Large-angle three-degree-of-freedom crank connecting rod motion platform

Abstract

The utility model discloses a large-angle three-degree-of-freedom crank connecting rod motion platform, which relates to the field of motion simulation platforms and comprises a lower static platform, an upper movable platform arranged on the lower static platform and three groups of crank connecting rod motion mechanisms arranged at preset positions between the lower static platform and the upper movable platform, the crank connecting rod movement mechanism comprises a driving assembly, a crank connecting rod movement assembly and a concentric rotating assembly, and the driving assembly is installed on the lower static platform and used for driving a crank connecting rod movement mechanism body to move. The concentric rotating assembly is arranged on the crank connecting rod moving assembly, the limitation of the angle of the fisheye bearing can be made up, when the fisheye bearing rotates to the limit angle, the cross shaft rotates around the upper bearing seat, the fisheye bearing can reach the new angle, and the new angle is larger than the limit angle of the fisheye bearing; not only can the three-degree-of-freedom crank be subjected to large-angle simulation, but also the stability of the platform can be improved and the like.

Description

TECHNICAL FIELD

[0001] The utility model relates to motion simulation platform field, concretely relates to a big angle three degrees of freedom crank connecting rod motion platform. BACKGROUND

[0002] Three-axis crank motion platform is a kind of mechanical system based on crank connecting rod mechanism, it mainly is through the coordinated work of three independent driving crank shaft, can realize the accurate motion of platform in three-dimensional space (X, Y, Z direction), is widely used in scientific research and entertainment, factory lifting goods and other fields.

[0003] At present, such platform has unique advantages in the scene needing periodic motion or compact three-dimensional positioning, but traditional three-axis crank connecting rod motion platform mostly adopts fish eye bearing or ball hinge structure, and fish eye bearing and ball hinge etc. are limited by own angle, cannot do large angle (generally cannot exceed 20 °) simulation, there is certain deficiency. UTILITY MODEL CONTENT

[0004] Utility model purpose: the utility model will aim at above-mentioned shortcomings, provide a big angle three degrees of freedom crank connecting rod motion platform, to solve the above-mentioned problems existing in prior art.

[0005] Technical scheme: a big angle three degrees of freedom crank connecting rod motion platform, including lower static platform, upper dynamic platform being arranged on the lower static platform, and three groups of crank connecting rod motion mechanisms being installed at predetermined positions between the lower static platform and the upper dynamic platform, the crank connecting rod motion mechanism includes drive assembly, crank connecting rod motion assembly and concentric rotating assembly.

[0006] Among them, the drive assembly is installed on the lower static platform, for driving the crank connecting rod motion mechanism main part to move, the crank connecting rod motion assembly includes the crank main body being installed at one end of the drive assembly, the connecting rod main body being rotatably installed at the end of the crank main body, and the fish eye bearing being installed at the end of the connecting rod main body, the concentric rotating assembly includes a pair of upper bearing seats being installed on the side of the upper dynamic platform close to the lower static platform, the cross shaft being installed between a pair of the upper bearing seats, and the second bolt assembly being installed between the cross shaft and the fish eye bearing.

[0007] In further embodiments, the drive assembly includes drive motor, speed reducer and lower bearing seat.

[0008] Among them, the lower bearing seat is installed on the lower static platform, for connecting the crank connecting rod motion assembly, the drive motor is arranged on the side of the drive motor, the speed reducer is installed between the drive motor and the lower bearing seat, for cooperating the drive motor to drive the crank connecting rod motion assembly to move.

[0009] In further embodiments, the crank and connecting rod motion assembly further comprises a first bolt assembly and a pin shaft.

[0010] The pin shaft is connected between the crank body and the connecting rod body, and the first bolt assembly is installed on the pin shaft.

[0011] In further embodiments, the crank and connecting rod motion assembly further comprises a connecting shaft and a deep groove ball bearing.

[0012] The connecting shaft is installed between the lower bearing seat and the crank body, and the deep groove ball bearings are installed between the connecting shaft and the lower bearing seat, and the pin shaft and the connecting rod body.

[0013] In further embodiments, the crank and connecting rod motion assembly further comprises a locking nut.

[0014] The locking nut is installed between the connecting rod body and the fish-eye bearing, and is used for locking the fish-eye bearing.

[0015] In further embodiments, the cross shaft is coaxially arranged with the pair of upper bearing seats.

[0016] Beneficial effects: The utility model discloses a large angle three degrees of freedom crank and connecting rod motion platform, through setting up concentric rotation subassembly on crank and connecting rod motion assembly, can make up for fish -eye bearing own angle limitation, when fish -eye bearing rotates to limit angle, cross axle rotates around upper bearing seat, makes fish -eye bearing can reach new angle, and new angle is greater than fish -eye bearing's limit angle, not only can make three degrees of freedom crank can do large angle simulation, also can improve the stability of platform etc. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the whole three -dimensional structure schematic diagram of the utility model.

[0018] Figure 2 It is the whole main view structure schematic diagram of the utility model.

[0019] Figure 3 It is the structure schematic diagram of three groups of crank and connecting rod motion mechanism of the utility model.

[0020] Figure 4 It is the main view structure schematic diagram of crank and connecting rod motion mechanism of the utility model.

[0021] Figure 5 It is the partial structure three -dimensional schematic diagram of crank and connecting rod motion mechanism of the utility model.

[0022] Figure 6 It is a part structure section view schematic diagram of the crank connecting rod movement mechanism.

[0023] The reference signs in the figure are: 1, lower static platform; 2, upper dynamic platform; 3, crank connecting rod movement mechanism; 4, driving assembly; 401, driving motor; 402, speed reducer; 403, lower bearing seat; 5, crank connecting rod movement assembly; 501, crank main body; 502, connecting rod main body; 503, first bolt assembly; 504, locking nut; 505, fish eye bearing; 506, connecting shaft; 507, pin shaft; 508, deep groove ball bearing; 6, concentric rotation assembly; 601, upper bearing seat; 602, cross shaft; 603, second bolt assembly. DETAILED DESCRIPTION

[0024] In the following description, a large number of specific details are given to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, some technical features known in the art are not described in order not to obscure the present application.

[0025] The applicant believes that most conventional three-axis crank connecting rod movement platforms use fish eye bearings or ball hinges, and fish eye bearings and ball hinges cannot be simulated at a large angle due to their own angle limitations, and there are certain deficiencies.

[0026] Therefore, the applicant proposes a large-angle three-degree-of-freedom crank connecting rod movement platform, as shown in Figures 1-6 which includes a lower static platform 1, an upper dynamic platform 2 arranged on the lower static platform 1, and three sets of crank connecting rod movement mechanisms 3 installed at predetermined positions between the lower static platform 1 and the upper dynamic platform 2. The crank connecting rod movement mechanism 3 includes a driving assembly 4, a crank connecting rod movement assembly 5, and a concentric rotation assembly 6.

[0027] The present application takes a three-degree-of-freedom crank connecting rod platform as an example. The device is in the form of a 120° equilateral structure and is composed of three crank connecting rod movement mechanisms 3, one lower static platform 1, and one upper dynamic platform 2. The crank connecting rod movement mechanism 3 is composed of a driving assembly 4, a crank connecting rod movement assembly 5, and a concentric rotation assembly 6. The driving assembly 4 provides driving power, and the concentric rotation assembly 6 is arranged between the crank connecting rod movement assembly 5 and the upper dynamic platform 2, which can solve the problem that the conventional three-degree-of-freedom parallel platform cannot be simulated at a large angle due to the limitations of the ordinary fish eye structure or ball hinge structure.

[0028] Specifically, as shown in Figures 1-6As shown, the driving assembly 4 is mounted on the lower static platform 1 for driving the crank and connecting rod movement mechanism 3 to move, and the driving assembly 4 comprises a driving motor 401, a speed reducer 402 and a lower bearing seat 403.

[0029] The lower bearing seat 403 is mounted on the lower static platform 1 for connecting the crank and connecting rod movement assembly 5, the driving motor 401 is arranged on one side of the driving motor 401, and the speed reducer 402 is mounted between the driving motor 401 and the lower bearing seat 403 for cooperating with the driving motor 401 to drive the crank and connecting rod movement assembly 5 to move.

[0030] As shown in the figure, Figures 4-6 The crank and connecting rod movement assembly 5 comprises a crank body 501, a connecting rod body 502, a fish-eye bearing 505, a first bolt assembly 503, a pin shaft 507, a connecting shaft 506, a deep groove ball bearing 508 and a locking nut 504.

[0031] The crank body 501 is mounted on one end of the driving assembly 4, the connecting rod body 502 is rotatably mounted on the end of the crank body 501, the fish-eye bearing 505 is mounted on the end of the connecting rod body 502, the pin shaft 507 is connected between the crank body 501 and the connecting rod body 502, the first bolt assembly 503 is mounted on the pin shaft 507, the connecting shaft 506 is mounted between the lower bearing seat 403 and the crank body 501, the deep groove ball bearing 508 is provided with a plurality of deep groove ball bearings 508, and the plurality of deep groove ball bearings 508 are respectively mounted between the connecting shaft 506 and the lower bearing seat 403 and between the pin shaft 507 and the connecting rod body 502, and the locking nut 504 is mounted between the connecting rod body 502 and the fish-eye bearing 505 for locking the fish-eye bearing 505.

[0032] As shown in the figure, Figures 1-4 The concentric rotating assembly 6 is mounted between the crank and connecting rod movement assembly 5 and the upper moving platform 2, and the concentric rotating assembly 6 comprises a pair of upper bearing seats 601, a cross shaft 602 and a second bolt assembly 603.

[0033] The pair of upper bearing seats 601 are correspondingly mounted on the side of the upper moving platform 2 close to the lower static platform 1, the cross shaft 602 is mounted between the pair of upper bearing seats 601, the second bolt assembly 603 is mounted between the cross shaft 602 and the fish-eye bearing 505, and the cross shaft 602 is coaxially arranged with the pair of upper bearing seats 601.

[0034] The application adds the cross shaft 602 structure on the traditional three-degree-of-freedom crank and connecting rod platform, and the bearing seats 601 are mounted on both sides, which can compensate for the angle limitation of the fish-eye bearing 505. When the fish-eye bearing 505 rotates to the limit angle, the cross shaft 602 can rotate around the upper bearing seat 601, so that the fish-eye bearing 505 can reach a new angle, and the new angle is greater than the limit angle of the fish-eye bearing 505.

[0035] In addition, the present application has eight degrees of freedom: including one upper moving platform 2, one lower static platform 1, three connecting rod main bodies 502 structures, three crank main bodies 501 structures, the entire system has a total of forty-eight degrees of freedom.

[0036] Restrictions: the lower static platform 1 is fixed, there are six constraints, the crank main body 501 is driven to rotate by the driving motor 401, there are five constraints x three groups here, the connecting rod main body 502 and the crank main body 501, there are five constraints x three groups here, the connecting rod main body 502 and the fish-eye bearing 505, there are three constraints x three groups here, the entire system has a total of forty-five constraints.

[0037] The system has a total of forty-eight degrees of freedom, forty-five constraints, three groups of driving motors 401 limit three degrees of freedom, so the system motion is accurately controllable.

[0038] Working principle: three degrees of freedom crank connecting rod motion platform, through the driving motor 401 to provide power, through the planetary reducer 402 to reduce speed and increase output torque, drive the crank main body 501 to rotate, the crank main body 501 drives the connecting rod main body 502 to rise and fall, realize the upper moving platform 2 motion, let the upper moving platform 2 obtain the posture of lifting and tilting forward, tilting backward, rolling horizontally and so on.

[0039] In the motion process, the fish-eye bearing 505 has three degrees of freedom itself, when the roll exceeds the angle of the fish-eye bearing 505 itself, the fish-eye bearing 505 will not be able to move, at this time the center line of the cross shaft 602 and the center line of the two upper bearing seats 601 are concentric, after the fish-eye bearing 505 rotates to the limit angle of itself, continue to rotate around the double upper bearing seat 601 to achieve a larger angle, break through the situation that the platform cannot make large angle motion due to the angle limitation of the fish-eye bearing 505.

[0040] As above, although the present application has been shown and described with reference to specific preferred embodiments, it should not be construed as a limitation on the present application itself. Various changes can be made in form and details without departing from the spirit and scope of the present application defined in the appended claims.

Claims

1. A large angle three degree of freedom crank and link motion platform, characterized in that, The application relates to a three-group crank connecting rod motion mechanism, which comprises a lower static platform, an upper dynamic platform arranged on the lower static platform, and three groups of crank connecting rod motion mechanisms arranged at predetermined positions between the lower static platform and the upper dynamic platform. The driving assembly is arranged on the lower static platform and used for driving the crank connecting rod motion mechanism body to move. The crank connecting rod motion assembly comprises a crank body arranged at one end of the driving assembly, a connecting rod body rotatably arranged at the end of the crank body, and a fisheye bearing arranged at the end of the connecting rod body. The concentric rotation assembly comprises a pair of upper bearing seats arranged on the side of the upper dynamic platform close to the lower static platform, a cross shaft arranged between the pair of upper bearing seats, and a second bolt assembly arranged between the cross shaft and the fisheye bearing.

2. A large-angle three-degree-of-freedom crank-linkage motion platform according to claim 1, characterized in that: The driving assembly comprises a driving motor, a speed reducer and a lower bearing seat. The lower bearing seat is arranged on the lower static platform and used for connecting the crank connecting rod motion assembly. The driving motor is arranged on one side of the driving motor. The speed reducer is arranged between the driving motor and the lower bearing seat and used for cooperating with the driving motor to drive the crank connecting rod motion assembly to move.

3. A large angle 3-DOF crank-linkage motion platform according to claim 2, characterized in that: The crank connecting rod motion assembly further comprises a first bolt assembly and a pin shaft. The pin shaft is connected between the crank body and the connecting rod body. The first bolt assembly is arranged on the pin shaft.

4. A large angle 3-DOF crank-linkage motion platform according to claim 3, characterized in that: The crank connecting rod motion assembly further comprises a connecting shaft and a deep groove ball bearing. The connecting shaft is arranged between the lower bearing seat and the crank body. The deep groove ball bearing is arranged in a plurality of modes, and each of the deep groove ball bearings is arranged between the connecting shaft and the lower bearing seat and between the pin shaft and the connecting rod body.

5. A large-angle three-degree-of-freedom crank-linkage motion platform according to claim 1, characterized in that: The crank connecting rod motion assembly further comprises a locking nut. The locking nut is arranged between the connecting rod body and the fisheye bearing and used for locking the fisheye bearing.

6. A large-angle three-degree-of-freedom crank-linkage motion platform according to claim 1, characterized in that: The cross shaft is coaxially arranged with the pair of upper bearing seats.

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