Six-degree-of-freedom rotating platform

Abstract

The utility model provides and discloses a six-degree-of-freedom rotating platform which is applied to scenes needing complex scene simulation switching. The six-degree-of-freedom moving platform comprises a supporting base, a lower rotary table, an upper platform, a plurality of driving wheel sets, a six-degree-of-freedom moving mechanism, an electrical integrated sliding ring and a control system, the upper end of the supporting base is connected with the lower rotary table through a slewing bearing, the electrical integrated sliding ring is fixed to the axis of the slewing bearing, and the driving wheel sets take the slewing bearing as the circle center. The driving wheel sets are arranged on the lower surface of the lower rotary table in an annular array mode, the six-degree-of-freedom movement mechanism is arranged between the upper surface of the lower rotary table and the lower surface of the upper platform, the electrical integrated sliding ring is connected with the driving wheel sets and the six-degree-of-freedom movement mechanism, and the control system is in control connection with the driving wheel sets through the electrical integrated sliding ring. The six-degree-of-freedom rotating robot has the functions of six-degree-of-freedom movement and 360-degree rotation, is high in loading capacity, stability, control precision and safety, and can meet the requirements of more complex and diversified scene switching, performance and the like.

Description

Technical Field

[0001] This utility model relates to a motion platform for simulating or performing complex scenes, and particularly to a six-degree-of-freedom rotation platform. Background Technology

[0002] With the rapid development of platform motion technology, motion platforms have evolved from single-degree-of-freedom to multi-degree-of-freedom, and their applications in various scenarios are becoming increasingly widespread. Existing, relatively mature six-degree-of-freedom platforms can achieve six degrees of freedom (X, Y, Z, α, β, γ) movement in space through the extension and retraction of the motion cylinder, thus simulating various spatial motion postures and are widely used in various training simulators, motion theaters, entertainment equipment, and other fields. However, as the requirements for rotation range and flexibility in applications increase, six-degree-of-freedom movement alone is still insufficient to meet the demands of modern performance formats involving complex scene transitions and diverse performances. Chinese invention patent application CN 105013195 A, entitled "A Multi-Degree-of-Freedom Platform with ≥360° Rotation and a Simulation Experience Theater with the Platform," uses the method of adding a rotating platform to a six-degree-of-freedom motion platform to achieve the immersive experience requirements of a simulation experience theater. However, this platform is only suitable for situations with relatively low load capacity and cannot be applied to scenarios with high load capacity requirements and high demands for mobility, stability, and safety. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the present invention mainly provides a six-degree-of-freedom rotation platform to meet the needs of modern performance and entertainment scenarios with complex scene switching and diverse performance forms.

[0004] To achieve the above objectives, this utility model provides a six-degree-of-freedom rotary platform, including a support base, a lower turntable, an upper platform, several drive wheel sets, a six-degree-of-freedom motion mechanism, an integrated electro-optical slip ring, a control system, and a slewing bearing. The upper end of the support base is connected to the lower turntable via the slewing bearing. The integrated electro-optical slip ring is fixed at the axis of the slewing bearing. The drive wheel sets are arranged in a circular array around the slewing bearing and installed on the lower surface of the lower turntable. The six-degree-of-freedom motion mechanism is installed between the upper surface of the lower turntable and the lower surface of the upper platform. The integrated electro-optical slip ring is connected to the drive wheel sets and the six-degree-of-freedom motion mechanism. The control system is connected to the drive wheel sets via the integrated electro-optical slip ring.

[0005] Furthermore, the six-degree-of-freedom rotary platform also includes several air storage tanks and an air compressor. The six-degree-of-freedom motion mechanism includes several cylinders. The cylinders are arranged in a circular array with the slewing bearing as the center and are installed between the upper surface of the lower turntable and the lower surface of the upper platform. The air storage tanks are fixed to the lower turntable and connected to the cylinders. The air compressor is connected to the air storage tanks through the electro-integrated slip ring.

[0006] Furthermore, the six-degree-of-freedom motion mechanism also includes six electric cylinders. The electric cylinders are arranged in a single-ring circular array with the slewing bearing as the center and are installed between the upper surface of the lower turntable and the lower surface of the upper platform. The electrically integrated slip ring is connected to the electric cylinders.

[0007] Furthermore, the cylinder annular array and the single-ring electric cylinder annular array are arranged alternately.

[0008] Furthermore, the cylinder annular array consists of two rings: an inner ring cylinder and an outer ring cylinder, and the single-ring electric cylinder annular array is arranged between the inner ring cylinder and the outer ring cylinder.

[0009] Furthermore, the drive wheel assembly includes a drive wheel, a drive mechanism, a support wheel frame, and a drive wheel axle. The support wheel frame includes a hinge plate, a first wheel frame plate, and a second wheel frame plate. The drive mechanism is fixed to the support wheel frame. The drive wheel is rotatably connected to the first wheel frame plate and the second wheel frame plate via the drive wheel axle. The drive mechanism is rotatably connected to the drive wheel axle. The hinge plate is hinged to the lower surface of the lower turntable.

[0010] Furthermore, the number of drive wheels is 2, located on both sides of the first wheel frame plate.

[0011] Furthermore, the drive wheel assembly also includes a driven wheel and a driven wheel axle located behind the drive wheel, and the driven wheel is rotatably connected to the first wheel frame plate and the second wheel frame plate through the driven wheel axle.

[0012] Furthermore, there are two driving wheels and two driven wheels, located on both sides of the first wheel frame plate.

[0013] Furthermore, the drive mechanism also includes a reducer and a drive motor, the output end of the drive motor is connected to the input end of the reducer, and the output end of the reducer is connected to the drive wheel shaft.

[0014] Unlike existing technologies, the above technical solution achieves the following beneficial effects:

[0015] (1) On the basis of the traditional six degrees of freedom motion platform, a 360-degree rotation function has been added, which can meet the more complex and diverse entertainment needs such as scene switching and performance, greatly enhance the viewing and expressiveness of the performance, and meet the audience's immersive experience needs.

[0016] (2) The six degrees of freedom motion and 360-degree rotation motion are achieved by multiple driving forces, which greatly improves the load capacity of the platform, effectively improves the stability and control accuracy of the six degrees of freedom motion and 360-degree rotation, and effectively reduces the safety risks caused by platform motion loss of control or failure. Attached Figure Description

[0017] Figure 1 This is a front view of the present invention.

[0018] Figure 2 This utility model Figure 1 AA section view

[0019] Figure 3 This is a bottom view of the present invention.

[0020] Figure 4 This is a schematic diagram of the present invention after the upper platform has been removed.

[0021] Figure 5 This is an axle view of an embodiment of the drive wheel assembly of this utility model.

[0022] Figure 6 This is an exploded view of an embodiment of the drive wheel assembly of this utility model.

[0023] Explanation of reference numerals in the attached figures:

[0024] 1-Support base, 2-Lower turntable, 3-Upper platform, 4-Drive wheel set, 41-Drive wheel, 42-Drive mechanism, 421-Reducer, 422-Drive motor, 43-Support wheel frame, 431-Hinge plate, 432-Wheel frame plate No. 1, 433-Wheel frame plate No. 2, 44-Drive wheel axle, 45-Driven wheel, 46-Driven wheel axle, 5-Six-degree-of-freedom motion mechanism, 51-Electric cylinder, 52-Pneumatic cylinder, 53-Air tank, 54-Air compressor, 6-Electrically integrated slip ring, 7-Control system, 8-Slewing bearing. Detailed Implementation

[0025] To illustrate the technical content, structural features, achieved objectives, and effects of the technical solution in detail, the following description, in conjunction with specific embodiments and accompanying drawings, provides a detailed explanation. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the scope of the invention. The structures, proportions, sizes, etc., depicted in the accompanying drawings are solely for illustrative purposes to aid those skilled in the art and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effects and objectives achieved by the present invention, should still fall within the scope of the technical content disclosed in the present invention. Furthermore, terms such as "upper," "lower," "front," "rear," "inner," and "outer" used in this specification are merely for clarity and are not intended to limit the scope of the present invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the present invention.

[0026] The present invention will be further described below with reference to the accompanying drawings.

[0027] like Figures 1-3 As shown, the present invention provides a six-degree-of-freedom rotary platform, including a support base 1, a lower turntable 2, an upper platform 3, several drive wheel sets 4, a six-degree-of-freedom motion mechanism 5, an electro-integrated slip ring 6, and a control system 7. The upper end of the support base 1 is connected to the lower turntable 2 through a slewing bearing 8. The electro-integrated slip ring 6 is fixed at the axis of the slewing bearing 8. The drive wheel sets 4 are arranged in a circular array around the slewing bearing 8 on the lower surface of the lower turntable 2. The six-degree-of-freedom motion mechanism 5 is installed between the upper surface of the lower turntable 2 and the lower surface of the upper platform 3. The electro-integrated slip ring 6 is connected to the drive wheel sets 4 and the six-degree-of-freedom motion mechanism 5. The control system 7 is controlled and connected to the drive wheel sets 4 through the electro-integrated slip ring 6.

[0028] After the integrated electro-slip ring 6 is powered on, the drive wheel assembly 4 receives power through the integrated electro-slip ring 6. The control system 7 controls the movement of several drive wheel assemblies 4 through the integrated electro-slip ring 6, driving the lower turntable 2 to rotate. The six-degree-of-freedom motion mechanism 5 receives power from the integrated electro-slip ring 6 and moves, driving the upper platform 3 to achieve six degrees of freedom (X, Y, Z, α, β, γ) movement in space. Due to the programmability of the control system 7, it can accurately and stably control the rotation of the lower turntable 2. At the same time, the six-degree-of-freedom motion mechanism 5 performs six degrees of freedom movement in space. The six-degree-of-freedom rotating platform protected by this utility model can simultaneously achieve rotation and six degrees of freedom movement in space, thus it can be flexibly adjusted according to different performance needs to meet the performance requirements of different scenarios.

[0029] The circular array arrangement of the drive wheel set 4 provides stable support for the platform, allowing it to withstand greater loads.

[0030] Combination Figures 1-3 ,like Figure 4 As shown, as one embodiment of the six-degree-of-freedom rotary platform of this utility model, it also includes several air tanks 53 and an air compressor 54. The six-degree-of-freedom motion mechanism 5 includes several cylinders 52. The cylinders 52 are arranged in a circular array around the slewing bearing 8 and installed between the upper surface of the lower turntable 2 and the lower surface of the upper platform 3. The air tanks 53 are fixed to the lower turntable 2 and connected to the cylinders 52. The air compressor 54 is connected to the air tanks 53 through an electrically integrated slip ring 8, supplying air to the air tanks 53. The cylinders 52 obtain motion power and realize six-degree-of-freedom motion in space. This design can take advantage of the cylinders 52's large load, rapid action, and fast response, improving the platform's load-bearing capacity and control accuracy.

[0031] Preferably, the six-degree-of-freedom motion mechanism 5 also includes six electric cylinders 51. The electric cylinders 51 are arranged in a single-ring circular array around the slewing bearing 8 and installed between the upper surface of the lower turntable 2 and the lower surface of the upper platform 3. An electrically integrated slip ring 6 is connected to the electric cylinders 51, supplying power to them and enabling the electric cylinders 51 to move in six degrees of freedom in space. The combination of the movements of the electric cylinders 51 and the pneumatic cylinders 52 ensures both load-bearing capacity and responsiveness, resulting in more precise six-degree-of-freedom spatial motion to meet the needs of scene performances, amusement rides, and other similar applications.

[0032] Preferably, the cylinder annular array and the single-ring electric cylinder annular array are arranged alternately.

[0033] Preferably, the cylinder annular array consists of two rings: an inner ring cylinder and an outer ring cylinder. The single-ring electric cylinder annular array is arranged between the inner ring cylinder and the outer ring cylinder. Regarding the number of cylinders 52, the inner ring cylinder can have 8 cylinders, and the outer ring cylinder can have 12 cylinders.

[0034] Combination Figures 1-3 ,like Figure 5-6 As shown, the drive wheel assembly 4 of this utility model includes a drive wheel 41, a drive mechanism 42, a support wheel frame 43, and a drive wheel axle 44. The support wheel frame 43 includes a hinge plate 431, a first wheel frame plate 432, and a second wheel frame plate 433. The drive mechanism 42 is fixed to the support wheel frame 43. The drive wheel 41 is rotatably connected to the first wheel frame plate 432 and the second wheel frame plate 433 through the drive wheel axle 44. The drive mechanism 42 is rotatably connected to the drive wheel axle 44. The hinge plate 431 is hinged to the lower surface of the lower turntable 2.

[0035] Preferably, there are two drive wheels 41, located on both sides of the first wheel frame plate 432.

[0036] Preferably, the drive wheel assembly 4 further includes a driven wheel 45 and a driven wheel axle 46 located behind the drive wheel 41. The driven wheel 45 is rotatably connected to the first wheel frame plate 432 and the second wheel frame plate 433 via the driven wheel axle 46.

[0037] Preferred, such as Figure 5-6 As shown, there are two driving wheels 41 and two driven wheels 45, located on both sides of the first wheel frame plate 432.

[0038] Preferably, the drive mechanism 42 further includes a reducer 421 and a drive motor 422, the output end of the drive motor 422 is connected to the input end of the reducer 421, and the output end of the reducer 421 is connected to the drive wheel shaft 44.

Claims

1. A six-degree-of-freedom rotary platform, comprising a support base, a lower turntable, an upper platform, a plurality of drive wheel sets, a six-degree-of-freedom motion mechanism, an electrical integrated slip ring, a control system, a slewing bearing, characterized in that, The upper end of the support base is connected with the lower turntable through the slewing bearing, the electrical integrated slip ring is fixed at the center of the slewing bearing shaft, the drive wheel set is arranged in a ring array around the slewing bearing and is installed on the lower surface of the lower turntable, the six-degree-of-freedom motion mechanism is installed between the upper surface of the lower turntable and the lower surface of the upper platform, the electrical integrated slip ring is connected with the drive wheel set and the six-degree-of-freedom motion mechanism, and the control system is connected with the drive wheel set through the electrical integrated slip ring.

2. The six-degree-of-freedom rotational platform of claim 1, wherein, A plurality of air tanks and air compressors are further included, the six-degree-of-freedom motion mechanism includes a plurality of air cylinders which are arranged in a ring array around the slewing bearing and are installed between the upper surface of the lower turntable and the lower surface of the upper platform, the air tanks are fixed to the lower turntable and are connected with the air cylinders, and the air compressors are connected with the air tanks through the electrical integrated slip ring.

3. The six-degree-of-freedom rotational platform of claim 2, wherein, The six-degree-of-freedom motion mechanism further includes six electric cylinders which are arranged in a single-ring cylinder ring array around the slewing bearing and are installed between the upper surface of the lower turntable and the lower surface of the upper platform, and the electrical integrated slip ring is connected with the electric cylinders.

4. The six-degree-of-freedom rotational platform of claim 3, wherein, The air cylinder ring array and the single-ring cylinder ring array are staggered.

5. The six-degree-of-freedom rotational platform of claim 3, wherein, The air cylinder ring array includes two rings of inner ring air cylinders and outer ring air cylinders, and the single-ring cylinder ring array is arranged between the inner ring air cylinders and the outer ring air cylinders.

6. The six-degree-of-freedom rotational platform according to any one of claims 1-5, wherein, The drive wheel set includes drive wheels, a drive mechanism, a support wheel frame and drive wheel shafts, the support wheel frame includes a hinged plate, a first wheel frame plate and a second wheel frame plate, the drive mechanism is fixed to the support wheel frame, the drive wheels are rotationally connected with the first wheel frame plate and the second wheel frame plate through the drive wheel shafts, the drive mechanism is rotationally connected with the drive wheel shafts, and the hinged plate is hinged to the lower surface of the lower turntable.

7. The six-degree-of-freedom rotational platform of claim 6, wherein, The number of the drive wheels is two, and each is located on the side of the first wheel frame plate.

8. The six-degree-of-freedom rotational platform of claim 6, wherein, The drive wheel set further includes driven wheels and driven wheel shafts located at the rear side of the drive wheels, and the driven wheels are rotationally connected with the first wheel frame plate and the second wheel frame plate through the driven wheel shafts.

9. The six-degree-of-freedom rotational platform of claim 8, wherein, The number of the drive wheels and the driven wheels is two, and each is located on the side of the first wheel frame plate.

10. The six-degree-of-freedom rotational platform of any of claims 7-9, wherein, The drive mechanism further includes a speed reducer and a drive motor, the output end of the drive motor is connected with the input end of the speed reducer, and the output end of the speed reducer is connected with the drive wheel shafts.

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