eliminating gap error

Abstract

The high-precision six-degree-of-freedom platform capable of eliminating the gap error comprises a moving platform and a plurality of sets of telescopic pieces, the moving platform comprises an upper platform, a lower platform and six telescopic connecting pieces, and the two ends of each telescopic connecting piece are hinged to the upper platform and the lower platform through hinge pieces respectively. The upper end of the telescopic piece is movably connected with the upper platform, the lower end of the telescopic piece is movably connected with the lower platform, the length of the telescopic piece is adjustable, the telescopic piece has pulling force on the upper platform and the lower platform, and internal gaps of hinge pieces of the telescopic connecting piece can be eliminated. A straight-through forced filling oil cup and a miniature silencer used for reducing noise are arranged on the outer surface of a telescopic cylinder of the telescopic connecting piece. The six-degree-of-freedom platform can eliminate the internal gaps of the structures of the spherical hinge and the hooke hinge, so that gap errors can be avoided, the six-degree-of-freedom platform has the advantages of being high in positioning precision, high in stability, capable of reducing the gap errors and the like, and the six-degree-of-freedom platform is simple in structure, flexible to mount and dismount and high in practicability.

Description

Technical fields:

[0001] This utility model belongs to the field of high-precision positioning and motion control technology, specifically relating to a high-precision six-degree-of-freedom platform that can eliminate gap errors. Background technology:

[0002] In precision manufacturing and assembly, six-axis parallel positioning systems enable high-precision workpiece positioning, improving production efficiency and product quality. In materials science and biomedicine, they provide a stable operating platform for experiments, facilitating high-precision research. In minimally invasive surgery and rehabilitation, they enable precise instrument control, increasing surgical success rates and patient recovery outcomes. In spacecraft assembly and satellite maintenance, they provide engineers with a stable operating platform, ensuring mission success. In nuclear power plants and wind power generation, they enable high-precision equipment maintenance and repair, reducing failure rates and improving energy efficiency.

[0003] However, in existing six-axis parallel positioning systems, gaps inevitably exist in their internal structure during manufacturing. The size of these gaps changes when the six-degree-of-freedom platform is carrying heavy loads. This leads to poor positioning accuracy and gap errors in existing systems, slow response speed after reaching the designated position, and limitations in achieving only relatively simple spatial motion control with lower accuracy requirements, resulting in a small range of motion. Therefore, there is an urgent need to design a six-axis parallel positioning system that can reduce gap errors, possess high degrees of freedom and flexibility, and achieve stable and efficient positioning in complex environments. Utility Model Content:

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a high-precision six-degree-of-freedom platform that can eliminate gap errors, thereby solving problems such as poor positioning accuracy and slow response speed after reaching the designated position in existing six-degree-of-freedom motion systems.

[0005] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0006] This utility model provides a high-precision six-degree-of-freedom platform capable of eliminating gap errors, comprising a motion platform and several sets of telescopic components; the motion platform includes an upper platform, a lower platform, and six telescopic connectors, the two ends of which are respectively hinged to the upper platform and the lower platform via hinges; the upper end of each telescopic component is movably connected to the upper platform, and the lower end is movably connected to the lower platform; the length of each telescopic component is adjustable, and the telescopic component exerts a tensile force on the upper platform and the lower platform, thereby eliminating the internal gaps of the hinges of the telescopic connectors.

[0007] As further optimization of the utility model, it also has the characteristics that the lower surface of the upper platform is provided with a first mounting part, the upper surface of the lower platform is provided with a second mounting part, and the two ends of the telescopic part are movably connected with the first mounting part and the second mounting part respectively.

[0008] As further optimization of the utility model, it also has the characteristics that the first mounting part and the second mounting part are respectively provided with a hanging hole, the two ends of the telescopic part are respectively provided with a hook, and the telescopic part is movably mounted on the first mounting part and the second mounting part through the hook.

[0009] As further optimization of the utility model, it also has the characteristics that the lower surface of the upper platform is provided with a spherical hinge mounting seat, the upper end of the telescopic connecting part is connected with the upper platform through the spherical hinge, the upper surface of the lower platform is provided with a Hooke's hinge, and the lower end of the telescopic connecting part is connected with the lower platform through the Hooke's hinge.

[0010] As further optimization of the utility model, it also has the characteristics that the telescopic part is provided with two or three groups, and is uniformly distributed between the upper platform and the lower platform.

[0011] As further optimization of the utility model, it also has the characteristics that the telescopic part is a gas spring or an electric telescopic cylinder.

[0012] As further optimization of the utility model, it also has the characteristics that the telescopic cylinder of the telescopic connecting part is provided with a miniature silencer for noise reduction on the outer surface.

[0013] As further optimization of the utility model, it also has the characteristics that the telescopic cylinder of the telescopic connecting part is provided with a straight-through type oil injection cup, the straight-through type oil injection cup is opened on the outside of the telescopic cylinder, and the telescopic cylinder is provided with a oil guide pipe inside, and the lubricating oil in the straight-through type oil injection cup flows to the guide rod inside the telescopic cylinder through the oil guide pipe.

[0014] As further optimization of the utility model, it also has the characteristics that among the six telescopic connecting parts, two are installed alternately in a group.

[0015] The utility model has the beneficial effects that:

[0016] (1) The utility model discloses a plurality of telescopic parts are arranged in six degree of freedom platform, can pull the upper platform and lower platform through telescopic part, make the upper platform and lower platform always exist mutual close force in the process of static or moving, can further eliminate the structure internal clearance of spherical hinge and hooke joint, thereby can avoid clearance error, make six degree of freedom platform have high-precision positioning, large motion range, high bearing capacity, high stability, can realize more complex space motion control and reduce clearance error etc.

[0017] (2) In the utility model, the length of telescopic part is adjustable, and the length of telescopic part is also adaptively adjusted in the moving process of the upper platform and the lower platform, so that the telescopic part neither hinders the movement of the upper platform and the lower platform, nor always exists the pulling force on the upper platform and the lower platform, and the internal clearance of the spherical hinge and the hooke joint is eliminated.

[0018] (3) In the utility model, the outer surface of the telescopic cylinder of the telescopic connecting piece is provided with a micro muffler, which can eliminate the noise generated in the movement of the device, so as to adapt to the environment with high noise requirement.

[0019] (4) In the utility model, a straight-through type pressure injection oil cup is arranged on the telescopic cylinder of the telescopic connecting piece, which can lubricate the internal components of the telescopic cylinder through the straight-through type pressure injection oil cup, and the operation is convenient. DRAWINGS:

[0020] Figure 1 It is the whole structure schematic diagram of the six degree of freedom platform of the utility model.

[0021] Figure 2 It is the upper platform structure diagram in the six degree of freedom platform of the utility model.

[0022] Figure 3 It is the telescopic cylinder structure schematic diagram of the telescopic connecting piece in the six degree of freedom platform of the utility model.

[0023] Figure 4 It is the lower platform structure diagram in the six degree of freedom platform of the utility model.

[0024] The marks in the drawings are:

[0025] 1, movement platform, 2, upper platform, 3, lower platform, 4, telescopic connecting piece, 5, telescopic part, 6, first mounting part, 7, second mounting part, 8, spherical hinge mounting seat, 9, hooke joint, 10, micro muffler, 11, straight-through type pressure injection oil cup. CONCRETE IMPLEMENTATION:

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0027] Embodiment 1

[0028] As Figure 1 shown, the utility model embodiments provide a high-precision six-degree-of-freedom platform capable of eliminating gap error, comprising a moving platform 1 and a plurality of groups of telescopic members 5.

[0029] Among them, the moving platform 1 comprises an upper platform 2, a lower platform 3 and six telescopic connecting members 4, and two groups of the six telescopic connecting members 4 are staggered and installed. The two ends of the six telescopic connecting members 4 are hinged with the upper platform 2 and the lower platform 3 through hinge members, the upper end of the telescopic member 5 is movably connected with the upper platform 2, and the lower end is movably connected with the lower platform 3,

[0030] As Figure 2 and Figure 4 shown, the lower surface of the upper platform 2 is provided with six spherical hinge mounting seats 8, and the upper end of the telescopic connecting member 4 is connected with the upper platform 2 through the spherical hinge; the upper surface of the lower platform 3 is provided with six hook hinges 9, and the lower end of the telescopic connecting member 4 is connected with the lower platform 3 through the hook hinge 9.

[0031] The telescopic member 5 is adjustable in length, and there is always a pulling force on the upper platform 2 and the lower platform 3 by the telescopic member 5, which can eliminate the internal gap of the hinge member of the telescopic connecting member 4.

[0032] The telescopic member 5 is arranged in the device, the upper platform 2 and the lower platform 3 are pulled by the telescopic member 5, so that there is always a force of approaching each other between the upper platform 2 and the lower platform 3 during the process of static or movement, and the internal gap of the connecting member 4 (spherical hinge and hook hinge) which cannot be avoided during the production and processing process can be eliminated, so as to avoid the gap error, so that the six-degree-of-freedom platform has the characteristics of high-precision positioning, large movement range, high bearing capacity, high stability, can realize relatively complex space motion control and reduce the gap error.

[0033] In addition, since the telescopic member 5 is adjustable, the length of the telescopic member 5 is also adaptively adjusted during the movement of the upper platform 2 and the lower platform 3, so that the telescopic member 5 neither hinders the movement of the upper platform 2 and the lower platform 3, nor always exists the pulling force on the upper platform 2 and the lower platform 3, and eliminates the internal gap of the ball hinge and the hinge structure.

[0034] Embodiment 2

[0035] The main structure of the embodiment is the same as that of Embodiment 1, and the difference lies in that the connection mode of the telescopic member 5 is further described in the embodiment.

[0036] Specifically, as shown in Figure 2 and Figure 4 , the lower surface of the upper platform 2 is provided with a first mounting member 6, the upper surface of the lower platform 3 is provided with a second mounting member 7, and the two ends of the telescopic member 5 are movably connected with the first mounting member 6 and the second mounting member 7, respectively. The first mounting member 6 and the second mounting member 7 are respectively provided with a hanging hole, and the two ends of the telescopic member 5 are respectively provided with a hook, and the telescopic member 5 is movably mounted on the first mounting member 6 and the second mounting member 7 through the hook. The telescopic member 5 is a gas spring or an electric telescopic cylinder or other structure capable of achieving the same function.

[0037] In the embodiment, the telescopic member 5 is provided with two or three groups, which are uniformly distributed between the upper platform 2 and the lower platform 3 and are arranged at intervals in the six telescopic connecting members 4. In other embodiments of the utility model, the telescopic member 5 can also be provided with six groups, and the specific number can be set according to the requirements.

[0038] Embodiment 3

[0039] The main structure of the embodiment is the same as that of Embodiment 1, and the difference lies in that:

[0040] As shown in Figure 3 , the outer surface of the telescopic cylinder of the telescopic connecting member 4 is provided with a miniature silencer 10 for noise reduction, which can be applied to environments with high noise requirements.

[0041] As shown in Figure 3 , the telescopic cylinder of the telescopic connecting member 4 is provided with a straight-through type oil injection cup 11, the straight-through type oil injection cup 11 is open to the outside of the telescopic cylinder, and the telescopic cylinder is provided with an oil guide pipe inside, and the lubricating oil in the straight-through type oil injection cup 11 flows to the guide rod inside the telescopic cylinder through the oil guide pipe. The outer side of the straight-through type oil injection cup 11 is provided with a cover, and when the oil injection is completed, the straight-through type oil injection cup 11 is plugged by the cover.

[0042] The above are only preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments, and any technical scheme falling within the concept of the present application belongs to the protection scope of the present application. It should be noted that, for ordinary skilled in the art, some improvements and decorations without departing from the principles of the present application are considered as the protection scope of the present application.

Claims

1. A high-precision six-degree-of-freedom platform capable of eliminating gap error, characterized in that it comprises a moving platform (1) and a plurality of sets of telescopic members (5); the moving platform (1) comprises an upper platform (2), a lower platform (3) and six telescopic connecting members (4), both ends of the six telescopic connecting members (4) are hinged to the upper platform (2) and the lower platform (3) through hinges; the upper end of the telescopic member (5) is movably connected to the upper platform (2), and the lower end is movably connected to the lower platform (3); the length of the telescopic member (5) is adjustable, and the telescopic member (5) has a pulling force on the upper platform (2) and the lower platform (3), which can eliminate the internal gap of the hinge of the telescopic connecting member (4).

2. The high-precision six-degree-of-freedom platform capable of eliminating gap error according to claim 1, characterized in that the lower surface of the upper platform (2) is provided with a first mounting member (6), the upper surface of the lower platform (3) is provided with a second mounting member (7), and both ends of the telescopic member (5) are movably connected to the first mounting member (6) and the second mounting member (7) respectively.

3. The high-precision six-degree-of-freedom platform capable of eliminating gap error according to claim 2, characterized in that the first mounting member (6) and the second mounting member (7) are respectively provided with hanging holes, both ends of the telescopic member (5) are respectively provided with hooks, and the telescopic member (5) is movably mounted on the first mounting member (6) and the second mounting member (7) through the hooks.

4. The high-precision six-degree-of-freedom platform capable of eliminating gap error according to claim 1, characterized in that the lower surface of the upper platform (2) is provided with a spherical hinge mounting seat (8), and the upper end of the telescopic connecting member (4) is connected to the upper platform (2) through the spherical hinge; the upper surface of the lower platform (3) is provided with a hooke joint (9), and the lower end of the telescopic connecting member (4) is connected to the lower platform (3) through the hooke joint (9).

5. The high-precision six-degree-of-freedom platform capable of eliminating gap error according to claim 1, characterized in that the telescopic member (5) is provided with two or three sets, which are evenly distributed between the upper platform (2) and the lower platform (3).

6. The high-precision six-degree-of-freedom platform capable of eliminating gap error according to claim 1, characterized in that the telescopic member (5) is a gas spring or an electric telescopic cylinder.

7. The high-precision six-degree-of-freedom platform capable of eliminating gap error according to claim 1, characterized in that the outer surface of the telescopic cylinder of the telescopic connecting member (4) is provided with a micro-silencer (10) for noise reduction.

8. The high-precision six-degree-of-freedom platform capable of eliminating gap error according to claim 1, characterized in that the telescopic cylinder of the telescopic connecting member (4) is provided with a straight-through type pressure injection oil cup (11), the straight-through type pressure injection oil cup (11) is open to the outside of the telescopic cylinder, and the telescopic cylinder is provided with a guide pipe inside, and the lubricating oil in the straight-through type pressure injection oil cup (11) flows to the guide pipe inside the telescopic cylinder.

9. The high-precision six-degree-of-freedom platform capable of eliminating gap error according to claim 1, characterized in that ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ Among the six telescopic connectors (4), two are staggered in each group.

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